Cleaning assembly replacement method, device and system, medium and product

Abstract

The invention provides a cleaning assembly replacement method, device and system, a medium and a product, relates to the field of intelligent robots, and is applied to a cleaning system comprising cleaning equipment and a cleaning base station. The cleaning base station comprises a visual sensor and at least one type of cleaning assembly; the visual sensor is used for identifying color data of the cleaning assembly; comprising the steps that when cleaning equipment is located on a cleaning base station, a first type of a current cleaning assembly is determined based on target color data recognized by a visual sensor; the color data in different numerical ranges correspond to different types of cleaning components; determining a second type of the to-be-cleaned surface, and selecting a target cleaning assembly of a third type matched with the second type; according to the method, the current cleaning assembly is replaced with the target cleaning assembly, the to-be-cleaned face is cleaned based on the target cleaning assembly, in this way, through the method, the cleaning system can automatically recognize and replace the appropriate cleaning assembly, and it is ensured that the ideal cleaning effect is achieved on different types of to-be-cleaned faces.

Description

Technical Field

[0001] The present application relates to the field of intelligent robots, and in particular to a cleaning component replacement method, device, system, medium and product. Background Art

[0002] With the advancement of technology and the diversification of user needs, cleaning equipment not only needs to have basic vacuuming functions, but also needs to have wet mopping and other functions to improve the cleaning effect. In order to adapt to the various types of surfaces to be cleaned, such as wooden floors, tiles, carpets, etc., or to adapt to the specific needs of users, cleaning equipment can usually be equipped with multiple types of cleaning components.

[0003] In the prior art, before a cleaning device performs a cleaning task, the cleaning components are usually replaced manually according to the degree of wear of the cleaning components.

[0004] However, focusing only on the loss of cleaning components may ignore the special requirements of different types of surfaces to be cleaned for cleaning components, resulting in poor cleaning effects on some surfaces to be cleaned. Therefore, in order to ensure that the cleaning equipment uses appropriate cleaning components on different types of surfaces to be cleaned, automatic identification of the type of cleaning components becomes an important requirement. Summary of the invention

[0005] The present application provides a cleaning component replacement method, device, system, medium and product, which accurately identifies the type of cleaning component based on color data recognized by a visual sensor or a magnetic pole combination recognized by a magnetic sensor, and then selects a cleaning component that matches the type of the surface to be cleaned for replacement, so that the surface to be cleaned can be cleaned based on a suitable cleaning component. This strategy of selecting a cleaning component that matches the type of the surface to be cleaned for cleaning greatly improves the cleaning effect.

[0006] In a first aspect, the present application provides a cleaning component replacement method, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a visual sensor and at least one type of cleaning component; the visual sensor is used to identify color data of at least one type of cleaning component; the method includes:

[0007] When the cleaning device is located on the cleaning base station, determining a first type of a current cleaning component installed on the cleaning device based on target color data recognized by the visual sensor; color data in different numerical ranges correspond to different types of cleaning components;

[0008] Determining a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, selecting a third type of target cleaning component that matches the second type; the third type is determined based on color data of at least one type of cleaning component recognized by the visual sensor;

[0009] The current cleaning component is replaced by the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

[0010] In this way, the present application automatically identifies the type of cleaning components through visual sensors without human intervention, thereby improving the degree of automation and operational efficiency of the cleaning system, and the recognition of color data has high accuracy, which can ensure the accuracy of cleaning component identification, so that the cleaning system can quickly identify and judge the type of cleaning components currently installed and the type of at least one type of cleaning components stored in the cleaning base station, and then by selecting cleaning components that match the type of the surface to be cleaned for replacement, it can provide an ideal cleaning effect for a specific type of surface to be cleaned, ensure high cleaning efficiency, and avoid damage to the surface to be cleaned, especially for surfaces of sensitive or special materials, so that the cleaning system can quickly adapt to different cleaning tasks and environmental changes, and provide flexible solutions to meet various cleaning needs.

[0011] Compared with the existing method of manually replacing cleaning components, the present application reduces the time of manual operation through the above-mentioned automated component replacement process based on visual sensors, improves overall work efficiency, reduces labor costs and rework time caused by incorrect selection of cleaning components, reduces safety risks caused by improper human operation, and improves overall work efficiency. In addition, the present application also considers the replacement of cleaning components based on adaptation to the surface to be cleaned, ensuring that the cleaning equipment can use suitable cleaning components to process specific surfaces to be cleaned, thereby improving the cleaning effect.

[0012] Optionally, the visual sensor is a color sensor; the color data corresponds to a plurality of reflected light intensity ranges, and determining the first type of the current cleaning component installed on the cleaning device based on the target color data recognized by the visual sensor includes:

[0013] Identify the intensity of reflected light of a current cleaning component installed on the cleaning device based on a color sensor;

[0014] After determining the corresponding target reflected light intensity range based on the reflected light intensity, determining the target color data of the current cleaning component based on the target reflected light intensity range;

[0015] A first type of current cleaning component is determined based on the target color data.

[0016] Since the color sensor can accurately detect changes in the intensity of reflected light, the cleaning system can accurately identify and distinguish different types of cleaning components. In this way, the color sensor automatically identifies color data and determines the type of cleaning component. This not only ensures the use of cleaning components that match the surface to be cleaned and avoids poor cleaning results caused by improper use of cleaning components, but also reduces manual intervention, improves the level of automation and operational efficiency, thereby increasing user satisfaction and trust and enhancing user experience.

[0017] Optionally, there is no overlapping area in each reflected light intensity range.

[0018] Therefore, through this design without overlapping areas, it can be ensured that each detected light intensity value can only correspond to a specific type of cleaning component, eliminating ambiguity and uncertainty in the identification process. This unique light intensity range design improves the accuracy of identification, ensuring that the cleaning system can correctly identify and classify cleaning components and reducing the possibility of misidentification.

[0019] Optionally, the visual sensor is an artificial intelligence (AI) camera; determining the first type of the current cleaning component installed on the cleaning device based on the target color data recognized by the visual sensor includes:

[0020] Based on AI camera recognition, image information of the current cleaning components installed on the cleaning equipment;

[0021] determining target color data of the current cleaning component based on the image information;

[0022] A first type of current cleaning component is determined based on the target color data.

[0023] Therefore, in the present application, the target color data of the current cleaning component can also be determined based on the image information recognized by the AI ​​camera. This AI camera recognition method can accurately identify complex image color features, further improve the accuracy of identifying the cleaning component type, and realize automatic recognition through AI technology, which reduces manual intervention and improves the overall intelligence level.

[0024] Optionally, the cleaning base station also includes a transport mechanism; the visual sensor is located on the transport mechanism.

[0025] In this way, mounting the vision sensor on the transport mechanism allows the vision sensor to move between different positions. This flexibility enables the sensor to capture the color data of the cleaning components from the appropriate angle and distance, improving the accuracy of recognition and detection. Since one mobile vision sensor can cover multiple fixed positions, mounting the vision sensor on the transport mechanism can reduce the total number of sensors required in the cleaning system, thereby reducing cost and complexity.

[0026] Optionally, determining a second type of the surface to be cleaned includes:

[0027] In response to the user's operation on the user terminal, the second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

[0028] Therefore, this application allows users to select or input the type of surface to be cleaned according to specific needs and preferences to implement personalized cleaning plans. By directly participating in the process of determining the type of surface to be cleaned, the accuracy of the information on the surface to be cleaned is ensured, reducing possible errors in automatic identification.

[0029] Optionally, determining a second type of the surface to be cleaned includes:

[0030] Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task;

[0031] The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

[0032] In this way, the cleaning equipment can automatically detect and identify the type of surface to be cleaned, can accurately identify the characteristics of the surface to be cleaned, improve the accuracy of identifying the type of surface to be cleaned, reduce dependence on manual input, and improve the degree of automation of operations. In addition, the cleaning equipment can quickly respond to environmental changes based on real-time collection and transmission of detection information and return to the cleaning base station to replace the appropriate cleaning components in time according to the type of surface to be cleaned, thereby optimizing the cleaning effect.

[0033] Optionally, determining a second type of the surface to be cleaned includes:

[0034] Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned;

[0035] For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one;

[0036] After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

[0037] In this way, by identifying the second type of each surface to be cleaned, the cleaning device can use appropriate cleaning components when cleaning each surface to be cleaned, thereby achieving more precise and efficient cleaning results, and by replacing cleaning components between cleaning different types of surfaces to be cleaned, the risk of cross-contamination can be effectively reduced, ensuring that each surface to be cleaned can be properly cleaned, thereby optimizing the overall cleaning strategy and ensuring an efficient cleaning process.

