A cleaning apparatus and a cleaning method thereof

Abstract

The application discloses a cleaning device and a cleaning method thereof, and relates to the technical field of intelligent household appliances. The cleaning device comprises a mopping piece arranged at the bottom of the cleaning device. The cleaning method of the cleaning device comprises the following steps: detecting a parameter used for representing mopping trace information of the cleaning device; and if the detected parameter does not meet a preset condition, adjusting a cleaning parameter of the cleaning device so that the detected parameter tends to the preset condition. Therefore, the cleaning device provided by the application has good self-adaptability, accurate real-time monitoring capability and self-improvement capability, and has the advantages of improving mopping effect and mopping efficiency in different environments.

Description

Technical Field

[0001] This application relates to the technical field of smart home appliances, and more specifically, to a cleaning device and a cleaning method thereof. Background Technology

[0002] In related technologies, cleaning equipment has its cleaning parameters fixed by the manufacturer before it leaves the factory. Therefore, when users use the cleaning equipment, they usually use fixed cleaning parameters for mopping. However, different users have different home environments. If a user's home environment does not match the manufacturer's fixed cleaning parameters, but they still use the same cleaning parameters for mopping, it will result in poor mopping results in some homes.

[0003] Furthermore, in existing technologies, during the cleaning process, problems often arise such as gaps left unmopped in large mopped areas, water stains accumulating in mopped areas, or areas that are too dry and watermarks drying easily. Current cleaning equipment simply detects and cleans heavily soiled areas according to a planned path, making it difficult to promptly identify and resolve these issues. Summary of the Invention

[0004] The purpose of this application is to provide a cleaning device and a cleaning method thereof, which adjusts cleaning parameters by using parameters that characterize mopping marks left by the cleaning device. The cleaning device adapts to different home environments, improving its mopping performance in various settings.

[0005] The embodiments of this application are implemented as follows:

[0006] The first aspect of this application provides a cleaning method for a cleaning device, the cleaning device including a mopping component disposed at the bottom of the cleaning device, the method comprising:

[0007] The system detects parameters used to characterize mopping marks left by the cleaning equipment; if the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning equipment are adjusted to bring the detected parameters closer to the preset conditions.

[0008] In one embodiment, the detected parameters are used to characterize the uniformity of mop marks; if the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning equipment are adjusted to make the detected parameters tend to the preset conditions, including: if the detected parameters do not meet the preset parameter conditions characterizing the uniformity of mop marks, the water injection amount of the mop is adjusted to make the detected parameters meet the preset parameter conditions characterizing the uniformity of mop marks.

[0009] In one embodiment, the detected parameters are the number of first blocks formed by mopping marks in the left mopping area and the number of second blocks formed by mopping marks in the right mopping area, as identified by image recognition. The preset parameter conditions characterizing the uniformity of mopping marks include: the difference between the number of first blocks and the number of second blocks is less than a first set threshold; and / or, the ratio of the number of first blocks to the number of second blocks is less than a second set threshold.

[0010] In one embodiment, adjusting the water injection amount of the mopping component includes: if the difference between the number of the first block and the number of the second block is less than a first set threshold and the number of the first block is greater than the number of the second block, then increasing the water injection amount of the left mopping component; if the difference between the number of the first block and the number of the second block is less than the first set threshold and the number of the first block is less than the number of the second block, then increasing the water injection amount of the right mopping component.

[0011] In one embodiment, adjusting the water injection amount of the mopping component includes: if the number of first blocks is greater than a second preset threshold, then increasing the water injection amount of the left mopping component; if the number of second blocks is greater than the second preset threshold, then increasing the water injection amount of the right mopping component.

[0012] In one embodiment, the detected parameter is the motor load parameter of the cleaning device during cleaning; the preset parameter conditions characterizing the uniformity of mopping marks include: the load of the drive motor of the left mopping component is within a set threshold range, the difference between the load of the drive motor of the left mopping component and the load of the drive motor of the right mopping component is less than a third set threshold; and / or, the load of the drive motor of the left mopping component / the load of the drive motor of the right mopping component are within a set threshold range.

[0013] In one embodiment, adjusting the water injection amount of the mopping component includes: increasing the water injection amount of the left mopping component if the difference between the load of the drive motor of the left mopping component and the load of the drive motor of the right mopping component is less than a third preset threshold, and the left is greater than the right; increasing the water injection amount of the right mopping component if the difference between the load of the drive motor of the left mopping component and the load of the drive motor of the right mopping component is less than a third preset threshold, and the left is less than the right; and / or, increasing the water injection amount of the left mopping component if the load of the drive motor of the left mopping component is greater than a fourth preset threshold; and increasing the water injection amount of the right mopping component if the load of the drive motor of the right mopping component is greater than the fourth preset threshold.

[0014] In one embodiment, the detected information includes: the number of edge traces of a single sweeper path in the mopping area identified by image recognition; if the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning device are adjusted so that the detected information tends to the preset conditions, including: if the number of edge traces in the mopping area is 4, a prompt is made that there is an installation deviation of the left / right mopping parts, so that the user can adjust the installation position parameters of the left / right mopping parts.

[0015] In one embodiment, the detected information includes: the number of mopping areas and adjacent edge traces of a single bow sweeper path identified by image recognition; if the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning equipment are adjusted so that the detected information tends to the preset conditions, including: if the number of edge traces of the mopping area is 3, the bow sweeper spacing is reduced.

[0016] A second aspect of this application provides a cleaning device, including: a cleaning apparatus, an image acquisition device, a motor, a memory, and a processor. The cleaning apparatus includes at least one mopping component and a water injection assembly for adding water to the mopping component; the image acquisition device is used to acquire images of the vicinity of the cleaning device; the motor is used to drive the mopping component to perform cleaning work; the memory is used to store a computer program; and the processor is used to execute the computer program for a cleaning method using the cleaning apparatus of the first aspect of this application and any of its embodiments.

[0017] A third aspect of this application provides a computer-readable storage medium storing a computer program. The computer program can be executed by a processor to perform a cleaning method using the cleaning equipment of the first aspect of this application and any of its embodiments.

