Cleaning method of cleaning equipment, self-cleaning method, device, equipment and system

Abstract

The invention provides a cleaning method of cleaning equipment and a self-cleaning method, device, equipment and system, and relates to the technical field of cleaning equipment, and the cleaning equipment comprises a color sensor, a floor brush assembly, a suction pipeline and a sewage tank; the color sensor is arranged on a suction pipeline connected between a floor brush assembly and a sewage tank, and the method comprises the steps that in the process that the cleaning equipment executes a cleaning task, first sensing data of a target medium flowing through the suction pipeline is obtained based on the color sensor; analyzing and processing the target medium according to the first sensing data to obtain a target color temperature; analyzing and processing the smudginess information of the target medium based on the target color temperature, and determining a target smudginess level; the cleaning equipment is controlled to be switched to a target cleaning mode corresponding to the target smudginess level, and the to-be-cleaned surface is cleaned; the color change of the target medium is monitored and analyzed in real time through the color sensor, so that the pollution degree can be intelligently judged, the cleaning mode is automatically adjusted, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning method, a self-cleaning method, a device, equipment and a system for cleaning equipment. Background Art

[0002] In the development of cleaning equipment, all-in-one machines that combine sweeping, mopping and vacuuming functions, such as floor scrubbers and sweeping robots, have become the mainstream of the market. These cleaning equipment can suck up dirt on the surface to be cleaned while performing cleaning tasks, thereby improving cleaning efficiency and effectiveness. However, in order to further optimize the cleaning process, the dirt detection function becomes particularly important.

[0003] In the related art, optical sensor technology can be used to detect sewage in the sewage suction pipe. However, the above method has obvious limitations. For example, when faced with areas to be cleaned or cleaning parts with different degrees of dirtiness, it is impossible to effectively distinguish and adaptively adopt different cleaning strategies or self-cleaning strategies, resulting in poor cleaning effect and low cleaning efficiency. Summary of the invention

[0004] The present application provides a cleaning method, a self-cleaning method, a device, an equipment and a system for a cleaning device, which monitors and analyzes the degree of dirtiness of a target medium in real time through a color sensor, and then the cleaning device automatically adjusts the cleaning strategy according to the degree of dirtiness of the target medium, or the cleaning system automatically adjusts the self-cleaning strategy according to the degree of dirtiness of the target medium, so as to more effectively cope with different degrees of dirtiness and improve the cleaning effect and cleaning efficiency.

[0005] In a first aspect, the present application provides a cleaning method for a cleaning device, which is applied to the cleaning device; the cleaning device comprises a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the method comprises:

[0006] In the process of the cleaning device performing a cleaning task, first sensing data of a target medium flowing through the suction pipe is obtained based on the color sensor;

[0007] Analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0008] Analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirt level of the target medium;

[0009] The cleaning device is controlled to switch to a target cleaning mode corresponding to a target dirt level, and cleans the surface to be cleaned; wherein each dirt level corresponds to a respective cleaning mode.

[0010] In the prior art, traditional optical sensors may not be able to effectively distinguish different degrees of dirt because different dirt may have similar effects on light intensity. However, the present application targets the special scenario of detecting dirt in the suction duct of cleaning equipment. By utilizing a color sensor to identify dirt in the target medium flowing through the suction duct, a multi-dimensional analysis of light intensity and color information can be performed to accurately detect the dirtiness data of the target medium. This provides a more comprehensive data set for dirt identification, allowing the cleaning equipment to more accurately identify the type and concentration of dirt.

[0011] Furthermore, by analyzing the target color temperature of the target medium through the detected more accurate sensing data, and taking into account the influence of temperature on the color of the target medium, the dirt information is analyzed through the target color temperature, so as to better understand the characteristics and division of the color of the target medium, and thus more accurately distinguish the degree of dirtiness of the target medium.

[0012] Furthermore, based on the analysis results of the target color temperature, the cleaning device can classify the target medium into different levels of dirtiness. This classification takes into account not only the concentration of the dirt but also its type, thereby providing a more accurate basis for the subsequent selection of the cleaning mode.

[0013] And since each level of dirt corresponds to a specific cleaning mode, the cleaning equipment can select appropriate cleaning strategies for different types and degrees of dirt by dynamically adjusting the cleaning mode. This flexibility helps improve the cleaning effect and ensures that good cleaning results can be achieved in various situations.

[0014] Furthermore, through more accurate identification of the target medium and adjustment of the cleaning mode, the cleaning equipment can handle complex cleaning tasks more effectively, reduce the occurrence of incomplete cleaning or excessive cleaning, and thus improve the overall cleaning effect.

[0015] In general, this application provides a more intelligent and flexible dirt detection and cleaning strategy selection mechanism by introducing color sensors and color temperature analysis, overcoming the limitations of traditional optical sensor methods.

[0016] In the present application, during the process of the cleaning device executing the cleaning method, the switching sensitivity of the cleaning device to the target cleaning mode corresponding to the target dirt level is analyzed and it is found that compared with the existing cleaning equipment, when the dirt level of the target medium is analyzed based on the sensor data detected by the color sensor, the sensitivity of dirt detection can be significantly improved, and the dirt level of the target medium can be accurately determined. For example, for target media such as orange juice and ketchup, the corresponding dirt level can be quickly and accurately identified, and then the corresponding target cleaning mode can be quickly switched.

[0017] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes:

[0018] Call the color temperature calculation model;

[0019] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0020] In this way, by using the first channel parameters and the second channel parameters obtained by the color sensor to calculate the color temperature of the target medium, the color characteristics of the target medium can be accurately analyzed. Compared with the analysis of a single channel, more subtle color changes can be captured; and compared with the analysis of more channel parameters, the analysis results can be obtained more quickly; in addition, the color temperature calculation model can be adjusted according to different application scenarios and needs, so that the cleaning equipment can adapt to a variety of cleaning environments and tasks, which helps to more accurately identify and distinguish different types of dirt, and then the cleaning equipment can better select and adjust the cleaning mode to adapt to different dirt situations.

[0021] Optionally, controlling the cleaning device to switch to a target cleaning mode corresponding to the target dirtiness level and cleaning the surface to be cleaned includes:

[0022] Determining a first duration of the target soiling level;

[0023] When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to a target cleaning mode, and the surface to be cleaned is cleaned in the target cleaning mode.

[0024] In this way, by introducing the concept of duration, the cleaning equipment can dynamically respond to different dirt conditions, avoid excessive or insufficient cleaning, and switch the cleaning mode only when the first duration of the target dirt level exceeds the first preset duration threshold, which helps to improve the stability of the switching.

[0025] Optionally, when the first duration is greater than a first preset duration threshold, controlling the cleaning device to switch to a target cleaning mode, and cleaning the surface to be cleaned in the target cleaning mode includes:

[0026] Determine a current cleaning mode of the cleaning device and a current dirtiness level corresponding to the current cleaning mode;

[0027] determining a level difference between a current soiling level and a target soiling level;

[0028] When the first duration is greater than the first preset duration threshold and the level difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch from the current cleaning mode to the target cleaning mode step by step.

[0029] In this way, by taking into account the differences in dirt levels and switching the cleaning mode step by step, it can ensure that the cleaning equipment smoothly transitions to the target cleaning mode, reduce the impact and wear of the cleaning equipment during mode switching, thereby extending the service life of the cleaning equipment, and by switching to a more suitable cleaning mode at the appropriate time and conditions, the cleaning equipment can more effectively handle complex dirt situations.

[0030] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The method further includes:

[0031] When the cleaning device is started, the lighting device is controlled to turn on, and second sensor data of the inner wall of the suction pipe is obtained;

[0032] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0033] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0034] In this way, providing a stable light source and adjusting lighting conditions through the lighting device can help improve the color sensor's ability to receive reflected light, allowing it to more accurately detect and analyze dirt. Further, under improved lighting conditions, the color sensor can more effectively capture reflected light, thereby performing more accurate color analysis and dirt identification. In addition, when it is determined that the initial color temperature does not meet the preset color temperature conditions, calibration processing can be performed based on the lighting parameters of the lighting device to adjust the initial color temperature, thereby ensuring that the color sensor operates under ideal conditions, thereby improving the reliability and consistency of detection.

[0035] Optionally, the method further includes:

[0036] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0037] In this way, by directly using the corresponding lighting parameters when the initial color temperature meets the conditions, unnecessary lighting adjustments can be avoided, thereby saving energy and reducing wear and tear on lighting devices. Furthermore, by working with lighting parameters that match the initial color temperature, the color sensor can more accurately capture and analyze reflected light, which helps to improve the detection and identification accuracy of the target medium.

[0038] Optionally, the lighting device includes a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0039] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0040] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0041] Therefore, by controlling the brightness of the two lamp beads separately, the overall color temperature can be accurately adjusted. The first lamp bead and the second lamp bead emit cooler and warmer light respectively, allowing the cleaning equipment to be adjusted within a wider color temperature range. By adjusting the brightness of the lamp beads, it can flexibly adapt to various ambient light conditions to ensure that the ideal color temperature can be achieved in any situation.

[0042] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition includes:

[0043] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is reduced until the initial color temperature meets the preset color temperature condition;

[0044] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

[0045] It should be noted that duty cycle adjustment is a fast-response method that can quickly change the brightness of the lamp beads, thereby quickly adjusting the color temperature. In this way, by dynamically adjusting the duty cycle of the first lamp bead, the color temperature of the overall lighting can be accurately controlled. Accurate color temperature control can reduce unnecessary light interference, help ensure that the color sensor works under ideal light conditions, and thus improve the accuracy of detection and recognition.

[0046] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition includes:

[0047] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition;

[0048] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0049] In this way, the brightness of the second lamp bead can be changed dynamically by continuously adjusting the duty cycle thereof until the initial color temperature reaches the preset color temperature condition, thereby achieving precise adjustment of the overall color temperature and ensuring that the lighting device provides an ideal lighting effect under various environmental conditions, thereby improving the accuracy of detection and recognition.

[0050] Optionally, the method further includes:

[0051] If the duration of the calibration process for the illumination parameters of the illumination device is longer than the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0052] In this way, by monitoring the calibration processing time, abnormal conditions of the internal environment of the suction pipeline can be detected early, and timely alarm signals can help users take necessary maintenance measures, which can reduce downtime caused by pipeline contamination and improve the availability and production efficiency of cleaning equipment. In addition, timely alarm prompts can prevent serious failures caused by long-term accumulated contamination, thereby reducing maintenance costs.

[0053] Optionally, the cleaning device further includes a water pump assembly and a power assembly; the water pump assembly is used to provide cleaning fluid, and the power assembly is used to drive the cleaning member to perform a cleaning action; controlling the cleaning device to switch to a target cleaning mode corresponding to a target dirtiness level, and cleaning the surface to be cleaned, including:

[0054] Determine the target pump fluid volume of the water pump assembly and the target working power of the power assembly in the target cleaning mode;

[0055] The water pump component is controlled to switch to a target pump fluid volume and / or the power component is controlled to switch to a target working power to clean the surface to be cleaned.

[0056] In this way, by determining the pump fluid volume of the water pump assembly and the working power of the power assembly under the target cleaning mode, and then controlling the water pump assembly to switch to the target pump fluid volume, and / or controlling the power assembly to switch to the target working power, this adjustment can ensure that the cleaning equipment effectively cleans the surface to be cleaned with an appropriate amount of cleaning fluid and power, and by precisely controlling the pump fluid volume of the water pump and the working power of the power assembly, unnecessary water and energy consumption can be avoided, saving water resources and electricity.

[0057] Optionally, the cleaning device further includes a body display; the body display is used to display a corresponding prompt signal based on a target dirt level of the target medium.

[0058] In this way, by displaying prompt signals on the body display, users can intuitively understand the degree of dirtiness of the current target medium, so that users can monitor the changes in dirtiness during the cleaning process in real time, promptly understand the cleaning effect and the working status of the cleaning equipment, and users can decide whether to adjust the cleaning strategy or repeat the cleaning of a specific area based on the displayed prompt signals.

[0059] Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter, and a fourth channel parameter; analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt level of the target medium includes:

[0060] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0061] A target soiling level for the target medium is determined based on the soiling type.

