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

Abstract

The invention provides a cleaning assembly replacement method, device, system and equipment, a medium and a product, and relates to the field of intelligent robotics.The method comprises the steps that in the process that a to-be-cleaned surface is cleaned through cleaning equipment, it is determined that a dirty area exists on the to-be-cleaned surface based on sensor data recognized by a dirty detection sensor; determining a target smudginess type of the smudginess area, and determining a first type of a current cleaning assembly installed on the cleaning equipment; different dirt types correspond to different types of cleaning assemblies; under the condition that it is determined that the target dirt type is not matched with the first type, the cleaning equipment is controlled to return to the cleaning base station, the target cleaning assembly of the second type matched with the target dirt type is selected for replacement of the cleaning assembly, and after replacement is completed, the cleaning equipment returns to the dirt area for cleaning, so that the cleaning efficiency is improved by replacing the proper cleaning assembly in time. The cleaning equipment can more quickly process different types of dirt and quickly return to the dirt area to immediately execute the cleaning task, so that the real-time performance of cleaning is improved.

Description

Technical Field

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

[0002] In the design and application of cleaning equipment, replacing cleaning parts to adapt to the cleaning needs of different areas is an important function. Since different cleaning areas may have different surface materials, dirt types and cleaning standards, the cleaning efficiency and effectiveness of the cleaning equipment can be improved by replacing cleaning parts suitable for specific surfaces.

[0003] In the prior art, a cleaning device carries a first cleaning piece to perform a first cleaning operation on a first area. When the first cleaning operation is completed, the cleaning device is controlled to perform a cleaning piece replacement operation to achieve cleaning requirements for cleaning areas with different properties or cleaning requirements completed by cleaning pieces with different properties. When the cleaning piece replacement operation is completed, the cleaning device is controlled to carry a second cleaning piece to perform a second cleaning operation on a second area, wherein the cleaning order corresponding to the first area takes precedence over the cleaning order corresponding to the second area.

[0004] However, even when the cleaning needs are urgent or time-sensitive, the cleaning operation of the first area is completed first, and then the cleaning parts are replaced before the cleaning of the second area begins. If the cleaning of the first area takes too long, it may cause the cleaning of the second area to be delayed, resulting in a lack of timeliness in the cleaning, which in turn affects the user experience. Summary of the invention

[0005] The present application provides a cleaning component replacement method, device, system, equipment, medium and product. Through the mechanism of instant response and cleaning component replacement, the cleaning equipment can more efficiently handle different types of dirty areas, thereby avoiding the delay in the existing method of having to wait for the current area to be completed before processing the newly identified area, thereby improving the timeliness and overall efficiency of cleaning.

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

[0007] During the cleaning process of the surface to be cleaned by the cleaning device, it is determined that there is a dirty area on the surface to be cleaned based on sensor data recognized by the dirt detection sensor;

[0008] Determine a target dirt type of the dirty area, and determine a first type of a current cleaning component installed in the cleaning device; different dirt types correspond to different types of cleaning components;

[0009] When it is determined that the target dirt type does not match the first type, the cleaning device is controlled to return to the cleaning base station, a target cleaning component of the second type matching the target dirt type is selected to replace the cleaning component, and after the replacement is completed, the cleaning device returns to the dirty area for cleaning.

[0010] It should be noted that, compared with the prior art, when cleaning parts are replaced according to the cleaning needs of cleaning areas with different properties, since the cleaning order corresponding to the first area takes precedence over the cleaning order corresponding to the second area, the cleaning operation of the first area is completed first, and then the cleaning components are replaced, and the cleaning of the second area is started, resulting in a certain lack of timeliness in cleaning. In the present application, the cleaning device continuously uses the dirt detection sensor to detect the surrounding surfaces to be cleaned during the process of cleaning the first area. If a second area with dirt is identified, that is, an area where the cleaning components need to be replaced, the cleaning device will respond immediately, that is, it will automatically navigate back to the cleaning base station to replace the target cleaning component suitable for the dirt type of the second area. After the replacement is completed, the cleaning device immediately returns to the second area and uses the new target cleaning component to clean the second area. This immediate response mechanism ensures that the second area is quickly processed after being identified, avoids delays, and improves the real-time cleaning of the second area.

[0011] Therefore, the present application can intelligently identify and locate the dirty area by detecting whether there is a dirty area on the surface to be cleaned in real time based on the dirt detection sensor, and then determine the target dirt type of the dirty area, and select the appropriate target cleaning component for replacement, so as to effectively clean the dirty area in time, thereby improving the cleaning efficiency and effect. This automated and intelligent recognition process reduces the need for manual intervention and ensures that the cleaning equipment can effectively deal with various types of dirt, ensures that the cleaning effect is maximized, and reduces the possibility of residual stains. The cleaning equipment can flexibly adapt to different cleaning needs and ensure that the dirty area is cleaned in real time using appropriate cleaning components.

[0012] For users, the above-mentioned cleaning system can automatically adapt to different cleaning tasks and clean dirty areas in a timely manner, reducing the need for users to manually adjust and monitor, and providing a more convenient user experience.

[0013] Optionally, the method further includes:

[0014] When it is determined that the target dirt type matches the first type, determining the dirtiness of the current cleaning component;

[0015] When the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning, so as to clean the dirty area based on the replaced cleaning components or the self-cleaned cleaning components.

[0016] In this way, by real-time monitoring and management of the status of cleaning components, it can be ensured that the cleaning equipment effectively cleans dirty areas with appropriate cleaning components, thereby maintaining efficient cleaning results. In addition, by timely replacement of cleaning components or self-cleaning, excessive damage to the cleaning components can be prevented, the service life of the cleaning components can be extended, and the availability of the cleaning equipment can be improved. In particular, the self-cleaning function can reduce the need for spare cleaning components, optimize resource utilization, and reduce operating costs.

[0017] Optionally, the degree of dirtiness is determined based on the area of ​​the area cleaned by the cleaning device using the current cleaning component; when the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning component or perform self-cleaning, including:

[0018] When the area of ​​the region is greater than or equal to the preset area threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning.

[0019] In this way, by monitoring the cleaning equipment to see how much cleaning area has been cleaned by the current cleaning components, the cleaning components can be replaced or self-cleaned according to actual usage, rather than relying on fixed time intervals, thereby more accurately reflecting the status of the cleaning components and maintaining efficient cleaning effects. In addition, by replacing or self-cleaning the cleaning components in a timely manner, excessive wear and damage to the cleaning components can be prevented, thereby extending the service life of the cleaning components.

[0020] Optionally, the method further includes:

[0021] When the dirt level is less than a preset threshold, the cleaning device is controlled to continue cleaning the surface to be cleaned.

[0022] In this way, when it is confirmed that the front cleaning component is in good condition, the cleaning equipment can be controlled to continue to perform the cleaning task on the surface to be cleaned without returning to the cleaning base station for replacement or self-cleaning, thereby avoiding unnecessary interruptions and improving the overall cleaning efficiency. By rationally utilizing the use time of the cleaning components, premature replacement of the cleaning components is avoided, thereby optimizing resource utilization and reducing operating costs.

