Backwashing method of wet cleaning piece and related equipment thereof

Abstract

The invention relates to a backwash method of a wet-type cleaning part and related equipment thereof, and relates to the technical field of smart home. A specific embodiment of the method comprises the following steps: acquiring environment information of a current cleaning task; determining a cleaned liquid dirty area and a dirty type in the current cleaning task according to the environment information; determining a target backwashing parameter of the wet-type cleaning piece according to the liquid smudginess area and the smudginess type; and when the robot returns to the base station for backwashing, backwashing the wet cleaning piece according to the target backwashing parameter. According to the implementation mode, water resources are saved, the backwashing efficiency of the wet type cleaning piece is improved, and the backwashing effect is improved.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a method for rewashing wet cleaning components and related equipment. Background Technology

[0002] Smart homes are gaining popularity due to their ability to improve convenience and enhance the living experience. Take cleaning robots as an example: they can achieve automated and efficient cleaning, remote control and scheduling, and improve the quality of life by intelligently cleaning various areas of the home and completing the cleaning task.

[0003] Cleaning robots with mopping functions (such as robotic mopping and sweeping / mopping robots) are generally equipped with a rewashing station to rewash and air-dry / tumble-dry the robot's wet cleaning components (such as the mop). Currently, cleaning robots typically determine the mop washing time or number of washes by fixing the washing duration or using dirt sensors to detect the level of dirt in the washing water at the station. This approach fails to tailor rewashing parameters to the specific dirt and cleaning scenario, resulting in water waste, excessively long mop washing times, and incomplete mop washing. Consequently, this leads to problems such as low efficiency, poor washing results, and a poor user experience.

[0004] There is currently no effective solution to the aforementioned problems in the relevant technologies. Summary of the Invention

[0005] The wet cleaning component rewashing method and related equipment provided in this invention at least solve the problems in related technologies that cannot automatically and quickly formulate customized rewashing schemes for wet cleaning components based on actual dirt and cleaning scenarios, resulting in water waste, low rewashing efficiency, poor rewashing effect, and poor user experience.

[0006] To address the aforementioned problems, one aspect of this invention provides a method for rewashing a wet cleaning component, wherein the wet cleaning component is mounted on a cleaning robot, and the method includes:

[0007] Obtain environmental information for the current cleaning task;

[0008] Based on environmental information, identify the areas and types of liquid contamination that have been cleaned in the current cleaning task;

[0009] Determine the target backwash parameters for wet cleaning components based on the area and type of liquid contamination.

[0010] When the robot returns to the base station for rewashing, it rewashes the wet cleaning parts according to the target rewashing parameters.

[0011] In some embodiments, the backwash parameters include washing water temperature, washing duration, and washing intensity; the dirt types include starchy dirt, high-pigment dirt, water-based dirt, and oily dirt; the step of determining the target backwash parameters for wet-cleaned parts based on the liquid dirt area and dirt type includes:

[0012] The target cleaning water temperature for wet cleaning is determined based on the type of dirt. Specifically, the cleaning water temperature for starchy dirt is lower than that for dirt cleaned with water, and the cleaning water temperature for dirt cleaned with water is lower than that for dirt with high pigment content and oil stains.

[0013] The target cleaning time and target cleaning intensity of the wet cleaning unit are determined based on the area of ​​liquid contamination.

[0014] In some embodiments, the step of determining the areas of liquid contamination that have been cleaned in the current cleaning task based on environmental information includes:

[0015] The cleaning robot's starting position, finishing position, and cleaning path are determined based on environmental information for the current cleaning task.

[0016] The areas of liquid contamination that have been cleaned in the current cleaning task are determined based on the starting and ending locations of the cleaning process and the cleaning path.

[0017] In some embodiments, the step of determining the areas of liquid contamination that have been cleaned in the current cleaning task based on environmental information further includes:

[0018] Based on environmental information, determine the first cleaning image corresponding to the cleaning robot before performing the current cleaning task and the second cleaning image corresponding to the current cleaning task.

[0019] Image recognition is performed on the first and second clean images to identify the areas of liquid contamination that have been cleaned in the current cleaning task.

[0020] In some embodiments, the method further includes: cyclically performing the following steps during the backwashing of wet-cleaned parts according to target backwash parameters:

[0021] The current backwashing parameters and the current water quality value of the backwash water in the base station are obtained according to the preset cycle.

[0022] Based on the current water quality value, current backwash parameters, preset water quality value, and target backwash parameters, determine whether to perform a clean water replenishment operation for the backwash water; if not, continue the backwash operation; if yes, perform the clean water replenishment operation and then perform the backwash operation.

[0023] Continue until the wet-cleaned parts have completed their rewashing process.