[0062] In this way, when the target color temperature meets the preset conditions, multiple channel parameters can continue to be used for analysis, providing a multi-dimensional data perspective to ensure that there is no possibility of missed detection, and by comparing each channel parameter with its corresponding specific threshold, the type of dirt can be accurately identified, and then through precise analysis of multiple channels and multiple thresholds, the possibility of false detection can be reduced.

[0063] Optionally, analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt level of the target medium includes:

[0064] When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirt level based on the target color temperature, obtaining a second duration of time during which the target medium is at the first dirt level;

[0065] When the second duration is greater than a second preset duration threshold, adjusting the dirt level of the target medium to a second dirt level;

[0066] The degree of dirtiness of the second dirtiness level is higher than the degree of dirtiness of the first dirtiness level.

[0067] Therefore, by monitoring the duration of the dirty state, the dirt level can be dynamically adjusted. This dynamic adjustment helps to reflect the actual situation of dirtiness, even when the initial detection conditions are not ideal. The monitoring of the duration provides an additional judgment criterion, which can help identify those dirtiness conditions that may be misjudged in a short period of time. This can reduce misjudgments and improve the accuracy of identifying dirt levels. Furthermore, by accurately identifying and adjusting the dirt level, unnecessary cleaning operations can be avoided, thereby saving water, electricity and other resources.

[0068] Optionally, the method further includes:

[0069] When it is detected that the duration of the second dirt level is greater than the third preset duration threshold, a self-cleaning reminder is issued.

[0070] Therefore, by promptly reminding users to perform self-cleaning, it helps to clean the cleaning equipment before the degree of dirt becomes serious, thereby improving the cleaning effect. It can also help prevent performance degradation or equipment damage of the cleaning equipment due to accumulation of dirt, thereby extending the service life of the equipment and reducing overall maintenance costs. The above-mentioned self-cleaning reminder function reflects the level of intelligence and automation, and can improve the user experience.

[0071] In a second aspect, the present application provides a self-cleaning method for a cleaning device, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a color sensor, a floor brush assembly, a suction pipe, and a sewage tank; the color sensor is disposed on the suction pipe connecting the floor brush assembly and the sewage tank; the method includes:

[0072] When the cleaning device is located at the cleaning base station and starts the initial cleaning mode, first sensing data of the target medium flowing through the suction pipe is obtained based on the color sensor;

[0073] Analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0074] Analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirt degree of the target medium;

[0075] The cleaning device is controlled to switch to a target self-cleaning mode corresponding to a target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode; wherein each degree of dirtiness corresponds to a respective self-cleaning mode.

[0076] Therefore, compared with the traditional method of using optical sensor technology to evaluate the degree of dirtiness of sewage, the method of the present application uses a color sensor to identify dirt in the target medium flowing through the suction pipe. This method has the following advantages: the color sensor can perform multi-dimensional analysis based on light intensity and color information to accurately detect the sensing data of the target medium. Compared with optical sensors that only detect light intensity, it can more accurately identify and distinguish different types of dirt, thereby helping to more accurately evaluate the degree of dirtiness of sewage; and the color sensor can more effectively respond to light changes and other environmental factors, reducing the possibility of false detection, which means that the cleaning system can maintain stable performance under various environmental conditions, thereby improving the reliability of the cleaning system.

[0077] Furthermore, the present application analyzes the target color temperature of the target medium through the detected relatively accurate sensor data, and takes into account the influence of temperature on the color of the target medium. The dirt information is analyzed through the target color temperature, and the target dirtiness of the target medium can be accurately determined. Each dirtiness level corresponds to a specific self-cleaning mode. These self-cleaning modes can be adjusted more flexibly based on the analysis of color temperature to adapt to different dirtiness conditions and improve the efficiency and effectiveness of self-cleaning.

[0078] For similar steps corresponding to the relevant technical solutions in the first aspect of the present application, the beneficial effects achieved are corresponding to those in the first aspect of the present application. For details, please refer to the description of the first aspect and will not be repeated here.

[0079] Optionally, the cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; and controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes:

[0080] When the target dirtiness level is determined to be the third dirtiness level based on the target medium, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element on the floor brush assembly based on the spin-drying mode;

[0081] Wherein, in the spin-drying mode, the water pump assembly is in a closed state, and the cleaning element is in a rotating state.

[0082] In this way, by directly skipping the cleaning step and entering the spin-drying mode when the target degree of dirtiness is detected to be the third level of dirtiness, unnecessary water and electricity consumption is avoided. This method is particularly effective when dealing with light dirtiness because there may be no need to perform a complete self-cleaning process. By omitting unnecessary cleaning steps, the total self-cleaning time is shortened, and the cleaning equipment is restored to a usable state more quickly, thereby improving overall work efficiency. In addition, in cases where the degree of dirtiness is relatively light, excessive cleaning may lead to unnecessary waste of resources and equipment wear. Directly switching to the spin-drying mode can reduce unnecessary cleaning operations, thereby reducing the wear of cleaning equipment components, extending the service life of the cleaning equipment, and reducing maintenance and replacement costs.

[0083] Optionally, the cleaning device further includes a water pump assembly; the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; and controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0084] When the target dirtiness level is determined to be the fourth dirtiness level based on the target medium, the cleaning device is controlled to switch from the initial cleaning mode to the soaking washing mode, so as to soak wash the cleaning element on the floor brush assembly based on the soaking washing mode;

[0085] Wherein, in the soaking washing mode, at least the water pump assembly is in an on state, and the cleaning element is located in the liquid in the cleaning chamber.

[0086] Therefore, by switching to the immersion wash mode when the target dirtiness level is detected to be the fourth dirtiness level, by immersing the cleaning element in the cleaning liquid, stubborn dirt can be effectively softened and dissolved, which helps to deal with situations with higher dirtiness levels, and the cleaning element rotates alternately forward and reverse in the liquid, which can ensure that the cleaning liquid fully contacts all parts of the cleaning element. This mechanical movement combined with the immersion method can more effectively remove accumulated dirt and residue, and by switching to the immersion wash mode, efficient cleaning can be achieved in a shorter time, allowing the cleaning equipment to be restored to a usable state more quickly.

[0087] Optionally, the cleaning device further includes a water pump component; the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0088] When the target dirtiness level is determined to be the first dirtiness level or the second dirtiness level based on the target medium, the cleaning device is controlled to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element on the floor brush assembly based on the heating washing mode;

[0089] Among them, in the heating washing mode, at least the water pump component is turned on and the thermal management is turned on.

[0090] Therefore, by controlling the cleaning equipment to switch to the heating washing mode when it is detected that the target dirtiness is the first dirtiness level or the second dirtiness level, stubborn dirt can be effectively dissolved and removed. This high-temperature cleaning is particularly suitable for dealing with high and ultra-high dirtiness. The use of thermal management components ensures that the cleaning liquid and cleaning parts can reach a high temperature state, thereby enhancing the cleaning effect. Through high-temperature cleaning, the cleaning equipment can be restored to its original state faster, maintaining efficient cleaning performance.

[0091] In a third aspect, the present application provides a cleaning device for a cleaning device, which is applied to a cleaning device; the cleaning device comprises a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the device comprises:

[0092] A first acquisition module is used to acquire first sensor data of a target medium flowing through the suction pipe based on a color sensor during the process of the cleaning device performing a cleaning task;

[0093] A first analysis module, configured to analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0094] A first processing module is used to analyze and process the dirt information of the target medium based on the target color temperature to determine a target dirt level of the target medium;

[0095] The first switching module is used to control the cleaning device to switch to a target cleaning mode corresponding to a target dirt level, and clean the surface to be cleaned; wherein each dirt level corresponds to its own cleaning mode.

[0096] In a fourth aspect, the present application provides a self-cleaning device for cleaning equipment, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the device includes:

[0097] A second acquisition module is used to acquire first sensor data of a target medium flowing through the suction pipe based on a color sensor when the cleaning device is located at the cleaning base station and starts an initial cleaning mode;

[0098] A second analysis module is used to analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0099] A second processing module is used to analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirt degree of the target medium;

[0100] The second switching module is used to control the cleaning device to switch to a degree self-cleaning mode corresponding to the target dirtiness level, so as to perform self-cleaning based on the degree self-cleaning mode; wherein each dirtiness level corresponds to its own self-cleaning mode.

[0101] In a fifth aspect, the present application provides a cleaning device, comprising: a color sensor, a floor brush assembly, a suction pipe, a sewage tank, and a controller; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the controller is in communication connection with the color sensor;

[0102] The controller is configured to execute any method according to the first aspect.

[0103] In a sixth aspect, the present application provides a cleaning system, including: a cleaning device and a cleaning base station; the cleaning device includes a color sensor, a floor brush assembly, a suction pipe, a sewage tank and a controller; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the controller is communicatively connected with the color sensor; the cleaning base station is used to carry the cleaning device;

[0104] The controller is used to execute any method in the second aspect.

[0105] It should be noted that the third aspect and the fifth aspect of the present application correspond to the technical solution of the first aspect of the present application, and the fourth aspect and the sixth aspect of the present application correspond to the technical solution of the second aspect of the present application. The beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0106] In summary, the present application provides a cleaning method, a self-cleaning method, an apparatus, a device and a system for a cleaning device, wherein a color sensor is arranged on a suction pipe connecting a floor brush assembly and a sewage tank in the cleaning device. When a target medium flows through the suction pipe, the color sensor can decompose and identify the light reflected from the surface of the target medium to monitor the color change of the target medium flowing through the suction pipe in real time, wherein the first sensing data acquired by the color sensor reflects the color information of the target medium; further, based on the acquired first sensing data, the target medium is analyzed and processed to determine its target color temperature, and then based on the target color temperature, the dirtiness of the target medium is further analyzed. The cleaning device can then automatically switch to the corresponding target cleaning mode based on the determined target dirt level, ensuring that the cleaning device continues to clean the surface to be cleaned in the selected target cleaning mode. Since the present application uses a color sensor to monitor and analyze the color changes of the target medium in real time, the cleaning device can intelligently determine the degree of contamination and automatically adjust the cleaning mode to improve the cleaning efficiency. Different cleaning modes are applied for different dirt levels, ensuring that better cleaning effects can be achieved at each dirt level. Accordingly, the implementation process of the self-cleaning of the cleaning device is similar to the above method and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0108] Figure 1 A schematic diagram of a partial structure of a cleaning device provided in an embodiment of the present application;

[0109] Figure 2 A partial structural schematic diagram of a cleaning system provided in an embodiment of the present application;

[0110] Figure 3 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0111] Figure 4 A schematic diagram of a cleaning method for a cleaning device provided in an embodiment of the present application;

[0112] Figure 5 A schematic diagram of a process flow of a self-cleaning method for a cleaning device provided in an embodiment of the present application;

[0113] Figure 6 A schematic diagram of the structure of a cleaning device of a cleaning equipment provided in an embodiment of the present application;

[0114] Figure 7 A schematic structural diagram of a self-cleaning device for cleaning equipment provided in an embodiment of the present application.

[0115] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0116] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0117] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0118] In this application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0119] In the related art, the degree of dirtiness of a cleaning device during the cleaning process can be detected by using optical sensor technology to detect sewage in a sewage suction pipe.

[0120] However, the above method has obvious limitations. For example, when faced with areas to be cleaned or cleaning parts with different degrees of dirtiness, it is impossible to effectively distinguish and adaptively adopt different cleaning strategies or self-cleaning strategies, which leads to poor cleaning effect and low cleaning efficiency.

[0121] It should be noted that if a color sensor is used to detect light reflected from a surface or object, the color characteristics of the surface can be determined. The color sensor can also be called an RGB sensor. Specifically, when white light (containing all visible light wavelengths) is irradiated onto the surface of an object, the object will reflect light of specific wavelengths according to its own color characteristics. For example, when white light is irradiated onto a red surface, the surface will absorb light of other wavelengths and only reflect light of red wavelengths.

[0122] After the reflected light enters the color sensor, the color sensor can decompose it into three basic color components: red (R), green (G) and blue (B); each color component corresponds to an output voltage value. Further, by analyzing the relative intensity and proportion of these three voltage values, the color of the reflected light can be accurately determined, thereby inferring the color of the object's surface.