[0018] The advantages of this application compared to the prior art are:

[0019] This application enables the cleaning device to adapt to different home environments by detecting parameters characterizing mopping marks and adjusting cleaning parameters accordingly, thereby improving the mopping effect and efficiency in various environments. Specifically, the cleaning device can determine if uneven mopping marks are caused by inappropriate water volume by identifying image blocks or monitoring motor load, and adjust cleaning parameters such as water volume based on the detected parameters. The cleaning device can also detect parameters related to the edge lines of mopping marks to determine if there are missed areas due to installation deviations of the mopping components or excessive bow-broom spacing, and then perform additional mopping accordingly. The cleaning device provided by this application has excellent adaptability, accurate real-time monitoring capabilities, and self-improvement capabilities, effectively improving the cleaning quality and efficiency in different environments and providing users with a better user experience. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application;

[0022] Figure 2 A schematic flowchart illustrating a cleaning method using a cleaning device provided in an embodiment of this application;

[0023] Figure 3 A comparative schematic diagram showing the image enhancement of the edge line of a mop mark before and after, provided as an embodiment of this application;

[0024] Figure 4 This is a schematic flowchart of a method for determining the installation deviation of a dragging and wiping component according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram illustrating an application scenario of cleaning equipment when the mopping component is misaligned, as provided in one embodiment of this application.

[0026] Figure 6 This is a schematic flowchart of a method for determining whether the bow sweeper spacing setting is reasonable according to an embodiment of this application;

[0027] Figure 7 A schematic diagram illustrating an application scenario of cleaning equipment when the bow-broom spacing is too large, according to an embodiment of this application;

[0028] Figure 8 A schematic diagram illustrating an application scenario of cleaning equipment when the bow-broom spacing is too large, according to an embodiment of this application;

[0029] Figure 9 A schematic diagram illustrating an application scenario of cleaning equipment under normal cleaning conditions, provided in an embodiment of this application;

[0030] Figure 10 A schematic diagram illustrating a method for calculating the width of the overlapping region according to an embodiment of this application;

[0031] Figure 11 This is a schematic flowchart of a method for adjusting cleaning parameters based on mopping uniformity, provided in an embodiment of this application.

[0032] Figure 12 A schematic diagram showing the comparison of image color level processing before and after an embodiment of this application;

[0033] Figure 13 A schematic diagram showing the comparison of image color level processing before and after an embodiment of this application;

[0034] Figure 14 A schematic diagram showing the comparison of isolated water stains before and after image processing, provided in an embodiment of this application;

[0035] Figure 15 This is a schematic diagram showing the comparison of an uneven region before and after image processing, provided in an embodiment of this application.

[0036] Figure 16 This is a schematic diagram showing the comparison of a uniform region before and after image processing, provided in an embodiment of this application.

[0037] Reference numerals: 1-cleaning equipment; 10-cleaning device; 110-mopping component; 111-left mopping component; 112-right mopping component; 120-water injection assembly; 20-motor; 210-first trace line; 220-second trace line; 211-middle trace line; 221-missed area; 230-overlapping area; 30-processor; 40-memory; 50-image acquisition device; 501-rearview camera; 500-image imaging area. Detailed Implementation

[0038] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0039] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0040] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings.

[0041] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a cleaning device 1 provided in an embodiment of this application. Figure 1 As shown, the cleaning device 1 includes: a cleaning unit 10, an image acquisition unit 50, a motor 20, a memory 40, and a processor 30. The cleaning unit 10 includes at least one mopping component 110 and a water injection assembly 120 for adding water to the corresponding mopping component 110. The image acquisition unit 50 is used to acquire images of the vicinity of the cleaning device 1; the image acquisition unit 50 can be a camera or similar device, and at least one is provided on the cleaning device 1. The motor 20 drives the mopping component 110 to perform cleaning work. The memory 40 stores instructions that can be executed by at least one processor 30. The processor 30 executes the instructions to cause at least one processor 30 to perform the cleaning method of the cleaning device 1 as described in the following embodiments. Each of the above-mentioned devices is provided at least once, and the devices are connected together to enable the cleaning device 1 to perform various processes in a series of cleaning methods, such as acquiring cleaning information, judging the cleaning status and cleaning problems, and taking corresponding cleaning measures.

[0042] In actual processing and production, the cleaning equipment 1 may not have the water injection component 120 installed. The specific application method is as follows: The cleaning equipment 1 drives the mopping component 110 to mop the area to be cleaned. After the accumulated time or accumulated mopping distance reaches the preset value, it automatically returns to the cleaning base station corresponding to the mopping component 110 of the cleaning equipment 1 for cleaning. Based on the need for the mopping component 110 to mop the dry ground, the cleaning base station does not set the operation of automatically shaking off water from the mopping component 110, or reduces the shaking off parameters such as the drying rate, so that the mopping component 110 stores a certain amount of water after leaving the cleaning base station for continuous mopping. If the cleaning equipment 1 returns to the cleaning base station and repeats the above steps when the moisture of the mopping component 110 is insufficient and the mopping marks are uneven.

[0043] Cleaning equipment can be a mopping robot, a sweeping robot, or other equipment with mopping functions.

[0044] Please see Figure 2 , Figure 2 This is a schematic flowchart of a cleaning method for a cleaning device 1 provided in an embodiment of this application. Figure 2 As shown, the cleaning method includes:

[0045] S01: Parameters used to detect mopping marks information of cleaning equipment 1.

[0046] Mopping marks refer to the shallow water stains left on the cleaned area after the cleaning device 1 moves and the mopping component 110 cleans the floor. In this step, the cleaning device 1 collects and detects parameters in real time during the cleaning process, such as the load parameters of the motor 20 that drives the mopping component 110 to rotate, the image information parameters of the shallow water stains collected and processed after mopping, and all other relevant parameters that can characterize the mopping mark information of the cleaned area.

[0047] S02: If the detected parameters do not meet the preset conditions, adjust the cleaning parameters of the cleaning equipment 1 so that the detected parameters tend to meet the preset conditions.

[0048] The preset conditions refer to the following conditions after the cleaning equipment 1 cleans the floor: the cleaned area can be determined to be a continuous and complete area covered by mopping marks, without any missed areas; and the water depth in the mopping marks is appropriate, and the mopping marks are uniform, such as no missed areas, no dry areas, and no water stains in the mopping marks. Cleaning parameters refer to parameters that control the cleaning force or movement of the cleaning equipment 1, such as the water injection speed or volume of the water injection component 120, the distance or speed of the broom and sweeper of the cleaning equipment 1, or the rotation speed of the mopping component 110, etc., which can affect the preset conditions.