[0038] Optionally, the method further includes:

[0039] When it is determined that the second type matches the first type, the current cleaning component is not replaced, so that the surface to be cleaned is cleaned based on the current cleaning component.

[0040] In this way, by avoiding unnecessary component replacement, reducing replacement frequency and cost, and reducing the downtime of cleaning equipment at the cleaning base station, the overall cleaning efficiency can be improved. Therefore, through intelligent judgment and decision-making, it can automatically determine whether components need to be replaced, which can not only optimize the operating efficiency of the cleaning system so that it can respond to different cleaning tasks more quickly, but also reduce the user's operating steps and decision-making burden, thereby improving the user experience.

[0041] In a second aspect, the present application provides a cleaning component replacement method, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a magnetic sensor and at least one type of cleaning component; different types of cleaning components correspond to respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component; the method includes:

[0042] When the cleaning device is located on the cleaning base station, determining a first type of a current cleaning component installed on the cleaning device based on at least one type of identified target magnetic pole combination;

[0043] Determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on a magnetic pole combination of at least one type of cleaning component identified by the magnetic sensor;

[0044] The current cleaning component is replaced by the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

[0045] Therefore, the present application can automatically identify the type of cleaning component through a magnetic sensor, and then select a target cleaning component suitable for the surface to be cleaned, ensuring that the surface to be cleaned obtains an ideal cleaning effect, and the above process does not require human intervention, thereby improving the degree of automation and operating efficiency of the cleaning system. In the present application, the magnetic sensor can accurately detect magnetic fields of specific polarities, which makes it possible to accurately identify the magnetic pole combinations of different cleaning components, thereby ensuring the correct identification of the cleaning component type. Due to the electronic characteristics of the magnetic sensor, it can quickly respond to changes in the magnetic field, which means that the correct cleaning component can be quickly replaced, reducing waiting time. Furthermore, the present application can provide an ideal cleaning effect for a specific type of surface to be cleaned and ensure high cleaning efficiency by selecting a cleaning component that matches the type of surface to be cleaned for replacement, and can also avoid damage to the surface to be cleaned, especially for surfaces of sensitive or special materials, so that the cleaning system can quickly adapt to different cleaning tasks and environmental changes, and provide flexible solutions to meet various cleaning needs.

[0046] Compared with the existing method of manually replacing cleaning components, the present application reduces the time of manual operation through the above-mentioned automated component replacement process based on magnetic sensors, improves overall work efficiency, reduces labor costs and rework time caused by incorrect selection of cleaning components, reduces safety risks caused by improper human operation, and improves overall work efficiency. In addition, the present application also considers the replacement of cleaning components based on adaptation to the surface to be cleaned, ensuring that the cleaning equipment can use suitable cleaning components to process specific surfaces to be cleaned, thereby improving the cleaning effect.

[0047] Optionally, the magnetic sensor is a unipolar Hall sensor; and at least one magnet is nested in each cleaning component.

[0048] Since unipolar Hall sensors are specifically designed to detect magnetic fields of specific polarity, such as N pole or S pole, this makes the identification process simpler and more direct, allowing the cleaning system to confirm the type of cleaning component by simply detecting the expected polarity. Unipolar Hall sensors only respond to magnetic fields of specific polarity, which reduces the possibility of false detection and improves the accuracy and reliability of identification.

[0049] It should be noted that unipolar Hall sensors are generally simpler and less expensive than bipolar sensors. Due to their simplicity, unipolar Hall sensors are easier to integrate into cleaning systems.

[0050] By embedding magnets in each cleaning component, the cleaning system can quickly identify the types of different cleaning components and support new component types by simply adjusting the polarity configuration of the magnets.

[0051] Optionally, at least one magnet extends through the center of the cleaning component.

[0052] In the present application, placing the magnet at the center of the cleaning component helps to maintain the physical stability and balance of the cleaning component. This design can reduce the vibration and imbalance caused by eccentricity during operation of the cleaning component and improve the smooth operation of the cleaning equipment.

[0053] Among them, the centrally located magnet ensures that magnetic sensors, such as unipolar Hall effect sensors, can uniformly detect the polarity of the magnetic field in any direction of the cleaning component, which improves the accuracy and consistency of magnetic sensor detection and reduces recognition errors caused by magnet position offset.

[0054] This center-through design not only makes the installation of the magnet easier and more direct, without the need for complex positioning or fixing devices, simplifies the design and manufacturing process of the cleaning component and reduces production costs, but also makes more efficient use of the internal space of the cleaning component and avoids interference with other functional components.

[0055] Optionally, the cleaning base station also includes a transport mechanism and a receiving unit; the unipolar Hall sensor is located on the transport mechanism; the bottom of the receiving unit has a magnetic element that can be adsorbed by a magnet, and the magnetic element is used to attract the current cleaning component to fall into the receiving unit.

[0056] Mounting the unipolar Hall sensor on the transport mechanism enables the unipolar Hall sensor to be moved to different positions for detection. This dynamic detection capability improves the flexibility of the cleaning system, allowing the unipolar Hall sensor to identify the magnetic pole combination of the cleaning component from the appropriate position. By moving the unipolar Hall sensor, the cleaning system can more accurately identify the type of cleaning component, ensuring accuracy when replacing components.

[0057] The magnetic element at the bottom of the receiving unit can absorb the current cleaning component through magnetic force, causing it to fall off into the receiving unit. This design realizes the automatic replacement of cleaning components, reduces manual intervention, and improves operational efficiency.

[0058] The use of magnetic force to adsorb and release components reduces the need for complex mechanical structures, which not only reduces the complexity of the cleaning system, but also reduces the risk of physical damage to cleaning components and equipment during replacement, thereby improving operational safety.

[0059] Optionally, determining a second type of the surface to be cleaned includes:

[0060] In response to the user's operation on the user terminal, the second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

[0061] Optionally, determining a second type of the surface to be cleaned includes:

[0062] Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task;

[0063] The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

[0064] Optionally, determining a second type of the surface to be cleaned includes:

[0065] Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned;

[0066] For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one;

[0067] After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

[0068] Optionally, the method further includes:

[0069] When it is determined that the second type matches the first type, the current cleaning component is not replaced, so that the surface to be cleaned is cleaned based on the current cleaning component.

[0070] It should be noted that the beneficial effects of the above-mentioned optional solutions can be found in the relevant description of the corresponding solutions in the first aspect, and will not be elaborated here.

[0071] In a third aspect, the present application provides a cleaning component replacement device, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a visual sensor and at least one type of cleaning component; the visual sensor is used to identify color data of at least one type of cleaning component; the device includes:

[0072] A first determination module is used to determine a first type of a current cleaning component installed on the cleaning device based on target color data recognized by a visual sensor when the cleaning device is located on the cleaning base station; color data in different numerical ranges correspond to different types of cleaning components;

[0073] A first selection module is used to determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on color data of at least one type of cleaning component recognized by the visual sensor;

[0074] The first replacement module is used to replace the current cleaning component with the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

[0075] In a fourth aspect, the present application provides a cleaning component replacement device, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a magnetic sensor and at least one type of cleaning component; different types of cleaning components correspond to their respective magnetic pole combinations; a unipolar Hall sensor is used to identify the magnetic pole combination of at least one type of cleaning component; the device includes:

[0076] A second determination module is used to determine a first type of a current cleaning component installed on the cleaning device based on a target magnetic pole combination identified by a unipolar Hall sensor when the cleaning device is located on the cleaning base station;

[0077] A second selection module is used to determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on a magnetic pole combination of at least one type of cleaning component identified by a unipolar Hall sensor;

[0078] The second replacement module is used to replace the current cleaning component with the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

[0079] In a fifth aspect, the present application provides a cleaning system, comprising: a cleaning device and a cleaning base station; the cleaning base station comprises a visual sensor and at least one type of cleaning component; the visual sensor is used to identify color data of at least one type of cleaning component;

[0080] The cleaning system is used to perform the method according to any one of the first aspects.

[0081] In a sixth aspect, the present application provides a cleaning system, comprising: a cleaning device and a cleaning base station; the cleaning base station comprises a magnetic sensor and at least one type of cleaning component; different types of cleaning components correspond to respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component;

[0082] The cleaning system is used to perform the method according to any one of the second aspects.

[0083] In a seventh aspect, the present application 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 as described in any one of the first and second aspects.

[0084] In an eighth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first and second aspects.

[0085] 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, the fourth aspect and the sixth aspect of the present application correspond to the technical solution of the second aspect of the present application, and the seventh aspect and the eighth aspect of the present application correspond to the technical solutions of the first and second aspects 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.