[0123] In addition, color sensors can also be designed to receive almost all visible light wavelengths and enhance their sensitivity to different colors and light intensities through filtering and separation processing. In this way, dirt detection based on color sensors can not only identify standard colors, but also detect more types of dirt or subtle color changes, thereby improving the accuracy and reliability of detection.

[0124] In view of the above problems and considerations, the present application provides a cleaning method for a cleaning device, which is applied to the cleaning device, wherein a color sensor is arranged on a suction pipe connecting a floor brush assembly and a sewage tank in the cleaning device, and when a target medium (usually sewage or cleaning liquid) flows through the suction pipe, the color sensor can decompose and identify the light reflected from the surface of the target medium to monitor the color change of the target medium flowing through the suction pipe in real time, wherein the first sensing data acquired by the color sensor reflects the color information of the target medium; further, according to the acquired first sensing data, the target medium is analyzed and processed to determine its target color temperature, and then based on the target color temperature, the dirt information of the target medium is further analyzed to determine the target dirt level of the target medium, and then according to the determined target dirt level, the cleaning device is automatically switched to the corresponding target cleaning mode to ensure that the cleaning device continues to clean the surface to be cleaned in the selected target cleaning mode. Since the present application monitors and analyzes the color change of the target medium in real time through the color sensor, the cleaning device can intelligently judge the degree of pollution and automatically adjust the cleaning mode to improve the cleaning efficiency, and different cleaning modes are applied for different dirt levels, so that a better cleaning effect can be achieved at each dirt level.

[0125] Optionally, the cleaning method of the cleaning device provided in the present application is applied to the cleaning device, exemplarily, Figure 1 A partial structural diagram of a cleaning device provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the cleaning device 200 includes: a color sensor 204, a floor brush assembly 201, a suction pipe 202, a sewage tank 203 and a controller 205; the color sensor 204 is arranged on the suction pipe 202 connecting the floor brush assembly 201 and the sewage tank 203, and the controller 205 is communicatively connected with the color sensor 204, and the controller 205 is used to execute the cleaning method of the cleaning device provided in this application.

[0126] The color sensor 204 may be installed at any position of the suction pipe 202 , and the embodiment of the present application does not limit the specific deployment position of the color sensor 204 .

[0127] Optionally, the cleaning device 200 further includes a lighting device, which is disposed on the suction pipe 202 connecting the floor brush assembly 201 and the sewage tank 203 , and is used to adjust the lighting conditions and color temperature in the suction pipe 202 .

[0128] Among them, the lighting device may include a first lamp bead and a second lamp bead, which are used to emit cold light and warm light respectively, that is, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; the second threshold is less than the first threshold; and then the controller 205 can send pulse width modulation (PWM) signals with different duty cycles to the lighting device to control the brightness of the first lamp bead and the second lamp bead, so that the lighting conditions and color temperature in the suction pipe 202 can be adjusted.

[0129] Optionally, the cleaning device 200 also includes a water pump assembly and a power assembly, the water pump assembly is used to provide cleaning liquid and adjust the water spray volume based on a determined cleaning mode; the power assembly is used to drive the cleaning element to perform cleaning actions and adjust the working power based on the determined cleaning mode.

[0130] Optionally, the cleaning device 200 further includes a body display; the body display is used to display a corresponding prompt signal based on the target dirt level of the target medium. For example, the prompt signal may be a color indication signal, etc. The embodiment of the present application does not specifically limit the form of the prompt signal, such as the prompt signal may also be displayed in text.

[0131] Exemplarily, each dirt level corresponds to a specific color, and this mapping relationship is pre-set. For example, light dirt may correspond to green, moderate dirt corresponds to yellow, and heavy dirt corresponds to red. The embodiment of the present application does not specifically limit the mapping relationship and the color type corresponding to each dirt level.

[0132] Optionally, the body display can be a simple light emitting diode (LED) indicator light system, or a more complex screen display, and can also display the target dirt level by the number and color of the dirt rings.

[0133] In this way, by displaying prompt signals on the body display, users can intuitively understand the degree of dirtiness of the current target medium, so that users can monitor the changes in dirtiness during the cleaning process in real time, promptly understand the cleaning effect and the working status of the cleaning equipment, and users can decide whether to adjust the cleaning strategy or repeat the cleaning of a specific area based on the displayed prompt signals.

[0134] Optionally, the present application also provides a self-cleaning method for a cleaning device. When the cleaning device is located at a cleaning base station and performs self-cleaning, it can also analyze and process the dirtiness information of the target medium with the help of the sensing data of the color sensor, thereby determining the target degree of dirtiness of the target medium, and controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target degree of dirtiness. The self-cleaning method for the cleaning device is applied to a cleaning system.

[0135] Optionally, in the cleaning system, the deployment position of the color sensor is not limited to being set on the suction pipe, but can also be set in the cleaning tank or roller brush chamber of the cleaning base station. The embodiment of the present application does not specifically limit the deployment position of the color sensor, and its deployment position can support the cleaning equipment to perform the self-cleaning method.

[0136] For example, Figure 2 A partial structural diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the cleaning system 300 includes: a cleaning device 200 and a cleaning base station 100; the cleaning system 300 has Figure 1 In addition to the partial structure of the cleaning device 200 shown, it also has a partial structure of the cleaning base station 100 , and the cleaning base station 100 is used to carry the cleaning device 200 .

[0137] Optionally, the cleaning base station 100 includes a cleaning chamber and a thermal management component, and the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber.

[0138] Optionally, the thermal management component may be a heating component and / or a hot air generator; the heating component is installed on the bottom wall of the cleaning chamber to heat the bottom liquid in the cleaning chamber; the hot air generator is used to provide hot air in the cleaning chamber.

[0139] Among them, by setting up a heating component, cold water can be heated into hot water when the cleaning device 200 is located at the cleaning base station 100 to perform self-cleaning, so that the cleaning parts on the floor brush assembly 201 can be thermally cleaned, and / or, a hot air generator is used to heat the cleaning liquid in the cleaning chamber or directly heat the surface of the cleaning parts on the floor brush assembly 201, so as to more effectively heat and dissolve stubborn stains to achieve thermal cleaning. The cleaning part can be a roller brush assembly.

[0140] For example, Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 3 As shown, the application scenario can be applied to a household scenario. Taking the cleaning device 200 as a floor scrubber as an example, the application scenario includes the floor scrubber and a cleaning base station 100; the floor scrubber includes a color sensor, a floor brush assembly, a suction pipe and a sewage tank.

[0141] When the user uses the floor scrubber for cleaning, the floor scrubber can monitor the color changes of the target medium flowing through the suction pipe in real time based on the color sensor, and further analyze and process the target medium according to the first sensor data corresponding to the color sensor to determine its target color temperature, and then further analyze the dirt information of the target medium based on the target color temperature to determine the target dirt level of the target medium, and then automatically switch the floor scrubber to the corresponding target cleaning mode according to the determined target dirt level, so that the floor scrubber cleans the surface to be cleaned based on the target cleaning mode.

[0142] Since the degree of dirtiness of the target medium is monitored in real time by the color sensor, the floor scrubber can automatically adjust the target cleaning mode to more effectively deal with different degrees of dirtiness on the surface to be cleaned. Among them, the dirtiness level of the target medium is determined by the target color temperature, so the presence and degree of dirtiness can be accurately judged, and then the appropriate cleaning mode can be selected to clean the surface to be cleaned, which greatly improves the cleaning effect.

[0143] Optionally, when the floor scrubber is placed on the cleaning base station 100, the floor scrubber can perform a self-cleaning function. The floor scrubber can analyze the degree of dirtiness of the target medium with the help of the sensing data of the color sensor, and control the floor scrubber to switch to a target self-cleaning mode corresponding to the target degree of dirtiness, thereby realizing the self-cleaning of the floor scrubber itself.

[0144] It should be noted that the cleaning device can also be applied to shopping malls, schools, and offices. The embodiments of the present application do not limit the specific application scenarios, and the above are only examples.

[0145] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0146] Figure 4 A schematic diagram of a cleaning method for a cleaning device provided in an embodiment of the present application, such as Figure 4 As shown, the cleaning method of the cleaning device is applied to the cleaning device; the cleaning method of the cleaning device comprises the following steps:

[0147] S401 . When a cleaning device performs a cleaning task, first sensing data of a target medium flowing through a suction pipe is obtained based on a color sensor.

[0148] In an embodiment of the present application, the first sensor data provides information about the color of the medium, which can reflect the degree of contamination of the medium. Optionally, the first sensor data can include data of five channels, namely R, G, B, C (transparency), IR (infrared). The embodiment of the present application does not specifically limit the data type and quantity corresponding to the first sensor data.

[0149] Illustratively, when the cleaning equipment is performing a cleaning task, since the color sensor is installed on the suction pipe, the color changes of the target medium flowing through the suction pipe can be monitored in real time. The target medium may include solid and / or liquid media. The embodiment of the present application does not specifically limit the state of the target medium, for example, it may be sewage or cleaning liquid.

[0150] S402: Analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium.

[0151] In the present application, the target medium can be analyzed based on the acquired first sensing data to determine its target color temperature, which is a quantitative representation of color characteristics and can help evaluate color changes of the target medium or identify pollution characteristics of the target medium.

[0152] S403: Analyze and process the dirt information of the target medium based on the target color temperature to determine a target dirt level of the target medium.

[0153] In the present application, based on the target color temperature, the dirt information of the target medium is further analyzed to determine its target dirt level; wherein, the target dirt level reflects the degree of dirtiness of the target medium; the dirt level may include different levels such as low dirtiness, medium dirtiness and high dirtiness. The embodiment of the present application does not specifically limit the level division corresponding to the target dirtiness level, such as it can also be divided into level 1, level 2, level 3, level 4, etc.

[0154] Exemplarily, the color sensor collects first sensing data of the target medium and calculates its correlated color temperature (CCT), ie, the target color temperature. The CCT value is usually expressed in Kelvin (K).

[0155] Optionally, different CCT ranges are divided into four dirt levels, and this division is determined based on the analysis of the color characteristics of different types of dirt and their corresponding CCT values. For example, when the target color temperature is greater than or equal to the fourth threshold and less than or equal to the fifth threshold, the dirt level of the target medium is determined to be the third dirt level, i.e., low dirt. The fourth threshold may be 3600K, and the fifth threshold may be 4500K. CCT values ​​in this range usually correspond to no dirt or light dirt, such as clean water.

[0156] When the target color temperature is greater than the fifth threshold, or greater than the sixth threshold and less than the fourth threshold, the dirt level of the target medium is determined to be the fourth dirt level, i.e., medium dirt. The sixth threshold may be 2800K. This range indicates a moderate degree of contamination, which may include some lightly contaminated dirt.

[0157] When the target color temperature is less than or equal to the sixth threshold and greater than the seventh threshold, the dirt level of the target medium is determined to be the first dirt level, i.e., high dirt. The seventh threshold may be 2500K. CCT values ​​in this range correspond to more serious pollution, which may be some dirt that is more difficult to handle.

[0158] When the target color temperature is less than or equal to the seventh threshold, the dirt level of the target medium is determined to be the second dirt level, ie, ultra-high dirt, which indicates an extremely high degree of contamination and generally requires special cleaning measures.

[0159] It should be noted that the embodiments of the present application do not limit the specific numerical values ​​corresponding to the fourth threshold, the fifth threshold, the sixth threshold and the seventh threshold, which can be set based on the actual application scenario requirements or user needs, and the above numerical values ​​are only examples.

[0160] S404, controlling the cleaning device to switch to a target cleaning mode corresponding to the target dirt level, and cleaning the surface to be cleaned; wherein each dirt level corresponds to its own cleaning mode.

[0161] In this step, according to the determined target dirt level, the cleaning device is controlled to automatically switch to the corresponding target cleaning mode, so that the cleaning device cleans the surface to be cleaned based on the target cleaning mode to ensure a better cleaning effect.

[0162] Among them, different cleaning modes may correspond to different cleaning parameters such as cleaning intensity, cleaning amount used or cleaning time, which can adapt to different cleaning needs. The embodiment of the present application does not specifically limit the cleaning parameters corresponding to the cleaning mode, and different cleaning modes can be corresponded by adjusting the cleaning parameters.