[0023] Optionally, the method further includes:

[0024] When it is determined that the target dirt type does not match the first type and the target dirt type is a special dirt type, the cleaning device is controlled to avoid the dirty area, and after avoiding the dirty area, continues to clean the surface to be cleaned; the special dirt type is a solid-liquid mixed dirt type with adhesion greater than a first threshold and cleaning difficulty greater than a second threshold.

[0025] Therefore, in the present application, it is possible to choose to avoid special types of dirt that are difficult to clean, thereby preventing the cleaning equipment from being damaged or contaminated due to attempts at cleaning, thereby extending the service life of the cleaning equipment, and also avoiding wasting time and cleaning resources in unsuitable areas, thereby achieving the effect of optimizing resource utilization. In this way, by intelligently identifying special types of dirt and then selecting avoidance strategies, the cleaning system can adapt to complex cleaning environments and ensure effective operation in different situations.

[0026] Optionally, the dirt detection sensor is an artificial intelligence AI camera; determining that there is a dirty area on the surface to be cleaned based on sensor data recognized by the dirt detection sensor includes:

[0027] Identify image information of the surface to be cleaned based on AI camera;

[0028] Determine based on the image information whether there is a stain on the surface to be cleaned, and determine the center point of the stain and the size of the stain;

[0029] Determine the dirty area based on center point and size.

[0030] In this way, by using the AI ​​camera to detect the size and type of dirt in the dirty area in real time, the cleaning strategy can be quickly determined and the matching type of target cleaning components can be selected for cleaning. There is no need to wait until a certain area is cleaned before detecting the size and type of dirt in the next area, which is timely.

[0031] Therefore, AI cameras combined with image processing technology can identify and locate stains with high precision, improve the accuracy of dirt detection, and then quickly identify dirty areas by processing image data in real time, thereby improving the response speed and efficiency of cleaning equipment. Moreover, since the type and location of stains can be accurately identified, stains can be accurately identified and located, avoiding unnecessary cleaning operations, thereby optimizing the use of cleaning resources and reducing costs.

[0032] Optionally, return the soiled area for cleaning, including:

[0033] Determine a target cleaning strategy that matches the target dirt type, so that the cleaning device cleans the dirty area using the target cleaning component based on the target cleaning strategy; each dirt type corresponds to a cleaning strategy;

[0034] Among them, the dirt types include dry stain types, wet stain types and powdery stain types.

[0035] In this way, the present application can adopt specific cleaning strategies for different types of dirt to ensure that each stain is effectively treated and improve the overall cleaning effect. By selecting appropriate cleaning strategies and cleaning components, the cleaning equipment can complete the cleaning task more quickly and improve cleaning efficiency.

[0036] Since the cleaning system can autonomously select and execute cleaning strategies, it demonstrates a higher level of intelligence, reduces the need for human intervention and the trouble of manual adjustments and operations by users, and improves the user experience.

[0037] Optionally, the method further includes:

[0038] After the dirty area is cleaned based on the target cleaning component, the sensor data of the dirty area is recognized again based on the dirt detection sensor;

[0039] Determining the existence of a contaminated area based on the re-identified sensor data, then determining a target contamination type of the contaminated area;

[0040] The cleaning device is controlled to return to the cleaning base station to replace a cleaning component whose type matches the target dirt type, so as to clean the contaminated area again based on the replaced cleaning component.

[0041] In this way, through the above-mentioned targeted re-inspection and cleaning, it can be ensured that the contaminated area is thoroughly and effectively cleaned to avoid residual stains, thereby improving the overall cleaning effect, allowing users to rely on the cleaning system to automatically complete thorough cleaning, reducing the trouble of manual inspection and rework, and improving the user experience.

[0042] In a second aspect, the present application provides a cleaning component replacement device, which is applied to a cleaning system; the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a dirt detection sensor; the cleaning base station includes at least one type of cleaning component, and the device includes:

[0043] A first determination module is used to determine whether there is a dirty area on the surface to be cleaned based on sensor data recognized by the dirt detection sensor during the cleaning process of the surface to be cleaned by the cleaning device;

[0044] A second determination module is used to determine a target dirt type of the dirty area and determine a first type of a current cleaning component installed in the cleaning device; different dirt types correspond to different types of cleaning components;

[0045] The replacement module is used to control the cleaning device to return to the cleaning base station when it is determined that the target dirt type does not match the first type, select a second type of target cleaning component that matches the target dirt type to replace the cleaning component, and return to the dirty area for cleaning after the replacement is completed.

[0046] In a third aspect, the present application provides a cleaning system, comprising: a cleaning device and a cleaning base station; the cleaning device comprises a dirt detection sensor; the cleaning base station comprises at least one type of cleaning component; the cleaning system is used to perform any method as in the first aspect.

[0047] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0048] Memory stores computer-executable instructions;

[0049] The processor executes the computer-executable instructions stored in the memory to implement any method as described in the first aspect.

[0050] In a fifth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement any method as in the first aspect.

[0051] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which implements any method in the first aspect when executed by a processor.

[0052] It should be noted that the second to sixth aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0053] In summary, the present application provides a cleaning component replacement method, device, system, equipment, medium and product, which detects the dirt state of the surface to be cleaned by a dirt detection sensor installed on the cleaning equipment, and then obtains sensor data to identify the dirty area on the surface to be cleaned. In this way, during the cleaning process of the cleaning equipment on the surface to be cleaned, once the sensor data identified by the dirt detection sensor detects a dirty area, the dirt type of the dirty area will be analyzed. At the same time, the cleaning system will also identify the type of cleaning component currently installed on the cleaning equipment. Since different types of dirt require different cleaning components to effectively handle them, if the detected dirt type does not match the type of the current cleaning component, the cleaning system will take action immediately, that is, control the cleaning The device immediately returns to the cleaning base station to be replaced with a cleaning component that matches the target dirt type. After the cleaning component is replaced, the cleaning device quickly returns to the dirty area and immediately performs the cleaning task. This method avoids the delay of waiting for the current area to be cleaned to be cleaned and then returning to the base station to update the cleaning component. In this way, by timely replacing suitable cleaning components, the cleaning device can handle different types of dirt more quickly, improve overall cleaning efficiency, and use cleaning components specially designed for specific types of dirt. There is no need to continue cleaning with unsuitable cleaning components, which significantly improves the cleaning effect and ensures that the dirt is thoroughly removed, thereby avoiding unnecessary cleaning delays, saving time, and improving the real-time nature of cleaning, which can in turn improve user satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] Figure 1 A partial structural schematic diagram of a cleaning system provided in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of the structure of a cleaning base station provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0058] Figure 4 A schematic diagram of a flow chart of a cleaning component replacement method provided in an embodiment of the present application;

[0059] Figure 5 A schematic diagram of the structure of a cleaning component replacement device provided in an embodiment of the present application;

[0060] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0061] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0062] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0063] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0064] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0065] When current cleaning equipment performs cleaning tasks on a surface to be cleaned, as the cleaning process proceeds, the cleaning components will gradually accumulate stains. As a result, when encountering a new dirty area, the cleaning equipment will not distinguish between the dirty areas and even if it does, it will still use the cleaning components that have cleaned multiple areas to clean the dirty area, resulting in poor cleaning effect on the dirty area.