[0024] In some embodiments, the process of determining whether to perform a clean water replenishment operation on the backwash water based on the current water quality value, current backwash parameters, preset water quality value, and target backwash parameters; if not, continuing the backwash operation; if yes, performing a clean water replenishment operation followed by the backwash operation, includes:

[0025] If the current water quality value is higher than the preset water quality value, and the current cleaning time in the current backwash parameters is lower than the target cleaning time in the target backwash parameters, then no clean water replenishment operation will be performed on the backwash water.

[0026] If the current water quality value is lower than the preset water quality value and the current cleaning time is lower than the target cleaning time, then clean water will be added to the backwash water.

[0027] To address the aforementioned problems, one aspect of this invention provides a rewashing device for a wet cleaning component, wherein the wet cleaning component is mounted on a cleaning robot and includes:

[0028] The acquisition module is used to acquire environmental information for the current cleaning task;

[0029] The soiling information determination module is used to determine the areas and types of liquid soiling that have been cleaned in the current cleaning task based on environmental information.

[0030] The backwash parameter determination module is used to determine the target backwash parameters for wet cleaning components based on the liquid contamination area and contamination type.

[0031] The backwash module is used to backwash the wet cleaning parts according to the target backwash parameters when the robot returns to the base station for backwashing.

[0032] To address the aforementioned problems, one aspect of this invention provides a cleaning device, comprising: a processor, and a memory storing a program, the program including instructions that, when executed by the processor, cause the processor to perform a backwashing method according to any of the aforementioned wet cleaning components.

[0033] To address the aforementioned problems, one aspect of this invention provides a non-transitory machine-readable medium storing computer instructions for causing a computer to perform a backwashing method according to any of the aforementioned wet cleaning components.

[0034] To address the aforementioned problems, one aspect of this invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement any of the aforementioned wet cleaning component rewashing methods.

[0035] The beneficial effects of this invention are as follows: By determining the actual cleaned liquid contamination area and type of contamination based on the environmental information of the current cleaning task, customized backwashing parameters for wet cleaning components are automatically and quickly determined accordingly. This overcomes the limitations of related technologies that rely solely on fixed cleaning durations or determine mop cleaning durations or cleaning cycles by detecting the degree of contamination in the backwash water in the base station's backwash tank. These methods fail to automatically and quickly develop customized backwashing plans based on the actual contamination cleaning scenario, resulting in water waste, excessively long backwashing times, and incomplete mop backwashing. Consequently, water waste, low backwashing efficiency of wet cleaning components, poor backwashing effect, and poor user experience are all problems. This invention achieves the automatic and rapid development of customized solutions for wet cleaning components based on the actual contamination cleaning scenario, resulting in water conservation, improved backwashing efficiency, enhanced backwashing effect, and improved user experience.

[0036] Details of one or more embodiments of the present invention are set forth in the following drawings and description, so that other features, objects and advantages of the invention will be more readily understood. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the main process of a wet cleaning component rewashing method according to one embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the main process of a wet cleaning component rewashing method according to another embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram of the main frame of a wet cleaning component rewashing device according to one embodiment of the present invention.

[0041] Figure 4 This is a schematic diagram of the electronic device of the present invention. Detailed Implementation

[0042] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0043] After cleaning a dirty area, the cleaning robot's cleaning components often have stains or debris stuck to them. For example, after cleaning solid dirt, the dry cleaning component often has paper scraps or hair stuck to it. To remove this debris, a stop is usually placed between the robot's base and the station base. This stop scrapes off the paper scraps or hair from the dry cleaning component. However, if the robot has cleaned liquid dirt, the wet cleaning component (such as a mop) may have stains. To avoid affecting subsequent cleaning operations on liquid dirt areas and to ensure the cleaning effect on those areas, further measures are needed. Related technologies typically determine the mop cleaning time or number of cleaning cycles by fixing the cleaning duration or by detecting the degree of dirt in the backwash water in the base station's backwash tank. These technologies cannot create customized backwashing solutions for wet cleaning components based on the actual dirt and cleaning scenarios. This results in water waste, excessively long mop cleaning time, and incomplete mop backwashing, leading to problems such as low backwashing efficiency, poor backwashing effect, and poor user experience.

[0044] To address the aforementioned problems, embodiments of the present invention provide a method for rewashing wet-cleaned components, such as... Figure 1 As shown, the rewashing method for this wet cleaning component mainly includes:

[0045] Step S101: Obtain environmental information for the current cleaning task.

[0046] In this embodiment of the invention, the wet cleaning component is mounted on a cleaning robot. The aforementioned current cleaning task refers to the cleaning task performed by the cleaning robot for areas contaminated with liquid. The aforementioned environmental information is obtained when the cleaning robot is performing the current cleaning task, i.e., cleaning areas contaminated with liquid.

[0047] The cleaning robot provided in this embodiment of the invention refers to a robot with mopping function, such as a mopping robot or a sweeping and mopping robot. The mopping function is achieved by a wet cleaning component (such as a mop) installed on the cleaning robot.

[0048] Step S102: Determine the areas and types of liquid contamination that have been cleaned in the current cleaning task based on environmental information.