[0163] In the prior art, traditional optical sensors may not be able to effectively distinguish different degrees of dirt because different dirt may have similar effects on light intensity. However, the present application targets the special scenario of detecting dirt in the suction duct of cleaning equipment. By utilizing a color sensor to identify dirt in the target medium flowing through the suction duct, a multi-dimensional analysis of light intensity and color information can be performed to accurately detect the dirtiness data of the target medium. This provides a more comprehensive data set for dirt identification, allowing the cleaning equipment to more accurately identify the type and concentration of dirt.

[0164] Furthermore, by analyzing the target color temperature of the target medium through the detected more accurate sensing data, and taking into account the influence of temperature on the color of the target medium, the dirt information is analyzed through the target color temperature, so as to better understand the characteristics and division of the color of the target medium, and thus more accurately distinguish the degree of dirtiness of the target medium.

[0165] Furthermore, based on the analysis results of the target color temperature, the cleaning device can classify the target medium into different levels of dirtiness. This classification takes into account not only the concentration of the dirt but also its type, thereby providing a more accurate basis for the subsequent selection of the cleaning mode.

[0166] And since each level of dirt corresponds to a specific cleaning mode, the cleaning equipment can select appropriate cleaning strategies for different types and degrees of dirt by dynamically adjusting the cleaning mode. This flexibility helps improve the cleaning effect and ensures that good cleaning results can be achieved in various situations.

[0167] Furthermore, through more accurate identification of the target medium and adjustment of the cleaning mode, the cleaning equipment can handle complex cleaning tasks more effectively, reduce the occurrence of incomplete cleaning or excessive cleaning, and thus improve the overall cleaning effect.

[0168] In general, this application provides a more intelligent and flexible dirt detection and cleaning strategy selection mechanism by introducing color sensors and color temperature analysis, overcoming the limitations of traditional optical sensor methods.

[0169] In the present application, during the process of the cleaning device executing the cleaning method, the switching sensitivity of the cleaning device to the target cleaning mode corresponding to the target dirt level is analyzed and it is found that compared with the existing cleaning equipment, when the dirt level of the target medium is analyzed based on the sensor data detected by the color sensor, the sensitivity of dirt detection can be significantly improved, and the dirt level of the target medium can be accurately determined. For example, for target media such as orange juice and ketchup, the corresponding dirt level can be quickly and accurately identified, and then the corresponding target cleaning mode can be quickly switched.

[0170] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes:

[0171] Call the color temperature calculation model;

[0172] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0173] In an embodiment of the present application, the first channel parameter and the second channel parameter correspond to different color channels and are used to describe the color characteristics of the target medium. Optionally, the first channel parameter is R (red) channel data and the second channel parameter is B (blue) channel data.

[0174] The color temperature calculation model is a mathematical or algorithmic model for converting color channel parameters into CCT values. Optionally, the color temperature calculation model calculates the R / B ratio of the first channel parameter and the second channel parameter, and then calculates the CCT value based on the R / B ratio and other correction factors and / or constants. For example, the CCT value is calculated based on the first constant, the second constant, the third constant, multiple correction factors and the R / B ratio. The first constant and the second constant are determined by the fifth channel parameter, and the third constant is usually 1. Optionally, the fifth channel parameter is IR (infrared) channel data.

[0175] Exemplarily, a first difference between the first constant and the second constant, a first ratio between the R / B ratio and the first correction factor are calculated, and a CCT value is calculated based on the first difference, the first ratio, the second constant, the third constant, the first correction factor, the second correction factor, and the third correction factor. The calculation formula is as follows:

[0176]

[0177] in, , R represents the first channel parameter, B represents the second channel parameter, TcoE represents the first correction factor, TcoE=a; IRa1 represents the fifth channel parameter detected at the first position or the first moment, and in the present application IRa1 represents the first constant, IRa1=b; IRa2 represents the fifth channel parameter detected at the second position or the second moment, and in the present application IRa2 represents the second constant, IRa2=c; xT represents the second correction factor, xT=d; pT represents the third correction factor, pT=e. The embodiments of the present application do not limit the specific numerical values ​​corresponding to a, b, c, d, and e, and they can be set based on the actual application scenario requirements.

[0178] It should be noted that the embodiments of the present application do not specifically limit the numerical values ​​corresponding to the first constant, the second constant, the third constant, the first correction factor, the second correction factor, the third correction factor, the first channel parameter and the second channel parameter. They can be set based on the actual application scenario requirements. The above is only an example.

[0179] In this step, the first channel parameters and the second channel parameters are input into the color temperature calculation model, which analyzes and calculates these parameters and outputs the target color temperature, i.e., the above-mentioned CCT value. Then, by comparing the CCT value with a predefined range, the cleaning device can identify the dirtiness level of the target medium. This identification process is automated and can be performed in real time.

[0180] Optionally, continuous first sensing data can be obtained from the color sensor, and then the collected continuous first sensing data can be divided into several groups in sequence, each group containing five data points. Furthermore, for each group of data, the average values ​​of the R channel data and the B channel data are calculated respectively. For each group of mean-filtered data, the ratio of the R channel data to the B channel data is calculated, and then the ratio is input into the color temperature calculation model to calculate the target color temperature.

[0181] In this way, by using the first channel parameters and the second channel parameters obtained by the color sensor to calculate the color temperature of the target medium, the color characteristics of the target medium can be accurately analyzed. Compared with the analysis of a single channel, more subtle color changes can be captured; and compared with the analysis of more channel parameters, the analysis results can be obtained more quickly; in addition, the color temperature calculation model can be adjusted according to different application scenarios and needs, so that the cleaning equipment can adapt to a variety of cleaning environments and tasks, which helps to more accurately identify and distinguish different types of dirt, and then the cleaning equipment can better select and adjust the cleaning mode to adapt to different dirt situations.

[0182] Optionally, controlling the cleaning device to switch to a target cleaning mode corresponding to the target dirtiness level and cleaning the surface to be cleaned includes:

[0183] Determining a first duration of the target soiling level;

[0184] When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to a target cleaning mode, and the surface to be cleaned is cleaned in the target cleaning mode.

[0185] In an embodiment of the present application, delayed switching is adopted when switching between different cleaning modes. That is, when the target color temperature reaches a certain dirt level, it is necessary to ensure that the target color temperature meets the color temperature range corresponding to the dirt level for a certain period of time before the target cleaning mode can be switched. This can improve the stability of the switching.

[0186] Exemplarily, the cleaning device analyzes the first sensor data to identify the target dirtiness level of the current surface to be cleaned, and then the cleaning device tracks and calculates a first duration of the target dirtiness level, that is, the length of time the cleaning device operates at the target dirtiness level. Furthermore, the calculated first duration is compared with a first preset duration threshold. If the first duration is greater than the first preset duration threshold, the cleaning device will switch to a target cleaning mode corresponding to the current dirtiness level. Then, in the target cleaning mode, the cleaning device cleans the surface to be cleaned, ensuring that a better cleaning effect is achieved in this target cleaning mode.

[0187] Among them, the first preset time threshold is a pre-set standard used to determine whether it is necessary to switch the cleaning mode. For example, the first preset time threshold can be 0.5s. The embodiment of the present application does not specifically limit the size of the first preset time threshold. The above is only an example.

[0188] In this way, by introducing the concept of duration, the cleaning equipment can dynamically respond to different dirt conditions, avoid excessive or insufficient cleaning, and switch the cleaning mode only when the first duration of the target dirt level exceeds the first preset duration threshold, which helps to improve the stability of the switching.

[0189] Optionally, when the first duration is greater than a first preset duration threshold, controlling the cleaning device to switch to a target cleaning mode, and cleaning the surface to be cleaned in the target cleaning mode includes:

[0190] Determine a current cleaning mode of the cleaning device and a current dirtiness level corresponding to the current cleaning mode;

[0191] determining a level difference between a current soiling level and a target soiling level;

[0192] When the first duration is greater than the first preset duration threshold and the level difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch from the current cleaning mode to the target cleaning mode step by step.

[0193] In the present application, when the cleaning mode is switched across, for example, from the cleaning mode corresponding to low dirtiness to the cleaning mode corresponding to high dirtiness, a delayed stability judgment must be performed first, and then the adjacent cleaning mode is entered, that is, first from the cleaning mode corresponding to low dirtiness to the cleaning mode corresponding to medium dirtiness, and then after a short delay, the cleaning mode is entered, that is, the cleaning mode corresponding to high dirtiness, so as to improve the smoothness of switching between different cleaning modes.

[0194] Exemplarily, the cleaning device first identifies its current cleaning mode and the current dirt level corresponding to the mode. Furthermore, through data analysis by the first sensor, the cleaning device identifies the target dirt level of the surface to be cleaned, and then calculates the level difference between the current dirt level and the target dirt level. This level difference reflects the number of interval modes of the cleaning mode that need to be adjusted by the cleaning device.

[0195] Furthermore, the first duration is compared with a first preset duration threshold, and the level difference is compared with a preset difference threshold. When the first duration is greater than the first preset duration threshold and the level difference is greater than or equal to the difference threshold, the cleaning device performs a mode switch, and controls the cleaning device to switch step by step from the current cleaning mode to the target cleaning mode. This step-by-step switching mode can be a gradual transition through an intermediate cleaning mode to ensure that the cleaning device is smoothly adjusted to a cleaning mode suitable for the current level of dirtiness.

[0196] In this way, by taking into account the differences in dirt levels and switching the cleaning mode step by step, it can ensure that the cleaning equipment smoothly transitions to the target cleaning mode, reduce the impact and wear of the cleaning equipment during mode switching, thereby extending the service life of the cleaning equipment, and by switching to a more suitable cleaning mode at the appropriate time and conditions, the cleaning equipment can more effectively handle complex dirt situations.

[0197] The above-mentioned automatic mode adjustment reduces the need for manual intervention by the user, making the cleaning equipment easier to use and manage.

[0198] It should be noted that, due to the poor light conditions in the suction duct, it is difficult for the color sensor to receive the light reflected from the surface of the dirty object, so it is necessary to control the lighting device to turn on to create good detection conditions.

[0199] It should be noted that the intensity and color of ambient light will also affect the accuracy of the sensor data collected by the color sensor. Therefore, due to changes in ambient light, such as day or night, sunny or cloudy days, using the same light intensity may cause errors in color sensor recognition, thereby affecting the accuracy of dirt level recognition.

[0200] In view of the above situation, the present application introduces a lighting device, which can be automatically turned on when it is identified that the internal environment of the suction pipe is insufficiently lit.

[0201] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The method further includes:

[0202] When the cleaning device is started, the lighting device is controlled to turn on, and second sensor data of the inner wall of the suction pipe is obtained;

[0203] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0204] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0205] In the embodiment of the present application, the lighting device is generally an LED lamp or other type of light source installed in the pipe. The embodiment of the present application does not specifically limit the type of light source corresponding to the lighting device. The lighting device can provide uniform and sufficient light to improve the light conditions in the suction pipe.

[0206] Exemplarily, when the cleaning device is started, the lighting device provided on the suction pipe will be automatically turned on. The function of the lighting device is to provide a stable and consistent light source for the color sensor so as to accurately collect environmental data in the pipe. Then, under the illumination of the lighting device, the color difference sensor can collect second sensor data of the inner wall of the suction pipe. The second sensor data may be the same as or different from the first sensor data. The embodiment of the present application does not specifically limit this. For example, the second sensor data may include color channel data, light intensity, etc., which are used to analyze the environmental conditions inside the suction pipe.

[0207] Furthermore, based on the collected second sensor data, the internal environment of the suction duct is analyzed, and the corresponding initial color temperature is calculated. The initial color temperature reflects the color characteristics of the interior of the suction duct under the current lighting conditions. The method for calculating the initial color temperature can refer to the method for calculating the CCT value in the above embodiment, which will not be repeated here.

[0208] Further, the calculated initial color temperature is compared with a preset color temperature condition, which is a standard for ensuring that the color sensor operates under ideal lighting conditions. The preset color temperature condition may correspond to a CCT value within a normal range, i.e., a range greater than or equal to the fourth threshold and less than or equal to the fifth threshold.