[0066] In the related art, a cleaning device carries a first cleaning piece to perform a first cleaning operation on a first area. When the first cleaning operation is completed, the cleaning device is controlled to perform a cleaning piece replacement operation to achieve cleaning requirements for cleaning areas with different properties or cleaning requirements completed by cleaning pieces with different properties. When the cleaning piece replacement operation is completed, the cleaning device is controlled to carry a second cleaning piece to perform a second cleaning operation on a second area, wherein the cleaning order corresponding to the first area takes precedence over the cleaning order corresponding to the second area.

[0067] However, even when the cleaning needs are urgent or time-sensitive, the cleaning operation of the first area is completed first, and then the cleaning parts are replaced before the cleaning of the second area begins. If the cleaning of the first area takes too long, it may cause the cleaning of the second area to be delayed, resulting in a lack of timeliness in the cleaning, which in turn affects the user experience.

[0068] It should also be noted that the current method for determining the degree of dirtiness is: when the cleaning equipment returns to the cleaning base station to clean the cleaning components, sewage is generated. The sewage can be tested to determine the degree of dirtiness of the corresponding area to be cleaned based on the degree of dirtiness of the sewage. This method for determining the degree of dirtiness requires the cleaning equipment to return to the cleaning base station to clean the cleaning components, which also leads to a certain lack of timeliness.

[0069] In view of the above problems, the present application provides a method for replacing a cleaning component, which detects the dirt status of the surface to be cleaned by a dirt detection sensor installed on the cleaning device, and then obtains sensor data to identify the dirty area on the surface to be cleaned. In this way, during the cleaning process of the cleaning device cleaning the surface to be cleaned, once the sensor data identified by the dirt detection sensor detects a dirty area, the dirt type of the dirty area will be analyzed. At the same time, the cleaning system will also identify the type of cleaning component currently installed on the cleaning device. Since different types of dirt require different cleaning components to effectively handle them, if the detected dirt type does not match the type of the current cleaning component, the cleaning system will immediately take action, that is, control the cleaning system to change the dirt type. The cleaning device immediately returns to the cleaning base station to be replaced with a cleaning component that matches the target dirt type. After the cleaning component is replaced, the cleaning device quickly returns to the dirty area and immediately performs the cleaning task. This method avoids the delay of waiting for the current area to be cleaned to be cleaned and then returning to the base station to update the cleaning component. In this way, by timely replacing the appropriate cleaning component, the cleaning device can handle different types of dirt more quickly, improve the overall cleaning efficiency, and can also use cleaning components specially designed for specific dirt types. There is no need to continue cleaning under unsuitable cleaning components, which significantly improves the cleaning effect and ensures that the dirt is thoroughly removed, thereby avoiding unnecessary cleaning delays, saving time, and improving the real-time nature of cleaning.

[0070] It can be understood that the above-mentioned cleaning component replacement method with real-time detection and rapid response mechanism ensures that the cleaning equipment can quickly identify and handle emergency cleaning needs, thereby improving user satisfaction.

[0071] Optionally, the cleaning component replacement method provided in the present application is applied to a cleaning system, exemplarily, Figure 1 A partial structural diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the cleaning system 300 includes a cleaning device 100 and a cleaning base station 200; the cleaning base station 200 includes at least one type of cleaning component 201; the cleaning device 100 includes a dirt detection sensor 101, which is used to identify sensor data of the surface to be cleaned, and the sensor data is used to identify dirty areas on the surface to be cleaned.

[0072] For example, Figure 2 A schematic diagram of a cleaning base station provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the cleaning base station 200 includes at least one type of cleaning component 201. For example, the cleaning base station 200 may include three types of cleaning components. Since the cleaning base station 200 is responsible for storing and providing different types of cleaning components 201, the cleaning components 201 that match the target dirt type of the dirty area can be replaced. In this way, the cleaning system 300 can flexibly adjust the replacement of the cleaning components 201 according to the dirt type of different dirty areas to adapt to the cleaning needs of diverse cleaning environments.

[0073] Optionally, the cleaning device 100 includes a cleaning robot, and the cleaning component 201 includes at least a rag component of the cleaning robot; wherein the cleaning robot includes a sweeping robot, a mopping robot, a floor washing robot, a sweeping and mopping robot, or any other automatic cleaning device with a cleaning function, and the rag component can be a rag disc component such as a round rag, a triangular rag, or the like. The embodiments of the present application do not limit the specific types of the cleaning robot and the rag component.

[0074] For example, Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 3 As shown, the application scenario includes a cleaning device 100 and a cleaning base station 200. Taking the cleaning device 100 as a sweeping robot as an example, the sweeping robot includes a dirt detection sensor, and the cleaning base station 200 includes at least one type of cleaning component. The embodiment of the present application does not specifically limit the number and type of cleaning components. For example, the cleaning base station 200 may include 3 different types of cleaning components, and the number of each cleaning component of the same type is one; it may also include 3 different types of cleaning components, and the number of each cleaning component of the same type is multiple.

[0075] In this way, during the cleaning process of the surface to be cleaned in the living room by the sweeping robot, if it is determined based on the sensor data identified by the dirt detection sensor that there is a dirty area on the surface to be cleaned as shown in the figure, the target dirt type of the dirty area, such as the wet stain type, can be determined, as well as the first type of the current cleaning component installed by the sweeping robot, such as the component type suitable for cleaning the dry stain type, and then it is judged that the wet stain type and the currently installed component type suitable for cleaning the dry stain type do not match each other, that is, the currently installed component suitable for cleaning the dry stain type is not suitable for cleaning the corresponding dirty area in the living room. At this time, the sweeping robot can be controlled to return to the cleaning base station 200 immediately to select a target cleaning component suitable for cleaning the wet stain type from the cleaning base station 200. Furthermore, the current cleaning component is replaced with the target cleaning component, and then the sweeping robot is controlled to return to the dirty area immediately, so that the sweeping robot cleans the dirty area based on the target cleaning component.

[0076] It should be noted that the embodiment of the present application does not specifically limit the method for determining the first type of cleaning components currently installed on the sweeping robot. For example, it can be based on the recognition and determination by the cleaning system when the sweeping robot drives out of the cleaning base station, or it can be based on the recognition and determination by a specific sensor installed on the sweeping robot during the cleaning task.

[0077] It should be noted that the embodiment of the present application does not specifically limit the application scenarios of the cleaning component replacement method. In different application scenarios, there may be different types of dirty areas on the surface to be cleaned, and different types of dirt correspond to different types of cleaning components.