[0049] When the detected parameters indicate cleaning problems such as missed areas, repeated large-area mopping, or uneven wetness represented by watermarks (shallow water stains, hereinafter referred to as watermarks or mopping marks) in the cleaned area, the cleaning device 1 determines that the cleaning condition does not meet the preset conditions and needs to adjust the corresponding cleaning parameters to ensure that the detected parameters indicate that the cleaning condition of the cleaned area meets the preset conditions after the cleaning device 1 cleans other areas or cleans the problem area again.

[0050] Please see Figure 3 , Figure 3 This is a comparative illustration of the image enhancement of the edge line of a mop mark before and after, provided as an embodiment of this application. (See attached image.) Figure 3 As shown, while cleaning the floor, the image acquisition device 50 captures images of the cleaned area, such as... Figure 3 As shown in the image on the left; after processing the image, cleaning device 1 will output the detected enhanced edge trace curve, as shown in the image on the left. Figure 3 As shown in the image on the right. Then, the cleaning device 1 determines whether there are any missed areas 221 in the cleaned area by using the number and location information of the edge trace lines.

[0051] When the cleaning device 1 starts the mopping mode, the camera function in the image acquisition device 50 is activated to acquire real-time images. The cleaning device 1 can have a rear-view camera at the rear of the device to acquire images; or a front-view camera at the front of the device, which rotates 180° to achieve a rear-view effect when it needs to acquire images of the cleaned area. After acquiring images of the cleaned area, the cleaning device 1 processes the acquired images to obtain enhanced edge trace curves, as detailed in steps S101-S105 below.

[0052] S101: Based on the acquired real-time image, detect the floor texture information in the image and perform Gaussian blur processing to reduce the interference of floor texture on the detection of mopping marks in the cleaned area.

[0053] S102: Adjust the color levels of the image to enhance the watermarks in the cleaned areas of the image.

[0054] S103: Convert the enhanced watermark image to HSV space and combine the H and S components for binarization.

[0055] HSV color space, also known as the HSV color model, is a color space created based on the intuitive characteristics of colors in an image. The color parameters in the model are hue, saturation, and lightness. Binarization refers to presenting the entire image in a distinct black and white effect. Image binarization greatly reduces the amount of data that needs to be processed in the image, thus highlighting the outline of the drag marks.

[0056] S104: Perform morphological hole filling on the binarized image to smooth the contour edges of the drag marks in the processed image.

[0057] S105: Extract the edge pixels of the mopping marks in the image, perform curve fitting based on the edge feature point sequence of the mopping marks to form a complete edge mark line, and output the detected edge mark line.

[0058] After processing the image to enhance the edge lines of the mopping marks, the cleaning device 1 judges the cleaning status of the mopping marks based on the number and location information of the detected edge lines, confirms whether there are any missed areas in the cleaned area, and adjusts the cleaning parameters and re-mops the missed areas 221 according to the cause of the missed mopping problem, so that the cleaning status of the cleaned area meets the preset conditions. In the embodiments of this application, the cleaning device 1 adopts a dual-mopping component structure or a single-mopping component structure in the mopping mode. The cleaning device 1 moves in a "bow" shaped path to clean the floor. Please refer to the following embodiments for details.

[0059] Please see Figure 4 , Figure 4 This is a schematic flowchart illustrating a method for determining the missed area and its cause according to an embodiment of this application. Please refer to... Figure 5 , Figure 5 This is a schematic diagram illustrating an application scenario where the cleaning device 1 cleans when the mopping component 110 provided in one embodiment of this application is installed off-center. Figure 4 As shown, the method includes:

[0060] S111: Detects the number of edge traces of a single bow sweep path in the image recognition of the mopping area.

[0061] In this step, the information detected by cleaning device 1 includes: the number of edge trace lines of the mopping area of ​​a single bow sweep path identified by image recognition.

[0062] S112: If the number of edge marks in the mopping area is 4, it indicates that there is an installation deviation in the left mop 111 or the right mop 112, so that the user can adjust the installation position parameters of the left mop 111 or the right mop 112.

[0063] Because the dual mopping components 110 are installed symmetrically with the central axis of the cleaning equipment 1 as the axis of symmetry, when the dual mopping components 110 are installed in the correct position, there will be no problem of missed mopping due to gaps in the middle of the dual mopping components 110. Figure 5As shown, when there is an installation deviation problem in the left mop 111 of the dual mop 110, the cleaning device 1 detects four edge trace lines of the mopping marks in the image imaging area 500 of the image acquisition device 50 (rearview camera 501), including two outer first trace lines 210 and two middle trace lines 211 close to the center of the bow sweeping path. The cleaning device 1 verifies whether there is an installation deviation problem of a certain mop 110 based on the relative position relationship of the edge trace lines with respect to the camera (located on the central axis of the image). Figure 5 The image shows the missing area 221 in the middle caused by the installation deviation of the left wiping component 111; the method for judging the installation deviation of the right wiping component 112 is basically the same, and will not be repeated here.

[0064] After confirming an installation deviation in either the left mop 111 or the right mop 112, cleaning device 1 automatically records the current location information, the location information of the missed mop area 221, and issues a prompt message, such as a flashing indicator light or a voice announcement. Cleaning device 1 can also send a prompt message to a user-controlled mobile terminal when connected to a network, prompting the user to adjust the installation position parameters of the left mop 111 or the right mop 112. After the user adjusts the installation position of the mop 110, cleaning device 1 returns to the recorded position to continue cleaning or perform additional mopping.

[0065] When the cleaning device 1 is equipped with only a single mop 110, the cleaning device 1 can determine whether there is an installation deviation problem with the single mop 110 based on the relative position relationship between the two edge trace lines formed by the single mop 110 and the camera, and then prompt the user to make corresponding adjustments.

[0066] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating a method for determining the missed area and its cause according to an embodiment of this application. Figure 6 As shown, the method includes:

[0067] S121: Detects the number of dragging areas and adjacent edge traces of a single bow sweep path in the image recognition.

[0068] In this step, the information detected by cleaning device 1 includes: the mopping area of ​​a single bow sweeper path identified by image recognition and the number of edge traces in adjacent areas. After cleaning a single bow sweeper path, cleaning device 1 turns approximately 180° and cleans the adjacent areas of the single bow sweeper path. At this time, the rear-view camera 501 of cleaning device 1 can capture the mopping traces corresponding to two adjacent unidirectional paths, and cleaning device 1 can detect the edge traces of the mopping traces.

