Cleaning apparatus

Abstract

A cleaning device configured to clean a target surface, the cleaning device comprising: a clean water tank configured to store clean water; a clean water release pipe in communication with the clean water tank and configured to release the clean water in the clean water tank to the target surface; a dirty water tank configured to collect dirty water on the target surface; a dirty water collection pipe in communication with the dirty water tank and configured to collect the dirty water on the target surface into the dirty water tank; a dirty water release pipe in communication with the dirty water tank and configured to release the dirty water in the dirty water tank to the target surface; a detection device configured to obtain detection information; and a control device configured to control the clean water release pipe and / or the dirty water release pipe according to the detection information.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment, and more particularly, to a cleaning device, especially a wet cleaning device. Background Technology

[0002] Cleaning equipment, such as floor scrubbers, is becoming increasingly popular among users. These typically consist of the main unit and a cleaning base. The main unit contains a wastewater tank and a clean water tank, as well as a motor for suction. The cleaning base includes cleaning components for mopping. Clean water from the tank is sprayed onto the cleaning components through an internal hose, causing the components to rotate at high speed and scrub the floor. Summary of the Invention

[0003] This disclosure provides a cleaning device configured to clean a target surface, comprising:

[0004] The clean water tank is configured to store clean water.

[0005] A clean water release pipe is connected to the clean water tank and is configured to release clean water from the clean water tank to the target surface;

[0006] A wastewater tank configured to collect wastewater from the target surface;

[0007] A sewage collection pipe, connected to the sewage tank, is configured to collect sewage from the target surface into the sewage tank;

[0008] A wastewater release pipe, connected to the wastewater tank, is configured to release wastewater from the wastewater tank to the target surface;

[0009] The detection device is configured to acquire detection information, and

[0010] The control device is configured to control the clean water release pipe and / or the wastewater release pipe based on the detection information.

[0011] In some embodiments, the cleaning equipment further includes a switching device configured to control the flow or cut-off of the clean water release pipe and / or the wastewater release pipe.

[0012] In some embodiments, the switching device includes a first solenoid valve and a second solenoid valve, wherein...

[0013] The first solenoid valve is disposed on the clean water release pipe and configured to control the flow or cut-off of clean water in the clean water release pipe; and

[0014] The second solenoid valve is installed on the sewage release pipe and configured to control the flow or cut off of sewage in the sewage release pipe.

[0015] The control device is communicatively connected to the first solenoid valve and the second solenoid valve, and is configured to control the opening or closing of the first solenoid valve and the second solenoid valve.

[0016] In some embodiments, the control device is configured to control the first solenoid valve and the second solenoid valve to open and close alternately, such that at any time during the cleaning process of the cleaning equipment cleaning the target surface, one of the first solenoid valve and the second solenoid valve is in an open state and the other is in a closed state.

[0017] In some embodiments, the cleaning process of the cleaning device cleaning the target surface is divided into multiple control cycles. In each control cycle, each of the first solenoid valve and the second solenoid valve performs at least one on / off switch. The control device is configured to control the ratio of the opening duration of the first solenoid valve and the second solenoid valve in each control cycle to control the amount of clean water and wastewater released for cleaning.

[0018] In some embodiments, the detection information includes at least one of the degree of soiling of the wastewater in the wastewater tank, the duration of the cleaning operation performed by the cleaning equipment, and the degree of soiling of the target surface, and the control device is configured to control the clean water release pipe and / or the wastewater release pipe according to the detection information to control the amount of clean water released and / or the amount of wastewater released.

[0019] In some embodiments, the control device is configured to:

[0020] In response to an increase or decrease in the level of contamination of the wastewater in the wastewater tank, the ratio of the amount of clean water released to the amount of wastewater released is controlled to increase or decrease.

[0021] In some embodiments, the control device is configured to:

[0022] As the duration of cleaning operations performed by the cleaning equipment gradually increases, the ratio of clean water release to wastewater release is gradually increased.

[0023] In some embodiments, the control device is configured to:

[0024] In response to the target surface's level of contamination being less than or equal to a first threshold, the ratio of the clean water release to the wastewater release is controlled to a first ratio; and

[0025] In response to the target surface's level of dirt exceeding a first threshold, the ratio of clean water release to wastewater release is controlled to a second ratio.