[0086] In summary, the present application provides a cleaning component replacement method, device, system, medium and product. Through the visual sensor equipped in the cleaning base station, the color data of the cleaning component can be accurately identified, and then the color data identified by the visual sensor is compared with the preset color data range to determine the first type of the current cleaning component. Different color data ranges correspond to different types of cleaning components. In this way, through the color recognition technology, the type of the currently installed cleaning component can be quickly and accurately determined. Further, the second type of the surface to be cleaned is determined, and the first type of the current cleaning component is matched with the second type of the surface to be cleaned. If the two do not match, that is, the current cleaning component is not suitable for cleaning the surface to be cleaned, the cleaning component needs to be replaced, and then according to the second type of the surface to be cleaned, A third type of target cleaning component that matches the cleaning base station is selected from the cleaning base station. This selection process is also based on the visual sensor's recognition of the color data of the cleaning component to ensure that the selected target cleaning component is suitable for the characteristics of the surface to be cleaned. Furthermore, the cleaning base station activates an automatic replacement mechanism to remove the currently unmatched cleaning component and install the selected target cleaning component to clean the surface to be cleaned based on the target cleaning component. In this way, through the above method, the cleaning system can automatically identify and replace suitable cleaning components to ensure ideal cleaning effects on different types of surfaces to be cleaned, which not only improves the cleaning efficiency, but also reduces the problem of poor cleaning effects caused by mismatched cleaning components. Accordingly, the implementation process of replacing cleaning components based on magnetic sensors is similar to the above method and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] 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.

[0088] Figure 1 A partial structural schematic diagram of a cleaning system provided in an embodiment of the present application;

[0089] Figure 2 A schematic diagram of the structure of a cleaning base station provided in an embodiment of the present application;

[0090] Figure 3 A schematic diagram of the structure of a transport track provided in an embodiment of the present application;

[0091] Figure 4 A partial structural schematic diagram of a cleaning system is also provided for this application;

[0092] Figure 5 A schematic diagram of a partial structure of a cleaning component provided in an embodiment of the present application;

[0093] Figure 6 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0094] Figure 7 A schematic diagram of a flow chart of a cleaning component replacement method provided in an embodiment of the present application;

[0095] Figure 8 A schematic diagram of another cleaning component replacement method provided in the present application;

[0096] Fig. 9 A schematic diagram of the structure of a cleaning component replacement device provided in an embodiment of the present application;

[0097] Fig.10 A schematic structural diagram of another cleaning component replacement device provided in an embodiment of the present application.

[0098] 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

[0099] 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.

[0100] 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.

[0101] In the present 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.

[0102] In the related art, before a cleaning device performs a cleaning task, the cleaning components are usually replaced manually according to the degree of wear of the cleaning components.

[0103] However, focusing only on the loss of cleaning components may ignore the special requirements of different types of surfaces to be cleaned for cleaning components, resulting in poor cleaning effects on some surfaces to be cleaned.

[0104] It should be noted that cleaning equipment can usually be equipped with multiple types of cleaning components. For example, a sweeping robot can be equipped with multiple types of rag components to use different types of rag components based on different user needs or the type of surface to be cleaned. In this way, each type of surface to be cleaned requires the use of a corresponding rag component for cleaning, which raises the issue of rag component selection. Therefore, a method for identifying the rag component is needed to use the rag component corresponding to the specific type of surface to be cleaned for cleaning.

[0105] In response to the above problems, the present application provides a method for replacing a cleaning component. Through a visual sensor equipped at a cleaning base station, the color data of the cleaning component can be accurately identified. Then, based on the color data identified by the visual sensor, it is compared with a pre-set color data range to determine the first type of the current cleaning component. Different color data ranges correspond to different types of cleaning components. In this way, through color recognition technology, the type of cleaning component currently installed can be quickly and accurately determined. Furthermore, the second type of the surface to be cleaned is determined, and the first type of the current cleaning component is matched with the second type of the surface to be cleaned. If the two do not match, that is, the current cleaning component is not suitable for cleaning the surface to be cleaned, the cleaning component needs to be replaced. , and then according to the second type of the surface to be cleaned, a third type of target cleaning component that matches it is selected from the cleaning base station. This selection process is also based on the visual sensor's recognition of the color data of the cleaning component to ensure that the selected target cleaning component is suitable for the characteristics of the surface to be cleaned. Further, the cleaning base station starts an automatic replacement mechanism to remove the current unmatched cleaning component and install the selected target cleaning component to clean the surface to be cleaned based on the target cleaning component. In this way, through the above method, the cleaning system can automatically identify and replace suitable cleaning components to ensure ideal cleaning effects on different types of surfaces to be cleaned, which not only improves the cleaning efficiency, but also reduces the problem of poor cleaning effects caused by mismatched cleaning components.

[0106] Optionally, the cleaning component replacement method provided in the present application is applied to a cleaning system, exemplarily, Figure 1 A partial structural diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the cleaning system 300 includes a cleaning device 100 and a cleaning base station 200; the cleaning base station 200 includes a visual sensor 204 and at least one type of cleaning component 201; the visual sensor 204 is used to identify the color data of at least one type of cleaning component 201; when the cleaning device 100 is located on the cleaning base station 200, the visual sensor 204 can also be used to identify the color data of the current cleaning component installed on the cleaning device 100, so that the cleaning system 300 can determine the first type of the current cleaning component.

[0107] It is understandable that if a visual sensor 204 is also installed on the body of the cleaning device 100, the visual sensor 204 can also identify the color data of the current cleaning components installed on the cleaning device 100 when performing cleaning tasks or building maps and other scenarios that are not located on the cleaning base station 200. In this way, when the cleaning device 100 is located on the cleaning base station 200, there is no need to identify the color data of the current cleaning components installed on the cleaning device 100 again.

[0108] For example, Figure 2A schematic diagram of a cleaning base station provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the cleaning base station 200 also includes a transportation mechanism 205; the visual sensor 204 is located on the transportation mechanism 205; for example, the visual sensor 204 is located above the cleaning component 201, so that the visual sensor 204 can identify the color data of at least one type of cleaning component 201, and then determine the third type of the target cleaning component matching the second type based on the color data identified by the visual sensor 204, the second type is the type of material required to be cleaned for the surface to be cleaned, such as wooden floor type, tile type, etc. The embodiment of the present application does not specifically limit the deployment position and number of the visual sensor 204, and its deployment position and number can identify the color data of the cleaning component, and the cleaning component includes at least one type of cleaning component located at the cleaning base station 200 and the current cleaning component installed on the cleaning device 100.

[0109] In this way, mounting the vision sensor 204 on the transport mechanism 205 allows the vision sensor 204 to move between different positions. This flexibility enables the sensor to capture color data of the cleaning components from a suitable angle and distance, thereby improving the accuracy of recognition and detection. Since a mobile vision sensor can cover multiple fixed positions, mounting the vision sensor 204 on the transport mechanism 205 can reduce the total number of sensors required in the cleaning system, thereby reducing cost and complexity.

[0110] Optionally, the cleaning component may expose a small portion of a ring in the middle thereof, and the ring corresponds to different color data for being detected by the visual sensor 204. The embodiment of the present application does not specifically limit the range and position detected by the visual sensor 204.

[0111] Optionally, the cleaning base station 200 further includes a receiving unit and a storage unit; the receiving unit is used to receive cleaning components removed from the cleaning equipment and to receive cleaning components to be installed from the cleaning equipment; the storage unit is used to store removed cleaning components and to store cleaning components to be installed.

[0112] Optionally, the transport mechanism 205 includes a transport trolley 202 and a transport track 203, the transport trolley 202 is used to transport at least one type of cleaning component, pick up the disassembled current cleaning component from the receiving unit, and transport the disassembled current cleaning component to the storage unit for storage; illustratively, Figure 3 A schematic diagram of the structure of a transport track provided in an embodiment of the present application, such as Figure 3 As shown, the transport track 203 is bent to form a lifting section and a translation section. The transport trolley 202 can move to the side of the storage unit along the lifting section and can move to the top of the receiving unit along the translation section.

[0113] For example, Figure 4 The present application also provides a partial structural schematic diagram of a cleaning system, as shown in Figure 4, the cleaning system 300 includes a cleaning device 100 and a cleaning base station 200; the cleaning base station 200 includes a magnetic sensor 206 and at least one type of cleaning component 201, for example, the cleaning base station 200 may include three types of cleaning components 201; different types of cleaning components correspond to their own magnetic pole combinations; the magnetic sensor 206 is used to identify the magnetic pole combination of at least one type of cleaning component; the magnetic pole combination includes at least one type of polarity and a polarity combination, such as the magnetic pole combination can be an N pole or an S pole, or it can be an N pole and an S pole. The embodiment of the present application does not specifically limit the type and number of polarities contained in the magnetic pole combination.

