Sewage detection method and device

Abstract

The embodiment of the invention provides a sewage detection method and device.The sewage detection method comprises the steps that a cleaning base station is used, the cleaning base station comprises a sewage pipe and a sensor arranged on the sewage pipe, and a cleaning instruction for at least one cleaning task of cleaning equipment is received; under the condition that the cleaning base station responds to the target cleaning task, acquiring an initial sensing value of a sensor based on at least one time point in a preset time interval; determining a first time interval and a second time interval corresponding to the target cleaning task in a preset time interval based on a preset time threshold value and a preset sensing value threshold value; and determining sewage smudginess information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task. By determining the time interval, the influence of a sensing value interval with a large amount of fluctuation on the turbidity is avoided, and the accuracy of judging the sewage turbidity is further improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of cleaning equipment, and in particular to a sewage detection method. Background Art

[0002] As a technological product of the new era, sweeping robots help users clean the room, saving them a lot of cleaning time and providing them with great convenience.

[0003] The turbidity of sewage is an important indicator for evaluating the mopping efficiency of a sweeping robot. However, when performing existing sewage detection, bubbles will be generated in the sewage pipe as the sewage flows through the sewage pipe to the sewage tank. When the sensor detects liquid with bubbles, the turbidity of the current liquid will be reduced due to the influence of the bubbles, which will lead to a decrease in the accuracy of the turbidity judgment of the sewage. Therefore, a method for accurately judging the turbidity of sewage is needed. Summary of the invention

[0004] In view of this, an embodiment of this specification provides a sewage detection method. One or more embodiments of this specification also relate to a sewage detection device, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0005] According to a first aspect of an embodiment of this specification, a sewage detection method is provided, comprising:

[0006] Receiving a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean a cleaning component of the cleaning device;

[0007] When the cleaning base station responds to the target cleaning task, acquiring an initial sensing value of the sensor based on at least one time point in a preset time interval;

[0008] Determining a first time interval and a second time interval corresponding to the target cleaning task in the preset time interval based on a preset time threshold and a preset sensor value threshold, wherein the first time interval is a time interval for starting to extract sewage contamination information, and the second time interval is a time interval for ending to extract sewage contamination information;

[0009] Determine a first sensor value corresponding to the target cleaning task according to at least one initial sensor value in the first time interval, and determine a second sensor value corresponding to the target cleaning task according to at least one initial sensor value in the second time interval;

[0010] The sewage contamination information corresponding to the cleaning instruction is determined according to the first sensor value and the second sensor value corresponding to each cleaning task.

[0011] According to a second aspect of the embodiments of this specification, there is provided a sewage detection device, comprising:

[0012] An instruction receiving module is configured to receive a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean a cleaning component of the cleaning device;

[0013] an initial sensing acquisition module, configured to acquire an initial sensing value of the sensor based on at least one time point in a preset time interval when the cleaning base station responds to a target cleaning task;

[0014] A time interval determination module is configured to determine a first time interval and a second time interval corresponding to the target cleaning task in the preset time interval based on a preset time threshold and a preset sensor value threshold, wherein the first time interval is a time interval for starting to extract sewage contamination information, and the second time interval is a time interval for ending to extract sewage contamination information;

[0015] a sensor value determination module, configured to determine a first sensor value corresponding to the target cleaning task according to at least one initial sensor value in the first time interval, and to determine a second sensor value corresponding to the target cleaning task according to at least one initial sensor value in the second time interval;

[0016] The dirt information determination module is configured to determine the sewage dirt information corresponding to the cleaning instruction according to the first sensor value and the second sensor value corresponding to each cleaning task.

[0017] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0018] Memory and processor;

[0019] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the above-mentioned sewage detection method are implemented.

[0020] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned sewage detection method are implemented.

[0021] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned sewage detection method.

[0022] A sewage detection method provided by an embodiment of the present specification receives a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean the cleaning components of the cleaning device; when the cleaning base station responds to the target cleaning task, an initial sensor value of the sensor is obtained based on at least one time point in a preset time interval; a first time interval and a second time interval corresponding to the target cleaning task are determined in the preset time interval based on a preset time threshold and a preset sensor value threshold, wherein the first time interval is a time interval for starting to extract sewage contamination information, and the second time interval is a time interval for ending to extract sewage contamination information; a first sensor value corresponding to the target cleaning task is determined according to at least one initial sensor value in the first time interval, and a second sensor value corresponding to the target cleaning task is determined according to at least one initial sensor value in the second time interval; and sewage contamination information corresponding to the cleaning instruction is determined according to the first sensor value and the second sensor value corresponding to each cleaning task.

[0023] The sewage detection method implemented by this specification obtains the first time interval and the second time interval based on the preset time threshold and the preset sensor threshold. Since the preset time threshold can effectively avoid the time period when a large number of bubbles are generated in the sewage pipe, the accuracy of sewage detection is initially improved. In addition, the use of the sensor threshold can more accurately determine the fluctuation of the data in the time interval, and then use multiple data in the time interval to obtain the sensor value of the sewage, which can avoid the impact of data fluctuations on data collection, and further improve the accuracy of sewage detection. Finally, the multiple data obtained by multiple cleanings are used to confirm the dirtiness information of the sewage, which further improves the accuracy of sewage detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of a sewage detection method provided by an embodiment of this specification;

[0025] Figure 2 is a structural diagram of a sewage sensor provided by an embodiment of this specification;

[0026] Figure 3 It is a structural schematic diagram of a photoelectric sewage sensor provided by an embodiment of this specification;

[0027] Figure 4 is a processing flow chart of a sewage detection method applied to a base station in a cleaning system provided by an embodiment of the present specification;

[0028] Figure 5 It is a structural schematic diagram of a sewage detection device provided by an embodiment of this specification;

[0029] Figure 6 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0030] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0031] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0034] First, the terms involved in one or more embodiments of this specification are explained.

[0035] Analog-to-Digital Converter (ADC): The main function is to convert analog signals (such as continuously changing voltage values) into digital signals.

[0036] AD (Analog-to-Digital) value: refers to the digital value obtained after ADC conversion. For example, if an ADC has a 10-bit resolution, then the digital value range it can represent is from 0 to 1023. When the ADC samples an analog signal, it will output a digital value within this range, which is the so-called AD value.

[0037] Printed Circuit Board Assembly (PCBA): It refers to the welding and assembly of electronic components on PCB (Printed Circuit Board). Simply put, PCB is a carrier for supporting and connecting electronic components, while PCBA is a complete circuit board with electronic components welded and assembled on this carrier.

[0038] Pulse Width Modulation (PWM): is a method of digitally encoding the level of an analog signal. Through the use of a high-resolution counter, the duty cycle of a square wave is modulated to encode the level of a specific analog signal.

[0039] Duty cycle: The application of duty cycle in water pumps is mainly to control the speed of the water pump through PWM (Pulse Width Modulation) technology. By changing the duty cycle of the PWM signal, the speed of the water pump can be accurately controlled to meet different flow and pressure requirements.

[0040] In this specification, a sewage detection method is provided. This specification also relates to a sewage detection device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0041] The sewage detection method can be applied to cleaning base stations with cleaning components such as sweeping robots and their corresponding base stations to detect dirt information of sewage generated by the cleaning components. For example, the cleaning base station can be a base station corresponding to the sweeping robot, or it can be a part of a floor scrubber that performs automatic cleaning; the cleaning component can be a component used to clean the mopping component of the sweeping robot, or it can be a component used to clean the mopping component on a floor scrubber; the sewage detection method is used to detect dirt information of sewage generated by the cleaning component. The cleaning equipment in the embodiment of the present application can be used to clean floors or floors of different materials. The sewage detection method includes:

[0042] See also Figure 1 , Figure 1 A flow chart of a sewage detection method provided according to an embodiment of this specification is shown, which specifically includes the following steps:

[0043] Step 102: Receive a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean a cleaning component of the cleaning device.

[0044] In actual applications, the cleaning device is a cleaning device carrying a component to be cleaned, the cleaning instruction is an operation instruction for cleaning the corresponding cleaning device, the cleaning task is a single cleaning task of the corresponding cleaning device, and the cleaning component is a component used for cleaning.

[0045] Specifically, the cleaning device can be understood as an intelligent robot for cleaning, and its cleaning components can be automatically cleaned. The cleaning component can be understood as a component for cleaning that can be cleaned on the intelligent robot. For example, the cleaning device can be a sweeping robot with a corresponding base station, and the cleaning component carried by the cleaning device is the mop component on the sweeping robot; the cleaning device can be an intelligent floor scrubber, and the cleaning component carried by the cleaning device is the mop component on the intelligent floor scrubber.