[0078] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0079] Figure 4 A schematic diagram of a cleaning component replacement method provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the cleaning component replacement method is applied to Figure 1 The cleaning system shown; the cleaning component replacement method comprises the following steps:

[0080] S401. During a cleaning process of a surface to be cleaned by a cleaning device, it is determined that there is a dirty area on the surface to be cleaned based on sensor data identified by a dirt detection sensor.

[0081] In an embodiment of the present application, a dirt detection sensor is used to detect whether there is a dirty area on the surface to be cleaned based on the identified sensor data. The dirt detection sensor can be an optical sensor, an infrared sensor, an ultrasonic sensor, an artificial intelligence (AI) camera, etc. The embodiment of the present application does not specifically limit the type of dirt detection sensor, which can be set depending on the design of the cleaning equipment and the application scenario requirements.

[0082] In this step, while the cleaning device is performing the cleaning task, since the cleaning device is equipped with a dirt detection sensor, the dirt detection sensor continuously scans the surface to be cleaned and collects sensor data about the surface to be cleaned. For example, the sensor data may be image data, and then the dirt on the surface to be cleaned is identified based on image processing, pattern recognition or other processing techniques, and the dirty area corresponding to the dirt is determined.

[0083] It should be noted that the embodiments of the present application do not specifically limit the method for determining the presence of dirty areas on the surface to be cleaned based on sensor data. For example, it can be based on identifying color changes, reflectivity differences, surface texture changes, etc. on the surface to be cleaned to determine whether there is dirt on the surface to be cleaned. After determining the presence of dirt, the dirty area corresponding to the dirt is determined.

[0084] S402, determining a target dirt type of the dirty area, and determining a first type of a current cleaning component installed in the cleaning device; different dirt types correspond to different types of cleaning components.

[0085] In an embodiment of the present application, the types of dirt may include dry stain types, wet stain types, and powdery stain types, etc., wherein the dry stain type may refer to a solid stain without obvious liquid components, and the solid stain is usually formed due to the deposition of particulate matter or solid matter. For example, the solid stain may be a footprint, rice stain, dry chocolate stain, etc. The embodiment of the present application does not limit the specific solid stains corresponding to the dry stain type, and the above is merely an example.

[0086] The wet stain type may refer to a wet stain containing a liquid component, which is usually formed due to the overflow or leakage of the liquid. For example, the wet stain may be soy sauce, cola, milk, urine, coffee, tea, juice, etc. The embodiments of the present application do not limit the specific wet stains corresponding to the wet stain type, and the above is merely an example.

[0087] The powdery stain type may refer to a powdery stain composed of fine powdery substances, which are usually easy to float in the air or deposit on the surface. For example, the powdery stain may be flour, laundry detergent, etc. The embodiments of the present application do not limit the specific powdery stains corresponding to the powdery stain type, and the above is merely an example.

[0088] Optionally, in the present application, the cleaning system may preset a database that lists various dirt types and a mapping relationship between different dirt types and applicable cleaning components, so that after identifying the target dirt type of the dirty area, the type of cleaning component that matches the target dirt type can be quickly identified and matched.

[0089] It should be noted that in the present application, the matching process of the target dirt type and the first type refers to matching the type of the dirty area with the type of the cleaning component for cleaning the dirty area, that is, determining whether the current cleaning component for cleaning the surface to be cleaned is suitable for cleaning the dirty area to achieve a better cleaning effect.

[0090] In this step, the cleaning device can identify the first type of the currently installed cleaning component, and then compare the target dirt type of the identified dirty area with the first type of the current cleaning component. If the currently installed cleaning component is suitable for processing the identified dirt type, the cleaning device can continue cleaning. If the currently installed cleaning component is not suitable for processing the identified dirt type, the cleaning device can decide whether to replace the cleaning component to ensure that the most effective cleaning component is used to clean the dirty area.

[0091] Among them, the cleaning device can identify the first type of the current cleaning component through other sensors, or confirm the first type through user input. The embodiment of the present application does not specifically limit the method for determining the first type of the current cleaning component installed on the cleaning device.

[0092] It is understandable that different types of dirt correspond to different types of cleaning components. For example, for dry stains, a cleaning component with good adsorption ability that can effectively capture and remove stains may be needed; for wet stains, a cleaning component with stronger cleaning power may be needed that can quickly absorb liquid to effectively remove wet stains; for powder stains, a dual-purpose wet and dry cleaning component may be needed, which can be used to remove powder in a dry state, or can be used to remove more stubborn powder stains after being slightly moistened.

[0093] It should be noted that the embodiments of the present application do not specifically limit the types of cleaning components corresponding to different types of dirt, and the above is merely an example.

[0094] S403: When it is determined that the target dirt type does not match the first type, control the cleaning device to return to the cleaning base station, select a second type of target cleaning component that matches the target dirt type to replace the cleaning component, and return to the dirty area for cleaning after the replacement is completed.

[0095] In an embodiment of the present application, if it is determined that the target dirt type does not match the first type of the current cleaning component, this mismatch may result in low cleaning efficiency or inability to effectively remove a specific type of dirt. Therefore, in this case, the cleaning equipment needs to promptly replace the target cleaning component that matches the target dirt type to clean the dirty area.

[0096] Exemplarily, after the cleaning device determines that the target dirt type does not match the first type of the current cleaning component, the cleaning device immediately and automatically navigates back to the cleaning base station. Since the cleaning base station is equipped with at least one type of spare cleaning component, after the cleaning device returns to the cleaning base station, the cleaning device selects a second type of target cleaning component that matches the identified target dirt type in the cleaning base station. The match can be determined based on the mapping relationship between the dirt type and the cleaning component type established previously. The embodiment of the present application does not specifically limit the matching process.

[0097] Furthermore, after the cleaning device automatically replaces the target cleaning component in the cleaning base station, the cleaning device immediately and automatically navigates back to the previously identified dirty area, and uses the newly installed target cleaning component to efficiently clean the dirty area corresponding to the target dirt type to ensure that the identified dirty area is fully processed.

[0098] The target cleaning component is a cleaning component that has been cleaned and matches the target dirt type. It can be understood that at least one type of cleaning components stored in the cleaning base station are all clean cleaning components.

[0099] It should be noted that, compared with the prior art, when cleaning parts are replaced according to the cleaning needs of cleaning areas with different properties, since the cleaning order corresponding to the first area takes precedence over the cleaning order corresponding to the second area, the cleaning operation of the first area is completed first, and then the cleaning components are replaced, and the cleaning of the second area is started, resulting in a certain lack of timeliness in cleaning. In the present application, the cleaning device continuously uses the dirt detection sensor to detect the surrounding surfaces to be cleaned during the process of cleaning the first area. If a second area with dirt is identified, that is, an area where the cleaning components need to be replaced, the cleaning device will respond immediately, that is, it will automatically navigate back to the cleaning base station to replace the target cleaning component suitable for the dirt type of the second area. After the replacement is completed, the cleaning device immediately returns to the second area and uses the new target cleaning component to clean the second area. This immediate response mechanism ensures that the second area is quickly processed after being identified, avoids delays, and improves the real-time cleaning of the second area.