[0049] By using the above settings, the cleaned liquid contamination area and contamination type are determined based on the environmental information corresponding to the actual cleaning task. This determines the actual stains on the wet cleaning components, improving the accuracy of the subsequent rewash parameters.

[0050] In some of these embodiments, the step of determining the cleaned liquid contamination area in the current cleaning task based on environmental information includes: determining the cleaning start position, cleaning completion position, and cleaning path of the cleaning robot in the current cleaning task based on environmental information; and determining the cleaned liquid contamination area in the current cleaning task based on the cleaning start position, cleaning completion position, and cleaning path.

[0051] Specifically, after determining the cleaning start position, cleaning completion position, and cleaning path of the cleaning robot in the current cleaning task based on environmental information, and combining this with a map of the area to be cleaned, the areas of liquid dirt that have been cleaned in the current cleaning task can be quickly identified.

[0052] In some embodiments, the step of determining the cleaned liquid contamination area in the current cleaning task based on environmental information further includes: determining a first cleaning image corresponding to the cleaning robot before performing the current cleaning task and a second cleaning image corresponding to the robot after performing the current cleaning task based on environmental information; and performing image recognition on the first cleaning image and the second cleaning image to determine the cleaned liquid contamination area in the current cleaning task.

[0053] The above steps provide another method for identifying liquid contamination areas: using cleaning images collected by the cleaning robot before and after performing cleaning operations on the contaminated area, and then using image recognition to identify the cleaned liquid contamination areas.

[0054] Specifically, images of the cleaning scene can be captured by the AI ​​(Artificial Intelligence) camera on the cleaning robot to identify areas of liquid contamination. By identifying the position and shape of the liquid targets in the contaminated areas, edge detection and contour extraction can be performed on the liquid targets to obtain the identification results of the type of liquid targets.

[0055] By employing AI cameras, it is possible to accurately identify dirty cleaning scenarios, including different types of liquid dirt (such as water stains, oil stains, ink, sauces, etc.) and determine their coverage area. This provides data support for determining the rewash parameters of wet cleaning components, thereby enabling the automatic and rapid development of customized solutions for wet cleaning components based on actual dirty cleaning scenarios.

[0056] In some embodiments, a recognition module equipped with a preset AI recognition model can also be used to identify liquid contamination areas and the type of contamination corresponding to those areas. This recognition module also includes a camera and a LiDAR sensor. First, the camera and LiDAR sensor acquire scene images of the area to be cleaned. Then, based on the scene images and point cloud information, the AI ​​recognition model identifies the liquid contamination areas in the scene, including the type of contamination and the area of ​​the contamination.

[0057] In another embodiment, while determining the areas of liquid contamination and the type of contamination already cleaned in the current cleaning task based on environmental information, the liquid concentration level can also be determined simultaneously. Combining the liquid concentration helps improve the accuracy of subsequent determination of rewash parameters, further enhancing the rewashing effect of wet-cleaned components.

[0058] Step S103: Determine the target backwash parameters for the wet cleaning unit based on the liquid contamination area and the type of contamination.

[0059] The determination of target backwashing parameters can be performed by the host or by the base station. Data can be transmitted between the host and the base station; for example, after the target backwashing parameters are determined by the host, the data only needs to be transmitted to the base station.

[0060] In cleaning scenarios involving liquid contamination, cleaning robots typically return to the base station for a wet cleaning cycle after cleaning the identified contaminated area. Only after this wet cleaning cycle is complete can they continue cleaning other liquid contamination areas. Therefore, the above solution directly determines the backwashing parameters based on the liquid contamination area and type of contamination identified by the cleaning robot's environmental information during the current cleaning task. This helps avoid water waste and ensures the cleaning effect of the wet cleaning components.

[0061] In some embodiments, the backwash parameters include washing water temperature, washing duration, and washing intensity; the types of dirt include starchy dirt, high-pigment dirt, water-based dirt, and oily dirt; the step of determining the target backwash parameters for the wet-cleaning component based on the liquid dirt area and dirt type includes: determining the target washing water temperature for the wet-cleaning component based on the dirt type; wherein the washing water temperature for starchy dirt is lower than that for water-based dirt, and the washing water temperature for water-based dirt is lower than that for high-pigment dirt and oily dirt; and determining the target washing duration and target washing intensity for the wet-cleaning component based on the liquid dirt area.

[0062] The cleaning time provided in this embodiment of the invention can be determined by the amount of water used and the number of cleaning cycles. Starch-based stains include flour, while high-pigment stains include soy sauce, beverages, and ink. Starch-based stains require low-temperature cleaning, while high-pigment and oily stains require high-temperature cleaning.