[0026] The second ratio is greater than the first ratio.

[0027] In some embodiments, the detection device further includes:

[0028] An image sensor is configured to identify the degree of dirt on the target surface and send the degree of dirt on the target surface to the control device.

[0029] In some embodiments, the image sensor is configured as follows:

[0030] A first image and a second image of the target surface are obtained before and after the cleaning device performs a cleaning operation on the target surface, respectively.

[0031] The pixel values ​​of the first image and the second image are differentially processed to obtain the difference values ​​of the corresponding pixels;

[0032] The degree of dirtiness on the target surface is determined based on the difference value.

[0033] In some embodiments, the target surface is cleaned in multiple cycles, wherein the control device is configured to control the ratio of clean water release to wastewater release in a later cycle to be greater than or equal to the ratio of clean water release to wastewater release in a previous cycle.

[0034] Compared with related technologies, the above-described solutions of this disclosure have at least the following beneficial effects:

[0035] By adding a wastewater tank release pipe, the cleaning equipment can utilize the wastewater already collected in the wastewater tank during cleaning operations. Based on the detection information, the clean water release pipe and the wastewater release pipe can be controlled to improve the overall utilization efficiency of the clean water in the clean water tank and achieve water conservation.

[0036] By installing a first solenoid valve and a second solenoid valve on the clean water release pipeline and the sewage release pipeline respectively, the precise control of the clean water release volume and the sewage release volume can be achieved.

[0037] The first and second solenoid valves are controlled to open and close alternately, so as to achieve precise control of the release of clean water and wastewater, and avoid the simultaneous release of clean water and wastewater to the target surface, which would result in excessive water volume.

[0038] The amount of clean water released through the clean water release pipe and the amount of wastewater released through the wastewater release pipe are controlled according to the degree of dirtiness of the target surface, so as to save clean water consumption while ensuring cleaning effect. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0040] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in some embodiments of this disclosure;

[0041] Figure 2 A schematic diagram of control signals for a first solenoid valve and a second solenoid valve provided for some embodiments of this disclosure; and

[0042] Figure 3 A schematic diagram of control signals for a first solenoid valve and a second solenoid valve provided for some embodiments of this disclosure. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0044] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0045] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0046] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0047] In related technologies, cleaning equipment, such as floor scrubbers, can be operated by a user or can perform cleaning tasks autonomously. They typically consist of a main unit and a cleaning base. The main unit contains a wastewater tank and a clean water tank, as well as a motor for suction. The cleaning base includes cleaning components for mopping, such as cleaning rollers or a cleaning disc. Clean water from the clean water tank is sprayed onto the cleaning components through an internal water pipe. The cleaning components rotate at high speed to mop the floor. Wastewater generated during the cleaning process is collected in the wastewater tank.

[0048] The size of cleaning equipment is limited by design and other factors, and the volume of the clean water tank is also constrained. When the cleaning area is large, the amount of clean water in the tank may be insufficient to clean the entire area. Furthermore, if the target surface is only lightly soiled, the clean water released from the tank during cleaning may be recycled to the wastewater tank after passing over the surface. Since the wastewater in the wastewater tank is also lightly soiled, the existing cleaning equipment cannot reuse this lightly soiled wastewater, resulting in water waste.

[0049] This disclosure provides a cleaning device configured to clean a target surface. The cleaning device includes: a clean water tank configured to store clean water; a clean water release pipe connected to the clean water tank and configured to release the clean water from the clean water tank to the target surface; a wastewater tank configured to collect wastewater from the target surface; a wastewater collection pipe connected to the wastewater tank and configured to collect the wastewater from the target surface into the wastewater tank; a wastewater release pipe connected to the wastewater tank and configured to release the wastewater from the wastewater tank to the target surface; a detection device configured to acquire detection information; and a control device configured to control the clean water release pipe and / or the wastewater release pipe according to the detection information to control the amount of clean water released by the clean water release pipe and the amount of wastewater released by the wastewater release pipe. This disclosure adds a wastewater tank release pipe, allowing the cleaning device to use the wastewater already collected in the wastewater tank to clean the surface during cleaning operations, thus saving water.

[0050] The optional embodiments of this disclosure are described in detail below with reference to the accompanying drawings.