[0100] It should also be noted that the solutions in the prior art are usually based on the cleaning order of different rooms such as bedrooms, kitchens, and living rooms. When changing the room to be cleaned, the cleaning equipment adaptively replaces the cleaning components corresponding to the room. In the present application, it is usually based on cleaning a certain room. If it is identified that a smaller area to be cleaned in the room needs to be replaced with a cleaning component for cleaning, the cleaning base station is immediately returned to replace the cleaning component suitable for cleaning the area to be cleaned, and then the area to be cleaned is returned for cleaning. The room may have multiple smaller areas to be cleaned. In this way, compared with the prior art, the present application has a more fine-grained cleaning method. Since the cleaning equipment can perform fine cleaning operations on each small area to be cleaned in the room, the granularity is smaller, so that the cleaning equipment can more effectively handle the cleaning of specific areas in the room, greatly improving the cleaning effect.

[0101] Therefore, the embodiment of the present application can intelligently identify and locate the dirty area by detecting whether there is a dirty area on the surface to be cleaned in real time based on the dirt detection sensor, and then determine the target dirt type of the dirty area, and select the appropriate target cleaning component for replacement, so as to effectively clean the dirty area in time, thereby improving the cleaning efficiency and effect. This automated and intelligent recognition process reduces the need for manual intervention and ensures that the cleaning equipment can effectively deal with various types of dirt, ensures that the cleaning effect is maximized, and reduces the possibility of residual stains. The cleaning equipment can flexibly adapt to different cleaning needs and ensure that the dirty area is cleaned in real time using appropriate cleaning components.

[0102] For users, the above-mentioned cleaning system can automatically adapt to different cleaning tasks and clean dirty areas in a timely manner, reducing the need for users to manually adjust and monitor, and providing a more convenient user experience.

[0103] Optionally, the method further includes:

[0104] When it is determined that the target dirt type matches the first type, determining the dirtiness of the current cleaning component;

[0105] When the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning, so as to clean the dirty area based on the replaced cleaning components or the self-cleaned cleaning components.

[0106] In an embodiment of the present application, if it is confirmed that the target dirt type matches the first type of the currently installed cleaning component, it means that the currently installed cleaning component is suitable for processing the dirty area corresponding to the identified target dirt type. However, since the currently installed cleaning component may have already cleaned multiple areas, the cleaning component may not be very clean. If the dirty area continues to be cleaned based on the currently installed cleaning component, it may result in poor cleaning effect or cause cross contamination. Therefore, the degree of dirtiness of the current cleaning component can be judged to ensure that it works in a reasonable state.

[0107] In the present application, the preset threshold is a threshold set in advance for determining whether the cleaning component needs to be cleaned or replaced. The embodiment of the present application does not specifically limit the setting size of the preset threshold. When the degree of dirtiness of the current cleaning component is greater than or equal to the preset threshold, it means that the cleanliness of the current cleaning component is low, and the cleaning component needs to be self-cleaned or replaced.

[0108] Exemplarily, the degree of dirtiness of the current cleaning component can be evaluated by sensors or other detection means. For example, the degree of dirtiness of the current cleaning component can be determined by using sensors to identify the degree of dirtiness of sewage flowing through a dirty pipe, or the degree of dirtiness of the current cleaning component can be determined based on the size of the area cleaned by the current cleaning component. The embodiments of the present application do not specifically limit the method for evaluating the degree of dirtiness of the current cleaning component.

[0109] Furthermore, the detected degree of dirtiness is compared with a preset threshold. If the degree of dirtiness is greater than or equal to the preset threshold, it indicates that the cleanliness of the current cleaning component is low and insufficient to effectively clean the dirty area, and the cleaning device is controlled to return to the cleaning base station.

[0110] At the cleaning base station, the cleaning device can replace cleaning components of the same type, i.e., the first type, to ensure that cleaning components with good cleaning effects can be used. As an alternative, the cleaning device can perform a self-cleaning operation to remove stains on the cleaning components and restore them to a usable state. Furthermore, after the cleaning components are replaced or self-cleaning is completed, the cleaning device is controlled to return to the dirty area and continue to perform cleaning tasks on the dirty area to ensure the cleaning effect.

[0111] It should be noted that the choice of controlling the cleaning device to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning can be selected based on application scenario requirements or user requirements. If the cleaning time limit is relatively tight, you can choose to return to the cleaning base station to replace the same type of cleaning components. If there is no requirement for the cleaning time limit, you can choose to return to the cleaning base station for self-cleaning. Or, if the cleaning base station does not have spare cleaning components of the same type, you can also choose to return to the cleaning base station for self-cleaning. The embodiment of the present application does not specifically limit the basis for selecting whether to control the cleaning device to return to the cleaning base station to replace the cleaning components or perform self-cleaning.

[0112] In this way, by real-time monitoring and management of the status of cleaning components, it can be ensured that the cleaning equipment effectively cleans dirty areas with appropriate cleaning components, thereby maintaining efficient cleaning results. In addition, by timely replacement of cleaning components or self-cleaning, excessive damage to the cleaning components can be prevented, the service life of the cleaning components can be extended, and the availability of the cleaning equipment can be improved. In particular, the self-cleaning function can reduce the need for spare cleaning components, optimize resource utilization, and reduce operating costs.

[0113] The ability to autonomously judge and process component status reflects a higher level of intelligence, reduces the need for human intervention, and improves user experience.

[0114] Optionally, the degree of dirtiness is determined based on the area of ​​the area cleaned by the cleaning device using the current cleaning component; when the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning component or perform self-cleaning, including:

[0115] When the area of ​​the region is greater than or equal to the preset area threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning.

[0116] In the embodiment of the present application, the preset area threshold is set based on the design life and performance standards of the cleaning component. The preset area threshold is the maximum area threshold that the cleaning component can effectively clean at one time. The embodiment of the present application does not specifically limit the size of the preset area threshold. When the area of ​​the area is greater than or equal to the preset area threshold, it indicates that the cleaning component is highly dirty; when the area of ​​the area is less than the preset area threshold, it indicates that the cleaning component is highly clean.

[0117] Exemplarily, when the cleaning device is performing a cleaning task, it can continuously track and record the total area cleaned by the current cleaning component. The total area can be updated in real time through the navigation system or sensor of the cleaning device. The embodiment of the present application does not specifically limit the method for determining the area cleaned by the current cleaning component. For example, the total area can be determined based on the area cleaned by the cleaning device on the cleaning map.

[0118] In this step, the cleaning area cleaned by the cleaning device using the current cleaning component can be compared with the preset area threshold. When the total area cleaned is greater than or equal to the preset area threshold, it means that the current cleaning component may have reached the limit of its optimal use state and needs to be self-cleaned or replaced. At this time, the cleaning system controls the cleaning device to return to the cleaning base station so that the cleaning device can choose to replace the same type of cleaning component at the cleaning base station, or perform self-cleaning operation to remove stains on the cleaning component and restore it to a usable state. After the cleaning component is replaced or self-cleaning is completed, the cleaning device returns to the dirty area to clean the dirty area to ensure the cleaning effect and efficiency.