[0063] Optionally, the backwash parameters may also include the type of cleaning solution, the amount of cleaning solution used, the amount of cleaning water, and the number of washes. The determination of the target backwash parameters needs to be based on the type of dirt. For example, for oil stains, it may be necessary to add a degreaser (cleaning solution) and increase the water temperature, while for ink stains, a stronger cleaning agent and multiple washes may be required. In some embodiments, the cleaning intensity can also be adjusted according to the material of the mop head to meet the optimal cleaning needs of different mop head materials. The cleaning scheme determined in the above manner can precisely control the cleaning water temperature and volume, as well as the type and dosage of the cleaning solution, maximizing the effectiveness of water resources and cleaning solution and avoiding waste. Simultaneously, intelligent adjustment of the cleaning duration and number of washes ensures thorough cleaning without over-cleaning, extending the mop head's lifespan. In another embodiment, a mapping table between dirt type, dirt size, dirt concentration level, and backwash parameters can be pre-built.

[0064] In some embodiments, an adaptive model can be constructed based on the type and size of the dirt, combined with a preset algorithm, to output corresponding rewash parameters. Simultaneously, user feedback and / or the cleaning results of the next cycle can be received to optimize and adjust the adaptive model.

[0065] Step S104: When the robot returns to the base station for rewashing, the wet cleaning parts are rewashed according to the target rewashing parameters.

[0066] In some embodiments, the method further includes: during the backwashing of the wet-cleaned component according to the target backwashing parameters, the following steps are executed cyclically: obtaining the current backwashing parameters and the current water quality value of the backwashing water in the base station according to a preset cycle; determining whether to perform a clean water replenishment operation based on the current water quality value, the current backwashing parameters, the preset water quality value, and the target backwashing parameters; if not, continuing the backwashing operation; if yes, performing a clean water replenishment operation and then performing the backwashing operation; until the backwashing operation of the wet-cleaned component is completed.

[0067] Specifically, the water quality status (i.e., the current water quality value, which represents the degree of dirtiness of the backwash water) in the backwash tank can be monitored by intelligent sensors equipped on the base station. In another embodiment, wastewater recycling and cleaning water replenishment operations can also be automatically triggered based on preset thresholds.

[0068] In some embodiments, the method further includes the step of optimizing the target rewash parameters of the wet cleaning component based on factors such as the operating status of the cleaning robot and battery power. Further, it may also include the step of automatically learning and adjusting the target rewash parameters based on multiple rewash data and user feedback to improve rewash efficiency and water resource utilization.

[0069] In some embodiments, the steps of determining whether to perform a clean water replenishment operation on the backwash water based on the current water quality value, current backwash parameters, preset water quality value, and target backwash parameters; if not, continuing the backwash operation; if yes, performing a clean water replenishment operation before performing the backwash operation include: if the current water quality value is higher than the preset water quality value and the current cleaning time in the current backwash parameters is lower than the target cleaning time in the target backwash parameters, then no clean water replenishment operation is performed on the backwash water; if the current water quality value is lower than the preset water quality value and the current cleaning time is lower than the target cleaning time, then a clean water replenishment operation is performed on the backwash water.

[0070] It should be noted that since the cleaning time can be determined by the amount of cleaning water and the number of cleaning cycles, when determining whether to replenish clean water, the comparison is only made between the current water quality value and the preset value, and between the current cleaning time and the target cleaning time. In other embodiments, the comparison between the current number of cleaning cycles and the target number of cleaning cycles can also be used as a reference for determining whether to replenish clean water.

[0071] In some embodiments, if it is necessary to recycle wastewater and replenish cleaning water in the backwash tank during the cleaning process of wet cleaning parts, the target backwash parameters can be adjusted according to the backwash status, and then the wet cleaning parts can be backwashed again with the replenished cleaning water according to the adjusted target backwash parameters to ensure the backwash quality of the wet cleaning parts.

[0072] The wet cleaning component rewashing method provided in this embodiment of the invention utilizes the following techniques: acquiring environmental information of the current cleaning task; determining the cleaned liquid contamination areas and contamination types based on the environmental information; determining target rewashing parameters for the wet cleaning component based on the liquid contamination areas and contamination types; and rewashing the wet cleaning component according to the target rewashing parameters when the robot returns to the base station for rewashing. This overcomes the limitations of related technologies that rely solely on fixed cleaning times or determine the mop cleaning time or number of cleaning cycles by detecting the degree of contamination in the rewash water in the base station's rewash tank. These methods fail to automatically and quickly develop customized rewashing plans based on actual contamination scenarios, resulting in water waste, excessively long mop rewashing times, and incomplete mop rewashing. Consequently, water waste, low rewashing efficiency of wet cleaning components, poor rewashing effects, and a poor user experience are all problems. This invention achieves the technical effects of automatically and quickly developing customized rewashing plans for wet cleaning components based on actual contamination scenarios, thus saving water resources, improving the rewashing efficiency of wet cleaning components, enhancing the rewashing effect, and improving the user experience.