[0114] For example, Figure 5 A schematic diagram of a portion of the structure of a cleaning component provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, there is a protrusion in the middle of the cleaning component 201, which can be a magnet 21, and the top of the cleaning component 201 can be set to an N pole or an S pole. Since different cleaning components correspond to different magnetic pole combinations, in order to distinguish different types of cleaning components, a circle of magnets 22 can be added one by one around the middle protrusion to distinguish different types of cleaning components.

[0115] Among them, in the initial stage, only one magnet with different magnetic pole directions needs to be deployed to distinguish between two types of cleaning components, that is, the N pole and the S pole correspond to one type of cleaning component respectively. As the types of cleaning components increase, the number of magnets can be increased one by one. The embodiment of the present application does not specifically limit the number of magnets and the polarity of the added magnets, which can be set based on the type of cleaning components actually used or user needs.

[0116] Optionally, the magnetic sensor is a unipolar Hall sensor, for example, Figure 5 As shown, at least one magnet 21 is nested in each cleaning component.

[0117] Since unipolar Hall sensors are specifically designed to detect magnetic fields of specific polarity, such as N pole or S pole, this makes the identification process simpler and more direct, allowing the cleaning system to confirm the type of cleaning component by simply detecting the expected polarity. Unipolar Hall sensors only respond to magnetic fields of specific polarity, which reduces the possibility of false detection and improves the accuracy and reliability of identification.

[0118] It should be noted that unipolar Hall sensors are generally simpler and less expensive than bipolar sensors. Due to their simplicity, unipolar Hall sensors are easier to integrate into cleaning systems.

[0119] By embedding magnets in each cleaning component, the cleaning system can quickly identify the types of different cleaning components and support new component types by simply adjusting the polarity configuration of the magnets.

[0120] Optionally, at least one magnet 21 passes through the center of the cleaning component 201 .

[0121] In the present application, placing the magnet 21 at the center of the cleaning component 201 helps maintain the physical stability and balance of the cleaning component 201. This design can reduce the vibration and imbalance caused by eccentricity of the cleaning component 201 during operation, and improve the smooth operation of the cleaning equipment.

[0122] Among them, the magnet located in the center position can ensure that the magnetic sensor, such as the unipolar Hall effect sensor, can uniformly detect the polarity of the magnetic field in any direction of the cleaning component 201, which improves the accuracy and consistency of the magnetic sensor detection and reduces the recognition errors caused by the magnet position offset.

[0123] This center-through design not only makes the installation of the magnet easier and more direct, without the need for complex positioning or fixing devices, simplifies the design and manufacturing process of the cleaning component and reduces production costs, but also makes more efficient use of the internal space of the cleaning component and avoids interference with other functional components.

[0124] It is understandable that this centrally located magnet design can be easily adapted to different types of cleaning components by simply adding magnets one by one around the centrally located magnet.

[0125] Optionally, a unipolar Hall sensor is located on the transport mechanism; a magnetic element that can be adsorbed by a magnet is provided at the bottom of the receiving unit, and the magnetic element is used to attract and drop the current cleaning component into the receiving unit.

[0126] Mounting the unipolar Hall sensor on the transport mechanism enables the unipolar Hall sensor to be moved to different positions for detection. This dynamic detection capability improves the flexibility of the cleaning system, allowing the unipolar Hall sensor to identify the magnetic pole combination of the cleaning component from the appropriate position. By moving the unipolar Hall sensor, the cleaning system can more accurately identify the type of cleaning component, ensuring accuracy when replacing components.

[0127] The magnetic element at the bottom of the receiving unit can absorb the current cleaning component through magnetic force, causing it to fall off into the receiving unit. This design realizes the automatic replacement of cleaning components, reduces manual intervention, and improves operational efficiency.

[0128] The use of magnetic force to adsorb and release components reduces the need for complex mechanical structures, which not only reduces the complexity of the cleaning system, but also reduces the risk of physical damage to cleaning components and equipment during replacement, thereby improving operational safety.

[0129] Optionally, the cleaning device 100 includes a cleaning robot, and the cleaning component 201 includes a rag component of the cleaning robot.

[0130] For example, Figure 6 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 6 As shown, the application scenario includes a cleaning device 100 and a cleaning base station 200. Taking the cleaning device 100 as a sweeping robot as an example, before cleaning the living room, the sweeping robot is located on the cleaning base station. At this time, the first type of the current cleaning component installed on the sweeping robot can be determined based on the target color data recognized by the visual sensor, such as the first type is a component type for cleaning the surface of tiles.

[0131] Furthermore, the second type of the surface to be cleaned corresponding to the living room is determined, such as a wooden floor type, and then it is determined that the type of wooden floor corresponding to the living room to be cleaned does not match the component type of the originally installed cleaning tile surface, that is, when the component of the originally installed cleaning tile surface is not suitable for cleaning the surface to be cleaned corresponding to the living room, at this time, a third type of target cleaning component matching the wooden floor type can be selected from the cleaning base station 200. This selection process is also based on the color data of the cleaning component recognized by the visual sensor, such as identifying the color data of multiple types of cleaning components stored in the cleaning base station 200, and determining the target cleaning component matching the wooden floor type based on the color data.

[0132] Furthermore, the current cleaning component is replaced by the target cleaning component, so that the sweeping robot cleans the surface to be cleaned corresponding to the living room based on the target cleaning component.

[0133] Optionally, if the sweeping robot is located on the cleaning base station without installing a cleaning component, at this time, after determining the second type of the surface to be cleaned corresponding to the living room and selecting a target cleaning component matching the second type from the multiple types of cleaning components reserved in the cleaning base station 200, the target cleaning component is directly loaded on the sweeping robot to clean the surface to be cleaned corresponding to the living room based on the target cleaning component.

[0134] It should be noted that the embodiment of the present application does not specifically limit the application scenarios of the cleaning component replacement method. Different application scenarios may correspond to different types of surfaces to be cleaned, and different types of surfaces to be cleaned may correspond to different types of target cleaning components.

[0135] 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.

[0136] Figure 7 A schematic diagram of a cleaning component replacement method provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the cleaning component replacement method is applied to Figure 1 The cleaning system shown; the cleaning component replacement method comprises the following steps:

[0137] S701. When the cleaning device is located on the cleaning base station, determine the first type of the current cleaning component installed on the cleaning device based on the target color data recognized by the visual sensor; color data in different numerical ranges correspond to different types of cleaning components.

[0138] In the embodiments of the present application, the visual sensor covers all sensing devices used to capture and analyze visual information or color information. The visual sensor may include a color sensor, an artificial intelligence (AI) camera, a multispectral lidar, etc. The color sensor is used to detect and measure the color information of an object and to identify different wavelengths or color information of light. The AI ​​camera can capture images or videos and perform real-time analysis through a built-in AI algorithm to determine the color information of the object. The multispectral lidar can use lasers of multiple wavelengths to scan the environment, and can infer the color information of the object by analyzing the reflection intensity of different wavelengths.

[0139] It should be noted that the embodiment of the present application does not specifically limit the device type corresponding to the visual sensor, and it only needs to be able to identify the color data of the cleaning component.

[0140] In the present application, the visual sensor is located in a flexibly movable position to ensure that the color information of the cleaning component can be captured from a suitable angle. The embodiments of the present application do not limit the specific deployment position and number of the visual sensor.

[0141] In this step, the color information corresponding to the current cleaning component installed on the cleaning equipment identified by the visual sensor is compared with the preset color value range. Since each type of cleaning component has a corresponding color value range, the value range is pre-defined based on the color characteristics of the cleaning component, such as value range A, the corresponding cleaning component type is 1, and value range B, the corresponding cleaning component type is 2.

[0142] Further, the type of the currently installed cleaning component is determined according to the numerical range that the target color data falls into. For example, if the color data falls into numerical range A, the current cleaning component is identified as type 1.

[0143] It should be noted that the embodiments of the present application do not specifically limit the types of cleaning components and the numerical ranges corresponding to each type. They can be set based on actual application scenarios or users. For example, the type of cleaning component for cleaning tiles corresponds to a numerical range of 1-10, and the type of cleaning component for cleaning wooden floors corresponds to a numerical range of 20-30.

[0144] S702, determining a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, selecting a third type of target cleaning component that matches the second type; the third type is determined based on color data of at least one type of cleaning component recognized by the visual sensor.