[0051] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in some embodiments of this disclosure. For example... Figure 1As shown, the cleaning device 100, such as a sweeper, can be a walk-behind household sweeper, a ride-on commercial sweeper, or an automatic commercial floor scrubber. The cleaning device 100 is used to clean a target surface 200, i.e., the surface to be cleaned, such as the ground. The cleaning device 100 includes a device body 10 and a cleaning component 50 disposed at the bottom of the device body 10, which can rotate at high speed to wipe the target surface 200. The cleaning component 50 is, for example, a cleaning roller or a cleaning disc, and the number of cleaning rollers or cleaning discs is, for example, one or more.

[0052] The cleaning equipment 100 is, for example, a wet cleaning equipment, and also includes a clean water tank 20, a wastewater tank 30, a clean water release pipe 21, a wastewater collection pipe 32, a wastewater release pipe 31, a detection device, and a control device 40.

[0053] In some embodiments, a clean water tank 20 is disposed, for example, in the device body 10, for storing clean water. The stored clean water can be supplied to the cleaning component 50 when the cleaning device 100 performs a cleaning operation, so that the wetted cleaning component 50 can remove stains on the target surface 200. In some embodiments, clean water can also be released directly onto the target surface 200, and the cleaning component 50 rotates at high speed to wipe the target surface 200.

[0054] The clean water release pipe 21 is connected to the clean water tank 20 and is configured to release clean water from the clean water tank 20 to the target surface 200 so that the cleaning surface 200 can be wiped wet. In some embodiments, the clean water release pipe 21 can also guide the clean water from the clean water tank 20 to the cleaning component 50 and release it onto the target surface 200 as the cleaning component 50 rotates at high speed.

[0055] A wastewater tank 30 is disposed, for example, within the device body 10, and is configured to collect wastewater from the target surface 200. A wetted cleaning component 50 rotates at high speed, rubbing the target surface 200, thus cleaning away dirt and forming the wastewater. A wastewater collection pipe 32 is connected to the wastewater tank 30 and is configured to collect the wastewater from the target surface 200 into the wastewater tank 30. A wastewater release pipe 31 is connected to the wastewater tank 30 and is configured to release the wastewater from the wastewater tank onto the target surface 200. In some embodiments, the wastewater in the wastewater tank 30 can be released onto the target surface 200 via the wastewater release pipe 31 so that the cleaning surface 200 can be wet-wiped, allowing the wastewater in the wastewater tank 30 to be recycled. In some embodiments, the wastewater release pipe 31 can also guide the wastewater from the wastewater tank 20 to the cleaning component 50, and release it onto the target surface 200 as the cleaning component 50 rotates at high speed.

[0056] The detection device 60, such as a sensor, is used to acquire detection information, which includes, for example, the degree of dirtiness of the sewage in the sewage tank, the duration of the cleaning operation performed by the cleaning equipment, and the degree of dirtiness of the target surface.

[0057] The control device 40, such as a control circuit, is communicatively connected to the detection device 60 to receive the detection information. The control device 40 is configured to control the clean water release pipe 21 and / or the wastewater release pipe 31 according to the detection information to control the amount of clean water released by the clean water release pipe 21 and the amount of wastewater released by the wastewater release pipe 31.

[0058] In the above embodiments of this disclosure, a wastewater tank release pipe is added. When the cleaning equipment performs cleaning operations, it can utilize the wastewater that has been collected in the wastewater tank. Based on the detection information, the control device can accurately control the amount of clean water and wastewater released by the cleaning equipment when performing wet cleaning operations, thereby improving the overall utilization efficiency of the clean water in the clean water tank and achieving water conservation.

[0059] In some embodiments, the cleaning device 100 includes a switching device 70 configured to control the flow or cutoff of the clean water release pipe 21 and / or the wastewater release pipe 31. Specifically, as Figure 1 As shown, the switching device 70 includes a first solenoid valve 211 and a second solenoid valve 311. Specifically, the first solenoid valve 211 is disposed on the clean water release pipe 21 and configured to control the flow or cut-off of clean water in the clean water release pipe 21. When the first solenoid valve 211 is open, clean water can flow out from the clean water tank 20 through the clean water release pipe 21. When the first solenoid valve 211 is closed, clean water cannot flow out from the clean water tank 20 through the clean water release pipe 21.