[0069] S122: If the number of edge traces in the mopping area is 3, then reduce the bow sweeper spacing.

[0070] When cleaning device 1 changes direction and moves along an adjacent path to clean, the cleaned area of ​​the current path needs to overlap to some extent with the cleaned area before the change of direction to ensure the integrity of the mopping marks. If the turning offset of cleaning device 1 is large, there will be missed mopping issues between adjacent paths due to the movement deviation. The bow sweeping distance is the movement offset of cleaning device 1 when it changes direction.

[0071] Please see Figure 7 , Figure 7 This is a schematic diagram illustrating an application scenario of the cleaning device 1 when the bow-broom spacing is too large, as provided in one embodiment of this application. Figure 7 As shown, the bottom of the cleaning device 1 is equipped with dual mopping components 110. After the cleaning device 1 turns around to clean, the image imaging area 500 of the rearview camera 501 detects three edge trace lines of the mopping marks. One of them is the first trace line 210 left by the right mopping component 112 before turning around. The other two are the second trace lines 220 left by the left mopping component 111 and the right mopping component 112 after the cleaning device 1 turns around. The area formed between the adjacent first trace line 210 and the second trace line 220 is the missed mopping area 221 caused by the excessive distance D between the broom and the broom when the cleaning device 1 turns around.

[0072] Please see Figure 8 , Figure 8 This is a schematic diagram illustrating an application scenario of the cleaning device 1 when the bow-broom spacing is too large, as provided in one embodiment of this application. Figure 8 As shown, when the cleaning device 1 is equipped with a single mopping component 110, the method for determining whether there is a missed mopping area 221 caused by excessive bow-broom spacing is basically the same as the method for determining the presence of a double mopping component 110 in the above embodiment. During cleaning, the single mopping component 110 of the cleaning device 1 forms two edge trace lines. After the cleaning device 1 changes direction, the image imaging area 500 of the rear-view camera 501 detects three edge trace lines of the mopping traces: one first trace line 210 and two second trace lines 220. The area formed between adjacent first trace lines 210 and second trace lines 220 is the missed mopping area 221 caused by excessive bow-broom spacing D.

[0073] Please see Figure 9 , Figure 9 This is a schematic diagram illustrating an application scenario of the cleaning equipment 1 under normal cleaning conditions, as provided in an embodiment of this application; please refer to... Figure 10 , Figure 10 This is a schematic diagram illustrating a method for calculating the width of the overlapping region 230 according to an embodiment of this application.

[0074] like Figure 9As shown, after the cleaning device 1 confirms the existence of a missed area 221 between adjacent broom paths due to a large broom spacing setting, the cleaning device 1 needs to correct its travel data based on the distance between two adjacent edge trace lines, and adjust the broom spacing accordingly. This ensures that, with reasonable broom spacing parameters, the mopping traces in adjacent areas after the cleaning device 1 turns have a suitable overlap area 230 with the mopping traces before turning. The overlap area 230 should not be too small, to avoid the cleaning device 1 increasing the likelihood of missed areas between adjacent paths in order to improve cleaning efficiency; nor should the overlap area 230 be too large, to avoid the cleaning efficiency of the cleaning device 1 being too low.

[0075] Figure 10 The diagram shows the cleaning device 1 in normal working order. After turning, the cleaning device 1 performs cleaning work. The mopping marks cover the first mark line 210 formed by the right mopping component 112 before turning. At the same time, the overlap of two adjacent mopping marks also covers the second mark line 220 formed by the right mopping component 112 after turning. Therefore, after turning, the rearview camera 501 can only identify the second mark line 220 formed by the left mopping component 111.

[0076] like Figure 9 , Figure 10 As shown, during the cleaning process, the cleaning device 1 uses images captured by the rearview camera 501 to detect the number and position of edge marks, determining whether the edge marks are exactly on either side of the image center, thus determining the center of the mopping marks by the rearview camera 501. Under normal cleaning conditions, the relative position of the edge marks and the rearview camera 501 forms a pattern as shown in the image. Figure 9 , Figure 10 The relationship is shown in the figure. For ease of description and calculation, the sum of the diameters of the two mopping parts on the left and right is equal to the diameter of the sweeper. The two edge trace lines are tangent to the outer edges of the cleaning device 1 and the two mopping parts on the left and right. Under the condition that there are no gaps or missed areas in the mopping traces within the area formed by the center lines of the two mopping parts, the actual collected mopping traces are divided into four areas according to the center lines of the mopping parts 110 and the center lines of the cleaning device 1. The two middle areas form area A. An overlapping area is set in each of the two areas near the edge trace lines. These are the overlapping areas 230 when the cleaning device 1 turns left and right, respectively, and the overlapping area 230 formed when turning right. The figure shows the overlapping area 230 formed when turning right. The width of the overlapping area 230 is w. pix The rearview camera 501, mounted on the robot vacuum, captures mopping marks. Based on the spatial relationship between the rearview camera 501 and the mopping marks on the floor, the width W of the mopping marks is calculated. pix The overlapping area is 230 width w pix Width W of mop marks pix The relationship between them is:

[0077] w pix =ω*W pix

[0078] Where ω represents the overlap rate of mopping marks. In the embodiments of this application, the recommended value for ω is [value missing]. In other embodiments of this application, the overlap ratio can be set differently depending on the size of the cleaning device 1 and the mopping component 110. If the overlap ratio is set too high, the mopping efficiency will decrease; conversely, the lower the overlap ratio is set, the greater the probability of missed areas.

[0079] If the cleaning device 1 uses a single mopping component 110, the cleaning device 1 can determine the overlap rate of mopping marks based on the diameter of the single mopping component 110, ensuring the cleaning efficiency of the cleaning device 1 while preventing missed mopping.

[0080] Besides missed areas due to overlap and installation deviations, cleaning equipment 1 may also experience small missed areas during operation. When cleaning equipment 1 detects a missed area using its rearview camera, it defines the abnormal mopping point based on the size and location of the missed area and performs additional mopping. After completing the additional mopping, it returns to its original position to continue cleaning. The specific detection, judgment, and additional mopping methods are as follows:

[0081] S131: Based on the mopping trace image captured by the rear-view camera, identify the edge trace lines, generate a mask according to the mopping trace area, and perform image cutout processing on the original image.