[0145] In an embodiment of the present application, it is necessary to determine the second type of the surface to be cleaned. The determination method can be determined by a visual sensor, preset data in a user terminal or other sensors. The embodiment of the present application does not specifically limit the determination method. The second type is the type of the surface that currently needs to be cleaned, such as a wooden floor type, a tile type, a carpet type, etc. The embodiment of the present application does not limit the specific type corresponding to the surface to be cleaned.

[0146] It should be noted that, in the present application, the matching process of the second type and the first type refers to matching the type of the surface to be cleaned with the type of the cleaning component for cleaning the surface to be cleaned, that is, judging whether the cleaning component for cleaning the surface to be cleaned is suitable for cleaning the surface to be cleaned, so as to achieve a better cleaning effect.

[0147] Exemplarily, the cleaning system compares the identified second type with the first type of cleaning components currently installed on the cleaning device, and if the second type —— The type of the surface to be cleaned does not match the first type - the type of the current cleaning component, which means that a target cleaning component matching the second type needs to be selected. The target cleaning component is suitable for effectively cleaning the surface to be cleaned, and the type of the target cleaning component is the third type.

[0148] Among them, the selection of the third type is determined based on the color data of the cleaning components stored in the cleaning base station identified by the visual sensor. There can be a database or rule set in the cleaning system, which defines the types of cleaning components corresponding to different color data and the types of surfaces to be cleaned to which they are applicable, so that the corresponding cleaning component type can be determined based on the color data.

[0149] S703: Replace the current cleaning component with the target cleaning component to clean the surface to be cleaned based on the target cleaning component.

[0150] Optionally, replacing the current cleaning component with the target cleaning component includes:

[0151] The current cleaning component is disassembled, and the disassembled current cleaning component is transported from the receiving unit to the storage unit, and the target cleaning component is transported from the storage unit to the receiving unit to replace the cleaning component.

[0152] Optionally, transporting the target cleaning component from the receiving unit to the storage unit, and transporting the target cleaning component from the storage unit to the receiving unit, includes:

[0153] After the current cleaning component is disassembled, the current cleaning component falls off in the receiving unit, and the transport vehicle is controlled to transport the disassembled current cleaning component to the storage unit;

[0154] The transport trolley is controlled to transport the target cleaning component from the storage unit to the receiving unit based on the transport track.

[0155] Furthermore, the transport vehicle installs the target cleaning component onto the cleaning device, replacing the current cleaning component.

[0156] It should be noted that the embodiment of the present application does not specifically limit the process of replacing the current cleaning component with the target cleaning component. The cleaning component can be replaced based on the component structure described in the above embodiment, or the target component can be replaced by referring to other existing methods. The above replacement methods are only examples.

[0157] In some embodiments, when the cleaning device is located on the cleaning base station, a second type of the surface to be cleaned is determined, and a third type of target cleaning component matching the second type is determined based on color data of at least one type of cleaning component identified by a visual sensor; color data in different numerical ranges correspond to different types of cleaning components; a first type of the current cleaning component installed on the cleaning device is determined, and if it is determined that the second type does not match the first type, the current cleaning component is replaced with the target cleaning component to clean the surface to be cleaned based on the target cleaning component.

[0158] Among them, the first type of the current cleaning component installed on the cleaning device can be determined based on the target color data recognized by the visual sensor or based on the user terminal, and the embodiment of the present application does not make any specific limitation on this.

[0159] Optionally, when it is determined that the cleaning device has no cleaning component installed, the selected target cleaning component is directly loaded onto the cleaning device to clean the surface to be cleaned based on the target cleaning component.

[0160] In this way, the present application automatically identifies the type of cleaning components through visual sensors without human intervention, thereby improving the degree of automation and operational efficiency of the cleaning system, and the recognition of color data has high accuracy, which can ensure the accuracy of cleaning component identification, so that the cleaning system can quickly identify and judge the type of cleaning components currently installed and the type of at least one type of cleaning components stored in the cleaning base station, and then by selecting cleaning components that match the type of the surface to be cleaned for replacement, it can provide an ideal cleaning effect for a specific type of surface to be cleaned, ensure high cleaning efficiency, and avoid damage to the surface to be cleaned, especially for surfaces of sensitive or special materials, so that the cleaning system can quickly adapt to different cleaning tasks and environmental changes, and provide flexible solutions to meet various cleaning needs.

[0161] Compared with the existing method of manually replacing cleaning components, the present application reduces the time of manual operation through the above-mentioned automated component replacement process based on visual sensors, improves overall work efficiency, reduces labor costs and rework time caused by incorrect selection of cleaning components, reduces safety risks caused by improper human operation, and improves overall work efficiency. In addition, the present application also considers the replacement of cleaning components based on adaptation to the surface to be cleaned, ensuring that the cleaning equipment can use suitable cleaning components to process specific surfaces to be cleaned, thereby improving the cleaning effect.

[0162] It should be noted that the cleaning component replacement method provided in the present application can easily adapt to cleaning components of different colors, that is, only the color range data needs to be updated to support new component types, thereby meeting the needs of flexibility.

[0163] Optionally, the visual sensor is a color sensor; the color data corresponds to a plurality of reflected light intensity ranges, and determining the first type of the current cleaning component installed on the cleaning device based on the target color data recognized by the visual sensor includes:

[0164] Identify the intensity of reflected light of a current cleaning component installed on the cleaning device based on a color sensor;

[0165] After determining the corresponding target reflected light intensity range based on the reflected light intensity, determining the target color data of the current cleaning component based on the target reflected light intensity range;

[0166] A first type of current cleaning component is determined based on the target color data.

[0167] Among them, determining the corresponding target reflected light intensity range based on the reflected light intensity means that the reflected light intensity falls within (is located in) the target reflected light intensity range; the reflected light means that when the incident light irradiates a cleaning component, the surface of the cleaning component will reflect light of a specific wavelength according to its own color characteristics.

[0168] In an embodiment of the present application, the color sensor is used to detect the intensity of light reflected from the surface of the cleaning component. Cleaning components of different materials and / or colors will reflect light of different intensities. For example, the color sensor emits incident light to the cleaning component, and the cleaning component returns reflected light to the color sensor, so that the color sensor determines the intensity of the reflected light. The intensities of reflected light returned by cleaning components of different colors are different. For example, the intensities of reflected light returned by cleaning components of black, gray and white range from small to large.

[0169] Furthermore, by presetting the reflected light intensity ranges of different types of cleaning components, the reflected light intensity detected by the color sensor is compared with these preset reflected light intensity ranges to determine the intensity range corresponding to the current cleaning component.

[0170] Among them, the color data of the cleaning component has a corresponding reflected light intensity range. When the reflected light intensity is within the corresponding reflected light intensity range, the color of the cleaning component can be determined. For example, the three reflected light intensity ranges are: the reflected light intensity range corresponding to the black cleaning component is 300-800; the reflected light intensity range corresponding to the gray cleaning component is 1500-2000; the reflected light intensity range corresponding to the white cleaning component is 2500-3000.

[0171] Since the color of the cleaning component and the type of the cleaning component have a one-to-one mapping relationship, the reflected light intensity range of the cleaning component can be determined based on the reflected light intensity of the cleaning component, and then the color of the cleaning component can be determined based on the corresponding reflected light intensity range. Furthermore, the type of the cleaning component can be determined based on the determined color of the cleaning component.

[0172] Exemplarily, taking the example that the type of cleaning component corresponding to the black cleaning component is the rag component type for cleaning tiles, the type of cleaning component corresponding to the white cleaning component is the rag component type for cleaning wooden floors, and the type of cleaning component corresponding to the gray cleaning component is the rag component type for cleaning carpets, after the cleaning system determines the reflected light intensity range based on the reflected light intensity identified by the color sensor, it can determine the target color data of the current cleaning component based on the reflected light intensity range. The target color data is specific color information for identifying the type of cleaning component. If the specific color information is black, it can be found that the first type of cleaning component corresponding to the current cleaning component is the rag component type for cleaning tiles.

[0173] It should be noted that the embodiment of the present application does not specifically limit the types of cleaning components corresponding to cleaning components of different colors. The above is only an example, which can be set based on actual application scenarios or users.

[0174] Since the color sensor can accurately detect changes in the intensity of reflected light, the cleaning system can accurately identify and distinguish different types of cleaning components. In this way, the color sensor automatically identifies color data and determines the type of cleaning component. This not only ensures the use of cleaning components that match the surface to be cleaned and avoids poor cleaning results caused by improper use of cleaning components, but also reduces manual intervention, improves the level of automation and operational efficiency, thereby increasing user satisfaction and trust and enhancing user experience.

[0175] Optionally, there is no overlapping area in each reflected light intensity range.