[0046] The cleaning instruction can be understood as an operating instruction for cleaning the cleaning equipment, which can control the cleaning equipment using the sewage detection system to clean the corresponding cleaning equipment. The cleaning task can be understood as a cleaning task performed in response to the cleaning instruction. The cleaning equipment can perform at least one cleaning task in response to the cleaning instruction. The cleaning task is a task of cleaning the cleaning component corresponding to the cleaning equipment once. For example, when the sweeping robot needs to be cleaned, the sweeping robot drives to the base station, and the mop component that needs to be cleaned is placed in the cleaning pool in the base station for cleaning the mop component. The sweeping robot sends a cleaning instruction to the corresponding base station. After receiving the cleaning instruction, the base station performs three cleaning tasks.

[0047] The cleaning components carried by the cleaning equipment are cleaned through cleaning instructions and cleaning tasks, so that the cleaning equipment can be automatically cleaned and the consumption of manpower is reduced.

[0048] Step 104: When the cleaning base station responds to the target cleaning task, an initial sensing value of the sensor is obtained based on at least one time point in a preset time interval.

[0049] In actual applications, the cleaning base station is a cleaning component device carried by the cleaning equipment, the target cleaning task is any one of the at least one cleaning tasks generated by receiving the cleaning instruction, the preset time interval is the time interval in which the sensor obtains the sensor value in the target cleaning task, the sensor is a component set on the sewage pipe to obtain the current sensor value of the corresponding position of the sewage pipe, and the initial sensor value is the sensor value obtained by the sensor at each time point within the preset interval.

[0050] Specifically, the cleaning base station can be understood as a device for cleaning the cleaning components carried by the corresponding cleaning equipment, such as a cleaning base station corresponding to a sweeping machine carrying a mop component. The preset time interval can be understood as the time interval in which the sensor obtains the sensing value. For example, when the cleaning base station is performing a cleaning task, after the clean water is released for a predetermined time, the sewage pump starts to extract the sewage, and the sensor starts to obtain the sensing value until the next cleaning task starts, the clean water starts to release, and the sewage stops being extracted. The initial sensing value can be understood as the sensing value obtained by the sensor at each time point within the predetermined time interval.

[0051] The sensor may be an optical sensor, and the specific method of obtaining the initial sensing value is as follows: Figure 3 As shown, Figure 3 This is a structural schematic diagram of a photoelectric sewage sensor provided by an embodiment of the present specification. The emitting lamp emits light of a specific intensity under limited current and voltage conditions. The light of the specific intensity is transmitted into the sewage pipe through the window of the plastic shading member. The light intensity can be reduced due to the light transmittance of the sewage pipe itself and the light shielding of sewage particles in the sewage pipe. A photocurrent of corresponding magnitude is generated on the optical sensor along with the light after the intensity decreases. The voltage value of the photocurrent corresponding to the received light intensity can be obtained through a voltage divider resistor. The voltage value is converted by a 12-bit ADC (Analog-to-Digital Converter) to obtain an AD (Analog-to-Digital, analog-to-digital conversion) value corresponding to the light intensity. The AD value is the initial sensing value obtained by the optical sensor.

[0052] The sensor can be understood as a device for obtaining sensing values, which is installed on the sewage pipe where sewage flows to the sewage container. Figure 2 As shown, Figure 2201 and 202 are bolts for connecting various components; FIG203 is a light-transmitting component, which is a light-transmitting structure that is resistant to high temperature and corrosion and has a light transmittance that meets the requirements of SPEC (Specification) and is used to transmit the emitted light of the sensor emitting lamp and the emitted light through the sewage pipe and the liquid in the sewage pipe to the receiving sensor to obtain the light intensity value (sensing value); FIG204 is a light-shielding plastic part, which is used to fix the PCBA (Printed Circuit Board Assembly), the PCBA assembly is aligned with the window, and the size of the opposite window is required to be consistent; FIG205 is a rubber light-shielding part, which separates the emitting lamp inside, blocks the lateral light to avoid interference of light of different frequencies, and seals the PCBA to play a waterproof and dustproof role; FIG206 is a circuit board, which has two sets of emitting lamps and receiving sensors, and the emitting lamp is used to emit light of different frequencies so that the emitted light can be transmitted through liquids of different degrees to the receiving sensor, and the turbidity of the liquid is judged according to the AD value generated by the light received by the receiving sensor.

[0053] By obtaining the sensing value of the sensor within the preset time, the switch of the sensor can be accurately controlled, avoiding the ineffective operation of the sensor, effectively saving the energy consumption of the sensor, and reducing the energy consumption of the cleaning base station.

[0054] Step 106: Determine the first time interval and the second time interval corresponding to the target cleaning task in the preset time interval based on the preset time threshold and the preset sensor value threshold, wherein the first time interval is the time interval for starting to extract sewage and contamination information, and the second time interval is the time interval for ending the extraction of sewage and contamination information.

[0055] In actual applications, the preset time threshold is used to confirm the time point of sewage information extraction, the preset sensor value threshold is used to confirm the data value of sewage extraction, the first time interval is the time interval for starting to extract sewage information, and the second time interval is the time interval for ending to extract sewage information.

[0056] Specifically, the preset time threshold can be understood as the time point at which the extraction of sewage information starts and the time point at which the extraction of sewage pollution information ends, and is used to confirm the first time interval and the second time interval. The first time interval can be understood as the time interval at which the extraction of sewage pollution information starts, and the second time interval can be understood as the time interval at which the extraction of sewage pollution information ends;

[0057] It should be noted that the sensor is set in the middle section of the sewage pipe. The sensor does not obtain the dirtiness information of the sewage before the sewage reaches the sensor. Since the sewage reaches the sensor 2 seconds after the sewage pump starts to pump, and a large number of bubbles will be extracted from the sewage 6 seconds after the sewage pump is turned on, it will seriously interfere with the sensor's acquisition of the dirtiness information of the sewage. Therefore, the time threshold is set to 2s and 6s, and the first time interval is confirmed in the time interval with a maximum time boundary greater than 2s and combined with the value in the time interval, and the second time interval is confirmed in the time interval with a maximum time boundary less than or equal to 6s and combined with the value in the time interval.

[0058] The preset sensor threshold can be understood as being used to determine whether the value in a time interval meets the judgment conditions for extracting sewage pollution information. For example, if the difference between the maximum and minimum values ​​of the data in a time interval exceeds 300, then the time interval is regarded as a fluctuating time interval, that is, there are bubbles in the data in the interval. If the difference between the minimum value of the data in the time interval and the baseline value is less than 100, then it is considered that the data in the time interval is not sewage pollution information. The preset sensor thresholds are 300 and 100.

[0059] Considering that the residual sewage after extraction will contaminate the pipe wall of the sewage extraction, resulting in a decrease in the accuracy of the next sewage detection, the design of applying for the use of sensors set in the middle section of the sewage pipe can ensure that the sewage level is lower than the detection surface after the extraction is completed, avoiding the long-term residual sewage causing stains to hang on the wall and interfere with the detection. In addition, through the first time interval and the second time interval confirmed by the preset time threshold and the preset sensor threshold, it is possible to effectively avoid using information unrelated to the sewage dirtiness information for the calculation of the sewage dirtiness information, and avoid using the sensor value containing a large amount of bubble information for the calculation of the sewage dirtiness information, thereby further improving the accuracy of sewage detection.

[0060] Taking into account that during the sewage extraction process, there will be air in the sensor before the sewage reaches the sensor, and there will be a large number of bubbles in the sewage pipe after a certain time point of sewage extraction, so the preset time threshold includes a first time threshold and a second time threshold, and the preset sensor value threshold includes a sensor value threshold and a sensor value difference threshold.

[0061] Further, determining the first time interval and the second time interval corresponding to the target cleaning task in the preset time interval based on the preset time threshold and the preset sensor value threshold includes:

[0062] Establishing a sliding window according to a preset window size, sliding the sliding window in the preset time interval based on a preset moving step length, and obtaining a current time interval corresponding to the sliding window;

[0063] Determine, according to at least one initial sensor value in the current time interval, a reference time point, a sensor value difference, and a reference sensor value corresponding to the current time interval;

[0064] In a case where the reference time point satisfies a first time threshold, the reference sensor value satisfies a sensor value threshold, and the sensor value difference satisfies the sensor value difference threshold, determining that the current time interval is a first time interval;

[0065] In a case where the reference time point satisfies a second time threshold and the sensor value difference satisfies the sensor value difference threshold, the current time interval is determined to be a second time interval.