[0060] The second solenoid valve 311 is installed on the sewage release pipe 31 and is configured to control the flow or cut off of sewage in the sewage release pipe 31. When the second solenoid valve 311 is open, sewage can flow out from the sewage tank 30 through the sewage release pipe 31. When the second solenoid valve 311 is closed, sewage cannot flow out from the sewage tank 30 through the sewage release pipe 31.

[0061] In some embodiments, the control device 40 is communicatively connected to the first solenoid valve 211 and the second solenoid valve 311, which can be a wired connection or a wireless connection, and is configured to control the opening or closing of the first solenoid valve 211 and the second solenoid valve 311.

[0062] In this disclosure, the opening or closing of the first solenoid valve 211 and the second solenoid valve 311 by the control device 40 can precisely control the amount of clean water and wastewater released by the cleaning equipment 100 during the cleaning process, and select an appropriate ratio of clean water and secondary wastewater to improve the overall water utilization efficiency.

[0063] Figure 2 A schematic diagram of control signals for a first solenoid valve and a second solenoid valve provided for some embodiments of this disclosure; Figure 3 A schematic diagram of control signals for a first solenoid valve and a second solenoid valve provided for some embodiments of this disclosure.

[0064] Figure 2 and Figure 3 In the diagram, S1 is a schematic diagram of the control signal of the first solenoid valve, and S2 is a schematic diagram of the control signal of the first solenoid valve.

[0065] In some embodiments, such as Figure 2 and Figure 3 As shown, the control device 40 alternately opens and closes the first solenoid valve 211 and the second solenoid valve 311. Specifically, at any moment during the cleaning process of the cleaning device 100 cleaning the target surface 200, one of the first solenoid valve 211 and the second solenoid valve 311 is in the open state, and the other is in the closed state. For example, Figure 2 and Figure 3 In the two consecutive time periods T1 and T2 shown, during the first time period T1, the control device 40 controls the first solenoid valve 211 to be closed and the second solenoid valve 311 to be open. During the second time period T2, the control device 40 controls the first solenoid valve 211 to be open and the second solenoid valve 311 to be closed. In this embodiment, the flow of clean water in the clean water release pipe 21 is driven by a peristaltic pump, for example, thus allowing precise control of the flow rate of clean water in the clean water release pipe 21 when the first solenoid valve 211 is open. Similarly, the flow of sewage in the sewage release pipe 31 is also driven by a peristaltic pump, for example, thus allowing precise control of the flow rate of sewage in the sewage release pipe 31 when the second solenoid valve 311 is open. By using the above-mentioned control device 40 to alternately open and close the first solenoid valve 211 and the second solenoid valve 311, the first solenoid valve 211 and the second solenoid valve 311 will not be open simultaneously, avoiding excessive water flow to the target surface.

[0066] In some embodiments, the first solenoid valve 211 and the second solenoid valve 311 can be opened simultaneously to ensure a sufficient water supply. In some embodiments, such as... Figure 2 and Figure 3As shown, the first time period T1 and the second time period T2 constitute a control time period, for example, a control cycle T. The process of the cleaning device cleaning the target surface is divided into multiple control time periods, for example, multiple control cycles T. In some embodiments, the durations of the multiple control cycles T are, for example, equal. In each control cycle T1, each of the first solenoid valve 211 and the second solenoid valve 311 completes at least one switching operation, i.e., switching from an open state to a closed state, or from a closed state to an open state. The control device 40 controls the ratio of the opening duration of the first solenoid valve 211 and the second solenoid valve 311 in each control cycle to control the amount of clean water and wastewater released for cleaning. In a plurality of sequentially adjacent control cycles, the ratio of the opening duration of the first solenoid valve 211 and the second solenoid valve 311 is the same, thereby allowing precise control of the amount of clean water and wastewater released for cleaning. For example, the ratio of the amount of clean water and wastewater released for cleaning is equal to the ratio of the opening duration of the first solenoid valve 211 and the second solenoid valve 311.