[0176] In an embodiment of the present application, a unique reflected light intensity range is predefined for each type of cleaning component, and the upper and lower limits of these reflected light intensity ranges are determined based on experimental or calibration data, which can ensure that the intensity range of each cleaning component type is unique.

[0177] Because each light intensity range is unique, the detected light intensity value can be uniquely matched to a specific reflected light intensity range, thereby accurately determining the type of cleaning component.

[0178] Therefore, through this design without overlapping areas, it can be ensured that each detected light intensity value can only correspond to a specific type of cleaning component, eliminating ambiguity and uncertainty in the identification process. This unique light intensity range design improves the accuracy of identification, ensuring that the cleaning system can correctly identify and classify cleaning components and reducing the possibility of misidentification.

[0179] Optionally, the visual sensor is an artificial intelligence (AI) camera; determining the first type of the current cleaning component installed on the cleaning device based on the target color data recognized by the visual sensor includes:

[0180] Based on AI camera recognition, image information of the current cleaning components installed on the cleaning equipment;

[0181] determining target color data of the current cleaning component based on the image information;

[0182] A first type of current cleaning component is determined based on the target color data.

[0183] In an embodiment of the present application, image information of the cleaning components currently installed on the cleaning equipment and image information of at least one type of cleaning components stored in the cleaning base station can be captured based on an AI camera, and then an AI algorithm, such as a deep learning model, is used to analyze the collected image information. The AI ​​algorithm can identify color features in the image information and convert them into color data. The embodiment of the present application does not specifically limit the AI ​​algorithm for identifying color data in image information. It can refer to an existing AI algorithm or redefine a new AI algorithm to identify color data in image information.

[0184] In this step, the image information recognized by the AI ​​camera can be used to extract the target color data of the cleaning component, and then the extracted target color data can be used to find the type of the corresponding cleaning component.

[0185] Therefore, in the present application, the target color data of the current cleaning component can also be determined based on the image information recognized by the AI ​​camera. This AI camera recognition method can accurately identify complex image color features, further improve the accuracy of identifying the cleaning component type, and realize automatic recognition through AI technology, which reduces manual intervention and improves the overall intelligence level.

[0186] Optionally, determining a second type of the surface to be cleaned includes:

[0187] In response to the user's operation on the user terminal, the second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

[0188] In the present application, the user interacts with the cleaning system through a user terminal, such as a smart phone, tablet computer or computer, that is, the user terminal provides an interface on which the user can select or input the type of surface to be cleaned, and the user terminal establishes a communication connection with the cleaning system, such as through a wireless network, such as Wireless Fidelity (Wi-Fi), Bluetooth or a wired connection, to ensure that data can be transmitted between the user terminal and the cleaning system.

[0189] Exemplarily, the user can select a predefined type of surface to be cleaned, such as wooden floors, tiles, carpets, etc., based on the user terminal, or enter custom type information of the surface to be cleaned, which may include material, color, texture and other features of the surface to be cleaned. The embodiment of the present application does not specifically limit the way in which the user selects the type of surface to be cleaned.

[0190] Furthermore, after the user selects or inputs the type information of the surface to be cleaned based on the user terminal, the user terminal transmits the type information of the surface to be cleaned to the cleaning system through a communication connection. After receiving the type information of the surface to be cleaned, the cleaning system uses it for subsequent cleaning component selection and operation adjustment, that is, the cleaning system determines the appropriate cleaning component based on the received type information of the surface to be cleaned.

[0191] Therefore, this application allows users to select or input the type of surface to be cleaned according to specific needs and preferences to implement personalized cleaning plans. By directly participating in the process of determining the type of surface to be cleaned, the accuracy of the information on the surface to be cleaned is ensured, reducing possible errors in automatic identification.

[0192] Optionally, determining a second type of the surface to be cleaned includes:

[0193] Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task;

[0194] The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

[0195] In an embodiment of the present application, when performing a cleaning task or a mapping task, the cleaning device uses the sensors it carries, such as a camera, a lidar, an infrared sensor, etc., to detect the characteristics of the surrounding environment and the surface to be cleaned, and then determines the second type of the surface to be cleaned based on the characteristics; the characteristics may include the material, texture, color, etc. of the surface to be cleaned. The embodiment of the present application does not limit the specific feature content, and it can determine the second type of the surface to be cleaned based on the characteristics.

[0196] Furthermore, after returning to the cleaning base station, the cleaning device can send the detection information to the cleaning base station or the cleaning system so that it can analyze and process the detection information, and then accurately identify the second type of information of the surface to be cleaned carried in the detection information; the detection information can be sent in the form of instructions or signals, and the embodiment of the present application does not specifically limit the sending form.

[0197] In this way, the cleaning equipment can automatically detect and identify the type of surface to be cleaned, can accurately identify the characteristics of the surface to be cleaned, improve the accuracy of identifying the type of surface to be cleaned, reduce dependence on manual input, and improve the degree of automation of operations. In addition, the cleaning equipment can quickly respond to environmental changes based on real-time collection and transmission of detection information and return to the cleaning base station to replace the appropriate cleaning components in time according to the type of surface to be cleaned, thereby optimizing the cleaning effect.

[0198] Optionally, determining a second type of the surface to be cleaned includes:

[0199] Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned;

[0200] For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one;

[0201] After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

[0202] In the embodiment of the present application, the area to be cleaned can be determined by a preset map, sensor data, or user input, and the embodiment of the present application does not specifically limit this.

[0203] Since the area to be cleaned may include multiple types of surfaces to be cleaned, such as carpets, wooden floors, tiles, etc., different types of surfaces to be cleaned correspond to different types of cleaning components. Therefore, after determining that the area to be cleaned includes multiple types of surfaces to be cleaned, each surface to be cleaned needs to be processed one by one.

[0204] Optionally, the order of processing the multiple types of surfaces to be cleaned can be determined based on at least one factor such as the distance from the cleaning base station, cleaning priority, surface type and cleaning requirements, available cleaning time and battery life of the device, and user-set habits. The embodiments of the present application do not specifically limit this. For example, the cleaning order is determined according to the priority set by the user, that is, the user may want to clean the surfaces to be cleaned in areas such as the kitchen and bathroom first, and then clean the surfaces to be cleaned in areas such as the living room, or arrange the cleaning order according to the available cleaning time and battery life of the device to ensure that as many cleaning tasks as possible are completed within limited time and energy.

[0205] Exemplarily, in the determined area to be cleaned, at least one type of surface to be cleaned is identified, and for each identified surface to be cleaned, the second type corresponding to each surface to be cleaned is further determined, and then based on the cleaning order, the cleaning base station is returned to replace a suitable target cleaning component to clean the current surface to be cleaned. Furthermore, after completing the cleaning of the current surface to be cleaned, the cleaning device returns to the cleaning base station to replace the next target cleaning component to clean the next surface to be cleaned, and the above process is repeated until all the surfaces to be cleaned in the area to be cleaned are cleaned.

[0206] In this way, by identifying the second type of each surface to be cleaned, the cleaning device can use appropriate cleaning components when cleaning each surface to be cleaned, thereby achieving more precise and efficient cleaning results, and by replacing cleaning components between cleaning different types of surfaces to be cleaned, the risk of cross-contamination can be effectively reduced, ensuring that each surface to be cleaned can be properly cleaned, thereby optimizing the overall cleaning strategy and ensuring an efficient cleaning process.

[0207] Optionally, the method further includes:

[0208] When it is determined that the second type matches the first type, the current cleaning component is not replaced, so that the surface to be cleaned is cleaned based on the current cleaning component.

[0209] Exemplarily, the cleaning system uses color data acquired by a visual sensor to identify the type of the current cleaning component (first type) and the type of the surface to be cleaned (second type), and then determines whether the two match. If the second type does not match the first type, a suitable target cleaning component is selected for replacement, as described in S701-S702 above. However, if the second type matches the first type, the cleaning system decides not to replace the cleaning component, but directly uses the currently installed cleaning component to clean the surface to be cleaned.

[0210] In this way, by avoiding unnecessary component replacement, reducing replacement frequency and cost, and reducing the downtime of cleaning equipment at the cleaning base station, the overall cleaning efficiency can be improved. Therefore, through intelligent judgment and decision-making, it can automatically determine whether components need to be replaced, which can not only optimize the operating efficiency of the cleaning system so that it can respond to different cleaning tasks more quickly, but also reduce the user's operating steps and decision-making burden, thereby improving the user experience.

[0211] For example, Figure 8 A flow chart of another cleaning component replacement method provided in the present application is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a magnetic sensor and at least one type of cleaning component; different types of cleaning components correspond to respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component; the cleaning component replacement method includes the following steps:

[0212] S801. When a cleaning device is located on a cleaning base station, determine a first type of a current cleaning component installed on the cleaning device based on a target magnetic pole combination recognized by a magnetic sensor.