[0066] In actual applications, the first time threshold is the time point when the extraction of sewage pollution information starts, the second time threshold is the time point when the extraction of sewage pollution information ends, the sensor value threshold is the sensor value for confirming the start of sewage detection, the sensor value difference threshold is the sensor value for ending sewage detection, the current time interval is a sliding time interval of a fixed length in the preset time interval, the reference time point is the last time point in the current time interval, the sensor value difference is the difference between the maximum and minimum values ​​of the sensor value in the current time interval, and the reference sensor value is the difference between the minimum value of the sensor value in the current time interval and the benchmark sensor value.

[0067] Specifically, the first time interval can be understood as the time interval in which the last time point in the time zone meets the first time threshold, and the difference between the minimum value in the sensor value and the reference sensor value meets the sensor value threshold, and the difference between the maximum value and the minimum value in the sensor value in the current time interval meets the sensor difference threshold, that is, the first time interval is a time interval that meets the start time interval condition, indicating the time interval for starting to extract sewage pollution information. The second time interval can be understood as the time interval in which the last time point in the time zone meets the second time threshold, and the difference between the maximum value and the minimum value in the sensor value in the current time interval meets the sensor difference threshold, that is, the second time interval is a time interval that meets the end time interval condition, indicating the time interval for ending to extract sewage pollution information.

[0068] By judging whether it is the time interval for starting to record sewage pollution information and the time interval for ending to record sewage pollution information through the relationship between the time threshold and the characteristic value of the time within the time interval and the relationship between the sensor value threshold and the characteristic value of the sensor value within the time interval, the starting time interval for extracting sewage pollution information and the ending time interval for extracting sewage pollution information can be judged more accurately, thereby avoiding using information irrelevant to sewage pollution information for calculating sewage pollution information, and avoiding using sensor values ​​containing a large amount of bubble information for calculating sewage pollution information, thereby improving the accuracy of sewage detection.

[0069] Further, determining a reference time point, a sensor value difference, and a reference sensor value corresponding to the current time interval according to at least one initial sensor value in the current time interval includes:

[0070] Determine the minimum time point in the current time interval as a reference time point;

[0071] Acquire a maximum initial sensor value and a minimum initial sensor value in the current time interval, and determine a sensor value difference according to the maximum initial sensor value and the minimum initial sensor value;

[0072] A reference time interval is determined according to the first time threshold, a reference sensor value is determined based on an initial sensor value corresponding to the reference time interval, and a reference sensor value is determined according to the minimum initial sensor value and the reference sensor value.

[0073] In practical applications, the reference time interval is a time interval for obtaining a reference sensor value, and the reference sensor value is used to confirm the sensor value of the first time interval.

[0074] Specifically, the reference time interval can be understood as the time interval before the sewage reaches the sensor, and the reference sensor value can be understood as the sensor value in the sewage pipe before the sewage reaches the sensor, which is used to confirm whether the sewage reaches the sensor. The method of obtaining the reference value based on the initial sensor value in the reference interval can be to obtain the average value of all initial sensor values ​​in the reference interval, or to obtain the median value of all initial sensor values ​​in the reference interval. This specification does not limit this. For example, 2s after the sewage pump is turned on to extract sewage, the sewage reaches the location of the sensor, so the reference time interval is confirmed to be 0s-2s, and the average value of the sensor value is obtained after removing the maximum value from the initial sensor value in the reference time interval. The obtained reference sensor value is 1800.

[0075] By obtaining the reference sensor value in the sewage pipe before the sewage reaches the sensor, it is possible to accurately determine whether the sewage reaches the sensor, thereby avoiding using information irrelevant to the sewage contamination information for calculating the sewage contamination information.

[0076] Further, determining a reference time interval according to the first time threshold includes:

[0077] A time interval consisting of time points smaller than the first time threshold in the preset time interval is determined as a reference time interval.

[0078] Specifically, the reference time interval can be understood as the time interval from when the sewage pump starts pumping to when the sewage reaches the sensor. For example, during the reference time interval, the sewage in the sewage pipe has not yet reached the sensor, and there is air in the sewage pipe during the reference time interval.

[0079] Further, when the reference time point satisfies a first time threshold, the reference sensor value satisfies a sensor value threshold, and the sensor value difference satisfies the sensor value difference threshold, determining that the current time interval is a first time interval includes:

[0080] When the reference time point is greater than the first time threshold, the reference sensor value is greater than or equal to the sensor value threshold, and the sensor value difference is less than or equal to the sensor value difference threshold, determining the current time interval as the first time interval to be confirmed;

[0081] The first time interval to be confirmed with the smallest reference time point is determined as the first time interval.

[0082] In actual applications, the first time interval is a time interval in which the last time point in the time zone is greater than the first time threshold, and the difference between the minimum value in the sensor value and the reference sensor value is greater than the sensor value threshold, and the difference between the maximum value and the minimum value in the sensor value in the current time interval is less than the sensor difference threshold.

[0083] Specifically, the first time interval can be understood as the time interval in which the first sensor extracts stable sewage information during the sliding process of the time interval. For example, in the sewage detection process, the preset sensor value difference threshold is 300, the sensor value threshold is 100, the first time threshold is 2000ms, the fixed duration of the time interval is 400ms, and the sensor obtains data once every 20ms. In the time interval of 3000ms-3400ms, the minimum value of the sensor value is 2600 and the maximum value is 2800. The benchmark value obtained 2s ago is 1800, so the difference between the minimum value of the sensor value and the benchmark in the current time interval is 800, which is greater than the sensor value threshold, and the difference between the maximum value and the minimum value is 200, which is less than the sensor difference threshold, and the reference time of the time interval is 3400ms, which is also greater than the first time threshold of 2000ms. Finally, since the current time interval is the first time interval that meets the above conditions encountered during the sliding process of the time interval, the time interval 3000ms-3400ms is the first time interval.

[0084] By comprehensively judging whether the current time interval is the first time interval through the time threshold and the sensor threshold, the time interval for starting to extract sewage pollution information can be accurately judged, and the use of information irrelevant to the sewage pollution information for the calculation of the sewage pollution information can be avoided.

[0085] Further, when the reference time point satisfies a second time threshold and each sensor value difference satisfies a sensor value difference threshold, determining the current time interval as a second time interval includes:

[0086] In the case where the reference time point is less than the second time threshold, the current time interval in which the sensor value difference is greater than the sensor value difference threshold is determined as the fluctuation time interval, and the second time interval is determined according to the fluctuation time interval with the smallest reference time point among a preset number of consecutive fluctuation time intervals; or,

[0087] In a case where the reference time point is equal to the second time threshold, a current time interval in which the reference time point is equal to the second time threshold is determined as the second time interval.

[0088] In practical applications, the second time interval is the time interval before the sensor value continuously fluctuates.

[0089] Specifically, the second time interval can be understood as the time interval before the sensor value in the time interval fluctuates continuously during the sliding process of the time interval, that is, the second time interval is the time interval corresponding to the sliding window before the interval with the smallest reference time in the time interval in which the difference between multiple consecutive sensor values ​​is greater than the sensor value difference threshold. If there are no time intervals in which the difference between multiple consecutive sensor values ​​is greater than the sensor value difference threshold before the second time threshold, then the time interval with the reference time value as the second time threshold is the second time interval. Setting the time interval with the reference time value as the second time threshold as the second time interval can be understood as the sensor value after the second time threshold will fluctuate greatly. In order to more accurately obtain the second time interval for terminating the extraction of sewage contamination information, the second time threshold and the reference value difference threshold are used as the two judgment conditions for judgment.

[0090] It should be noted that the method for determining whether continuous fluctuations occur in an interval may be to accumulate the number of fluctuations when the difference in sensor values ​​within the time interval exceeds the difference in sensor values ​​threshold, and to reduce the number of fluctuations when the difference in sensor values ​​within the time interval does not exceed the difference in sensor values ​​threshold, and the minimum number of fluctuations is 0, and then when the number of fluctuations is 3, it is considered that three fluctuations have occurred continuously. The method for determining whether continuous fluctuations occur in an interval may also be to accumulate the number of fluctuations when the difference in sensor values ​​within the time interval exceeds the difference in sensor values ​​threshold, and to clear the number of fluctuations when the difference in sensor values ​​within the time interval does not exceed the difference in sensor values ​​threshold, and then when the number of fluctuations is 3, it is considered that three fluctuations have occurred continuously. And so on, this specification does not make any limitation to this.