[0209] If the initial color temperature does not meet the preset color temperature conditions, the lighting parameters of the lighting device will be calibrated. The calibration process may include adjusting the brightness, color temperature or direction of the light source to ensure that the color sensor collects data under ideal conditions. The embodiment of the present application does not specifically limit the calibration process.

[0210] In this way, providing a stable light source and adjusting lighting conditions through the lighting device can help improve the color sensor's ability to receive reflected light, allowing it to more accurately detect and analyze dirt. Further, under improved lighting conditions, the color sensor can more effectively capture reflected light, thereby performing more accurate color analysis and dirt identification. In addition, when it is determined that the initial color temperature does not meet the preset color temperature conditions, calibration processing can be performed based on the lighting parameters of the lighting device to adjust the initial color temperature, thereby ensuring that the color sensor operates under ideal conditions, thereby improving the reliability and consistency of detection.

[0211] Optionally, the method further includes:

[0212] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0213] It should be noted that the preset color temperature condition is one or more color temperature ranges, which are used to determine whether the current environment needs to adjust the lighting. For example, the CCT value range corresponding to the preset color temperature condition is 3600-4500K.

[0214] Exemplarily, the detected initial color temperature is compared with the preset color temperature condition. If the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters corresponding to the initial color temperature, which means that the brightness, color temperature and other lighting characteristics of the lighting device have been adjusted to a state in which the cleaning equipment can operate.

[0215] In this way, by directly using the corresponding lighting parameters when the initial color temperature meets the conditions, unnecessary lighting adjustments can be avoided, thereby saving energy and reducing wear and tear on lighting devices. Furthermore, by working with lighting parameters that match the initial color temperature, the color sensor can more accurately capture and analyze reflected light, which helps to improve the detection and identification accuracy of the target medium.

[0216] Optionally, the lighting device includes a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0217] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0218] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0219] It should be noted that the first threshold and the second threshold are numerical ranges set to distinguish between cold lights and warm lights. The color temperature of cold light is usually between 5000K and 6500K, and the color temperature of warm light is usually between 2700K and 3000K. Therefore, the first threshold and the second threshold can be set based on the above parameter range. The embodiment of the present application does not specifically limit the size of the first threshold and the second threshold.

[0220] In the embodiment of the present application, the first lamp bead corresponds to the lamp bead of the cold light, and the second lamp bead corresponds to the lamp bead of the warm light. It should be noted that if the brightness of the warm light is too high, the CCT value will decrease. At this time, the color sensor will mistakenly identify dirt; and if the brightness of the cold light is too high, the CCT value will increase. At this time, the sensitivity of the color sensor to dirt recognition will decrease. Therefore, the brightness of the first lamp bead and the second lamp bead can be adjusted until the initial color temperature meets the preset color temperature condition.

[0221] In this step, when it is determined that the initial color temperature does not meet the preset color temperature conditions, the calibration process of the lighting parameters will be started, that is, by adjusting the brightness of the first lamp bead and the second lamp bead, the color temperature of the overall lighting will be gradually adjusted until the initial color temperature meets the preset color temperature conditions.

[0222] Since the above adjustment process is dynamic, the current color temperature can be continuously detected and the brightness of the lamp beads can be adjusted in real time to achieve the required color temperature conditions. Once the initial color temperature is adjusted to meet the preset color temperature conditions, the adjustment is stopped and the normal detection and working state is entered.

[0223] Therefore, by controlling the brightness of the two lamp beads separately, the overall color temperature can be accurately adjusted. The first lamp bead and the second lamp bead emit cooler and warmer light respectively, allowing the cleaning equipment to be adjusted within a wider color temperature range. By adjusting the brightness of the lamp beads, it can flexibly adapt to various ambient light conditions to ensure that the ideal color temperature can be achieved in any situation.

[0224] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition includes:

[0225] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is reduced until the initial color temperature meets the preset color temperature condition;

[0226] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

[0227] Among them, the duty cycle of the initial first lamp bead is set to be greater than the duty cycle of the initial second lamp bead in order to ensure that the first lamp bead has a more significant impact on the color temperature during the adjustment process. In this way, the entire color temperature can be adjusted by subsequently adjusting only the duty cycle of the first lamp bead.

[0228] In the embodiment of the present application, the duty cycle refers to the time ratio of the signal being at a high level within a PWM cycle. By adjusting the duty cycle, the brightness of the light can be controlled.

[0229] In this step, if it is detected that the initial color temperature is higher than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead will be reduced. By reducing the duty cycle, the brightness of the first lamp bead is reduced, thereby reducing the color temperature of the overall lighting and causing the initial color temperature to drop. If it is detected that the initial color temperature is lower than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead will be increased. By increasing the duty cycle, the brightness of the first lamp bead is increased, thereby increasing the color temperature of the overall lighting and causing the initial color temperature to rise.

[0230] It is understandable that the above adjustment process is dynamic, and the cleaning device can continuously detect the current initial color temperature and adjust the duty cycle of the first lamp bead in real time until the initial color temperature meets the preset color temperature condition.

[0231] Exemplarily, when the cleaning device is powered on, an initial PWM signal can be sent to the warm light and the cold light. For example, the warm light receives a PWM signal with a 3% duty cycle, while the cold light receives a PWM signal with a 6% duty cycle. After the above initial settings, the feedback adjustment stage can be entered.

[0232] In the feedback adjustment stage, the color sensor starts to detect the CCT value of the current environment, and dynamically adjusts the PWM signals of the warm and cold lights according to the detected CCT value so that the CCT value enters the preset normal range. The CCT value of the normal range is pre-defined to ensure that the color sensor works under ideal light conditions. Once the CCT value is detected to enter the normal range, the light adjustment is stopped.

[0233] If the CCT value is not within the normal range, such as if the CCT value is too high, the duty cycle of the cold lamp will be reduced to reduce the brightness of the cold lamp, thereby reducing the cool tone of the overall light and reducing the CCT value; or if the CCT value is too low, the duty cycle of the cold lamp will be increased to increase the brightness of the cold lamp, thereby enhancing the cool tone of the overall light and increasing the CCT value.

[0234] The above process is carried out dynamically until the CCT value enters the normal range.

[0235] It should be noted that duty cycle adjustment is a fast-response method that can quickly change the brightness of the lamp beads, thereby quickly adjusting the color temperature. In this way, by dynamically adjusting the duty cycle of the first lamp bead, the color temperature of the overall lighting can be accurately controlled. Accurate color temperature control can reduce unnecessary light interference, help ensure that the color sensor works under ideal light conditions, and thus improve the accuracy of detection and recognition.

[0236] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition includes:

[0237] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition;

[0238] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0239] For example, when the initial color temperature is greater than the preset color temperature threshold, it means that the color temperature of the current light is too high and needs to be lowered. To this end, the duty cycle of the pulse signal sent to the second lamp bead can be increased. Increasing the duty cycle means that the proportion of time that the second lamp bead is lit in a PWM cycle increases, thereby making the second lamp bead brighter. Since the second lamp bead emits light with a low color temperature, increasing its brightness will reduce the color temperature of the overall light.

[0240] However, when the initial color temperature is less than the preset color temperature threshold, it means that the color temperature of the current light is too low and needs to be increased. At this time, the duty cycle of the pulse signal sent to the second lamp bead can be reduced. Reducing the duty cycle means that the proportion of time that the second lamp bead is lit in a PWM cycle is reduced, thereby making the second lamp bead dimmer. Since the second lamp bead emits low color temperature light, reducing its brightness will increase the color temperature of the overall light.

[0241] In this way, the brightness of the second lamp bead can be changed dynamically by continuously adjusting the duty cycle thereof until the initial color temperature reaches the preset color temperature condition, thereby achieving precise adjustment of the overall color temperature and ensuring that the lighting device provides an ideal lighting effect under various environmental conditions, thereby improving the accuracy of detection and recognition.

[0242] In some embodiments, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition may also include: when it is detected that the initial color temperature is greater than the preset color temperature threshold, reducing the duty cycle of the pulse signal sent to the first lamp bead while increasing the duty cycle of the pulse signal sent to the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0243] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased while the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0244] In this way, by adjusting the brightness of the two lamp beads at the same time, the preset color temperature conditions can be achieved more quickly. Compared with adjusting one lamp bead alone, the overall color temperature can be changed more effectively because it utilizes the complementary characteristics of the two lamp beads, and adjusting the brightness of the two lamp beads at the same time provides a larger adjustment range and higher precision. By finely adjusting the brightness ratio of the two lamp beads, precise control of the color temperature can be achieved to ensure that the lighting environment meets specific needs.

[0245] Optionally, the method further includes:

[0246] If the duration of the calibration process for the illumination parameters of the illumination device is longer than the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0247] In the present application, the cleaning device can continuously monitor the duration of the calibration process. If the duration of the calibration process exceeds a preset third threshold, it is considered that the initial color temperature of the internal environment of the suction duct may be in an abnormal state, and an alarm signal can be generated to prompt the user that there may be abnormal conditions inside the suction duct, such as excessive dirt, abnormal lighting devices, or other factors affecting the color temperature.

[0248] Among them, the third threshold is a threshold set in advance for determining whether the duration of the calibration process is too long. For example, the third threshold may be 8s. The embodiment of the present application does not specifically limit the size of the third threshold.

[0249] For example, when the cleaning equipment is still in the calibration process for a certain period of time, an alarm of "the pipe is dirty, please clean the pipe" can be issued to remind the user that the pipe may need to be cleaned or maintained to restore normal working conditions. The embodiment of the present application does not specifically limit the form of the alarm signal, such as the above-mentioned alarm form, or the form of a warning light that is always on.

[0250] In this way, by monitoring the calibration processing time, abnormal conditions of the internal environment of the suction pipeline can be detected early, and timely alarm signals can help users take necessary maintenance measures, which can reduce downtime caused by pipeline contamination and improve the availability and production efficiency of cleaning equipment. In addition, timely alarm prompts can prevent serious failures caused by long-term accumulated contamination, thereby reducing maintenance costs.

[0251] Optionally, controlling the cleaning device to switch to a target cleaning mode corresponding to the target dirtiness level and cleaning the surface to be cleaned includes:

[0252] Determine the target pump fluid volume of the water pump assembly and the target working power of the power assembly in the target cleaning mode;

[0253] The water pump component is controlled to switch to a target pump fluid volume and / or the power component is controlled to switch to a target working power to clean the surface to be cleaned.

[0254] In the embodiment of the present application, the target pump liquid volume refers to the water flow rate that the water pump component needs to provide in the target cleaning mode; the target working power refers to the power that the power component, such as the motor, needs to provide in the target cleaning mode.

[0255] Exemplarily, a corresponding target cleaning mode can be selected based on the detected target dirt level. Under this target cleaning mode, the target pump fluid volume of the water pump assembly and the target operating power of the power assembly are determined, and then the water pump assembly is controlled to switch to the target pump fluid volume and / or the power assembly is controlled to switch to the target operating power.

[0256] Optionally, after determining the target dirt level of the target medium, it can be directly fed back to the power assembly and the water pump assembly so that the power assembly and the water pump assembly increase the corresponding working power and pumping fluid volume according to the different dirt levels. For example, when cleaning a large area of ​​dirt on the surface to be cleaned, if the degree of dirt is detected and identified in a small range and the dirt level is determined, it is fed back to the motor and water pump assembly to increase the working power of the motor and the pumping fluid volume of the water pump, thereby improving the efficiency of subsequent cleaning.

[0257] In this way, by determining the pump fluid volume of the water pump assembly and the working power of the power assembly under the target cleaning mode, and then controlling the water pump assembly to switch to the target pump fluid volume, and / or controlling the power assembly to switch to the target working power, this adjustment can ensure that the cleaning equipment effectively cleans the surface to be cleaned with appropriate cleaning fluid and power, and by precisely controlling the pump fluid volume of the water pump and the working power of the power assembly, unnecessary water and energy consumption can be avoided, saving water resources and electricity.