[0082] S132: Obtain the sub-image of the area surrounded by the edge trace lines after the image is cut out, and enhance the sub-image to increase the contrast so that the mopping traces are more obvious.

[0083] S133: The water flooding detection method is used to generate areas for mopping marks in order to obtain complete mopping marks.

[0084] S134: Detect whether there are unmarked pixels in the processed image, identify the corresponding missing regions based on the set of unmarked pixels, and mark them as missing regions.

[0085] S135: Confirm the outer contour of the missed area, and calculate the area of ​​the missed area and its positional relationship with the rearview camera based on the spatial relationship between the rearview camera and the ground.

[0086] S136: Record the current position information and corresponding pose state of cleaning device 1 and store them accordingly, defining them as the original cleaning state information of cleaning device 1.

[0087] S137: Adjust the movement path and position of the cleaning device 1 based on the area of ​​the missed area and its positional relationship with the cleaning device 1, so that the cleaning device 1 can go to the missed area to perform additional mopping.

[0088] S138: After the mopping is completed, the cleaning device 1 returns to its original position based on the stored original cleaning status information, continues to perform the cleaning work before the mopping according to the original bow sweeping path, and clears the original cleaning status information and related mopping information.

[0089] The above embodiment determines whether the cleaning condition reflected by the mopping marks meets preset conditions based on the edge trace line information detected by the rear-view camera. Specifically, it checks whether the area containing the mopping marks formed by the broom path of the mopping component 110 of the cleaning device 1 is complete and whether there are any missed areas. In practical applications, the specific judgment conditions and corresponding data for determining whether the mopping marks meet the preset conditions based on the edge trace lines may differ due to variations in the camera's field of view and installation location. In other embodiments of this application, the preset judgment conditions and corresponding adjustments and remedial measures of the cleaning device 1 can be adjusted based on the specific structure and movement of the cleaning device 1, while referring to the methods of the above embodiments.

[0090] This application embodiment determines whether there are missed areas and the cause of the missed areas by using the edge lines of the mopping marks. It can accurately confirm the cleaning status, identify missed areas, determine the cause of the missed areas, adjust the corresponding cleaning parameters, and perform additional mopping on the missed areas or issue prompts to the user without user monitoring. The cleaning device 1 improves cleaning efficiency and saves manpower and resources to a great extent.

[0091] Please see Figure 11 , Figure 11 This is a schematic flowchart illustrating a method for adjusting cleaning parameters based on mopping uniformity, provided in one embodiment of this application. Figure 11 As shown, the cleaning method includes:

[0092] S21: Detects parameters used to characterize the uniformity of mopping marks.

[0093] When the cleaning equipment cleans the floor with the mopping component, in addition to the missed mopping phenomenon caused by various reasons in the above embodiments, there are also uneven mopping marks caused by unsuitable relative humidity between the mopping component and the floor, water leakage of the water injection component, etc. Therefore, the cleaning equipment will also detect relevant parameters to determine whether the mopping marks are uniform while performing the cleaning work.

[0094] S22: If the detected parameters do not meet the preset parameters for uniform mopping marks, adjust the water injection amount of the mop to make the detected parameters meet the preset parameters for uniform mopping marks.

[0095] Uneven mop marks mainly arise from two situations: one is the accumulation of water in localized areas due to excessive water; the other is that the mop is not sufficiently moist during mopping, causing some areas of the floor to dry quickly or remain dry altogether. Both situations are caused by uneven water supply. To address these issues, cleaning equipment can adjust the amount of water injected into the mop to make the mop marks more even. Cleaning equipment can be configured with a single mop, dual mops, or multiple mops depending on the specific needs.

[0096] The cleaning equipment enhances the images captured by the rearview camera, detects parameters characterizing the uniformity of mop marks, and then judges the uniformity of the mop mark area based on the detected parameters, adjusting the water volume to make the mop marks more uniform. The specific process is as follows:

[0097] S310: Based on the image of the mopping marks area captured by the rear-view camera, extract and analyze the floor-related information in the image and analyze the floor color tone to determine whether the floor color tone under the mopping marks is dark or light.

[0098] S320: Removes reflective spots from mopping marks.

[0099] Since mopping marks are essentially a layer of water film covering the floor surface, some areas will reflect light under the influence of ambient light, which will interfere with subsequent detection parameters to determine the uniformity of mopping. Therefore, it is necessary to remove the reflective areas and generate a mask for non-target areas to reduce interference factors.

[0100] S330: Removes floor texture interference from the image through Gaussian blurring.

[0101] S340: Based on the analyzed floor hue, perform color gradation processing on the image to highlight the mop marks (watermarks) area.

[0102] Please see Figure 12 , Figure 12 This is a comparative diagram showing the image before and after color level processing, provided in an embodiment of this application. Please refer to... Figure 13 , Figure 13 This is a comparative diagram showing the image before and after color level processing according to an embodiment of this application. Based on the different shades of the floor, the specific processing method is as follows: for a dark floor, the high-level grayscale of the image is adjusted towards 128; for a light floor, the low-level grayscale of the image is adjusted towards 80, to obtain the desired result. Figure 12 , Figure 13 The image shows the effect of highlighting the watermark area.

[0103] S341: Based on the processed image information, detect whether there is a large area of ​​water stain accumulation.

[0104] Please see Figure 14 , Figure 14 This is a schematic diagram comparing the image of an isolated water stain before and after image processing, provided as an embodiment of this application. Figure 14 As shown, based on the processed image information, if there are obvious isolated water stains in the mopping marks, the cleaning equipment determines that there may be a water leakage problem in the water injection component and issues a leakage warning.

[0105] In the embodiments of this application, after detecting an isolated water stain, the cleaning device can also determine the corresponding leaking water injection component based on the positional state of the isolated water stain relative to the cleaning device.

[0106] If the cleaning equipment has a single mopping component, it will only issue a leak warning. If the cleaning equipment has a dual-mopping component or even more, with each component having its own independent water injection assembly, the cleaning equipment can identify the leaking water injection assembly based on the positional relationship of isolated water stains relative to the various mopping components. The warning message will then specifically indicate the leaking component. The cleaning equipment can also record the location information of isolated water stains as problem areas, adjust its cleaning parameters (such as water volume and the position of the mopping component relative to the isolated water stain), and clean the isolated water stains based on this location information.