[0067] like Figure 2 As shown, the duration ratio of the second time period T2 to the first time period T1 is, for example, 1:1, and the ratio of the amount of clean water released to the amount of wastewater released for cleaning is also 1:1. Figure 3 As shown, the duration ratio of the second time period T2 to the first time period T1 is, for example, 4:1, and the ratio of the amount of clean water released to the amount of wastewater released for cleaning is also 4:1. Those skilled in the art will understand that the duration ratio of the second time period T2 to the first time period T1 can also be other values, ranging from +∞ to 0. The larger the duration ratio of the second time period T2 to the first time period T1, the higher the ratio of the amount of clean water released to the amount of wastewater released for cleaning.

[0068] In some embodiments, the durations of the multiple control time periods can also be different. In this case, the duration ratio of the second time period T2 to the first time period T1 in the multiple control time periods is the same, which can also accurately control the amount of clean water released and the amount of wastewater released for cleaning, as well as the ratio between the two.

[0069] In some embodiments, the control cycle is, for example, 0.1S to 3S, which is configured to ensure that when cleaning operations are performed using clean water and reused wastewater, the clean water and reused wastewater are fed in evenly, thus facilitating the cleaning operation using the cleaning equipment.

[0070] In some embodiments, the amount of clean water released and the amount of wastewater released for cleaning, as well as their ratio, are adjustable. For example, as the level of dirtiness in the wastewater tank 20 increases or decreases, the control device 40 can control the ratio of clean water release to wastewater release to increase or decrease. Specifically, a detection device 60, such as a dirt sensor 61, is installed in the wastewater tank 30 to acquire the level of dirtiness of the wastewater in the tank in real time or at intervals, and transmits this information to the control device 40. The control device 40 controls the first solenoid valve 211 and the second solenoid valve 311 to adjust the ratio of clean water release to wastewater release.

[0071] In some embodiments, as the cleaning equipment operates, the sewage in the sewage tank becomes increasingly dirty. If the previous ratio of clean water release to sewage release is maintained, for example, 1:1, the cleaning water (a mixture of clean water and recycled sewage) released onto the target surface may be too dirty, failing to achieve the cleaning purpose. In this case, the control device 40 can gradually increase the ratio of clean water release to sewage release according to the degree of dirtiness of the sewage in the sewage tank.

[0072] In some embodiments, as the duration of the cleaning operation performed by the cleaning equipment gradually increases, the control device 40 gradually increases the ratio of clean water release to wastewater release. Specifically, as the operation time of the cleaning equipment increases, the degree of dirtiness of the wastewater in the wastewater tank may increase. If the previous ratio of clean water release to wastewater release is maintained, for example, 1:1, the cleaning water (a mixture of clean water and recycled wastewater) released onto the target surface may be too dirty, failing to achieve the cleaning purpose. In this case, the control device 40 can gradually increase the ratio of clean water release to wastewater release according to the duration of the cleaning operation performed by the cleaning equipment.

[0073] In some embodiments, the control device 40 is further configured to acquire the degree of dirtiness of the target surface 200, and control the amount of clean water released from the clean water release pipe and the amount of sewage released from the sewage release pipe according to the degree of dirtiness of the target surface 200.

[0074] Specifically, in some embodiments, the user can mark the degree of dirt on the map of the cleaning equipment according to the actual condition of the target surface. The control device obtains the dirt level marked by the user and controls the amount of clean water released from the clean water release pipe and the amount of wastewater released from the wastewater release pipe. Specifically, for example, it controls the ratio of the clean water release amount to the wastewater release amount. When the cleaning equipment performs cleaning operations on areas with a low degree of dirt, a mode with a low ratio of clean water release amount to wastewater release amount can be adopted, for example, a 1:1 ratio. In this case, the wastewater in the wastewater tank is recycled, saving clean water usage. When the cleaning equipment performs cleaning operations on areas with a high degree of dirt, a mode with a high ratio of clean water release amount to wastewater release amount can be adopted, for example, a 4:1 ratio. In this case, increasing the amount of clean water used can achieve a better cleaning effect and prevent the area from being uncleaned.

[0075] In the above embodiments, the degree of dirtiness of the target surface is subjectively determined by the user and marked on the map of the cleaning equipment. In other embodiments, the degree of dirtiness of the target surface can also be quantified, for example, by a detection device, such as an image sensor. When the degree of dirtiness of the target surface is less than or equal to a first threshold, the control device can control the ratio of clean water release to wastewater release to a first ratio, for example, 1:1. When the degree of dirtiness of the second surface is greater than the first threshold, the control device can control the ratio of clean water release to wastewater release to a second ratio, for example, 4:1. Alternatively, the control device can control the ratio of clean water release to wastewater release to gradually increase from the first ratio to the second ratio.