[0258] It should be noted that for some special types of dirt, such as solid dirt such as dust, the CCT value is usually within the normal range. It is difficult to effectively identify and process the special types of dirt through the color temperature detection method. In this case, this special type of dirt can be specifically analyzed and processed. Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter, and a fourth channel parameter; the dirt information of the target medium is analyzed and processed based on the target color temperature to determine the target dirt level of the target medium, including:

[0259] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0260] A target soiling level for the target medium is determined based on the soiling type.

[0261] The first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter correspond to channel data of different colors. For example, the third channel parameter is G (green) channel data, and the fourth channel parameter is C (transparency) channel data.

[0262] Exemplarily, R channel data, G channel data, B channel data, and C channel data can be obtained, and by comparing them with their corresponding specific thresholds, the type of dirt on the target medium can be determined. For example, when the R channel data, G channel data, B channel data, and C channel data are each less than a specific threshold, it indicates that solid dirt is detected.

[0263] Among them, the specific threshold of each channel can be set based on empirical data or experimental results to identify different types of dirt. The embodiment of the present application does not specifically limit the size of the specific threshold of each channel.

[0264] Optionally, after the dirt type of the target medium is identified, a target dirt level of the target medium may be further determined based on a preset rule or model, and the embodiment of the present application does not specifically limit this process.

[0265] In this way, when the target color temperature meets the preset conditions, multiple channel parameters can continue to be used for analysis, providing a multi-dimensional data perspective to ensure that there is no possibility of missed detection, and by comparing each channel parameter with its corresponding specific threshold, the type of dirt can be accurately identified, and then through precise analysis of multiple channels and multiple thresholds, the possibility of false detection can be reduced.

[0266] Optionally, analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt level of the target medium includes:

[0267] When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirt level based on the target color temperature, obtaining a second duration of time during which the target medium is at the first dirt level;

[0268] When the second duration is greater than a second preset duration threshold, adjusting the dirt level of the target medium to a second dirt level;

[0269] The degree of dirtiness of the second dirtiness level is higher than the degree of dirtiness of the first dirtiness level.

[0270] Exemplarily, a preliminary analysis of the dirtiness information of the target medium can be performed based on the target color temperature. If the target color temperature does not meet the preset color temperature condition and it can be determined that the target medium is at the first dirtiness level, the duration that the target medium is at the first dirtiness level, i.e., the second duration, can be monitored, and the second duration can be compared with the second preset duration threshold. If the second duration is greater than the second preset duration threshold, it indicates that the dirtiness of the target medium may be more serious than initially determined. In the case where the second duration is greater than the second preset duration threshold, the dirtiness level of the target medium is adjusted from the first dirtiness level to the second dirtiness level, and the second dirtiness level indicates a higher degree of dirtiness.

[0271] Optionally, when the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirtiness level based on the target color temperature, the flow rate of the target medium flowing through the suction pipe during the second duration is obtained; when the flow rate is greater than a predefined flow threshold, the dirtiness level of the target medium is adjusted to the second dirtiness level.

[0272] Among them, the flow information reflects the movement amount of the target medium in a specific time period. The monitored flow is compared with a predefined flow threshold. If the flow exceeds the predefined flow threshold, it indicates that the dirtiness of the target medium may be more serious than the initial judgment. Therefore, the dirtiness level of the target medium is adjusted to a higher level of the second dirtiness level.

[0273] It should be noted that the flow rate of the target medium flowing through the suction pipe during the second duration can be determined by a flow meter, such as by measuring the time difference of ultrasonic wave propagation in the fluid. The embodiment of the present application does not specifically limit the method for detecting the flow rate.

[0274] Optionally, when the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirtiness level based on the target color temperature, the flow rate of the target medium flowing through the suction pipe within a second duration is obtained; when the second duration is greater than a second preset duration threshold and the flow rate is greater than a predefined flow threshold, the dirtiness level of the target medium is adjusted to the second dirtiness level.

[0275] Therefore, by monitoring the duration of the dirty state, the dirt level can be dynamically adjusted. This dynamic adjustment helps to reflect the actual situation of dirtiness, even when the initial detection conditions are not ideal. The monitoring of the duration provides an additional judgment criterion, which can help identify those dirtiness conditions that may be misjudged in a short period of time. This can reduce misjudgments and improve the accuracy of identifying dirt levels. Furthermore, by accurately identifying and adjusting the dirt level, unnecessary cleaning operations can be avoided, thereby saving water, electricity and other resources.

[0276] Optionally, the method further includes:

[0277] When it is detected that the duration of the second dirt level is greater than the third preset duration threshold, a self-cleaning reminder is issued.

[0278] In the embodiment of the present application, the third preset time threshold is a time threshold set in advance and is used to determine whether a high dirtiness state or an extremely high dirtiness state lasts for too long.

[0279] In this step, after the dirt level of the target medium is adjusted to the second dirt level, the duration of this state continues to be monitored, and the duration of the target medium being in the second dirt level is recorded, and compared with the third preset time threshold. If it is detected that the duration of the second dirt level exceeds the third preset time threshold, a self-cleaning reminder will be issued. The self-cleaning reminder can be through sound and light alarms, information prompts or notification sending, etc., to remind users or maintenance personnel to perform cleaning operations. The embodiment of the present application does not specifically limit the method of self-cleaning reminders.

[0280] In some embodiments, when it is detected that the cleaning device is at the first dirtiness level, that is, in a state of high dirtiness, the duration of the high dirtiness can be recorded, and based on the duration, it can be determined whether the dirtiness has become more serious. If the dirtiness level reaches ultra-high dirtiness, the ultra-high dirtiness level may indicate that the dirtiness level has seriously affected the normal operation of the cleaning device. Therefore, when the dirtiness level is upgraded to ultra-high dirtiness, a self-cleaning reminder can be immediately issued to remind the user to manually control the self-cleaning of the cleaning device to prevent the performance of the cleaning device from deteriorating.

[0281] In other embodiments, when it is detected that the cleaning device is at the second dirtiness level, that is, in a state of extremely high dirtiness, the extremely high dirtiness indicates that the dirtiness of the cleaning device is already very serious and may affect the normal function of the cleaning device. Furthermore, the duration of the extremely high dirtiness can be recorded, and based on the duration, it can be determined whether the dirtiness has become further serious. If the dirtiness reaches extremely high dirtiness and the duration exceeds a third preset time threshold, it means that the cleaning device has been working for too long under severe dirtiness, which may cause the cleaning effect to deteriorate. At this time, a self-cleaning reminder can be issued to remind the user to manually control the self-cleaning of the cleaning device to restore the normal operating state of the cleaning device.

[0282] Therefore, by timely reminding the user to perform self-cleaning, it helps to clean the cleaning equipment before the degree of dirt becomes serious, thereby improving the cleaning effect, and can also help prevent the performance degradation or equipment damage of the cleaning equipment caused by the accumulation of dirt, thereby extending the service life of the equipment and reducing the overall maintenance cost. The above self-cleaning reminder function reflects the level of intelligence and automation, which can improve the user experience. It should be noted that the color sensor can also be used for dirt detection during self-cleaning, that is, when the cleaning equipment is located at the cleaning base station for self-cleaning, the sewage from the cleaning parts on the cleaning brush assembly will flow through the suction pipe, and then the color sensor adjusts the self-cleaning mode or process by detecting the degree of dirtiness of the self-cleaning sewage flowing through the suction pipe.

[0283] For example, Figure 5 A schematic diagram of a self-cleaning method for a cleaning device provided in an embodiment of the present application, such as Figure 5 As shown, the cleaning device self-cleaning method is applied to the cleaning system, and the cleaning device self-cleaning method comprises:

[0284] S501 . When the cleaning device is located at the cleaning base station and starts an initial cleaning mode, first sensing data of a target medium flowing through a suction pipe is obtained based on a color sensor.

[0285] It should be noted that the initial cleaning mode may refer to a cleaning mode of hot cleaning liquid at about 70 degrees or a cleaning mode of cleaning liquid at room temperature. In this cleaning mode, hot cleaning liquid at about 70 degrees or cleaning liquid at room temperature is used to perform hot cleaning or ordinary cleaning on the cleaning parts on the floor brush assembly. The embodiment of the present application does not specifically limit the temperature of the cleaning liquid corresponding to the cleaning parts. The above is only an example.

[0286] It is understandable that the initial cleaning mode may also include other modes, such as a cleaning mode using hot cleaning liquid at about 100 degrees, an immersion cleaning mode, etc. The embodiment of the present application does not limit the specific mode corresponding to the initial cleaning mode, which can be set based on the actual application scenario or the performance of the cleaning equipment.

[0287] S502: Analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium.

[0288] S503: Analyze and process the dirt information of the target medium based on the target color temperature to determine a target dirt degree of the target medium.

[0289] In this step, the dirt information of the target medium is further analyzed and processed based on the target color temperature to determine the target dirt degree of the target medium. Different target color temperatures may correspond to different dirt types and degrees. The target dirt degree can be understood as corresponding to a target dirt level.

[0290] S504, controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; wherein each dirtiness level corresponds to its own self-cleaning mode.

[0291] In this step, according to the determined target dirtiness, the cleaning device is controlled to switch to the corresponding target self-cleaning mode, and each dirtiness corresponds to a specific self-cleaning mode to ensure that the cleaning system performs self-cleaning in a reasonable manner.

[0292] It should be noted that the specific implementation principle and process explanation of S501-S504 are similar to the implementation principle and process explanation of S401-S404 mentioned above. Similar parts can refer to the description of the above embodiments and will not be repeated here. The difference between the two is that the self-cleaning method of the cleaning device is the process in which the cleaning device is located at the cleaning base station and performs self-cleaning, and the cleaning method of the cleaning device is the process in which the cleaning device performs cleaning on the surface to be cleaned, and in the self-cleaning method of the cleaning device, different degrees of dirtiness correspond to different self-cleaning modes. In addition, the specific method of judging the degree of dirtiness by color temperature and the calibration method of the lighting device before detailed detection are consistent with the method adopted in the above cleaning method, and only adaptive adjustments need to be made in the self-cleaning scenario.

[0293] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes:

[0294] Call the color temperature calculation model;

[0295] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0296] Optionally, controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes:

[0297] Determining a first duration of the target soiling level;

[0298] When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to a target self-cleaning mode and perform self-cleaning in the target self-cleaning mode.

[0299] Optionally, when the first duration is greater than a first preset duration threshold, controlling the cleaning device to switch to a target self-cleaning mode and performing self-cleaning in the target self-cleaning mode includes:

[0300] Determine a current self-cleaning mode of the cleaning device and a current degree of dirtiness corresponding to the current self-cleaning mode;

[0301] Determine the degree difference between the current degree of dirtiness and the target degree of dirtiness;

[0302] When the first duration is greater than the first preset duration threshold and the degree difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch step by step from the current self-cleaning mode to the target self-cleaning mode.

[0303] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The method further includes:

[0304] When the cleaning device starts self-cleaning, the lighting device is controlled to turn on, and second sensor data of the inner wall of the suction pipe is obtained;

[0305] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0306] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0307] Optionally, the method further includes:

[0308] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0309] Optionally, the lighting device includes a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0310] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0311] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0312] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition includes:

[0313] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is reduced until the initial color temperature meets the preset color temperature condition;

[0314] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

[0315] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition includes:

[0316] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition;

[0317] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0318] Optionally, the method further includes:

[0319] If the duration of the calibration process for the illumination parameters of the illumination device is longer than the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0320] Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter, and a fourth channel parameter; analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt degree of the target medium includes:

[0321] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0322] A target contamination degree of the target medium is determined based on the contamination type.

[0323] Optionally, analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt degree of the target medium includes:

[0324] When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirt level based on the target color temperature, obtaining a second duration of time during which the target medium is at the first dirt level;

[0325] When the second duration is greater than a second preset duration threshold, adjusting the contamination level of the target medium to a second contamination level;

[0326] The degree of dirtiness of the second dirtiness level is higher than the degree of dirtiness of the first dirtiness level.

[0327] Optionally, the method further includes:

[0328] When it is detected that the duration of the second dirt level is longer than the third preset duration threshold, an abnormal reminder is issued.

[0329] It should be noted that the specific implementation principles and effects of the above-mentioned embodiments can refer to the relevant descriptions and effects of the corresponding embodiments of the cleaning method of the previous cleaning device, and will not be elaborated here.