[0091] In an embodiment provided in the present application, a preset sensor value difference threshold is 300, a second time threshold is 6000ms, a fixed duration of the time interval is 400ms, and the sensor obtains data once every 20ms. In a time interval of 5000ms-5400ms, the minimum sensor value is 2600, the maximum value is 3000, and the sensor value difference is 400. In a time interval of 5020ms-5420ms, the minimum sensor value is 2800, the maximum value is 3600, and the sensor value difference is 800. In a time interval of 5040ms-5440ms, the minimum sensor value is 2800, the maximum value is 3600, and the sensor value difference is 800. There are three consecutive time intervals in which the sensor difference is greater than the sensor value difference threshold. Therefore, the time interval 4980ms-5380ms before the first time interval 5000ms-5400ms is the second time interval.

[0092] In another embodiment provided in the present application, the preset sensor value difference threshold is 300, the second time threshold is 6000ms, the fixed duration of the time interval is 400ms, and the sensor obtains data once every 20ms. During the sliding of the time interval, there is no time interval that is continuously greater than the sensor value difference threshold, so the interval 5600ms-6000ms is set as the second time interval.

[0093] By comprehensively judging whether the current time interval is the second time interval through the time threshold and the sensor difference threshold, the time interval for ending the extraction of sewage contamination information can be accurately judged, thereby avoiding using the sensor value containing a large amount of bubble information for calculating the sewage contamination information.

[0094] Step 108: Determine the sewage contamination information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task.

[0095] In practical applications, the sewage contamination information is the contamination information of sewage extracted in at least one cleaning task corresponding to the cleaning instruction.

[0096] Specifically, the sewage contamination information can be understood as the turbidity of the sewage obtained by the cleaning component of this sewage cleaning instruction, and it can also represent the cleaning result of the cleaning component of this cleaning instruction. For example, the base station receives the cleaning instruction sent by the cleaning equipment, performs three cleaning tasks, and determines the sewage contamination information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to the above three cleaning tasks.

[0097] The sewage contamination information corresponding to this cleaning instruction is determined by the first time interval and the second time interval corresponding to each of the multiple cleaning tasks carried by a cleaning instruction, so that the accuracy of the sewage contamination information corresponding to this cleaning instruction is increased, thereby improving the accuracy of sewage detection.

[0098] Further, determining the sewage contamination information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task includes:

[0099] Acquire a first interval reference time point corresponding to the first time interval and a second interval reference time point corresponding to the second time interval;

[0100] Determine a sewage pollution information extraction time interval according to the first time interval reference time point and the second time interval reference time point;

[0101] When the reference time point is located in the sewage pollution information extraction time interval, the current time interval in which the sensor value difference is less than or equal to the sensor value difference threshold is determined as the time interval to be taken;

[0102] The maximum initial sensor value in each waiting time interval is determined as the dirtiness information of the task sewage corresponding to the target cleaning task;

[0103] The maximum value of the task sewage pollution information corresponding to each cleaning task is determined as the sewage pollution information corresponding to the cleaning instruction.

[0104] In practical applications, the sewage pollution information extraction time interval is the time interval for extracting sewage pollution information, the value-taking time interval is the time interval in which the sliding window slides from the sewage pollution information extraction interval and the extreme difference of the data therein does not exceed the sensor value difference threshold, and the task sewage pollution information is the sewage pollution information corresponding to each cleaning task.

[0105] Specifically, the time interval for extracting sewage dirtiness information can be understood as the time interval from when the sewage reaches the sensor to when a large number of bubbles appear in the sewage. The time interval for extracting sewage dirtiness information determined based on the reference time points corresponding to the first time interval and the second time interval can effectively avoid the interference of a large number of bubbles in the sewage with the sewage dirtiness information. The time interval to be taken can be understood as the interval in which the data is stable in the time interval for extracting sewage dirtiness information. The data in the sliding window of the time interval for extracting sewage dirtiness information is judged by a preset sensor value difference threshold to obtain a stable data interval. While avoiding the time period in which a large number of bubbles are generated in the sewage, the inaccurate sensor value caused by the sensor value fluctuation caused by a small amount of bubbles in the sewage extraction can be further avoided. The dirtiness information of the task sewage can be understood as the turbidity level of the sewage in this cleaning task.

[0106] The sewage dirtiness information corresponding to the cleaning instruction determined by the maximum value of the sewage dirtiness information corresponding to each cleaning task can be understood as the dirtiness information corresponding to the sewage obtained by the cleaning robot cleaning the cleaning component in the base station. By obtaining the maximum value of the dirtiness information, the dirtiness degree of the sewage cleaned from the cleaning component by the base station in the process of executing this cleaning instruction can be effectively obtained, and then the dirtiness degree of the cleaning component corresponding to the cleaning instruction of the cleaning robot in this cleaning instruction can be known.

[0107] By determining the extraction time of sewage pollution information through the first time interval and the second time interval, the problem of insufficient sewage detection accuracy caused by a large amount of data fluctuations can be preliminarily avoided. Then, according to the sensor value difference threshold, the interval of data stability can be obtained to avoid the impact of data fluctuations on data collection, further improving the accuracy of sewage detection. Finally, multiple data obtained through multiple cleanings are used to confirm the sewage pollution information, further improving the accuracy of sewage detection.

[0108] Considering that when the cleaning device is cleaning, it is necessary to obtain the degree of dirtiness of the cleaned floor and adjust the cleaning strategy according to the cleaning status of the cleaning component, after determining the sewage dirtiness information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task, it also includes:

[0109] According to determining that the second time interval corresponding to the last cleaning task of the cleaning instruction is the cleaning result interval,

[0110] A cleaning result sensor value corresponding to the cleaning instruction is determined based on at least one initial sensor value in the cleaning result interval.

[0111] In practical applications, the cleaning result interval is the time interval when the collection of sewage and dirt is finished in a cleaning instruction. The cleaning result sensor value is the value when the collection of sewage and dirt is finished in a cleaning instruction.

[0112] Specifically, the cleaning result interval can be understood as the last time interval of sewage in a cleaning instruction, that is, the cleaning result interval represents the last time interval of sewage in the sewage extraction process. The cleaning result sensor value can be understood as the last sensor value of sewage in a cleaning instruction, that is, the cleaning result sensor value represents the last sensor value of sewage in the process of cleaning the cleaning robot at the base station. Since the dirtiness of sewage obtained from the process of cleaning the cleaning component can be understood as the dirtiness of the cleaning component, the cleaning result sensor value can be understood as the dirtiness of the cleaning component before the cleaning robot completes cleaning at the base station and leaves the base station.

[0113] The cleaning result sensor value calculated through the cleaning result interval can be used to obtain the degree of dirtiness of the cleaning components carried by the cleaning robot before leaving the base station, so as to facilitate the subsequent judgment of the degree of dirtiness of the ground and the adjustment of the cleaning strategy.

[0114] Furthermore, after determining the sewage contamination information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task, the method further includes:

[0115] Determining an initial time interval corresponding to each cleaning task according to determining the first time interval corresponding to each cleaning task;

[0116] The task initial sensor value corresponding to each cleaning task is determined according to at least one initial sensor value corresponding to each initial time interval.

[0117] In actual applications, the initial time interval is the time interval for starting to collect sewage and dirt in each cleaning task, and the task initial sensor value is the sensor value obtained when starting to collect sewage and dirt in each cleaning task.

[0118] Further, determining a cleaning result sensor value corresponding to the target cleaning task based on at least one initial sensor value in the cleaning result interval includes:

[0119] Calculating a sensor value characteristic value according to at least one initial sensor value corresponding to the cleaning result interval;

[0120] The sensor value characteristic value is determined to be a cleaning result sensor value corresponding to the target cleaning task.

[0121] In practical applications, the characteristic value of the initial sensor value corresponding to the cleaning result interval can be understood as the characteristic value of each initial sensor value within the cleaning result interval, so as to reduce the problem of inaccurate sensor value acquisition caused by data fluctuation within the time interval.

[0122] Specifically, the method of calculating the characteristic value of the sensor value based on the initial sensor value includes: removing the maximum value and the minimum value of the initial sensor value in the time interval to calculate the average value of the remaining initial sensor values, calculating the middle value of the initial sensor value in the time interval, calculating the value that appears most frequently in the initial sensor value in the time interval, etc., and the present application does not impose any restrictions on this.

[0123] In one embodiment provided in the present application, the cleaning result interval 4980ms-5380ms contains 20 initial sensor values, of which the maximum value is 3000 and the minimum value is 2724. After deleting the maximum value and the minimum value, the average value of the remaining 18 initial sensor values ​​is 2854, so the cleaning result sensor value is 2854.