[0073] This invention also provides a method for rewashing wet-cleaning components, such as... Figure 2 As shown, the wet cleaning component rewashing method provided in this embodiment of the invention mainly includes:

[0074] Step S201: Receive the cleaned liquid contamination area and contamination type sent by the cleaning robot when performing the current cleaning task; wherein, the liquid contamination area and contamination type are collected and identified by the AI ​​camera set on the cleaning robot.

[0075] In some embodiments, the cleaned liquid contamination areas and the type of contamination are captured and identified by an AI camera mounted on the cleaning robot. Specifically, the AI ​​camera acquires images of the cleaning scene to identify liquid contamination areas, and by identifying the position and shape of the liquid targets within the contamination areas, edge detection and contour extraction are performed on the liquid targets to obtain the identification result of the type of liquid target.

[0076] By employing AI cameras, the robot can accurately identify cleaning scenarios involving various types of liquid dirt (such as water stains, oil stains, ink, sauces, etc.) and determine their coverage area (first dirt size). Through the AI ​​camera's recognition function, the robot can not only more accurately identify and handle different types of dirt, but also improve the cleaning efficiency of liquid dirt areas while optimizing resource utilization, achieving a more intelligent, efficient, and environmentally friendly home cleaning experience. Furthermore, it can provide data support for subsequently determining the cleaning solution for wet cleaning components, thereby enabling the automatic and rapid development of customized solutions for wet cleaning components based on actual dirt cleaning scenarios.

[0077] Step S202: Determine the target cleaning water temperature for the wet cleaning component based on the type of dirt; determine the target cleaning time and target cleaning intensity for the wet cleaning component based on the area of ​​liquid dirt.

[0078] The determination of target backwashing parameters can be performed by the host or by the base station. Data can be transmitted between the host and the base station; for example, after the target backwashing parameters are determined by the host, the data only needs to be transmitted to the base station.

[0079] In some embodiments, the backwash parameters include washing water temperature, washing duration, and washing intensity; the types of dirt include starchy dirt, high-pigment dirt, water-based dirt, and oily dirt. Specifically, the washing water temperature for starchy dirt is lower than that for water-based dirt, and the washing water temperature for water-based dirt is lower than that for high-pigment dirt and oily dirt; the target washing duration and target washing intensity for wet cleaning are determined based on the area of ​​liquid dirt.

[0080] The cleaning time provided in this embodiment of the invention can be determined by the amount of water used and the number of cleaning cycles. Starch-based stains include flour, while high-pigment stains include soy sauce, beverages, and ink. Starch-based stains require low-temperature cleaning, while high-pigment and oily stains require high-temperature cleaning.

[0081] Step S203: When the robot returns to the base station for backwashing, it backwashes the wet cleaning parts according to the target backwashing parameters and repeatedly executes the following steps: obtain the current backwashing parameters and the current water quality value of the backwashing water in the base station according to the preset cycle; determine whether to perform a clean water replenishment operation based on the current water quality value, the current backwashing parameters, the preset water quality value, and the target backwashing parameters; if not, continue to perform the backwashing operation; if yes, perform the clean water replenishment operation and then perform the backwashing operation; until the backwashing operation of the wet cleaning parts is completed.

[0082] Specifically, if the current water quality value is higher than the preset water quality value and the current cleaning time in the current backwash parameters is lower than the target cleaning time in the target backwash parameters, then no clean water replenishment operation will be performed on the backwash water; if the current water quality value is lower than the preset water quality value and the current cleaning time is lower than the target cleaning time, then clean water replenishment operation will be performed on the backwash water.

[0083] It should be noted that since the cleaning time can be determined by the amount of cleaning water and the number of cleaning cycles, when determining whether to replenish clean water, the comparison is only made between the current water quality value and the preset value, and between the current cleaning time and the target cleaning time. In other embodiments, the comparison between the current number of cleaning cycles and the target number of cleaning cycles can also be used as a reference for determining whether to replenish clean water.

[0084] The cleaning method for wet cleaning components provided in this embodiment of the invention utilizes the following techniques: receiving the cleaned liquid contamination area and contamination type sent by the cleaning robot during the current cleaning task; wherein the liquid contamination area and contamination type are collected and identified by an AI camera mounted on the cleaning robot; determining the target cleaning water temperature for the wet cleaning component based on the contamination type; determining the target cleaning duration and target cleaning intensity for the wet cleaning component based on the liquid contamination area; when the robot returns to the base station for rewashing, rewashing the wet cleaning component according to the target rewash parameters, and cyclically executing the following steps: obtaining the current rewash parameters and the current water quality value of the rewash water in the base station according to a preset cycle; determining whether to perform a clean water replenishment operation based on the current water quality value, current rewash parameters, preset water quality value, and target rewash parameters; if not, continuing the rewash operation; if yes, performing a clean water replenishment operation and then performing the rewash operation again; until the rewashing operation of the wet cleaning component is completed. This invention overcomes the limitations of related technologies that rely solely on fixed cleaning times or determine mop cleaning duration or frequency by detecting the level of dirt in the base station's backwash tank. These technologies fail to automatically and quickly develop customized backwashing plans based on actual cleaning scenarios, resulting in water waste, excessively long backwashing times, and incomplete mop cleaning. Consequently, these technologies lead to water waste, low backwashing efficiency of wet cleaning components, poor backwashing results, and a poor user experience. This invention achieves the goal of automatically and quickly developing customized backwashing plans for wet cleaning components based on actual cleaning scenarios, resulting in water conservation, improved backwashing efficiency, enhanced backwashing effects, and a better user experience.