[0076] In some embodiments, such as Figure 1 As shown, the detection device 60 of the cleaning equipment 100 includes, for example, an image sensor 62, such as a camera. The image sensor 62 is configured to identify the degree of dirt on the target surface 200 and send the degree of dirt on the target surface 200 to the control device 40.

[0077] In some embodiments, the image sensor 62 is configured to acquire a real-time image of the target surface 200 and obtain the degree of dirtiness of the target surface 200 from the real-time image. For example, if the image sensor 62 identifies viscous liquid, such as spilled stains from coffee, milk, cola, etc., in the real-time image of the target surface 200, it is determined that the degree of dirtiness of the target surface 200 is high. In this case, the control device 40 increases the ratio of clean water release to wastewater release to perform a cleaning operation on that area.

[0078] In some embodiments, stains on the target surface 200 may not be completely removed after one cleaning cycle. In such cases, the target surface 200 may be cleaned multiple times by the cleaning equipment. The control device 40 can control the ratio of clean water release to wastewater release in a later cycle to be greater than or equal to the ratio of clean water release to wastewater release in a previous cycle. For example, when the target surface 200 is heavily soiled, such as with stubborn viscous liquids like spills of coffee, milk, or cola, the cleaning operation can be performed on the area in the first cycle using a first ratio of clean water release to wastewater release, such as a 1:1 ratio (also known as a water-saving mode). In the second cycle, the cleaning operation can be performed on the area using a second ratio of clean water release to wastewater release, such as a 4:1 ratio (also known as a high-volume mode).

[0079] Some embodiments of this disclosure also provide specific methods for the image sensor to determine the degree of dirt on the target surface. In some embodiments, the image sensor 62 obtains a first image and a second image of the target surface 200 before and after the cleaning device 100 performs a cleaning operation on the target surface 200. A single cleaning operation can be any round of cleaning. Taking the first cleaning as an example, before performing the cleaning operation, the image sensor 62 on the cleaning device 100 acquires a first image of the target surface 200 to be cleaned. Then, the cleaning device 100 performs cleaning on the area, for example, using a ratio of clean water release to wastewater release of, for example, a 1:1 ratio. Then, the image sensor 62 acquires a second image of the cleaned target surface 200. The areas shown in the first and second images correspond completely, for example.

[0080] Subsequently, the image sensor 62 performs differential processing on the pixel values ​​of the first image and the second image to obtain the difference values ​​of corresponding pixels. Specifically, the first image and the second image are quantified to obtain the pixel values ​​of each pixel in the first image and the second image. The pixels in the first image and the pixels in the second image correspond one-to-one. Further, the pixel values ​​of the corresponding pixels in the second image are subtracted from the pixel values ​​of the corresponding pixels in the first image to obtain the difference values ​​of each corresponding pixel. These difference values ​​correspond to the stains that have been wiped away.

[0081] Then, the degree of dirtiness of the target surface 200 is determined based on the difference value. Specifically, for example, non-zero difference values ​​are selected, and the average value of these non-zero difference values ​​is calculated. If the average value is greater than or equal to the second threshold, the degree of dirtiness of the target surface 200 is determined to be high. If the average value is less than the second threshold, the degree of dirtiness of the target surface 200 is confirmed to be light.

[0082] In some embodiments, the target surface 200 may be cleaned multiple times by a cleaning device. The control device 40 may control the ratio of clean water release to wastewater release in a later round to be greater than or equal to the ratio of clean water release to wastewater release in the previous round. For example, the cleaning operation may be performed on the area in the previous round using a first ratio of clean water release to wastewater release, such as a 1:1 mode (also known as a water-saving mode). When the pixel difference analysis determines that the target surface 200 is highly soiled, during the subsequent cleaning round, the control device 40 may control the ratio of clean water release to wastewater release in the subsequent round to be greater than the ratio of clean water release to wastewater release in the previous round, for example, 2:1. If the pixel difference analysis again determines that the target surface 200 is still highly soiled, the ratio of clean water release to wastewater release may be further increased for another round of cleaning. Until the degree of dirtiness of the target surface 200 is determined to be low using the above pixel difference method, a final cleaning is performed using the same ratio of clean water release to wastewater release as in the previous round.