[0330] Therefore, compared with the traditional method of using optical sensor technology to evaluate the degree of dirtiness of sewage, the method of the present application uses a color sensor to identify dirt in the target medium flowing through the suction pipe. This method has the following advantages: the color sensor can perform multi-dimensional analysis based on light intensity and color information to accurately detect the sensing data of the target medium. Compared with optical sensors that only detect light intensity, it can more accurately identify and distinguish different types of dirt, thereby helping to more accurately evaluate the degree of dirtiness of sewage; and the color sensor can more effectively respond to light changes and other environmental factors, reducing the possibility of false detection, which means that the cleaning system can maintain stable performance under various environmental conditions, thereby improving the reliability of the cleaning system.

[0331] Furthermore, the present application analyzes the target color temperature of the target medium through the detected relatively accurate sensor data, and takes into account the influence of temperature on the color of the target medium. The dirt information is analyzed through the target color temperature, and the target dirtiness of the target medium can be accurately determined. Each dirtiness level corresponds to a specific self-cleaning mode. These self-cleaning modes can be adjusted more flexibly based on the analysis of color temperature to adapt to different dirtiness conditions and improve the efficiency and effectiveness of self-cleaning.

[0332] For similar benefits as in S401 - S404 , reference may be made to the description of the above embodiment, which will not be repeated here.

[0333] It should be noted that the self-cleaning mode has a complete set of self-cleaning processes, including cleaning with hot cleaning liquid at about 70 degrees, cleaning with hot cleaning liquid at about 100 degrees, soaking cleaning, drying and other processes. Each process corresponds to its own self-cleaning mode, and each self-cleaning mode can intelligently control the operation of the corresponding components and the time of self-cleaning. In this application, after cleaning with hot cleaning liquid at about 70 degrees, the color sensor detects the degree of dirtiness of the target medium flowing through the suction pipe.

[0334] Optionally, the cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; and controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes:

[0335] When the target dirtiness level is determined to be the third dirtiness level based on the target medium, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element on the floor brush assembly based on the spin-drying mode;

[0336] Wherein, in the spin-drying mode, the water pump assembly is in a closed state, and the cleaning element is in a rotating state.

[0337] Exemplarily, when the cleaning device is located at the cleaning base station and the cleaning device is in the initial cleaning mode, when the target dirtiness of the target medium is determined to be the third dirtiness level through the color sensor and color temperature analysis, it means that the dirtiness is light, that is, its dirtiness is low dirtiness, then it directly jumps to the spin-drying process, that is, the cleaning device is controlled to switch from the initial cleaning mode to the spin-drying mode. In the spin-drying mode, the water pump assembly is turned off to stop the supply of cleaning liquid to prevent excessive moisture from remaining, and then the cleaning element rotates in the spin-drying mode to drive out the moisture in the cleaning element through centrifugal force.

[0338] In this way, by directly skipping the cleaning step and entering the spin-drying mode when the target degree of dirtiness is detected to be the third level of dirtiness, unnecessary water and electricity consumption is avoided. This method is particularly effective when dealing with light dirtiness because there may be no need to perform a complete self-cleaning process. By omitting unnecessary cleaning steps, the total self-cleaning time is shortened, and the cleaning equipment is restored to a usable state more quickly, thereby improving overall work efficiency. In addition, in cases where the degree of dirtiness is relatively light, excessive cleaning may lead to unnecessary waste of resources and equipment wear. Directly switching to the spin-drying mode can reduce unnecessary cleaning operations, thereby reducing the wear of cleaning equipment components, extending the service life of the cleaning equipment, and reducing maintenance and replacement costs.

[0339] Optionally, the cleaning device further includes a water pump assembly; the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; and controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0340] When the target dirtiness level is determined to be the fourth dirtiness level based on the target medium, the cleaning device is controlled to switch from the initial cleaning mode to the soaking washing mode, so as to soak wash the cleaning element on the floor brush assembly based on the soaking washing mode;

[0341] Wherein, in the soaking washing mode, at least the water pump assembly is turned on, and the cleaning element is located in the liquid in the cleaning chamber.

[0342] Exemplarily, through color sensor and color temperature analysis, it is determined that the target dirtiness of the target medium is the fourth dirtiness level, that is, medium dirtiness, which means that the dirtiness is high and requires deep cleaning. At this time, the cleaning equipment can be controlled to switch from the initial cleaning mode to the immersion washing mode.

[0343] Among them, in the immersion washing mode, the water pump assembly is turned on to inject cleaning liquid into the cleaning chamber, so that the cleaning parts are immersed in the liquid, which helps to soften and dissolve stubborn dirt, and the cleaning parts rotate alternately forward and reverse in the liquid in the cleaning chamber. This rotation method ensures that all parts of the cleaning parts can be fully cleaned, thereby enhancing the self-cleaning effect.

[0344] It should be noted that the immersion washing mode may include a hot cleaning liquid cleaning mode of about 70 degrees and a cleaning mode for immersing the cleaning parts. The embodiment of the present application does not specifically limit the specific mode corresponding to the immersion washing mode. Optionally, after the cleaning equipment completes the cleaning of the cleaning parts based on the immersion washing mode, it can directly switch to the spin-drying mode to spin out the moisture in the cleaning parts, thereby improving the cleaning efficiency.

[0345] Among them, the cleaning mode of immersing the cleaning element includes the water pump assembly being in an on state until the height of the bottom liquid in the cleaning chamber is greater than a preset threshold value, so that the cleaning element can be effectively immersed and cleaned. The preset threshold value is a threshold value set in advance to prevent the liquid in the cleaning chamber from overflowing. When the liquid height in the cleaning chamber exceeds the preset threshold value, continuing to run the water pump assembly may cause liquid overflow. At this time, the water pump can be turned off in time to prevent the liquid from overflowing to the outside.

[0346] It can be understood that the soaking wash mode can effectively remove stubborn dirt through long-term soaking and alternating rotation of the cleaning parts.

[0347] Therefore, by switching to the immersion wash mode when the target dirtiness level is detected to be the fourth dirtiness level, by immersing the cleaning element in the cleaning liquid, stubborn dirt can be effectively softened and dissolved, which helps to deal with situations with higher dirtiness levels, and the cleaning element rotates alternately forward and reverse in the liquid, which can ensure that the cleaning liquid fully contacts all parts of the cleaning element. This mechanical movement combined with the immersion method can more effectively remove accumulated dirt and residue, and by switching to the immersion wash mode, efficient cleaning can be achieved in a shorter time, allowing the cleaning equipment to be restored to a usable state more quickly.

[0348] Optionally, the cleaning device further includes a water pump component; the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0349] When the target dirtiness level is determined to be the first dirtiness level or the second dirtiness level based on the target medium, the cleaning device is controlled to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element on the floor brush assembly based on the heating washing mode;

[0350] Among them, in the heating washing mode, at least the water pump component is turned on and the thermal management component is turned on.

[0351] Exemplarily, through color sensor and color temperature analysis, when the target degree of dirtiness of the target medium is determined to be the first dirtiness level or the second dirtiness level, that is, high dirtiness or ultra-high dirtiness, hot cleaning liquid cleaning at about 100 degrees will be performed, that is, the cleaning equipment will be controlled to switch from the initial cleaning mode to the heated washing mode to perform thermal cleaning with hot water and / or hot air, which is suitable for dealing with stubborn dirt.

[0352] Among them, in the heating washing mode, the water pump component is turned on to transport the heated cleaning liquid to the cleaning chamber to perform thermal cleaning on the cleaning parts. The heating washing mode may refer to a cleaning mode with hot cleaning liquid at about 100 degrees; wherein the thermal management component includes a heating component and / or a hot air generator, the heating component heats the liquid in the cleaning chamber, increases the temperature of the cleaning liquid, and thereby enhances the cleaning effect; the hot air generator can provide hot air, and can also heat the liquid in the cleaning chamber and the cleaning parts, thereby enhancing the cleaning effect. The hot air generator does not require additional configuration and can be shared with the heater used for drying.

[0353] In some embodiments, the heated washing mode may include a cleaning mode using a hot cleaning liquid at about 100 degrees and an immersion cleaning mode. Thus, by combining immersion and high temperature cleaning, an ideal cleaning effect may be achieved in a shorter time, thereby improving overall cleaning efficiency.

[0354] In other embodiments, the heated washing mode may include a cleaning mode using hot cleaning liquid at about 70 degrees, a cleaning mode using hot cleaning liquid at about 100 degrees, and an immersion cleaning mode. In this way, by combining cleaning and immersion modes at different temperatures, the cleaning cycle can be optimized to ensure that the ideal cleaning effect is achieved in the shortest time.

[0355] It should be noted that the embodiment of the present application does not specifically limit the specific mode corresponding to the heating washing mode. Optionally, after the cleaning device completes cleaning the cleaning parts based on the heating washing mode, it can directly switch to the spin-drying mode to spin out the water during heating, thereby improving the cleaning efficiency.

[0356] Therefore, by controlling the cleaning equipment to switch to the heating washing mode when it is detected that the target dirtiness is the first dirtiness level or the second dirtiness level, stubborn dirt can be effectively dissolved and removed. This high-temperature cleaning is particularly suitable for dealing with high and ultra-high dirtiness. The use of thermal management components ensures that the cleaning liquid and cleaning parts can reach a high temperature state, thereby enhancing the cleaning effect. Through high-temperature cleaning, the cleaning equipment can be restored to its original state faster, maintaining efficient cleaning performance.

[0357] In the foregoing embodiments, the cleaning method of the cleaning device provided by the embodiment of the present application is introduced, and in order to realize the various functions in the method provided by the above embodiment of the present application, the cleaning device as the execution subject may include a hardware structure and / or a software module, and the above functions are realized in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a certain function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0358] For example, Figure 6 A schematic diagram of the structure of a cleaning device of a cleaning equipment provided in an embodiment of the present application, such as Figure 6 As shown, the cleaning device 600 is applied to the cleaning device; the cleaning device includes a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the cleaning device 600 includes:

[0359] The first acquisition module 601 is used to acquire first sensing data of a target medium flowing through a suction pipe based on a color sensor during a cleaning task performed by the cleaning device;

[0360] A first analysis module 602 is used to analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0361] The first processing module 603 is used to analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirt level of the target medium;

[0362] The first switching module 604 is used to control the cleaning device to switch to a target cleaning mode corresponding to a target dirt level, and clean the surface to be cleaned; wherein each dirt level corresponds to a respective cleaning mode.

[0363] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; the first analysis module 602 is specifically used to:

[0364] Call the color temperature calculation model;

[0365] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0366] Optionally, the first switching module 604 is configured to:

[0367] Determining a first duration of the target soiling level;

[0368] When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to a target cleaning mode, and the surface to be cleaned is cleaned in the target cleaning mode.

[0369] Optionally, the first switching module 604 is specifically configured to:

[0370] Determine a current cleaning mode of the cleaning device and a current dirtiness level corresponding to the current cleaning mode;

[0371] determining a level difference between a current soiling level and a target soiling level;

[0372] When the first duration is greater than the first preset duration threshold and the level difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch from the current cleaning mode to the target cleaning mode step by step.

[0373] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The cleaning device 600 further includes an adjustment module, which is used to:

[0374] When the cleaning device is started, the lighting device is controlled to turn on, and second sensor data of the inner wall of the suction pipe is obtained;

[0375] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0376] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0377] Optionally, the cleaning device 600 further includes a control module, wherein the control module is used to:

[0378] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0379] Optionally, the lighting device includes a first lamp bead and a second lamp bead; the adjustment module is specifically used for:

[0380] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0381] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0382] Optionally, the adjustment module is specifically used for:

[0383] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is reduced until the initial color temperature meets the preset color temperature condition;

[0384] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

[0385] Optionally, the adjustment module is specifically used for:

[0386] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition;

[0387] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0388] Optionally, the cleaning device 600 further includes an alarm module, which is used to:

[0389] If the duration of the calibration process for the illumination parameters of the illumination device is longer than the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0390] Optionally, the cleaning device further includes a water pump assembly and a power assembly; the water pump assembly is used to provide cleaning liquid, and the power assembly is used to drive the cleaning member to perform a cleaning action; the first switching module 604 is specifically used to:

[0391] Determine the target pump fluid volume of the water pump assembly and the target working power of the power assembly in the target cleaning mode;

[0392] The water pump component is controlled to switch to a target pump fluid volume and / or the power component is controlled to switch to a target working power to clean the surface to be cleaned.