[0124] In another embodiment provided by the present application, the cleaning result interval 5600ms-6000ms includes 20 initial sensor values, among which the sensor value that appears most times is 3263, so the cleaning result sensor value is 3263.

[0125] The cleaning result interval is determined through the previous steps, and the cleaning result sensor value is obtained according to at least one initial sensor value in the cleaning result interval. On the basis of accurately determining the end time interval for collecting sewage and dirt information, the problem of inaccurate sensor value acquisition due to data fluctuations within the time interval is avoided, and the value at the end of collecting sewage and dirt information is more accurately obtained, so as to facilitate the subsequent acquisition of ground dirt information and adjustment of the cleaning strategy of the cleaning component.

[0126] Furthermore, the method further comprises:

[0127] Obtain the cleaning result sensor value corresponding to the last cleaning instruction and the sewage dirtiness information corresponding to the current cleaning instruction;

[0128] The ground contamination information is determined according to the cleaning result sensor value and the sewage contamination information.

[0129] In practical applications, the ground dirtiness information is a value indicating the degree of ground dirtiness. Specifically, the ground dirtiness information can be understood as a value indicating the degree of ground dirtiness. The ground dirtiness information is determined using the cleaning result sensor value corresponding to the last cleaning instruction and the sewage dirtiness information corresponding to the current cleaning instruction. Since the cleaning result sensor value corresponding to the last cleaning instruction can be understood as the degree of dirtiness of the cleaning component when the last cleaning device was finished cleaning and drove out of the base station, and since the cleaning component of the cleaning robot performs cleaning activities on the ground after cleaning, and the sewage dirtiness information corresponding to this cleaning task can reflect the degree of dirtiness of the cleaning component carried by the cleaning robot obtained by the cleaning activity of the cleaning robot, the cleaning result sensor value of the last cleaning instruction and the sewage dirtiness information of this cleaning instruction can be understood as the cleaning component obtains dirtiness information from the ground from the beginning of cleaning the ground to the end of cleaning the ground this time, and thus the dirtiness information of the ground can be expressed.

[0130] In one embodiment provided in the present application, the sewage dirtiness information corresponding to the current cleaning instruction obtained is 600, and the cleaning result sensor value corresponding to the previous cleaning instruction is 300, then the corresponding floor dirtiness level is 300.

[0131] By comparing the dirtiness information of sewage and obtaining the dirtiness information of the ground, the dirtiness information of the ground cleaned by the cleaning equipment can be accurately obtained, which can facilitate the subsequent determination of the cleaning strategy of the cleaning robot.

[0132] Furthermore, the method further comprises:

[0133] Obtaining a cleaning reference value and a task sewage dirtiness sensor value corresponding to a target cleaning task, wherein the cleaning reference value is a cleaning result sensor value corresponding to a previous cleaning instruction, and the target cleaning task is a preset cleaning task corresponding to this cleaning instruction;

[0134] Determining task sewage contamination information based on the cleaning reference value and the task sewage contamination sensor value;

[0135] Generating task strategy information according to the task sewage contamination information, wherein the task strategy information includes at least one of a cleaning time strategy, a cleaning temperature strategy, a cleaning liquid usage strategy, and a cleaning times strategy;

[0136] Execute subsequent cleaning tasks according to the task strategy information.

[0137] In actual applications, the cleaning baseline value is the cleaning result sensor value corresponding to the previous cleaning instruction, the target cleaning task is the preset cleaning task corresponding to this cleaning instruction, the preset cleaning task is the default number of cleaning times corresponding to the cleaning instruction, the task sewage dirtiness information is used to indicate the change in sewage turbidity obtained by the current task, and the task strategy information is used to execute the next cleaning task.

[0138] It should be noted that after the base station receives the cleaning instruction, it will execute the default number of cleaning tasks, where the cleaning strategy used when executing the default number of cleaning tasks is the default cleaning strategy, and the default number of cleaning tasks and the default cleaning strategy are preset by the technician. After the base station completes the last cleaning task of the default number of cleaning tasks, the execution strategy of the subsequent cleaning tasks is determined according to the above method. It should be noted that during the execution of a cleaning instruction, the base station only makes a strategy judgment once after completing the last cleaning task of the default number of cleaning tasks, and the cleaning strategy will no longer be changed when executing subsequent cleaning tasks.

[0139] Specifically, the task sewage dirtiness information is determined by the cleaning result sensor value corresponding to the previous cleaning instruction and the task sewage dirtiness sensor value of the last cleaning task of the default cleaning times of this cleaning instruction. The task sewage dirtiness sensor value can be understood as the sewage turbidity sensor value obtained after the cleaning task of the default cleaning times in this cleaning task is executed according to the last cleaning task of the default cleaning times in this cleaning task, and the turbidity of the sewage can be understood as the amount of stains obtained by cleaning the cleaning component in this cleaning task, and then according to the cleaning result sensor value corresponding to the previous cleaning instruction, that is, the degree of dirtiness of the cleaning component carried by the cleaning equipment after the last cleaning was completed, and the completion of the last cleaning instruction means that the cleaning component is cleaned to a clean state, and then the task sewage dirtiness information determined by the cleaning result sensor value corresponding to the previous cleaning instruction and the task sewage dirtiness sensor value of the last cleaning task of the default cleaning times of this cleaning instruction can be understood as the amount of dirt carried by the cleaning component in the process of executing the default number of cleaning tasks, and then the cleaning strategy for subsequent cleaning tasks can be derived based on the cleaning of the cleaning component to a clean state.

[0140] The cleaning strategy can be understood as the strategy based on which the cleaning base station performs the cleaning task. The cleaning time strategy can be understood as the time when the sewage extraction in the cleaning task is completed. For example, when the cleaning time is 6s, the sewage pump is turned on at a 66% duty cycle, and the sewage pump needs 6s to extract sewage; when the cleaning time is 20s, the sewage pump is turned on at a 33% duty cycle, and the sewage pump needs 20s to complete the sewage extraction. The cleaning temperature strategy can be understood as the water temperature for cleaning the corresponding cleaning component. The cleaning fluid usage strategy can be understood as the amount of cleaning fluid discharged when cleaning the corresponding cleaning component. The number of cleaning times strategy can be understood as whether to continue cleaning the corresponding cleaning component when the sewage is cleaned. For example, when the difference between the cleaning reference value and the task sewage dirtiness sensor value is greater than or equal to 100 and less than 300, the cleaning component is regarded as being in a lightly dirty state, and the number of cleaning times is set to 4 times, that is, after executing the default three cleaning tasks, an additional cleaning task is executed to complete the cleaning instruction.

[0141] In one embodiment provided in the present application, the default number of cleaning times of the cleaning instruction obtained through analysis is 3 times, the cleaning reference value obtained is 2854, the sewage dirtiness sensor value obtained for this cleaning task is 3263, and the sewage dirtiness sensor value for this cleaning task is 409 higher than the cleaning reference value, indicating that the cleaning component has obtained a large amount of dirtiness information in this cleaning task, and it can be known that the cleaning component is in a state of severe dirtiness, and thus the execution strategy for subsequent cleaning can be determined as 3 subsequent cleanings (that is, the number of cleanings corresponding to this cleaning instruction is 6 times), and the time for cleaning the rag is increased by 10s each time, the temperature of the clean water for cleaning the rag is increased by 5°, and the discharge volume of the cleaning liquid is increased by 20ml, so that the corresponding cleaning component can be cleaned more fully in the subsequent cleaning tasks that execute the above strategy.

[0142] In another embodiment provided in the present application, the default number of cleaning times obtained by analysis of the cleaning instruction is 2 times, the cleaning reference value obtained is 3259, and the sewage dirtiness sensor value obtained for this cleaning task is 3363. The sewage dirtiness sensor value for this cleaning task is 104 higher than the cleaning reference value, indicating that the cleaning component obtains a small amount of dirtiness information in this cleaning task. It can be known that the cleaning component is in a lightly dirty state, and further it can be known that only three cleanings are needed to make the cleaning component in a clean state, thereby terminating this cleaning instruction and reducing the cost consumed by the base station for cleaning the cleaning component.

[0143] Compared with base stations without sewage detection, the cleaning efficiency of the rags is improved by detecting the turbidity of the sewage used to wash the rags, increasing or decreasing the time and frequency of washing the rags, increasing or decreasing the temperature of the clean water used to wash the rags, and increasing or decreasing the amount of cleaning liquid used, and further improving the efficiency of the use of clean water and cleaning liquid. Further improvement in the cleaning efficiency of the rags can effectively suppress the secondary pollution caused by the cleaning robot using unclean rags to mop the floor, and also reduce the probability of rottenness in the rags and sewage pipes due to residual dirt.