[0119] In this way, by monitoring the cleaning equipment to see how much cleaning area has been cleaned by the current cleaning components, the cleaning components can be replaced or self-cleaned according to actual usage, rather than relying on fixed time intervals, thereby more accurately reflecting the status of the cleaning components and maintaining efficient cleaning effects. In addition, by replacing or self-cleaning the cleaning components in a timely manner, excessive wear and damage to the cleaning components can be prevented, thereby extending the service life of the cleaning components.

[0120] Optionally, the method further includes:

[0121] When the dirt level is less than a preset threshold, the cleaning device is controlled to continue cleaning the surface to be cleaned.

[0122] In this step, if the degree of dirtiness is less than a preset threshold, it means that the current cleaning component is still in a good state, that is, a clean state, and can continue to be used.

[0123] In this way, when it is confirmed that the front cleaning component is in good condition, the cleaning equipment can be controlled to continue to perform the cleaning task on the surface to be cleaned without returning to the cleaning base station for replacement or self-cleaning, thereby avoiding unnecessary interruptions and improving the overall cleaning efficiency. By rationally utilizing the use time of the cleaning components, premature replacement of the cleaning components is avoided, thereby optimizing resource utilization and reducing operating costs.

[0124] Optionally, the method further includes:

[0125] When it is determined that the target dirt type does not match the first type and the target dirt type is a special dirt type, the cleaning device is controlled to avoid the dirty area, and after avoiding the dirty area, continues to clean the surface to be cleaned; the special dirt type is a solid-liquid mixed dirt type with adhesion greater than a first threshold and cleaning difficulty greater than a second threshold.

[0126] In an embodiment of the present application, the first threshold is a benchmark value used to measure the adhesion between dirt and the surface to be cleaned, which represents the maximum adhesion level that the cleaning device can effectively handle; the second threshold is a benchmark value used to evaluate the cleaning difficulty required for the cleaning device to handle a specific type of dirt, which can reflect the time, energy or special cleaning means required for the cleaning device to remove the specific type of dirt, etc. Therefore, the special type of dirt usually refers to a solid-liquid mixture with strong adhesion and difficult to clean, such as a grease mixture, sticky mud, watery feces, pet vomit, ketchup, porridge, etc. The embodiment of the present application does not specifically limit the size of the first threshold and the second threshold. The first threshold can be set according to the physical and chemical properties of the dirt, and the second threshold can be determined by testing the time, energy consumption and cleaning effect required for the cleaning device to handle various types of dirt.

[0127] The embodiments of the present application do not limit the specific solid-liquid mixture corresponding to the special dirt type. The above is only an example. The solid-liquid mixture corresponding to the special dirt type may contaminate the cleaning component, and if the solid-liquid mixture is cleaned with the cleaning component, it may result in poor cleaning effect or damage the cleaning equipment, or may cause the stains to spread and cause secondary contamination of the surface to be cleaned. Therefore, for special dirt types, you can choose not to replace the cleaning component, but choose a suitable cleaning strategy to avoid the dirty area corresponding to the special dirt type in advance.

[0128] Exemplarily, after the cleaning device identifies the dirty area on the surface to be cleaned through sensor data analysis and determines that it is a special type of dirt, it can further confirm that the currently installed first type of cleaning component is not suitable for handling this special type of dirt. Therefore, when it is identified and confirmed that the target dirt type does not match the first type, the cleaning device can be controlled to avoid the dirty area corresponding to the special type of dirt.

[0129] For example, the travel path can be adjusted through navigation to bypass the dirty area and avoid cleaning inappropriate stains. After avoiding the dirty area, the cleaning device continues to perform cleaning tasks on other surfaces to be cleaned. This cleaning strategy can ensure that the cleaning device cleans other areas efficiently without being hindered by special types of dirt.

[0130] It can be understood that if there is a special cleaning component that matches the special type of dirt, you can choose to control the cleaning device to return to the cleaning base station, use the special cleaning component to replace the current cleaning component, and after the replacement is completed, return to the dirty area and use the special cleaning component to clean the dirty area.

[0131] Therefore, in the present application, it is possible to choose to avoid special types of dirt that are difficult to clean, thereby preventing the cleaning equipment from being damaged or contaminated due to attempts at cleaning, thereby extending the service life of the cleaning equipment, and also avoiding wasting time and cleaning resources in unsuitable areas, thereby achieving the effect of optimizing resource utilization. In this way, by intelligently identifying special types of dirt and then selecting avoidance strategies, the cleaning system can adapt to complex cleaning environments and ensure effective operation in different situations.

[0132] Optionally, the dirt detection sensor is an artificial intelligence AI camera; determining that there is a dirty area on the surface to be cleaned based on sensor data recognized by the dirt detection sensor includes:

[0133] Identify image information of the surface to be cleaned based on AI camera;

[0134] Determine based on the image information whether there is a stain on the surface to be cleaned, and determine the center point of the stain and the size of the stain;

[0135] Determine the dirty area based on center point and size.

[0136] In the embodiment of the present application, the center point is used to locate the specific position of the stain on the surface to be cleaned, and the size is used to evaluate the scope and severity of the stain. The size is usually larger than the actual area size of the stain. For example, if the actual area size of the stain is a square area with a side length of 10 cm, then the size is a square area with a side length of 11 cm. The embodiment of the present application does not specifically limit the shape of the dirty area. For example, it can be a rectangular area with a length and width of A*B, or a circular area with a radius of R, which can cover all stains.

[0137] It should be noted that the embodiment of the present application does not specifically limit the position and size of the center point, which can be determined based on the actual application scenario. Optionally, after the center point is identified, a cross can be made based on the center point, and based on the intersection of the cross line and the boundary of the stain area, the farthest distance of the center point from the boundary can be determined, and then the size can be determined.

[0138] For example, Figure 3Taking the application scenario shown as an example, the AI ​​camera on the sweeping robot captures image information of the surface to be cleaned in real time during the cleaning process to check whether there are stains in the surrounding area. If there are no stains, the original cleaning strategy continues to be maintained to clean the surface to be cleaned; if it is determined that there are stains, the AI ​​camera identifies the target dirt type of the stain based on the image information, and determines the surrounding area of ​​the stain as the dirty area that the sweeping robot needs to clean. The area around the stain can be centered on the center point of the stain, and form an A*B area according to the size of the stain. Further, the sweeping robot selects a target cleaning component of a type that matches the target dirt type to clean the A*B area.

[0139] Among them, the image information captured by the AI ​​camera can be processed by the AI ​​algorithm to identify stains on the surface to be cleaned. The embodiment of the present application does not specifically limit the method of processing image information to identify stains. For example, identification can also be based on a machine learning model.

[0140] In this way, by using the AI ​​camera to detect the size and type of dirt in the dirty area in real time, the cleaning strategy can be quickly determined and the matching type of target cleaning components can be selected for cleaning. There is no need to wait until a certain area is cleaned before detecting the size and type of dirt in the next area, which is timely.