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated 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 the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0084] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0085] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A cleaning device configured to clean a target surface, characterized in that, include: The clean water tank is configured to store clean water. A clean water release pipe is connected to the clean water tank and is configured to release clean water from the clean water tank to the target surface; A wastewater tank configured to collect wastewater from the target surface; A sewage collection pipe, connected to the sewage tank, is configured to collect sewage from the target surface into the sewage tank; A wastewater release pipe, connected to the wastewater tank, is configured to release wastewater from the wastewater tank to the target surface; The detection device is configured to acquire detection information, and The control device is configured to control the clean water release pipe and / or the wastewater release pipe based on the detection information.

2. The cleaning equipment according to claim 1, wherein, Also includes: A switching device configured to control the flow or cut-off of the clean water release pipe and / or the sewage release pipe.

3. The cleaning equipment according to claim 2, wherein, The switching device includes a first solenoid valve and a second solenoid valve, wherein... The first solenoid valve is disposed on the clean water release pipe and configured to control the flow or cut-off of clean water in the clean water release pipe; and The second solenoid valve is installed on the sewage release pipe and configured to control the flow or cut off of sewage in the sewage release pipe. The control device is communicatively connected to the first solenoid valve and the second solenoid valve, and is configured to control the opening or closing of the first solenoid valve and the second solenoid valve.

4. The cleaning equipment according to claim 3, wherein, The control device is configured to control the first solenoid valve and the second solenoid valve to open and close alternately. At any time during the cleaning process of the cleaning equipment cleaning the target surface, one of the first solenoid valve and the second solenoid valve is in the open state and the other is in the closed state.

5. The cleaning equipment according to claim 4, wherein, The cleaning process of the cleaning equipment cleaning the target surface is divided into multiple control cycles. In each control cycle, each of the first solenoid valve and the second solenoid valve completes at least one on / off switch. The control device is configured to control the opening duration ratio of the first solenoid valve and the second solenoid valve in each control cycle to control the amount of clean water and wastewater released for cleaning.

6. The cleaning equipment according to any one of claims 1 to 5, wherein, The detection information includes at least one of the following: the degree of dirtiness of the sewage in the sewage tank, the duration of the cleaning operation performed by the cleaning equipment, and the degree of dirtiness of the target surface. The control device is configured to control the clean water release pipe and / or the sewage release pipe according to the detection information to control the amount of clean water released and / or the amount of sewage released.

7. The cleaning equipment according to claim 6, wherein, The control device is configured as follows: In response to an increase or decrease in the level of contamination of the wastewater in the wastewater tank, the ratio of the amount of clean water released to the amount of wastewater released is controlled to increase or decrease.

8. The cleaning equipment according to claim 6, wherein, The control device is configured as follows: As the duration of cleaning operations performed by the cleaning equipment gradually increases, the ratio of clean water release to wastewater release is gradually increased.

9. The cleaning equipment according to claim 6, wherein, The control device is configured as follows: In response to the target surface's level of contamination being less than or equal to a first threshold, the ratio of the clean water release to the wastewater release is controlled to a first ratio; and In response to the target surface's level of dirt exceeding a first threshold, the ratio of clean water release to wastewater release is controlled to a second ratio. The second ratio is greater than the first ratio.

10. The cleaning equipment according to any one of claims 1 to 5, wherein, The detection device further includes: An image sensor is configured to identify the degree of dirt on the target surface and send the degree of dirt on the target surface to the control device.

11. The cleaning equipment according to claim 10, wherein, The image sensor is configured as follows: A first image and a second image of the target surface are obtained before and after the cleaning device performs a cleaning operation on the target surface, respectively. The pixel values ​​of the first image and the second image are differentially processed to obtain the difference values ​​of the corresponding pixels; The degree of dirtiness on the target surface is determined based on the difference value.

12. The cleaning equipment according to any one of claims 1 to 5, wherein, The target surface is cleaned in multiple rounds, wherein the control device is configured to control the ratio of clean water release to wastewater release in a later round to be greater than or equal to the ratio of clean water release to wastewater release in a previous round.

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