[0144] Furthermore, the task sewage dirtiness sensor value corresponding to the target cleaning task is obtained, including:

[0145] Obtaining sewage dirtiness sensor values ​​corresponding to the target cleaning task and the cleaning task before the target cleaning task;

[0146] The maximum value among the task sewage contamination information is determined as the task sewage contamination sensing value.

[0147] Specifically, the sewage dirtiness sensor value corresponding to each cleaning task is implemented in the same way as the above-mentioned method of obtaining the task sewage dirtiness information corresponding to the target cleaning task. Confirming the maximum value of the sewage dirtiness information of each task as the task sewage dirtiness sensor value can be understood as obtaining the degree of dirtiness of the sewage after the cleaning instruction completes the cleaning task of the default number of cleaning times. It can reflect the degree of dirtiness of the corresponding cleaning component in this cleaning instruction, and obtaining the degree of dirtiness of the cleaning component in this cleaning instruction is for the convenience of generating subsequent cleaning strategies.

[0148] The sewage detection method implemented in this specification uses the time point for starting to extract sewage dirt information and the time point for ending to extract sewage dirt information to effectively avoid the problem of inaccurate sewage dirt information detection caused by the air value generated when the sewage does not reach the sensor location at the beginning of the sewage extraction, and the large number of bubbles in the sewage caused by the small amount of residual sewage in the space of the cleaning component in the final stage of sewage extraction. In addition, the fluctuation value between the start time interval and the end time interval is discarded, and the maximum value of the undiscarded values ​​is taken as the sewage dirt information, which can effectively reduce or even avoid the problem of inaccurate sewage dirt information detection caused by data fluctuations.

[0149] The following combination Figure 4 , taking the application of the sewage detection method provided in this specification in a base station of a cleaning system as an example, the sewage detection method is further described. Figure 4 A flowchart of a processing process of a sewage detection method of a base station in a cleaning system provided by an embodiment of the present specification is shown, which specifically includes the following steps.

[0150] Step 402: After receiving the cleaning device signal, the cleaning device sensor issues a cleaning instruction for the cleaning device and analyzes the N cleaning tasks carried in the cleaning instruction.

[0151] It should be noted that the N cleaning tasks carried in the cleaning instruction are preset values, which can be understood as the default number of cleaning times for the cleaning robot by the base station.

[0152] Step 404: After receiving the cleaning task, the clean water bucket fills the cleaning components of the cleaning equipment with water for 6 seconds.

[0153] Step 406: After the clean water bucket is filled with water for 6 seconds, the pump of the sewage bucket is turned on to pump sewage into the sewage bucket at a duty cycle of 33%.

[0154] Step 408: When the sewage pump is turned on, the sensor value is acquired once every 20ms.

[0155] Step 410: Determine whether this cleaning task is the first one.

[0156] Step 412: Obtain the sensor value 200ms after the sewage pump is turned on, and set the average value of the sensor value within 200ms after removing the maximum and minimum values ​​as the air value.

[0157] Step 414: 20 data are formed into one group of sliding collection data, and the difference between the maximum value and the minimum value in each group of data is calculated as the range of the group of data.

[0158] Step 416: When the minimum value in the current data group minus the air value is greater than 100, start collecting the maximum and minimum values ​​of the array in the sliding window.

[0159] Step 418: During the sliding process, the arrays with a range greater than 300 in the collected arrays are discarded and the number of occurrences is accumulated once, and the maximum value of the arrays with a range less than or equal to 300 in the collected arrays is recorded and the number of transmissions is reduced once.

[0160] Step 420: During the sliding process, compare the maximum values ​​in the array collected and save the maximum value as the maximum register value of this cleaning task, and compare the minimum values ​​in the array collected and save the minimum value as the minimum register value of this cleaning task.

[0161] Step 422: When the number of occurrences is equal to 3, the sliding window stops sliding when the number of occurrences is equal to 0, or the 6th second after the sewage pump is turned on, the sliding window stops sliding at the 6th second.

[0162] Step 424: Obtain the maximum value among the maximum stored values ​​of the previous N tasks, and obtain the last mopping state corresponding to the last cleaning instruction of the cleaning robot, and subtract the last mopping state from the maximum value obtained above to obtain the mopping state difference.

[0163] Step 426: The calculated difference value 521 is greater than the set cleaning threshold 400.

[0164] Step 428: Continue two cleaning tasks, increase the clean water temperature by 5°, increase the amount of cleaning solution used by 50 ml for the two subsequent cleaning tasks, and continue to use the previous strategy to obtain the maximum and minimum register values ​​for the two subsequent cleaning tasks.

[0165] Step 430: The maximum value of the maximum stored value in the N+2 cleaning tasks is regarded as the sewage turbidity corresponding to this cleaning instruction, and the average value of the last array obtained by the sliding window of the N+2 cleaning task after removing the maximum and minimum values ​​is regarded as the final mopping state corresponding to this cleaning instruction.

[0166] The sewage detection method implemented in this specification effectively avoids the problem of inaccurate sewage turbidity detection caused by the air value generated by the sewage not reaching the sensor location at the beginning of sewage extraction, and the large number of bubbles in the sewage caused by the small amount of residual sewage in the space of the cleaning component in the final stage of sewage extraction, by using the time point of starting to extract the sewage turbidity and the time point of ending to extract the sewage turbidity. In addition, the fluctuation value between the start time interval and the end time interval is discarded, and the maximum value of the undiscarded value is taken as the sewage contamination information, which can effectively reduce or even avoid the problem of inaccurate sewage turbidity detection caused by data fluctuations.

[0167] Embodiment 1

[0168] In the first embodiment provided in the present application, a sweeping robot and its corresponding base station are taken as an example to further explain the sewage detection method provided in the present application.

[0169] When the sweeping robot needs to clean the mop, it automatically drives to the corresponding base station, which contains a clean water bucket, a clean water pump, a clean water pipe, a mop cleaning pool, a mop cleaning component, a sewage bucket, a sewage pump, a sewage pipe, and a sensor. When the mop carried by the sweeping robot is aligned with the mop cleaning pool in the corresponding base station, the sweeping robot sends a cleaning instruction to the base station. After the base station receives the cleaning instruction, the mop cleaning component starts working. At the same time, the base station analyzes the cleaning instruction and concludes that three cleaning tasks are required.

[0170] At the beginning of the first cleaning task, the clean water pump draws clean water from the clean water bucket for 8s, which flows through the clean water pipe to the mop cleaning pool. After the clean water is discharged, the sewage pump starts to slowly draw sewage from the mop cleaning pool at a duty cycle of 33%, so that the sewage flows through the sewage pipe to the sewage bucket. Since the sensor is set at 18cm in the sewage pipe, the sewage rises to the sensor position 2s after the sewage pump is turned on. At the same time when the sewage pump starts to pump, the sensor is turned on and the AD value obtained by the sensor is read. The sensor obtains the AD value every 20ms.

[0171] Get the average of the AD values ​​of the first 2 seconds minus the maximum value as the air value, and after 2 seconds, roll the time window with a fixed duration of 400ms to get the AD value to ensure that there are 20 constant AD values ​​in the time window. When the difference between the minimum value of the AD corresponding to the first time window and the air value is greater than 100 during the sliding process of the time window, and the difference between the maximum and minimum values ​​of the AD corresponding to the time window is less than 300, continue to slide from the current time window, and get the maximum value of the data in the time window where the difference between the maximum and minimum values ​​of the data is less than or equal to 300, and compare the obtained maximum values, and retain the maximum value.

[0172] After obtaining the first sewage value, continue to slide the time window. When the difference between the maximum and minimum values ​​in the time windows is greater than 300 for three consecutive times, stop the sliding window to a time window before the first time window of the three consecutive time windows; if there is no sliding time window in which the difference between the maximum and minimum values ​​in the three consecutive time windows is greater than 300 until the 6th second after the sewage pump is started to pump water, then stop the sliding window to the sliding time window of the 6th second after the sewage pump is started to pump water.

[0173] The maximum value of the retained sliding window is obtained, and is regarded as the task sewage turbidity of this cleaning task.

[0174] After the sewage pump starts pumping water for 6 seconds, it will pump sewage at full speed with 100% duty cycle. After the full-speed pumping lasts for 6 seconds, the second cleaning task starts. The second cleaning task is processed in the same way as the first cleaning task. The task sewage turbidity of the sewage in the second cleaning task is obtained. The third cleaning task starts after the sewage pump has pumped at full speed for 6 seconds in the second cleaning task. The third cleaning task is processed in the same way as the previous two cleaning tasks. The task sewage turbidity of the sewage in the third cleaning task is obtained.