[0141] Therefore, AI cameras combined with image processing technology can identify and locate stains with high precision, improve the accuracy of dirt detection, and then quickly identify dirty areas by processing image data in real time, thereby improving the response speed and efficiency of cleaning equipment. Moreover, since the type and location of stains can be accurately identified, stains can be accurately identified and located, avoiding unnecessary cleaning operations, thereby optimizing the use of cleaning resources and reducing costs.

[0142] Optionally, return the soiled area for cleaning, including:

[0143] Determine a target cleaning strategy that matches the target dirt type, so that the cleaning device cleans the dirty area using the target cleaning component based on the target cleaning strategy; each dirt type corresponds to a cleaning strategy;

[0144] Among them, the dirt types include dry stain types, wet stain types and powdery stain types.

[0145] In an embodiment of the present application, different types of dirt may require different cleaning strategies. For example, for dry stain types, vacuuming or sweeping strategies can be used to enhance the cleaning of dirty areas; for wet stain types, mopping or water absorption strategies can be used to enhance the cleaning of dirty areas; for powdery stain types, electrostatic adsorption or special vacuuming strategies can be used to enhance the cleaning of dirty areas, such as turning off the fan air volume when sweeping and mopping the dirty area, and using a matching rag component type to clean the dirty area.

[0146] It should be noted that the embodiment of the present application does not specifically limit the cleaning strategies corresponding to different types of dirt. The cleaning strategies may include cleaning modes, cleaning paths, cleaning times, etc.

[0147] For example, Figure 3 Taking the application scenario shown as an example, for the dirty area corresponding to the dry stain type, after the sweeping robot replaces the target cleaning component suitable for cleaning the dirty area, when approaching the dirty area, it will adopt a sweeping strategy to enhance the cleaning of the dirty area to avoid stain residue.

[0148] For the dirty area corresponding to the wet stain type, after the sweeping robot replaces the target cleaning component suitable for cleaning the dirty area, when approaching the dirty area, it will adopt a mopping strategy to enhance the cleaning of the dirty area to avoid stain residue.

[0149] For dirty areas corresponding to powdery stain types, after the sweeping robot replaces the target cleaning components suitable for cleaning the dirty areas, it will adopt special vacuuming strategies to clean the dirty areas when approaching the dirty areas, such as shutting down the fan air volume in time to avoid dust flying around and affecting the cleaning effect.

[0150] In this way, the present application can adopt specific cleaning strategies for different types of dirt to ensure that each stain is effectively treated and improve the overall cleaning effect. By selecting appropriate cleaning strategies and cleaning components, the cleaning equipment can complete the cleaning task more quickly and improve cleaning efficiency.

[0151] Since the cleaning system can autonomously select and execute cleaning strategies, it demonstrates a higher level of intelligence, reduces the need for human intervention and the trouble of manual adjustments and operations by users, and improves the user experience.

[0152] Optionally, the method further includes:

[0153] After the dirty area is cleaned based on the target cleaning component, the sensor data of the dirty area is recognized again based on the dirt detection sensor;

[0154] Determining the existence of a contaminated area based on the re-identified sensor data, then determining a target contamination type of the contaminated area;

[0155] The cleaning device is controlled to return to the cleaning base station to replace a cleaning component whose type matches the target dirt type, so as to clean the contaminated area again based on the replaced cleaning component.

[0156] In the embodiment of the present application, the contaminated area may or may not be consistent with the dirt type of the original dirty area. The embodiment of the present application does not specifically limit the dirt type of the contaminated area. For example, the dirt type of the original dirty area is a dusty dirt type. After being cleaned by the target cleaning component once, the dusty dirt may become wet, but the original dirty area has not been cleaned yet. At this time, the target cleaning component is not suitable for cleaning the dirty area again. At this time, the sensor data of the dirty area can be re-identified based on the dirt detection sensor, and the dirt type can be determined again, and then a suitable cleaning component can be selected for cleaning.

[0157] Exemplarily, after the cleaning device completes the initial cleaning of the dirty area using the target cleaning component and the target cleaning strategy, it uses a dirt detection sensor, such as an AI camera, to scan the cleaned dirty area again to identify whether there are still uncleaned contaminated areas, the area of ​​which is less than or equal to the original dirty area. Furthermore, based on the re-identified sensor data, after determining that there are residual contaminated areas, the target dirt type of the contaminated area is identified.

[0158] Furthermore, it is determined whether the type of the current cleaning component installed on the cleaning device matches the re-identified target dirt type. If not, the cleaning device is controlled to return to the cleaning base station, and the cleaning component is replaced with a cleaning component that matches the re-identified target dirt type. The replaced cleaning component is then used to return to the contaminated area for cleaning again.

[0159] If the type of cleaning component currently installed on the cleaning device matches the re-identified target dirt type, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning component or perform self-cleaning, so as to clean the contaminated area again based on the replaced cleaning component or the cleaning component after self-cleaning.

[0160] In this way, through the above-mentioned targeted re-inspection and cleaning, it can be ensured that the contaminated area is thoroughly and effectively cleaned to avoid residual stains, thereby improving the overall cleaning effect, allowing users to rely on the cleaning system to automatically complete thorough cleaning, reducing the trouble of manual inspection and rework, and improving the user experience.

[0161] In the foregoing embodiments, the cleaning component replacement method provided by the embodiments of the present application is introduced, and in order to realize the various functions in the method provided by the embodiments of the present application, the cleaning system as the execution subject may include a hardware structure and / or a software module, and the above functions are realized in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0162] For example, Figure 5 A schematic diagram of the structure of a cleaning component replacement device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the cleaning component replacement device 500 is applied to a cleaning system, the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a dirt detection sensor; the cleaning base station includes at least one type of cleaning component, and the cleaning component replacement device 500 includes: a first determination module 501, which is used to determine whether there is a dirty area on the surface to be cleaned based on sensor data recognized by the dirt detection sensor during the cleaning process of the cleaning device on the surface to be cleaned;

[0163] The second determination module 502 is used to determine the target dirt type of the dirty area and determine the first type of the current cleaning component installed in the cleaning device; different dirt types correspond to different types of cleaning components;

[0164] The replacement module 503 is used to control the cleaning device to return to the cleaning base station when it is determined that the target dirt type does not match the first type, select the second type of target cleaning component that matches the target dirt type to replace the cleaning component, and return to the dirty area for cleaning after the replacement is completed.

[0165] Optionally, the cleaning component replacement device 500 further includes a first control module, and the first control module is used to:

[0166] When it is determined that the target dirt type matches the first type, determining the dirtiness of the current cleaning component;

[0167] When the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning, so as to clean the dirty area based on the replaced cleaning components or the self-cleaned cleaning components.

[0168] Optionally, the degree of dirtiness is determined based on the area of ​​the region cleaned by the cleaning device using the current cleaning component; the first control module is specifically used to:

[0169] When the area of ​​the region is greater than or equal to the preset area threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning.