[0393] Optionally, the cleaning device further includes a body display; the body display is used to display a corresponding prompt signal based on a target dirt level of the target medium.

[0394] Optionally, the first sensing data at least includes a first channel parameter, a second channel parameter, a third channel parameter and a fourth channel parameter; the first processing module 603 is specifically used to:

[0395] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0396] A target soiling level for the target medium is determined based on the soiling type.

[0397] Optionally, the first processing module 603 is specifically configured to:

[0398] When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirt level based on the target color temperature, obtaining a second duration of time during which the target medium is at the first dirt level;

[0399] When the second duration is greater than a second preset duration threshold, adjusting the dirt level of the target medium to a second dirt level;

[0400] The degree of dirtiness of the second dirtiness level is higher than the degree of dirtiness of the first dirtiness level.

[0401] Optionally, the cleaning device 600 further includes a self-cleaning reminder, which is used to:

[0402] When it is detected that the duration of the second dirt level is greater than the third preset duration threshold, a self-cleaning reminder is issued.

[0403] It should be noted that the specific implementation principles and effects of the cleaning device of the above-mentioned cleaning equipment can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0404] For example, Figure 7 A schematic diagram of a self-cleaning device for cleaning equipment provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the cleaning device self-cleaning device 700 is applied to a cleaning system, the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the self-cleaning device 700 includes:

[0405] The second acquisition module 701 is used to acquire first sensor data of the target medium flowing through the suction pipe based on the color sensor when the cleaning device is located at the cleaning base station and starts the initial cleaning mode;

[0406] The second analysis module 702 is used to analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0407] The second processing module 703 is used to analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirt degree of the target medium;

[0408] The second switching module 704 is used to control the cleaning device to switch to a degree self-cleaning mode corresponding to the target dirtiness level, so as to perform self-cleaning based on the degree self-cleaning mode; wherein each dirtiness level corresponds to its own self-cleaning mode.

[0409] Optionally, the cleaning device further includes a water pump assembly; the self-cleaning mode at least includes a spin-drying mode; and the second switching module 704 is specifically used to:

[0410] When the target dirtiness level is determined to be the third dirtiness level based on the target medium, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element on the floor brush assembly based on the spin-drying mode;

[0411] Wherein, in the spin-drying mode, the water pump assembly is in a closed state, and the cleaning element is in a rotating state.

[0412] Optionally, the cleaning device further includes a water pump assembly; the cleaning base station includes a cleaning chamber; the self-cleaning mode at least includes an immersion washing mode; and the second switching module 704 is specifically used to:

[0413] When the target dirtiness level is determined to be the fourth dirtiness level based on the target medium, the cleaning device is controlled to switch from the initial cleaning mode to the soaking washing mode, so as to soak wash the cleaning element on the floor brush assembly based on the soaking washing mode;

[0414] Wherein, in the soaking washing mode, at least the water pump assembly is in an on state, and the cleaning element is located in the liquid in the cleaning chamber.

[0415] Optionally, the cleaning device further includes a water pump component; the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; the second switching module 704 is specifically used to:

[0416] When the target dirtiness level is determined to be the first dirtiness level or the second dirtiness level based on the target medium, the cleaning device is controlled to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element on the floor brush assembly based on the heating washing mode;

[0417] Among them, in the heating washing mode, at least the water pump component is turned on and the thermal management component is turned on.

[0418] It should be noted that the specific implementation principle and effect of the self-cleaning device of the above-mentioned cleaning equipment can be found in the relevant description and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0419] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0420] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method described in any of the aforementioned embodiments as executed by a cleaning device or a cleaning system in any of the aforementioned embodiments of the present application.

[0421] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments as performed by a cleaning device or a cleaning system in any of the aforementioned embodiments of the present application.

[0422] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0423] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0424] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0425] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0426] It should be understood that the above processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can be any conventional processor, etc. The steps of the method disclosed in the application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0427] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0428] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0429] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0430] An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in the cleaning device or the main control device.

[0431] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0432] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0433] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0434] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0435] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A cleaning method for a cleaning device, characterized in that: Applicable to a cleaning device; the cleaning device comprises a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the method comprises: In the process of the cleaning device performing a cleaning task, first sensing data of a target medium flowing through the suction pipe is acquired based on the color sensor; Analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium; Analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt level of the target medium; The cleaning device is controlled to switch to a target cleaning mode corresponding to the target dirt level, and cleans the surface to be cleaned; wherein each dirt level corresponds to a respective cleaning mode.

2. The method according to claim 1, characterized in that The first sensing data at least includes a first channel parameter and a second channel parameter; and the analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes: Call the color temperature calculation model; The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

3. The method according to claim 1, characterized in that: The controlling the cleaning device to switch to the target cleaning mode corresponding to the target dirt level and cleaning the surface to be cleaned includes: determining a first duration of the target dirtiness level; When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to the target cleaning mode, and the surface to be cleaned is cleaned in the target cleaning mode.

4. The method according to claim 3, characterized in that: When the first duration is greater than a first preset duration threshold, controlling the cleaning device to switch to the target cleaning mode and cleaning the surface to be cleaned in the target cleaning mode includes: Determining a current cleaning mode of the cleaning device and a current dirtiness level corresponding to the current cleaning mode; determining a level difference between the current soiling level and the target soiling level; When the first duration is greater than a first preset duration threshold and the level difference is greater than or equal to a preset difference threshold, the cleaning device is controlled to switch from the current cleaning mode to the target cleaning mode step by step.

5. The method according to claim 1, characterized in that The cleaning device further comprises a lighting device, wherein the lighting device is arranged on a suction pipe connecting the floor brush assembly and the sewage tank, and the method further comprises: When the cleaning device is started, the lighting device is controlled to turn on, and second sensor data of the inner wall of the suction pipe is obtained; Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment; When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

6. The method according to claim 5, characterized in that The method further comprises: When the initial color temperature satisfies a preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

7. The method according to claim 5, characterized in that The lighting device comprises a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature, including: When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition; Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

8. The method according to claim 7, characterized in that The step of adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets a preset color temperature condition includes: When it is detected that the initial color temperature is greater than a preset color temperature threshold, reducing the duty cycle of the pulse signal sent to the first lamp bead until the initial color temperature meets the preset color temperature condition; When it is detected that the initial color temperature is less than a preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

9. The method according to claim 7, characterized in that: The step of adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets a preset color temperature condition includes: When it is detected that the initial color temperature is greater than a preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition; When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

10. The method according to claim 5, characterized in that The method further comprises: If the duration of the calibration process for the illumination parameters of the illumination device is longer than a third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

11. The method according to claim 1, characterized in that The cleaning device further includes a water pump assembly and a power assembly, wherein the water pump assembly is used to provide cleaning liquid, and the power assembly is used to drive the cleaning member to perform a cleaning action; the controlling the cleaning device to switch to a target cleaning mode corresponding to the target dirt level and to clean the surface to be cleaned includes: Determine a target pump fluid volume of the water pump assembly and a target operating power of the power assembly in the target cleaning mode; The water pump assembly is controlled to switch to a target pump fluid volume and / or the power assembly is controlled to switch to the target working power, so as to clean the surface to be cleaned.

12. The method according to claim 1, characterized in that The cleaning device further comprises a body display; the body display is used to display a corresponding prompt signal based on the target dirt level of the target medium.

13. The method according to claim 1, characterized in that The first sensing data at least includes a first channel parameter, a second channel parameter, a third channel parameter and a fourth channel parameter; the analyzing and processing the dirt information of the target medium based on the target color temperature to determine the target dirt level of the target medium includes: When it is determined that the target color temperature satisfies a preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter, and the fourth channel parameter are respectively compared with their respective corresponding specific thresholds to determine the dirt type of the target medium; A target soiling level of the target medium is determined based on the soiling type.

14. The method according to claim 1, characterized in that The analyzing and processing the dirt information of the target medium based on the target color temperature to determine the target dirt level of the target medium includes: When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the first dirt level based on the target color temperature, obtaining a second duration of the target medium being at the first dirt level; When the second duration is greater than a second preset duration threshold, adjusting the dirt level of the target medium to a second dirt level; The second dirtiness level has a higher dirtiness than the first dirtiness level.

15. The method according to claim 14, characterized in that The method further comprises: When it is detected that the duration of the second dirt level is greater than a third preset duration threshold, a self-cleaning reminder is issued.

16. A self-cleaning method for cleaning equipment, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the method comprises: When the cleaning device is located at the cleaning base station and starts an initial cleaning mode, first sensing data of a target medium flowing through the suction pipe is acquired based on the color sensor; Analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium; Analyzing and processing the dirt information of the target medium based on the target color temperature to determine a target dirt degree of the target medium; The cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; wherein each dirtiness level corresponds to a respective self-cleaning mode.

17. The method according to claim 16, characterized in that The cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; and controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes: When the target dirtiness level is determined to be the third dirtiness level based on the target medium, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning member on the floor brush assembly based on the spin-drying mode; Wherein, in the spin-drying mode, the water pump assembly is in a closed state, and the cleaning element is in a rotating state.

18. The method according to claim 16, characterized in that The cleaning device further includes a water pump assembly; the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; and the controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes: When the target dirtiness level is determined to be the fourth dirtiness level based on the target medium, controlling the cleaning device to switch from the initial cleaning mode to the soaking washing mode, so as to soak wash the cleaning member on the floor brush assembly based on the soaking washing mode; Wherein, in the soaking washing mode, at least the water pump assembly is in an on state, and the cleaning member is located in the liquid in the cleaning chamber.

19. The method according to claim 16, characterized in that The cleaning device further includes a water pump component; the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; the controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirtiness to perform self-cleaning based on the target self-cleaning mode includes: When the target dirtiness level is determined to be the first dirtiness level or the second dirtiness level based on the target medium, controlling the cleaning device to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning member on the floor brush assembly based on the heating washing mode; Wherein, in the heating wash mode, at least the water pump component is turned on and the thermal management component is turned on.

20. A cleaning device for cleaning equipment, characterized in that: Applicable to cleaning equipment; the cleaning equipment includes a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the device includes: A first acquisition module, used for acquiring first sensing data of a target medium flowing through the suction pipe based on the color sensor during the process of the cleaning device performing a cleaning task; A first analysis module, configured to analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium; A first processing module, configured to analyze and process the dirt information of the target medium based on the target color temperature, and determine a target dirt level of the target medium; The first switching module is used to control the cleaning device to switch to the target cleaning mode corresponding to the target dirt level, and clean the surface to be cleaned; wherein each dirt level corresponds to its own cleaning mode.

21. A self-cleaning device for cleaning equipment, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a color sensor, a floor brush assembly, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the device comprises: A second acquisition module is used to acquire first sensor data of a target medium flowing through the suction pipe based on the color sensor when the cleaning device is located at the cleaning base station and starts an initial cleaning mode; A second analysis module, configured to analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium; A second processing module is used to analyze and process the dirt information of the target medium based on the target color temperature to determine a target dirt degree of the target medium; The second switching module is used to control the cleaning device to switch to a degree self-cleaning mode corresponding to the target dirtiness level, so as to perform self-cleaning based on the degree self-cleaning mode; wherein each dirtiness level corresponds to its own self-cleaning mode.

22. A cleaning device, characterized in that: include: A color sensor, a floor brush assembly, a suction pipe, a sewage tank and a controller; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the controller is in communication connection with the color sensor; The controller is used to execute the method according to any one of claims 1 to 15.

23. A cleaning system, characterized in that: include: A cleaning device and a cleaning base station; the cleaning device comprises a color sensor, a floor brush assembly, a suction pipe, a sewage tank and a controller; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; the controller is in communication connection with the color sensor; the cleaning base station is used to carry the cleaning device; The controller is used to execute the method according to any one of claims 16 to 19.

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