[0107] S350: Detects the edges of mopping marks based on the processed image and extracts the edge information of the mopping marks to form the mopping mark region.

[0108] S360: Acquires information on all pixels within the area of ​​mopping marks in the image, determines the uniformity of the mopping marks based on the differences between pixels, and adjusts the water injection accordingly.

[0109] In this step, the cleaning equipment clusters the pixel information within the mop marks area to form pixel sequence blocks of different levels. That is, it performs image segmentation based on the pixel grayscale levels within the mop marks area, thereby forming several sub-region blocks (referred to as blocks). The more blocks within the same area, the worse the uniformity of the mop marks area, and vice versa.

[0110] In one embodiment, when the cleaning device has a single mopping component, the number of blocks in the detected processed image can be used to determine the mopping pattern. For example, if the mopping component has low humidity, the mopping marks will dry quickly, and these marks will be represented by multiple blocks with different pixel gray levels. When the number of blocks in the mopping mark area exceeds three, it can be confirmed that the mopping marks formed by the single mopping component are uneven. Subsequently, the water injection component will automatically increase the water injection volume and repeat the mopping process to make the mopping marks more uniform.

[0111] Please see Figure 15 , Figure 15This is a comparative diagram showing the image before and after processing of a non-uniform region according to an embodiment of this application; please refer to [link / reference]. Figure 16 , Figure 16 This is a schematic diagram comparing the image before and after image processing of a uniform region according to an embodiment of this application. Figure 15 , Figure 16 As shown, when the cleaning device has a dual-mopping component structure, the parameters used to characterize the uniformity of mopping marks are identified through image recognition: the number of first blocks within the mopping mark area formed by the left mopping component and the number of second blocks within the mopping mark area formed by the right mopping component. There are various methods for the cleaning device to determine the uniformity within the mopping mark area based on the number of first and second blocks.

[0112] The cleaning equipment can determine the uniformity of mopping marks within the area by measuring the difference between the number of first and second mopping blocks, and adjust the corresponding cleaning parameters to make the mopping marks formed by subsequent mopping more uniform. Specifically, the determination method is as follows: confirm whether the number of first and second mopping blocks exceeds a second preset threshold. If so, it indicates that the mopping marks formed by the mopping blocks on both sides are uneven. In this case, regardless of whether the difference between the number of first and second mopping blocks exceeds the first preset threshold, the water injection amount of the mopping blocks on both sides needs to be increased to make the subsequent mopping marks more uniform. The cleaning equipment can also adjust the water injection amount of the mopping blocks on the left and right sides separately based on the difference between the number of first and second mopping blocks. For example, if the mopping marks are uneven and the number of the first area is greater than the number of the second area, then when adjusting the cleaning parameters, the water injection amount of the left mop will increase more significantly than that of the right mop, and the relative increase will be determined based on the difference between the number of the first and second areas. If the mopping marks are uneven and the number of the first area is less than the number of the second area, then when adjusting the cleaning parameters, the water injection amount of the right mop will increase more significantly than that of the left mop, and the relative increase will be determined based on the difference between the number of the first and second areas.

[0113] If both the number of the first and second blocks are less than or equal to a second preset threshold, and the difference between the number of the first and second blocks is less than a first preset threshold, it indicates that the mopping marks formed by the left and right mopping components are relatively uniform and of similar uniformity. The cleaning device can maintain the current water volume and continue to move and clean; the cleaning device can also finely adjust the water volume based on the difference between the number of the first and second blocks. For example, if the mopping marks are relatively uniform and the number of the first block is greater than the number of the second block, the cleaning device can fine-tune the water volume of the left mopping component to increase it, so that the mopping marks formed by the left and right mopping components are more uniform; if the mopping marks are relatively uniform and the number of the first block is less than the number of the second block, the cleaning device can fine-tune the water volume of the right mopping component to increase it, so that the mopping marks formed by the left and right mopping components are more uniform. In this embodiment, the second preset threshold is set to 3. In this application, when both the number of the first block and the number of the second block are less than or equal to the second preset threshold, the difference between the number of the first block and the number of the second block is also small and will not exceed the first preset threshold. In other embodiments of this application, the first preset threshold and the second preset threshold can be set to other values ​​based on the specific circumstances of the cleaning equipment during cleaning.

[0114] The cleaning equipment can also directly determine the uniformity of the mopping marks by the number of the first and second blocks, and adjust the cleaning parameters accordingly. Specifically: if the number of the first blocks is greater than a second set threshold, it is confirmed that the mopping marks formed by the left mop are uneven, and the water injection of the left mop is increased; if the number of the second blocks is greater than the second set threshold, it is confirmed that the mopping marks formed by the right mop are uneven, and the water injection of the right mop is increased. If the number of the first or second blocks is less than or equal to the second set threshold, the corresponding mopping marks are relatively uniform. In this embodiment, the second set threshold is set to 3; in other embodiments, the second set threshold can be set to other values ​​based on the specific situation of the cleaning equipment during cleaning.

[0115] Based on the above embodiments, when the cleaning equipment identifies mopping marks by processing images, and after re-mopping with increased water volume, the cleaning equipment needs to comprehensively determine, using the above methods, whether there is an uneven accumulation of water stains due to excessive water volume, resulting in an excessive number of blocks and uneven mopping mark areas. If so, the cleaning equipment reduces the water volume of the corresponding mopping component. For example, if the cleaning equipment re-mops after increasing the water volume based on the uneven area, and the number of blocks is more or the same, the cleaning equipment can determine whether the corresponding mopping component has excessive water volume based on the specific information of the pixels in the mopping mark area. If so, it reduces the water volume of the corresponding mopping component; alternatively, the cleaning equipment can directly determine whether the corresponding mopping component has excessive water volume based on the specific information of the pixels in the uneven area.

[0116] S370: After the cleaning equipment adjusts the water volume and cleans the uneven areas again, it processes the collected images again to determine whether the uniformity of the mopping marks has improved.