[0170] Optionally, the cleaning component replacement device 500 further includes a second control module, and the second control module is used to:

[0171] When the dirt level is less than a preset threshold, the cleaning device is controlled to continue cleaning the surface to be cleaned.

[0172] Optionally, the cleaning component replacement device 500 further includes a third control module, and the third control module is used to:

[0173] When it is determined that the target dirt type does not match the first type and the target dirt type is a special dirt type, the cleaning device is controlled to avoid the dirty area, and after avoiding the dirty area, continues to clean the surface to be cleaned; the special dirt type is a solid-liquid mixed dirt type with adhesion greater than a first threshold and cleaning difficulty greater than a second threshold.

[0174] Optionally, the dirt detection sensor is an artificial intelligence AI camera; the first determination module 501 is specifically used to:

[0175] Identify image information of the surface to be cleaned based on AI camera;

[0176] Determine based on the image information whether there is a stain on the surface to be cleaned, and determine the center point of the stain and the size of the stain;

[0177] Determine the dirty area based on center point and size.

[0178] Optionally, the replacement module 503 includes a matching unit, which is used to:

[0179] Determine a target cleaning strategy that matches the target dirt type, so that the cleaning device cleans the dirty area using the target cleaning component based on the target cleaning strategy; each dirt type corresponds to a cleaning strategy;

[0180] Among them, the dirt types include dry stain types, wet stain types and powdery stain types.

[0181] Optionally, the cleaning component replacement device 500 further includes a third determination module, the third determination module being configured to:

[0182] After the dirty area is cleaned based on the target cleaning component, the sensor data of the dirty area is recognized again based on the dirt detection sensor;

[0183] Determining the existence of a contaminated area based on the re-identified sensor data, then determining a target contamination type of the contaminated area;

[0184] The cleaning device is controlled to return to the cleaning base station to replace a cleaning component whose type matches the target dirt type, so as to clean the contaminated area again based on the replaced cleaning component.

[0185] It should be noted that the specific implementation principle and effects of the above-mentioned cleaning component replacement device can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0186] The present application also provides a schematic diagram of the structure of an electronic device. Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the electronic device 600 may include: a processor 601 and a memory 602 that is communicatively connected to the processor 601; the memory 602 stores a computer program; the processor 601 executes the computer program stored in the memory 602, so that the processor 601 executes the method described in any of the above embodiments.

[0187] The memory 602 and the processor 601 may be connected via a bus 603 .

[0188] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0189] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the preceding embodiments as executed by the cleaning system in any of the preceding embodiments of the present application.

[0190] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described in any of the aforementioned embodiments performed by the cleaning system in any of the aforementioned embodiments of the present application can be implemented.

[0191] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0192] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0193] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0194] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0195] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0196] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0197] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0198] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0199] An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as ASIC). Of course, the processor and the storage medium can also be present in the cleaning equipment or the main control device as discrete components.

[0200] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0201] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0202] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0203] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0204] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A cleaning component replacement method, characterized in that: Applicable to a cleaning system; the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a dirt detection sensor; the cleaning base station comprises at least one type of cleaning component; the method comprises: During the cleaning process of the surface to be cleaned by the cleaning device, determining that there is a dirty area on the surface to be cleaned based on the sensor data recognized by the dirt detection sensor; Determining a target dirt type of the dirty area, and determining a first type of a current cleaning component installed in the cleaning device; different dirt types correspond to different types of cleaning components; When it is determined that the target dirt type does not match the first type, the cleaning device is controlled to return to the cleaning base station, a second type of target cleaning component matching the target dirt type is selected to replace the cleaning component, and after the replacement is completed, the cleaning device returns to the dirty area for cleaning.

2. The method according to claim 1, characterized in that The method further comprises: In the case where it is determined that the target dirt type matches the first type, determining the dirtiness of the current cleaning component; When the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning, so as to clean the dirty area based on the replaced cleaning components or the cleaning components after self-cleaning.

3. The method according to claim 2, characterized in that The degree of dirtiness is determined based on the area of ​​the area cleaned by the cleaning device using the current cleaning component; when the degree of dirtiness is greater than or equal to a preset threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning component or perform self-cleaning, including: When the area of ​​the region is greater than or equal to a preset area threshold, the cleaning device is controlled to return to the cleaning base station to replace the same type of cleaning components or perform self-cleaning.

4. The method according to claim 2, characterized in that: The method further comprises: When the dirt level is less than a preset threshold, the cleaning device is controlled to continue cleaning the surface to be cleaned.

5. The method according to claim 1, characterized in that The method further comprises: When it is determined that the target dirt type does not match the first type and the target dirt type is a special dirt type, the cleaning device is controlled to avoid the dirty area, and after avoiding the dirty area, continues to clean the surface to be cleaned; the special dirt type is a solid-liquid mixed dirt type with adhesion greater than a first threshold and cleaning difficulty greater than a second threshold.

6. The method according to claim 1, characterized in that The dirt detection sensor is an artificial intelligence AI camera; determining that there is a dirty area on the surface to be cleaned based on sensor data recognized by the dirt detection sensor includes: Recognize image information of the surface to be cleaned based on the AI ​​camera; Determining the presence of a stain on the surface to be cleaned based on the image information, and determining the center point of the stain and the size of the stain; A soiled area is determined based on the center point and the size.

7. The method according to claim 1, characterized in that Return the soiled area for cleaning, including: Determine a target cleaning strategy that matches the target dirt type, so that the cleaning device cleans the dirty area using the target cleaning component based on the target cleaning strategy; each dirt type corresponds to a cleaning strategy; The dirt types include dry dirt types, wet dirt types and powdery dirt types.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: After the cleaning of the dirty area based on the target cleaning component is completed, re-identifying the sensor data of the dirty area based on the dirt detection sensor; Determining the existence of a contaminated area based on the re-identified sensor data, then determining a target contamination type of the contaminated area; The cleaning device is controlled to return to the cleaning base station to replace a cleaning component whose type matches the target dirt type, so as to clean the contaminated area again based on the replaced cleaning component.

9. A cleaning component replacement device, characterized in that: Applicable to a cleaning system; the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a dirt detection sensor; The cleaning base station includes at least one type of cleaning component, and the device includes: A first determination module is used to determine whether there is a dirty area on the surface to be cleaned based on the sensor data recognized by the dirt detection sensor during the cleaning process of the surface to be cleaned by the cleaning device; A second determination module is used to determine the target dirt type of the dirty area and determine the first type of the current cleaning component installed in the cleaning device; different dirt types correspond to different types of cleaning components; A replacement module is used to control the cleaning device to return to the cleaning base station when it is determined that the target dirt type does not match the first type, select a second type of target cleaning component that matches the target dirt type to replace the cleaning component, and return to the dirty area for cleaning after the replacement is completed.

10. A cleaning system, characterized in that: The cleaning system comprises: a cleaning device and a cleaning base station; the cleaning device comprises a dirt detection sensor; the cleaning base station comprises at least one type of cleaning component; the cleaning system is used to perform the method according to any one of claims 1-8.

11. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 8.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when being executed by a processor.

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