[0085] Based on the wet cleaning component rewashing method provided in the embodiments of the present invention, the embodiments of the present invention also provide a wet cleaning component rewashing device, such as... Figure 3 As shown, the backwashing device 300 for the wet cleaning component includes:

[0086] The acquisition module 301 is used to acquire environmental information for the current cleaning task.

[0087] In this embodiment of the invention, the wet cleaning component is mounted on a cleaning robot, which refers to a robot with mopping capabilities, such as a mopping robot or a sweeping and mopping robot. The mopping function is achieved by a wet cleaning component (such as a mop) mounted on the cleaning robot. The aforementioned environmental information is acquired when the cleaning robot is performing its current cleaning task, i.e., cleaning areas with liquid dirt.

[0088] The dirt information determination module 302 is used to determine the liquid dirt areas and dirt types that have been cleaned in the current cleaning task based on environmental information.

[0089] By using the above settings, the cleaned liquid contamination area and contamination type are determined based on the environmental information corresponding to the actual cleaning task. This determines the actual stains on the wet cleaning components, improving the accuracy of the subsequent rewash parameters.

[0090] In some embodiments, the aforementioned dirt information determination module 302 is further configured to: determine the cleaning start position, cleaning completion position, and cleaning path of the cleaning robot in the current cleaning task based on environmental information; and determine the cleaned liquid dirt areas in the current cleaning task based on the cleaning start position, cleaning completion position, and cleaning path.

[0091] Specifically, after determining the cleaning start position, cleaning completion position, and cleaning path of the cleaning robot in the current cleaning task based on environmental information, and combining this with a map of the area to be cleaned, the areas of liquid dirt that have been cleaned in the current cleaning task can be quickly identified.

[0092] In some embodiments, the aforementioned dirt information determination module 302 is further configured to: determine, based on environmental information, a first cleaning image corresponding to the cleaning robot before performing the current cleaning task and a second cleaning image corresponding to the cleaning robot after performing the current cleaning task; and perform image recognition on the first cleaning image and the second cleaning image to determine the liquid dirt areas that have been cleaned in the current cleaning task.

[0093] The above steps provide another method for identifying liquid contamination areas: using cleaning images collected by the cleaning robot before and after performing cleaning operations on the contaminated area, and then using image recognition to identify the cleaned liquid contamination areas.

[0094] Specifically, images of the cleaning scene can be captured by the AI ​​(Artificial Intelligence) camera on the cleaning robot to identify areas of liquid contamination. By identifying the position and shape of the liquid targets in the contaminated areas, edge detection and contour extraction can be performed on the liquid targets to obtain the identification results of the type of liquid targets.

[0095] In some embodiments, a recognition module equipped with a preset AI recognition model can also be used to identify liquid contamination areas and the type of contamination corresponding to those areas. This recognition module also includes a camera and a LiDAR sensor. First, the camera and LiDAR sensor acquire scene images of the area to be cleaned. Then, based on the scene images and point cloud information, the AI ​​recognition model identifies the liquid contamination areas in the scene, including the type of contamination and the area of ​​the contamination.

[0096] In another embodiment, while determining the areas of liquid contamination and the type of contamination already cleaned in the current cleaning task based on environmental information, the liquid concentration level can also be determined simultaneously. Combining the liquid concentration helps improve the accuracy of subsequent determination of rewash parameters, further enhancing the rewashing effect of wet-cleaned components.

[0097] The backwash parameter determination module 303 is used to determine the target backwash parameters of the wet cleaning component based on the liquid contamination area and the type of contamination.

[0098] In some embodiments, the backwashing parameters of the above method include cleaning water temperature, cleaning time, and cleaning intensity; the types of dirt include starchy dirt, high-pigment dirt, water-based dirt, and oily dirt; the backwashing parameter determination module 303: determines the target cleaning water temperature for the wet cleaning component based on the type of dirt; wherein, the cleaning water temperature for starchy dirt is lower than that for water-based dirt, and the cleaning water temperature for water-based dirt is lower than that for high-pigment dirt and oily dirt; and determines the target cleaning time and target cleaning intensity for the wet cleaning component based on the area of ​​liquid dirt.

[0099] The cleaning time provided in this embodiment of the invention can be determined by the amount of water used and the number of cleaning cycles. Starch-based stains include flour, while high-pigment stains include soy sauce, beverages, and ink. Starch-based stains require low-temperature cleaning, while high-pigment and oily stains require high-temperature cleaning.