[0213] In the embodiment of the present application, the magnetic sensor is a device for detecting magnetic fields of specific polarity and magnetic pole combinations. Optionally, the magnetic sensor may be a unipolar Hall sensor.

[0214] It should be noted that the embodiment of the present application does not specifically limit the type of equipment corresponding to the magnetic sensor, and it only needs to be able to identify the magnetic pole combination of the cleaning component.

[0215] Among them, the magnetic pole combination is a unique identifier used to distinguish different types of cleaning components. The magnetic pole combination includes at least one type of polarity, such as N pole, S pole, N pole + N pole, S pole + S pole, etc. The embodiment of the present application does not specifically limit the magnetic pole combination corresponding to each type of cleaning component, and the magnetic pole combination can be set based on the number of types of cleaning components and user needs.

[0216] For example, taking a type A cleaning component configured with a magnet with the N pole facing upward, a type B cleaning component configured with a magnet with the S pole facing upward, and a type C cleaning component configured with two magnets with the N poles facing upward as an example, when identifying the type of the cleaning component based on the magnetic pole combination, the unipolar Hall sensor can identify and determine whether the magnetism in the middle of the cleaning component is facing upward or downward. Taking upward as an example, when the magnetism is identified as the N pole, the type of the cleaning component is determined to be A; when the magnetism is identified as the S pole, the type of the cleaning component is determined to be B; when the magnetism is identified as both N pole + N pole polarity, the type of the cleaning component is determined to be C.

[0217] Among them, as the types of cleaning components set up increase, a magnet can be configured outward around the axial magnet in a circle to distinguish different types of cleaning components. For example, a D-type cleaning component is configured with three magnets with N poles facing upward. The embodiment of the present application does not specifically limit the number of configured magnets. For example, the D-type cleaning component can also be configured with two magnets with S poles facing upward.

[0218] In the present application, the magnetic sensor may also be located in a flexibly movable position to ensure that the magnetic pole combination of the cleaning component can be captured from a suitable angle. The embodiments of the present application do not limit the specific deployment position and number of the magnetic sensors.

[0219] In this step, when the cleaning device is located on the cleaning base station, the magnetic sensor scans the magnetic pole combinations of the cleaning components currently installed on the cleaning device, and the first type of the cleaning components currently installed can be automatically determined by identifying these magnetic pole combinations.

[0220] It is understandable that at least one type of cleaning component stored on the cleaning base station can also determine its corresponding type based on the magnetic pole combination recognized by the magnetic sensor. The process is similar to the above method and will not be repeated here.

[0221] S802, determining a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, selecting a third type of target cleaning component that matches the second type; the third type is determined based on a magnetic pole combination of at least one type of cleaning component identified by the magnetic sensor.

[0222] S803: Replace the current cleaning component with the target cleaning component to clean the surface to be cleaned based on the target cleaning component.

[0223] It should be noted that the specific implementation principle and process explanation of S802-S803 are similar to the implementation principle and process explanation of S702-S703 in the above embodiment. Similar parts can refer to the description of the above embodiment and will not be repeated here.

[0224] Therefore, the present application can automatically identify the type of cleaning component through a magnetic sensor, and then select a target cleaning component suitable for the surface to be cleaned, ensuring that the surface to be cleaned obtains an ideal cleaning effect, and the above process does not require human intervention, thereby improving the degree of automation and operating efficiency of the cleaning system. In the present application, the magnetic sensor can accurately detect magnetic fields of specific polarities, which makes it possible to accurately identify the magnetic pole combinations of different cleaning components, thereby ensuring the correct identification of the cleaning component type. Due to the electronic characteristics of the magnetic sensor, it can quickly respond to changes in the magnetic field, which means that the correct cleaning component can be quickly replaced, reducing waiting time. Furthermore, the present application can provide an ideal cleaning effect for a specific type of surface to be cleaned and ensure high cleaning efficiency by selecting a cleaning component that matches the type of surface to be cleaned for replacement, and can also avoid damage to the surface to be cleaned, especially for surfaces of sensitive or special materials, so that the cleaning system can quickly adapt to different cleaning tasks and environmental changes, and provide flexible solutions to meet various cleaning needs.

[0225] Compared with the existing method of manually replacing cleaning components, the present application reduces the time of manual operation through the above-mentioned automated component replacement process based on magnetic sensors, improves overall work efficiency, reduces labor costs and rework time caused by incorrect selection of cleaning components, reduces safety risks caused by improper human operation, and improves overall work efficiency. In addition, the present application also considers the replacement of cleaning components based on adaptation to the surface to be cleaned, ensuring that the cleaning equipment can use suitable cleaning components to process specific surfaces to be cleaned, thereby improving the cleaning effect.

[0226] Optionally, determining a second type of the surface to be cleaned includes:

[0227] In response to the user's operation on the user terminal, the second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

[0228] Optionally, determining a second type of the surface to be cleaned includes:

[0229] Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task;

[0230] The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

[0231] Optionally, determining a second type of the surface to be cleaned includes:

[0232] Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned;

[0233] For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one;

[0234] After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

[0235] Optionally, the method further includes:

[0236] When it is determined that the second type matches the first type, the current cleaning component is not replaced, so that the surface to be cleaned is cleaned based on the current cleaning component.

[0237] It should be noted that the specific implementation principles and effects of the above embodiments can be found in Figure 7 The relevant description and effects of the corresponding embodiment of the cleaning component replacement method shown are not repeated here.

[0238] In the foregoing embodiments, the cleaning component replacement method provided by the embodiments of the present application is introduced, and in order to realize the various functions in the method provided by the embodiments of the present application, the cleaning system 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 one 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.

[0239] For example, Fig. 9 A schematic diagram of the structure of a cleaning component replacement device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the cleaning component replacement device 900 is applied to a cleaning system, the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a visual sensor and at least one type of cleaning component; the visual sensor is used to identify color data of at least one type of cleaning component; the cleaning component replacement device 900 includes:

[0240] A first determination module 901 is used to determine a first type of a current cleaning component installed on the cleaning device based on target color data recognized by a visual sensor when the cleaning device is located on a cleaning base station; color data in different numerical ranges correspond to different types of cleaning components;

[0241] A first selection module 902 is used to determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on color data of at least one type of cleaning component recognized by the visual sensor;

[0242] The first replacement module 903 is used to replace the current cleaning component with the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

[0243] Optionally, the visual sensor is a color sensor; the color data corresponds to a plurality of reflected light intensity ranges, and the first determination module 901 is specifically used for:

[0244] Identify the intensity of reflected light of a current cleaning component installed on the cleaning device based on a color sensor;

[0245] After determining the corresponding target reflected light intensity range based on the reflected light intensity, determining the target color data of the current cleaning component based on the target reflected light intensity range;

[0246] A first type of current cleaning component is determined based on the target color data.

[0247] Optionally, there is no overlapping area in each reflected light intensity range.

[0248] Optionally, the visual sensor is an artificial intelligence AI camera; the first determination module 901 is specifically used to:

[0249] Based on AI camera recognition, image information of the current cleaning components installed on the cleaning equipment;

[0250] determining target color data of the current cleaning component based on the image information;

[0251] A first type of current cleaning component is determined based on the target color data.

[0252] Optionally, the cleaning base station also includes a transport mechanism; the visual sensor is located on the transport mechanism.

[0253] Optionally, the first selection module 902 is specifically configured to:

[0254] In response to the user's operation on the user terminal, the second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

[0255] Optionally, the first selection module 902 is specifically configured to:

[0256] Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task;

[0257] The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

[0258] Optionally, the first selection module 902 is specifically configured to:

[0259] Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned;

[0260] For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one;

[0261] After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

[0262] Optionally, the first selection module 902 is further configured to:

[0263] When it is determined that the second type matches the first type, the current cleaning component is not replaced, so that the surface to be cleaned is cleaned based on the current cleaning component.

[0264] It should be noted that the specific implementation principle and effects of the above-mentioned cleaning component replacement device can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0265] For example, Fig.10 A schematic diagram of the structure of another cleaning component replacement device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the cleaning component replacement device 1000 is applied to a cleaning system, the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a magnetic sensor and at least one type of cleaning component; different types of cleaning components correspond to their respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component; the cleaning component replacement device 1000 includes:

[0266] A second determination module 1001 is used to determine a first type of a current cleaning component installed on the cleaning device based on a target magnetic pole combination recognized by a magnetic sensor when the cleaning device is located on the cleaning base station;

[0267] A second selection module 1002 is used to determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on a magnetic pole combination of at least one type of cleaning component identified by the magnetic sensor;

[0268] The second replacement module 1003 is used to replace the current cleaning component with the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

[0269] Optionally, the magnetic sensor is a unipolar Hall sensor; and at least one magnet is nested in each cleaning component.