[0175] After the sewage pump of the third cleaning task starts pumping water for 6 seconds, it pumps sewage at full speed with a 100% duty cycle. The full-speed pumping lasts for 20 seconds. After the full-speed pumping is completed, the sewage pump and the sensor are turned off, and the cleaning is completed. The sweeping robot continues to perform the task. The base station records the maximum value of the first and last values ​​of the three cleaning tasks as the turbidity of the sewage.

[0176] The solution of the above embodiment is applied, and the time point of starting and ending the extraction of sewage turbidity is used to effectively avoid the problem of air value generated by sewage not reaching the sensor location at the beginning of sewage extraction, and the problem of inaccurate sewage turbidity detection caused by a large number of bubbles in the sewage due to the small amount of residual sewage in the space of the cleaning component in the final stage of sewage extraction. In addition, the fluctuation value between the start time interval and the end time interval is discarded, and the maximum value of the undiscarded values ​​is taken as sewage contamination information, which can effectively reduce or even avoid the problem of inaccurate sewage turbidity detection caused by data fluctuations.

[0177] Corresponding to the above method embodiment, this specification also provides a sewage detection device embodiment, Figure 5 FIG. 1 is a schematic diagram showing the structure of a sewage detection device provided by an embodiment of the present specification. Figure 5 As shown, the device comprises:

[0178] The instruction receiving module 502 is configured to receive a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean a cleaning component of the cleaning device;

[0179] An initial sensing acquisition module 504 is configured to acquire an initial sensing value of the sensor based on at least one time point in a preset time interval when the cleaning base station responds to a target cleaning task;

[0180] The time interval determination module 506 is configured to determine a first time interval and a second time interval corresponding to the target cleaning task in the preset time interval based on a preset time threshold and a preset sensor value threshold, wherein the first time interval is a time interval for starting to extract sewage contamination information, and the second time interval is a time interval for ending to extract sewage contamination information;

[0181] The dirt information determination module 508 is configured to determine the sewage dirt information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task.

[0182] Optionally, the preset time threshold includes a first time threshold and a second time threshold, and the preset sensor value threshold includes a sensor value threshold and a sensor value difference threshold;

[0183] The time interval determination module 506 is further configured to:

[0184] Establishing a sliding window according to a preset window size, sliding the sliding window in the preset time interval based on a preset moving step length, and obtaining a current time interval corresponding to the sliding window;

[0185] Determine, according to at least one initial sensor value in the current time interval, a reference time point, a sensor value difference, and a reference sensor value corresponding to the current time interval;

[0186] In a case where the reference time point satisfies a first time threshold, the reference sensor value satisfies a sensor value threshold, and the sensor value difference satisfies the sensor value difference threshold, determining that the current time interval is a first time interval;

[0187] In a case where the reference time point satisfies a second time threshold and the sensor value difference satisfies the sensor value difference threshold, the current time interval is determined to be a second time interval.

[0188] Optionally, the first time threshold is the time point at which the extraction of sewage pollution information starts, and the second time threshold is the time point at which the extraction of sewage pollution information ends;

[0189] The sensor value threshold is the sensor value for confirming the start of sewage detection, and the sensor value difference threshold is the sensor value for ending sewage detection.

[0190] The time interval determination module 506 is further configured to:

[0191] Determine the minimum time point in the current time interval as a reference time point;

[0192] Acquire a maximum initial sensor value and a minimum initial sensor value in the current time interval, and determine a sensor value difference according to the maximum initial sensor value and the minimum initial sensor value;

[0193] A reference time interval is determined according to the first time threshold, a reference sensor value is determined based on an initial sensor value corresponding to the reference time interval, and a reference sensor value is determined according to the minimum initial sensor value and the reference sensor value.

[0194] The time interval determination module 506 is further configured to:

[0195] A time interval consisting of time points smaller than the first time threshold in the preset time interval is determined as a reference time interval.

[0196] The time interval determination module 506 is further configured to:

[0197] When the reference time point is greater than the first time threshold, the reference sensor value is greater than or equal to the sensor value threshold, and the sensor value difference is less than or equal to the sensor value difference threshold, determining the current time interval as the first time interval to be confirmed;

[0198] The first time interval to be confirmed with the smallest reference time point is determined as the first time interval.

[0199] The time interval determination module 506 is further configured to:

[0200] In the case where the reference time point is less than the second time threshold, the current time interval in which the sensor value difference is greater than the sensor value difference threshold is determined as the fluctuation time interval, and the second time interval is determined according to the fluctuation time interval with the smallest reference time point among a preset number of consecutive fluctuation time intervals; or,

[0201] In a case where the reference time point is equal to the second time threshold, a current time interval in which the reference time point is equal to the second time threshold is determined as the second time interval.

[0202] The time interval determination module 508 is further configured to:

[0203] Acquire a first interval reference time point corresponding to the first time interval and a second interval reference time point corresponding to the second time interval;

[0204] Determine a sewage pollution information extraction time interval according to the first time interval reference time point and the second time interval reference time point;

[0205] When the reference time point is located in the sewage pollution information extraction time interval, the current time interval in which the sensor value difference is less than or equal to the sensor value difference threshold is determined as the time interval to be taken;

[0206] The maximum initial sensor value in each waiting time interval is determined as the dirtiness information of the task sewage corresponding to the target cleaning task;

[0207] The maximum value of the task sewage pollution information corresponding to each cleaning task is determined as the sewage pollution information corresponding to the cleaning instruction.

[0208] Optionally, the sewage detection device further includes:

[0209] The sensor value determination module is configured to determine that the second time interval corresponding to the last cleaning task of the cleaning instruction is a cleaning result interval,

[0210] A cleaning result sensor value corresponding to the cleaning instruction is determined based on at least one initial sensor value in the cleaning result interval.

[0211] The sensor value determination module is further configured as follows:

[0212] Calculating a sensor value characteristic value according to at least one initial sensor value corresponding to the cleaning result interval;

[0213] The sensor value characteristic value is determined to be a cleaning result sensor value corresponding to the target cleaning task.

[0214] Optionally, the sewage detection device further includes:

[0215] A floor dirt information determination module is configured to obtain a cleaning result sensor value corresponding to a previous cleaning instruction and sewage dirt information corresponding to a current cleaning instruction, wherein the cleaning result sensor is a second sensor value corresponding to the last cleaning task in the previous cleaning instruction;

[0216] The ground contamination information is determined according to the cleaning result sensor value and the sewage contamination information.

[0217] Optionally, the sewage detection device further includes:

[0218] A strategy generation module is configured to obtain a cleaning reference value and a task sewage dirtiness sensor value corresponding to a target cleaning task, wherein the cleaning reference value is a cleaning result sensor value corresponding to a previous cleaning instruction, and the target cleaning task is a preset cleaning task corresponding to this cleaning instruction;

[0219] Determining task sewage contamination information based on the cleaning reference value and the task sewage contamination sensor value;

[0220] Execute subsequent cleaning tasks according to the task strategy information.

[0221] The strategy generation module is further configured to:

[0222] Obtaining sewage dirtiness sensor values ​​corresponding to the target cleaning task and the cleaning task before the target cleaning task;

[0223] The maximum value among the task sewage contamination information is determined as the task sewage contamination sensing value.

[0224] The sewage detection method implemented in this specification uses the time point for starting to extract sewage dirt information and the time point for ending to extract sewage dirt information to effectively avoid the problem of inaccurate sewage dirt information detection caused by the air value generated when the sewage does not reach the sensor location at the beginning of the sewage extraction, and the large number of bubbles in the sewage caused by the small amount of residual sewage in the space of the cleaning component in the final stage of sewage extraction. In addition, the fluctuation value between the start time interval and the end time interval is discarded, and the maximum value of the undiscarded values ​​is taken as the sewage dirt information, which can effectively reduce or even avoid the problem of inaccurate sewage dirt information detection caused by data fluctuations.

[0225] The above is a schematic scheme of a sewage detection device of this embodiment. It should be noted that the technical scheme of the sewage detection device and the technical scheme of the sewage detection method described above are of the same concept, and the details not described in detail in the technical scheme of the sewage detection device can be referred to the description of the technical scheme of the sewage detection method described above.

[0226] Figure 6 The block diagram of a computing device 600 according to an embodiment of the present specification is shown. The components of the computing device 600 include but are not limited to a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and the database 650 is used to store data.