[0117] The method for the cleaning equipment to re-clean uneven areas can refer to the steps of the method for re-mopping missed areas in the above embodiment. If the original uneven area improves after re-cleaning, but still does not meet the uniformity parameter conditions, the cleaning equipment continues to repeatedly mop the uneven area until it meets the uniformity conditions. If the original uneven area meets the preset uniformity conditions after re-cleaning, the cleaning equipment returns to the original cleaning path to continue cleaning. If the original uneven area does not improve after re-cleaning, but it is not a problem of water stains, there may be a problem of the mop being too dirty or the water inlet being blocked. The cleaning equipment automatically executes the recall mode, allowing the mop to be cleaned and then mop the uneven area again to check whether the uneven area has improved. If the uniformity of the problem area still has not improved or the improvement is very small, the cleaning equipment issues a prompt message to remind the user to check whether the water inlet is blocked.

[0118] The cleaning equipment can also have a camera installed at both the front and rear ends of the machine, serving as a front-view and rear-view camera respectively. This allows for the capture of two contrasting images of the same area before and after cleaning, or by rotating the same camera to capture the same area. The cleaning equipment judges the uniformity of the mopping marks based on the differences in the floor before and after mopping in the comparison images; if uneven, it adjusts the water injection amount of the mopping components based on the processed image data. The specific method is as follows:

[0119] S410: Based on the acquired images, compare the differences in the floor before and after mopping and remove mopping marks as interference.

[0120] S420: Based on the comparison images before and after cleaning, the image processing methods such as pixel clustering are used to form multiple sub-region blocks (referred to as blocks) in the comparison image for the area where mopping marks are located.

[0121] S430: Based on the relative position of the mopping device and the camera, the sub-area block is matched with the corresponding mopping device to determine the uniformity of the mopping marks area on the ground.

[0122] In this step, if the cleaning device has a dual-mopping component structure, the sub-area is divided into a first area corresponding to the left mopping component and a second area corresponding to the right mopping component, based on the positional relationship of the two mopping components relative to each camera. The uniformity of the mopping marks on the floor is determined based on the number of first and second areas, the number of second areas, and the differences between the two frames of images before and after cleaning. If the number of first areas is small and the change in number is minimal in both images, the left side is considered to have a more uniform mopping pattern. Conversely, if the number of first areas is large before and after cleaning, it indicates that the floor at the location of the mopping marks is uneven, requiring further verification of the floor condition and adjustment of cleaning parameters.

[0123] If the cleaning equipment has a single mopping component, there is no need to divide it into sub-area blocks. The uniformity of the mopping marks area can be judged and verified directly based on the number of sub-area blocks and the degree of change in the images before and after cleaning.

[0124] S440: Perform wavelet decomposition and water accumulation detection on the image before cleaning to obtain and verify the ground condition at the corresponding location.

[0125] Because dust and stains are not very visible, they are difficult to detect in mopping marks. Therefore, wavelet decomposition is performed on the image before cleaning to extract low-frequency information. Areas with more low-frequency information are identified as target areas. This allows us to verify whether the water marks are uniform after mopping, whether there is excessive water accumulation due to insufficient cleaning, or whether insufficient water or low humidity of the mop causes water marks to dry easily and localized dryness in multiple areas of the floor. At the same time, we can avoid interference from the texture information of the floor.

[0126] The cleaning equipment can also use images to identify isolated water stains or large water stains in unmopped areas, and use the location information of the water stains to identify the corresponding mopping parts to adjust the water injection volume.

[0127] S450: Adjust the amount of water injected into the corresponding mop based on the location of areas where watermarks dry easily (local drying) or where there is water accumulation.

[0128] Based on different judgment results, the corresponding adjustment measures may include the following:

[0129] If the cleaning equipment detects that watermarks in a local area are easy to dry or that there are already dry patches, it will increase the amount of water injected into the corresponding mop to make the floor cleaner more thoroughly. If the cleaning equipment detects standing water or water stains, it will reduce the amount of water injected into the corresponding mop or even turn it off until the standing water or water stains are absorbed by the mop or the floor is mopped evenly, and then reopen the water inlet to inject water.

[0130] Based on the differences between the before and after cleaning images, the corresponding adjustment measures may also be as follows: If it is confirmed that the mopping marks are even after mopping, the amount of water can be finely adjusted or kept constant, referring to the above embodiments. If the unevenness of the mopping marks before and after mopping is consistently severe, the amount of water can be increased for additional mopping, the mop parts can be recalled and cleaned, or a prompt can be made to check if the water inlet is blocked, referring to the above embodiments.

[0131] In addition to detecting parameters characterizing the uniformity of mop marks through image acquisition and processing, cleaning equipment can also confirm the uniformity of mop marks by controlling the motor load parameters that control the rotation of the mop. When the amount of water injected into the mop is small, resulting in low moisture content, the frictional resistance when cleaning a dry floor is high, and the motor load parameters controlling the mop's rotation will be higher. Conversely, when the amount of water injected into the mop is excessive or there are water stains on the floor, the high moisture content of the mop results in low frictional resistance and easy slippage when cleaning, and the motor load parameters controlling the mop's rotation will be lower.

[0132] After detecting the motor load parameters of the cleaning equipment, the parameter conditions for determining the uniformity of mopping marks based on these parameters can be varied. When the cleaning equipment has a single mopping component, a pre-set threshold range is used to determine if the motor load parameters fall within this range, thus confirming the uniformity of the mopping marks. When the cleaning equipment has a dual mopping component, it is determined whether the loads of the drive motors of both the left and right mopping components are within the set threshold range, or, by combining the determination of whether the loads of the drive motors of both the left and right mopping components are within the set threshold range, and simultaneously determining whether the difference in load between the two drive motors is less than a third set threshold.

[0133] In one embodiment, the preset parameter condition for characterizing the uniformity of mopping marks is as follows: when the load of the drive motor of one mopping component meets the condition and the load of the drive motor of the other mopping component is not significantly different from it, the mopping marks can be confirmed to be relatively uniform. That is, when the load of the drive motor of the left mopping component is within a set threshold range, and the difference between the load of the drive motor of the left mopping component and the drive motor of the right mopping component is less than a third set threshold; or when the load of the drive motor of the right mopping component is within a set threshold range, and the difference between the load of the drive motor of the left mopping component and the drive motor of the right mopping component is less than a third set threshold, the mopping marks are confirmed to be relatively uniform.

[0134] The preset parameter conditions for determining the uniformity of mopping marks can also be: if the load of the drive motors of the mopping components is within a set threshold range, it can be confirmed that the mopping marks in the corresponding mopping area are uniform. That is, if the loads of the drive motors of both the left and right mopping components are within the set threshold range, then the mopping marks in the cleaned area of ​​the cleaning equipment are uniform.