[0270] Optionally, at least one magnet extends through the center of the cleaning component.

[0271] Optionally, the cleaning base station also includes a transport mechanism and a receiving unit; the unipolar Hall sensor is located on the transport mechanism; the bottom of the receiving unit has a magnetic element that can be adsorbed by a magnet, and the magnetic element is used to attract the current cleaning component to fall into the receiving unit.

[0272] Optionally, the second selection module 1002 is specifically configured to:

[0273] In response to the user's operation on the user terminal, the second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

[0274] Optionally, the second selection module 1002 is specifically configured to:

[0275] Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task;

[0276] The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

[0277] Optionally, the second selection module 1002 is specifically configured to:

[0278] Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned;

[0279] For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one;

[0280] After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

[0281] Optionally, the second selection module 1002 is further used for:

[0282] When it is determined that the second type matches the first type, the current cleaning component is not replaced, so that the surface to be cleaned is cleaned based on the current cleaning component.

[0283] It should be noted that the specific implementation principle and effects of the above-mentioned cleaning component replacement device can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0284] 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.

[0285] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the preceding embodiments as executed by the cleaning system in any of the preceding embodiments of the present application.

[0286] 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, the method described in any of the aforementioned embodiments performed by the cleaning system in any of the aforementioned embodiments of the present application can be implemented.

[0287] 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.

[0288] 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.

[0289] 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.

[0290] 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 causing 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.

[0291] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0292] 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.

[0293] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0294] 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.

[0295] 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 (Application Specific Integrated Circuits, referred to as ASIC). Of course, the processor and the storage medium can also be present in the cleaning equipment or the main control device as discrete components.

[0296] 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.

[0297] 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.

[0298] 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.

[0299] 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.

[0300] 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 component replacement method, characterized in that: Applicable to a cleaning system, the cleaning system comprising a cleaning device and a cleaning base station; the cleaning base station comprising a visual sensor and at least one type of cleaning component; The visual sensor is used to identify color data of at least one type of cleaning component; the method comprises: When the cleaning device is located on the cleaning base station, a first type of a current cleaning component installed on the cleaning device is determined based on target color data recognized by the visual sensor; color data of different numerical ranges correspond to different types of cleaning components; Determining a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, selecting a third type of target cleaning component that matches the second type; the third type is determined based on color data of the at least one type of cleaning component identified by the visual sensor; The target cleaning component is used to replace the current cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

2. The method according to claim 1, characterized in that The visual sensor is a color sensor; the color data corresponds to a plurality of reflected light intensity ranges, and the first type of the current cleaning component installed on the cleaning device is determined based on the target color data recognized by the visual sensor, including: Identifying the intensity of reflected light of a current cleaning component installed on the cleaning device based on the color sensor; After determining a corresponding target reflected light intensity range based on the reflected light intensity, determining target color data of the current cleaning component based on the target reflected light intensity range; A first type of the current cleaning component is determined based on the target color data.

3. The method according to claim 1, characterized in that There is no overlapping area in the intensity range of each reflected light.

4. The method according to claim 1, characterized in that: The visual sensor is an artificial intelligence AI camera; determining the first type of the current cleaning component installed on the cleaning device based on the target color data recognized by the visual sensor includes: Identify image information of a current cleaning component installed on the cleaning device based on the AI ​​camera; determining target color data of the current cleaning component based on the image information; A first type of the current cleaning component is determined based on the target color data.

5. The method according to claim 1, characterized in that The cleaning base station also includes a transportation mechanism; the visual sensor is located on the transportation mechanism.

6. The method according to claim 1, characterized in that Determine the second type of surface to be cleaned, including: In response to the user's operation on the user terminal, a second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

7. The method according to claim 1, characterized in that Determine the second type of surface to be cleaned, including: Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task; The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

8. The method according to claim 1, characterized in that Determine the second type of surface to be cleaned, including: Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned; For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one; After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

9. The method according to claim 1, characterized in that: The method further comprises: When it is determined that the second type matches the first type, the current cleaning component is not replaced, so as to clean the surface to be cleaned based on the current cleaning component.

10. A cleaning component replacement method, characterized in that: Applicable to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning base station comprises a magnetic sensor and at least one type of cleaning component; Different types of cleaning components correspond to respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component; The method comprises: When the cleaning device is located on the cleaning base station, determining a first type of a current cleaning component installed on the cleaning device based on a target magnetic pole combination identified by the magnetic sensor; Determining a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, selecting a third type of target cleaning component that matches the second type; the third type is determined based on the magnetic pole combination of the at least one type of cleaning component identified by the magnetic sensor; The target cleaning component is used to replace the current cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

11. The method according to claim 10, characterized in that The magnetic sensor is a unipolar Hall sensor; at least one magnet is embedded in each cleaning component.

12. The method according to claim 11, characterized in that The at least one magnet extends through the center of the cleaning component.

13. The method according to claim 11, characterized in that The cleaning base station also includes a transport mechanism and a receiving unit; the unipolar Hall sensor is located on the transport mechanism; the bottom of the receiving unit has a magnetic element that can be adsorbed by a magnet, and the magnetic element is used to attract the current cleaning component to fall into the receiving unit.

14. The method according to claim 10, characterized in that Determine the second type of surface to be cleaned, including: In response to the user's operation on the user terminal, a second type of the surface to be cleaned is determined; and the user terminal establishes a communication connection with the cleaning system.

15. The method according to claim 10, characterized in that Determine the second type of surface to be cleaned, including: Receiving detection information sent by the cleaning device; the detection information carries the second type of the surface to be cleaned detected by the cleaning device during the cleaning task or mapping task; The detection information is analyzed and processed to determine the second type of the surface to be cleaned.

16. The method according to claim 10, characterized in that Determine the second type of surface to be cleaned, including: Determine an area to be cleaned; the area to be cleaned includes at least one type of surface to be cleaned; For each surface to be cleaned in the area to be cleaned, determining the second type of the surface to be cleaned one by one; After the surface to be cleaned is cleaned based on the target cleaning component, the cleaning base station is returned to replace the cleaning component required for cleaning the next surface to be cleaned.

17. The method according to claim 10, characterized in that The method further comprises: When it is determined that the second type matches the first type, the current cleaning component is not replaced, so as to clean the surface to be cleaned based on the current cleaning component.

18. A cleaning component replacement device, characterized in that: Applicable to a cleaning system, the cleaning system comprising a cleaning device and a cleaning base station; the cleaning base station comprising a visual sensor and at least one type of cleaning component; The visual sensor is used to identify color data of the at least one type of cleaning component; The device comprises: A first determination module is used to determine a first type of a current cleaning component installed on the cleaning device based on target color data recognized by the visual sensor when the cleaning device is located on the cleaning base station; color data of different numerical ranges correspond to different types of cleaning components; A first selection module is used to determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on color data of the at least one type of cleaning component recognized by the visual sensor; The first replacement module is used to replace the current cleaning component with the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

19. A cleaning component replacement device, characterized in that: Applicable to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning base station comprises a magnetic sensor and at least one type of cleaning component; Different types of cleaning components correspond to respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component; The device comprises: A second determination module is used to determine a first type of a current cleaning component installed on the cleaning device based on a target magnetic pole combination identified by the magnetic sensor when the cleaning device is located on the cleaning base station; A second selection module is used to determine a second type of the surface to be cleaned, and if it is determined that the second type does not match the first type, select a third type of target cleaning component that matches the second type; the third type is determined based on the magnetic pole combination of the at least one type of cleaning component identified by the magnetic sensor; The second replacement module is used to replace the current cleaning component with the target cleaning component, so as to clean the surface to be cleaned based on the target cleaning component.

20. A cleaning system, characterized in that: include: A cleaning device and a cleaning base station; the cleaning base station includes a visual sensor and at least one type of cleaning component; The visual sensor is used to identify color data of the at least one type of cleaning component; The cleaning system is used to perform the method according to any one of claims 1-9.

21. A cleaning system, characterized in that: include: A cleaning device and a cleaning base station; the cleaning base station comprises a magnetic sensor and at least one type of cleaning component; Different types of cleaning components correspond to respective magnetic pole combinations; the magnetic sensor is used to identify the magnetic pole combination of at least one type of cleaning component; The cleaning system is used to perform the method according to any one of claims 10-17.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 17.

23. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 17.

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