[0227] The computing device 600 also includes an access device 640 that enables the computing device 600 to communicate via one or more networks 660. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 640 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0228] In one embodiment of the present specification, the above components of the computing device 600 and Figure 6 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 6 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0229] The computing device 600 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 600 may also be a mobile or stationary server.

[0230] The processor 620 is used to execute the following computer executable instructions, which, when executed by the processor, implement the steps of the above-mentioned sewage detection method.

[0231] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above sewage detection method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above sewage detection method.

[0232] An embodiment of the present specification also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned sewage detection method.

[0233] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned sewage detection method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned sewage detection method.

[0234] An embodiment of the present specification also provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned sewage detection method.

[0235] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the above sewage detection method belong to the same concept, and the details not described in detail in the technical scheme of the computer program can be referred to the description of the technical scheme of the above sewage detection method.

[0236] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0237] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0238] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some 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 preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0239] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0240] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A sewage detection method, characterized in that: Used for a cleaning base station, the cleaning equipment base station includes a sewage pipe and a sensor arranged on the sewage pipe, including: Receiving a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean a cleaning component of the cleaning device; When the cleaning base station responds to the target cleaning task, acquiring an initial sensing value of the sensor based on at least one time point in a preset time interval; Determining a first time interval and a second time interval corresponding to the target cleaning task in the preset time interval based on a preset time threshold and a preset sensor value threshold, wherein the first time interval is a time interval for starting to extract sewage contamination information, and the second time interval is a time interval for ending to extract sewage contamination information; The sewage contamination information corresponding to the cleaning instruction is determined according to the first time interval and the second time interval corresponding to each cleaning task.

2. The method according to claim 1, characterized in that The preset time threshold includes a first time threshold and a second time threshold, and the preset sensor value threshold includes a sensor value threshold and a sensor value difference threshold; Determining a first time interval and a second time interval corresponding to the target cleaning task in the preset time interval based on a preset time threshold and a preset sensor value threshold includes: Establishing a sliding window according to a preset window size, sliding the sliding window in the preset time interval based on a preset moving step length, and obtaining a current time interval corresponding to the sliding window; Determine, according to at least one initial sensor value in the current time interval, a reference time point, a sensor value difference, and a reference sensor value corresponding to the current time interval; In a case where the reference time point satisfies a first time threshold, the reference sensor value satisfies a sensor value threshold, and the sensor value difference satisfies the sensor value difference threshold, determining that the current time interval is a first time interval; In a case where the reference time point satisfies a second time threshold and the sensor value difference satisfies the sensor value difference threshold, the current time interval is determined to be a second time interval.

3. The method according to claim 2, characterized in that The first time threshold is the time point at which the extraction of sewage pollution information is started, and the second time threshold is the time point at which the extraction of sewage pollution information is ended; The sensor value threshold is the sensor value for confirming the start of sewage detection, and the sensor value difference threshold is the sensor value for ending sewage detection.

4. The method according to claim 2, characterized in that Determining a reference time point, a sensor value difference, and a reference sensor value corresponding to the current time interval according to at least one initial sensor value in the current time interval includes: Determine the minimum time point in the current time interval as a reference time point; Acquire a maximum initial sensor value and a minimum initial sensor value in the current time interval, and determine a sensor value difference according to the maximum initial sensor value and the minimum initial sensor value; A reference time interval is determined according to the first time threshold, a reference sensor value is determined based on an initial sensor value corresponding to the reference time interval, and a reference sensor value is determined according to the minimum initial sensor value and the reference sensor value.

5. The method according to claim 4, characterized in that Determining a reference time interval according to the first time threshold includes: A time interval consisting of time points smaller than the first time threshold in the preset time interval is determined as a reference time interval.

6. The method according to claim 4, characterized in that In a case where the reference time point satisfies a first time threshold, the reference sensor value satisfies a sensor value threshold, and the sensor value difference satisfies the sensor value difference threshold, determining that the current time interval is a first time interval includes: When the reference time point is greater than the first time threshold, the reference sensor value is greater than or equal to the sensor value threshold, and the sensor value difference is less than or equal to the sensor value difference threshold, determining the current time interval as the first time interval to be confirmed; The first time interval to be confirmed with the smallest reference time point is determined as the first time interval.

7. The method according to claim 2, characterized in that When the reference time point satisfies the second time threshold and each sensor value difference satisfies the sensor value difference threshold, determining the current time interval as the second time interval includes: In the case where the reference time point is less than the second time threshold, the current time interval in which the sensor value difference is greater than the sensor value difference threshold is determined as the fluctuation time interval, and the second time interval is determined according to the fluctuation time interval with the smallest reference time point among a preset number of consecutive fluctuation time intervals; or, In a case where the reference time point is equal to the second time threshold, a current time interval in which the reference time point is equal to the second time threshold is determined as the second time interval.

8. The method according to claim 2, characterized in that Determining the sewage contamination information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task includes: Acquire a first interval reference time point corresponding to the first time interval and a second interval reference time point corresponding to the second time interval; Determine a sewage pollution information extraction time interval according to the first time interval reference time point and the second time interval reference time point; When the reference time point is located in the sewage pollution information extraction time interval, the current time interval in which the sensor value difference is less than or equal to the sensor value difference threshold is determined as the time interval to be taken; The maximum initial sensor value in each waiting time interval is determined as the dirtiness information of the task sewage corresponding to the target cleaning task; The maximum value of the task sewage contamination information corresponding to each cleaning task is determined as the sewage contamination information corresponding to the cleaning instruction.

9. The method according to claim 1, characterized in that After determining the sewage contamination information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task, the method further includes: According to determining that the second time interval corresponding to the last cleaning task of the cleaning instruction is the cleaning result interval, A cleaning result sensor value corresponding to the cleaning instruction is determined based on at least one initial sensor value in the cleaning result interval.

10. The method according to claim 9, characterized in that Determining a cleaning result sensor value corresponding to the target cleaning task based on at least one initial sensor value in the cleaning result interval includes: Calculating a sensor value characteristic value according to at least one initial sensor value corresponding to the cleaning result interval; The sensor value characteristic value is determined to be a cleaning result sensor value corresponding to the target cleaning task.

11. The method according to claim 9, characterized in that The method further comprises: Obtain the cleaning result sensor value corresponding to the last cleaning instruction and the sewage dirtiness information corresponding to the current cleaning instruction; The ground contamination information is determined according to the cleaning result sensor value and the sewage contamination information.

12. The method according to claim 9, characterized in that The method further comprises: Obtaining a cleaning reference value and a task sewage dirtiness sensor value corresponding to a target cleaning task, wherein the cleaning reference value is a cleaning result sensor value corresponding to a previous cleaning instruction, and the target cleaning task is any cleaning task corresponding to this cleaning instruction; Determining task sewage contamination information based on the cleaning reference value and the task sewage contamination sensor value; Generating task strategy information according to the task sewage contamination information, wherein the task strategy information includes at least one of a cleaning time strategy, a cleaning temperature strategy, a cleaning liquid usage strategy, and a cleaning times strategy; Execute subsequent cleaning tasks according to the task strategy information.

13. The method according to claim 12, characterized in that Obtain the task sewage dirtiness sensor value corresponding to the target cleaning task, including: Obtaining sewage dirtiness sensor values ​​corresponding to the target cleaning task and the cleaning task before the target cleaning task; The maximum value among the task sewage contamination information is determined as the task sewage contamination sensing value.

14. A sewage detection device, characterized in that: include: An instruction receiving module is configured to receive a cleaning instruction for a cleaning device, wherein the cleaning instruction includes at least one cleaning task, and the cleaning task is used to clean a cleaning component of the cleaning device; an initial sensing acquisition module, configured to acquire an initial sensing value of the sensor based on at least one time point in a preset time interval when the cleaning base station responds to a target cleaning task; A time interval determination module is configured to determine a first time interval and a second time interval corresponding to the target cleaning task in the preset time interval based on a preset time threshold and a preset sensor value threshold, wherein the first time interval is a time interval for starting to extract sewage contamination information, and the second time interval is a time interval for ending to extract sewage contamination information; The dirt information determination module is configured to determine the sewage dirt information corresponding to the cleaning instruction according to the first time interval and the second time interval corresponding to each cleaning task.

15. A computing device, characterized in that: include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the sewage treatment method described in any one of claims 1 to 13 are implemented.

16. A computer-readable storage medium, characterized in that: It stores computer executable instructions, which, when executed by a processor, implement the steps of the sewage treatment method described in any one of claims 1 to 13.

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