[0135] If the detected motor load parameters do not meet the condition for even mopping marks, the cleaning equipment will adjust the water injection volume accordingly based on the motor load parameters. The specific method is as follows:

[0136] When the load on the drive motor of either the left or right mop is outside the set threshold range, it indicates that the mopping marks in the corresponding area are uneven, and the water injection amount needs to be adjusted accordingly to make the mopping marks more uniform. The upper limit of the set threshold range is the fourth set threshold, and the lower limit is the fifth set threshold. If the load on the drive motor of the left mop is greater than the fourth set threshold, increase the water injection amount for the left mop; if the load on the drive motor of the right mop is greater than the fourth set threshold, increase the water injection amount for the right mop. If the load on the drive motor of the left mop is less than the fifth set threshold, decrease the water injection amount for the left mop; if the load on the drive motor of the right mop is less than the fifth set threshold, decrease the water injection amount for the right mop. The difference between the loads of the drive motors of the left and right mop can be used as a reference value for adjusting the relative degree of water injection.

[0137] Specifically, if the load of the drive motor of the left mop and the load of the drive motor of the right mop are both greater than the fifth set threshold; if the difference between the load of the drive motor of the left mop and the load of the drive motor of the right mop is less than the third set threshold, and the left is greater than the right, then the water injection volume of the left mop is increased; if the difference between the load of the drive motor of the left mop and the load of the drive motor of the right mop is less than the third set threshold, and the left is less than the right, then the water injection volume of the right mop is increased.

[0138] The above embodiments can detect and solve the problem of uneven mopping caused by unsuitable water volume on the ground after the cleaning equipment has mopped the floor, and adjust the cleaning parameters in time to make the mopping marks area uniform.

[0139] This application can be applied to various scenarios, such as uneven watermarks, water stains, and missed areas, regardless of the number of mopping components in the cleaning equipment. It effectively improves the cleaning quality and efficiency of the cleaning equipment, greatly saves manpower, and provides users with a better user experience.

[0140] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0141] In addition, the various embodiments in this application can be integrated together to form a method or apparatus, or they can exist independently as a method or apparatus, or two or more can be integrated to form an independent part.

[0142] This application provides a computer-readable storage medium storing a computer program. The computer program can be executed by a processor to perform a cleaning method for a cleaning device.

[0143] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0144] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning method for cleaning equipment, characterized in that, The cleaning device includes a mopping component located at the bottom of the cleaning device, and the method includes: Detect parameters used to characterize mopping marks from cleaning equipment; The detected parameters are used to characterize the uniformity of mop marks. If the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning equipment are adjusted so that the detected parameters tend to the preset conditions. This includes: if the detected parameters do not meet the preset parameter conditions characterizing the uniformity of mop marks, the water injection amount of the mop is adjusted so that the detected parameters meet the preset parameter conditions characterizing the uniformity of mop marks. The parameters detected are the number of first blocks formed by the mopping marks in the left mopping area and the number of second blocks formed by the mopping marks in the right mopping area, as identified by image recognition. The preset parameters for characterizing uniform mopping marks include: the difference between the number of the first block and the number of the second block is less than a first preset threshold; and / or, the ratio of the number of the first block to the number of the second block is less than a second preset threshold.

2. The method according to claim 1, characterized in that, Adjusting the water injection volume of the mopping component includes: If the difference between the number of the first block and the number of the second block is less than the first set threshold, and the number of the first block is greater than the number of the second block, then the water injection amount of the left mop is increased. If the difference between the number of the first block and the number of the second block is less than the first set threshold, and the number of the first block is less than the number of the second block, then the water injection volume of the right dragging component is increased.

3. The method according to claim 1, characterized in that, Adjusting the water injection volume of the mopping component includes: If the number of the first blocks is greater than the second set threshold, then increase the water injection amount of the left mop. If the number of the second blocks is greater than the second set threshold, then the water injection amount of the right dragging component is increased.

4. The method according to claim 1, characterized in that, The parameter being detected is the motor load parameter of the cleaning equipment during cleaning; The preset parameters for characterizing uniform mopping marks include: the load on the drive motor of the left mopping component is within a set threshold range. The difference between the load of the drive motor of the left wiping component and the load of the drive motor of the right wiping component is less than a third set threshold; and / or, the load of the drive motor of the left wiping component / the load of the drive motor of the right wiping component is within the set threshold range.

5. The method according to claim 4, characterized in that, Adjusting the water injection volume of the mopping component includes: If the difference between the load of the drive motor of the left mopping component and the load of the drive motor of the right mopping component is less than the third set threshold, and the left is greater than the right, then the water injection volume of the left mopping component is increased; if the difference between the load of the drive motor of the left mopping component and the load of the drive motor of the right mopping component is less than the third set threshold, and the left is less than the right, then the water injection volume of the right mopping component is increased. And / or, If the load on the drive motor of the left mopping component is greater than the fourth set threshold, then the water injection volume of the left mopping component is increased. If the load on the drive motor of the right mop is greater than the fourth set threshold, the water injection volume of the right mop will be increased.

6. The method according to claim 1, characterized in that, The detected information includes: the number of edge trace lines of the mopping area in a single bow sweep path identified by image recognition; If the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning equipment are adjusted to make the detected information tend towards the preset conditions, including: If the number of edge marks in the mopping area is 4, it indicates that there is an installation deviation in the left / right mopping parts, so that the user can adjust the installation position parameters of the left / right mopping parts.

7. The method according to claim 1, characterized in that, The detected information includes: the number of mopping areas and adjacent edge traces of a single bow sweeper path identified by image recognition; If the detected parameters do not meet the preset conditions, the cleaning parameters of the cleaning equipment are adjusted to make the detected information tend towards the preset conditions, including: If the number of edge traces in the mopping area is 3, then reduce the bow sweeper spacing.

8. A cleaning device, characterized in that, include: A cleaning device, comprising at least one mop and a water injection assembly for adding water to the mop; An image acquisition device for acquiring images of the vicinity of the cleaning equipment; An electric motor is used to drive the mopping component to perform cleaning work; Memory, used to store computer programs; A processor for executing a computer program to implement the method as described in any one of claims 1 to 7.

Images