[0100] Optionally, the backwash parameters may also include the type of cleaning solution, the amount of cleaning solution used, the amount of cleaning water, and the number of washes. The determination of the target backwash parameters needs to be based on the type of dirt. For example, oil stains may require the addition of a degreaser (cleaning solution) and an increase in water temperature, while ink stains may require a stronger detergent and multiple washes. In some embodiments, the cleaning intensity can also be adjusted according to the mop's material to meet the optimal cleaning needs of different mop materials. The cleaning scheme determined in the above manner allows for precise control of the cleaning water temperature and volume, as well as the type and dosage of the cleaning solution, maximizing the effectiveness of water resources and cleaning solution and avoiding waste.

[0101] The backwash module 304 is used to backwash the wet cleaning parts according to the target backwash parameters when the robot returns to the base station for backwashing.

[0102] In some embodiments, the rewashing module 304 is further configured to: cyclically execute the following steps during the rewashing of wet-cleaned components according to target rewashing parameters: obtain the current rewashing parameters and the current water quality value of the rewashing water in the base station according to a preset cycle; determine whether to perform a clean water replenishment operation based on the current water quality value, the current rewashing parameters, the preset water quality value, and the target rewashing parameters; if not, continue the rewashing operation; if yes, perform a clean water replenishment operation and then perform the rewashing operation again; until the rewashing operation of the wet-cleaned components is completed.

[0103] Specifically, the water quality status of the backwash water in the backwash tank can be monitored by the smart sensors equipped on the base station (i.e., the current water quality value, which represents the degree of dirtiness of the backwash water).

[0104] In some embodiments, the backwash module 304 is further configured to: if the current water quality value is higher than the preset water quality value and the current cleaning time in the current backwash parameters is lower than the target cleaning time in the target backwash parameters, then no clean water replenishment operation is performed on the backwash water; if the current water quality value is lower than the preset water quality value and the current cleaning time is lower than the target cleaning time, then clean water replenishment operation is performed on the backwash water.

[0105] It should be noted that since the cleaning time can be determined by the amount of cleaning water and the number of cleaning cycles, when determining whether to replenish clean water, the comparison is only made between the current water quality value and the preset value, and between the current cleaning time and the target cleaning time. In other embodiments, the comparison between the current number of cleaning cycles and the target number of cleaning cycles can also be used as a reference for determining whether to replenish clean water.

[0106] In some embodiments, if it is necessary to recycle wastewater and replenish cleaning water in the backwash tank during the cleaning process of wet cleaning parts, the target backwash parameters can be adjusted according to the backwash status, and then the wet cleaning parts can be backwashed again with the replenished cleaning water according to the adjusted target backwash parameters to ensure the backwash quality of the wet cleaning parts.

[0107] The wet cleaning component rewashing device provided in this embodiment of the invention utilizes the following technical means: an acquisition module to acquire environmental information of the current cleaning task; a dirt information determination module to determine the cleaned liquid dirt area and dirt type in the current cleaning task based on the environmental information; a rewashing parameter determination module to determine the target rewashing parameters of the wet cleaning component based on the liquid dirt area and dirt type; and a rewashing module to rewash the wet cleaning component according to the target rewashing parameters when the robot returns to the base station for rewashing. This invention overcomes the limitations of related technologies that rely solely on fixed cleaning times or determine mop cleaning duration or frequency by detecting the level of dirt in the base station's backwash tank. These technologies fail to automatically and quickly develop customized backwashing plans based on actual cleaning scenarios, resulting in water waste, excessively long backwashing times, and incomplete mop cleaning. Consequently, these technologies lead to water waste, low backwashing efficiency of wet cleaning components, poor backwashing results, and a poor user experience. This invention achieves the goal of automatically and quickly developing customized backwashing plans for wet cleaning components based on actual cleaning scenarios, resulting in water conservation, improved backwashing efficiency, enhanced backwashing effects, and a better user experience.

[0108] This invention also provides a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to an embodiment of this invention.

[0109] This invention also provides a computer program product, including a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform the methods of embodiments of this invention. The computer program product should be understood as a software product that primarily implements the methods described above through a computer program.

[0110] This invention also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the electronic device to perform the method of this invention.

[0111] refer to Figure 4The present invention will now be described in the form of a structural block diagram of an electronic device that can serve as an embodiment of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0112] like Figure 4 As shown, the electronic device includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. The RAM 403 may also store various programs and data required for the operation of the electronic device. The computing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0113] Multiple components in the electronic device are connected to I / O interface 405, including: input unit 406, output unit 407, storage unit 408, and communication unit 409. Input unit 406 can be any type of device capable of inputting information into the electronic device. Input unit 406 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. Output unit 407 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 408 may include, but is not limited to, disks and optical discs. Communication unit 409 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, and / or wireless communication transceivers, such as Bluetooth devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0114] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, CPUs, graphics processing units (GPUs), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present invention can be implemented as a computer program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be delivered via ROM.

[0115] 402 and / or communication unit 409 are loaded and / or installed on the electronic device. In some embodiments, computing unit 401 may be configured to perform the methods described above by any other suitable means (e.g., by means of firmware).

[0116] Computer programs for implementing the methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of embodiments of the present invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0118] It should be noted that the term "comprising" and its variations used in the embodiments of the present invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present invention are illustrative and not restrictive. Those skilled in the art should understand that, unless explicitly indicated otherwise in the context, they should be understood as "one or more".

[0119] The steps described in the method embodiments provided by this invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of protection of this invention is not limited in this respect.

[0120] The term "embodiment" in this specification refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply independence or alternativeity from other embodiments. The various embodiments in this specification are described in a related manner, with reference to each other for similar or identical parts. In particular, for apparatus, device, and system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant details are referred to in the description of the method embodiments.

[0121] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A method for rewashing wet-cleaned parts, characterized in that, The wet cleaning component is mounted on the cleaning robot, and the method includes: Obtain environmental information for the current cleaning task; Based on the environmental information, determine the areas of liquid contamination and the type of contamination that have been cleaned in the current cleaning task; The target backwash parameters for the wet cleaning component are determined based on the liquid contamination area and the type of contamination. When the robot returns to the base station for rewashing, the wet cleaning parts are rewashed according to the target rewashing parameters.

2. The method according to claim 1, characterized in that, The backwash parameters include the washing water temperature, washing time, and washing intensity; the types of dirt include starchy dirt, high-pigment dirt, water-based dirt, and oily dirt; The step of determining the target backwash parameters of the wet cleaning component based on the liquid contamination area and the contamination type includes: The target cleaning water temperature for the wet cleaning component is determined according to the type of dirt; wherein the cleaning water temperature for starchy dirt is lower than that for clean water dirt, and the cleaning water temperature for clean water dirt is lower than that for high-pigment dirt and oily dirt. The target cleaning time and target cleaning intensity of the wet cleaning component are determined based on the area of ​​liquid contamination.

3. The method according to claim 1, characterized in that, The step of determining the cleaned liquid contamination areas in the current cleaning task based on the environmental information includes: The cleaning start position, cleaning completion position, and cleaning path of the cleaning robot in the current cleaning task are determined based on the environmental information. The areas of liquid contamination that have been cleaned in the current cleaning task are determined based on the cleaning start position, the cleaning completion position, and the cleaning path.

4. The method according to claim 1, characterized in that, The step of determining the cleaned liquid contamination areas in the current cleaning task based on the environmental information further includes: Based on the environmental information, a first cleaning image corresponding to the cleaning robot before performing the current cleaning task and a second cleaning image corresponding to the cleaning robot after performing the current cleaning task are determined; Image recognition is performed on the first cleaning image and the second cleaning image to determine the liquid-stained areas that have been cleaned in the current cleaning task.

5. The method according to claim 1, characterized in that, The method further includes: during the backwashing of the wet-cleaned parts according to the target backwashing parameters, cyclically performing the following steps: The current backwashing parameters and the current water quality value of the backwash water in the base station are obtained according to a preset cycle. Based on the current water quality value, the current backwash parameters, the preset water quality value, and the target backwash parameters, determine whether to perform a clean water replenishment operation on the backwash water; if not, continue the backwash operation; if yes, perform a clean water replenishment operation and then perform the backwash operation. Continue until the wet cleaning process is completed.

6. The method according to claim 5, characterized in that, The system determines whether to perform a clean water replenishment operation on the backwash water based on the current water quality value, the current backwash parameters, the preset water quality value, and the target backwash parameters; if not, it continues to perform the backwash operation. If so, the steps for performing a clean water replenishment operation followed by a backwash operation include: If the current water quality value is higher than the preset water quality value, and the current cleaning time in the current backwash parameters is lower than the target cleaning time in the target backwash parameters, then no clean water replenishment operation will be performed on the backwash water. If the current water quality value is lower than the preset water quality value and the current cleaning time is lower than the target cleaning time, then the backwash water is replenished with clean water.

7. A rewashing device for wet-cleaned parts, characterized in that, The wet cleaning component is mounted on the cleaning robot and includes: The acquisition module is used to acquire environmental information for the current cleaning task; The dirt information determination module is used to determine the areas of liquid dirt that have been cleaned and the type of dirt in the current cleaning task based on the environmental information. The backwash parameter determination module is used to determine the target backwash parameters of the wet cleaning component based on the liquid contamination area and the contamination type. The backwashing module is used to backwash the wet cleaning parts according to the target backwashing parameters when the robot returns to the base station for backwashing.

8. A cleaning device, comprising: A processor and a memory storing a program, characterized in that the program includes instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1-6.

9. A non-transitory machine-readable medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-6.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the method of any one of claims 1-6.

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