Cleaning equipment control method and device and cleaning equipment

Abstract

The invention provides a control method and device of cleaning equipment and the cleaning equipment, and relates to the technical field of cleaning equipment.The method comprises the steps that in the process that the cleaning equipment cleans a to-be-cleaned face, an emitter is controlled to alternately emit a first light source and a second light source in non-overlapped time windows, respectively collecting a first reflection signal of the first light source and a second reflection signal of the second light source in corresponding time windows through a receiver; the first reflection signal and the second reflection signal are analyzed and processed, and the smudginess degree of the target medium in the suction pipeline and the duration of the smudginess degree are determined; and according to the smudginess degree and the duration of the smudginess degree, the smudginess state of the to-be-cleaned face is determined. By means of multi-band information complementation and alternate light source emission in non-overlapping time windows, different types of smudginess can be identified more comprehensively, the problem of signal interference is avoided, and the accuracy and reliability of smudginess detection are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a control method and device of cleaning equipment and the cleaning equipment. BACKGROUND

[0002] With the upgrading of household and commercial cleaning needs, cleaning equipment with intelligent features is rapidly developing. Especially in practical applications, the dirt detection performance of the scrubber directly affects its cleaning efficiency, energy consumption and user satisfaction.

[0003] In related technologies, the scrubber dirt detection mostly adopts optical detection principle, that is, through the single light source carried to emit light beams, and through the light receiver to detect the light intensity attenuation degree of the light beams reflected by the to-be-cleaned surface or scattered by the sewage in the suction pipe, to determine the dirt concentration of the to-be-cleaned surface.

[0004] However, since different types of dirt have different reflection characteristics for the same light source, therefore, through this single light source detection method, it is difficult to accurately detect the dirt degree of the to-be-cleaned surface. SUMMARY

[0005] The present application provides a control method and device of cleaning equipment and the cleaning equipment, by alternately emitting the first light source and the second light source in time, and collecting the reflection signals of the two light sources by the receiver, the light source crosstalk is effectively avoided, and the dirt degree and the continuous time length of the dirt degree are comprehensively considered to judge the dirt of the to-be-cleaned surface, which significantly improves the accuracy of dirt detection.

[0006] In the first aspect, the present application provides a control method of cleaning equipment, the cleaning equipment includes an emitter, a receiver and a suction pipe, the emitter and the receiver are respectively arranged on the opposite sides of the suction pipe, the emitter is used to emit at least a first light source and a second light source, the corresponding wave bands of the first light source and the second light source do not overlap each other, and the receiver is used to receive the reflection signals of the first light source and the second light source; the method comprises:

[0007] In the process that the cleaning equipment performs cleaning on the to-be-cleaned surface, the emitter is controlled to alternately emit the first light source and the second light source in the time windows that do not overlap each other, and the receiver is used to collect the first reflection signal of the first light source and the second reflection signal of the second light source in the corresponding time windows respectively;

[0008] The first reflection signal and the second reflection signal are analyzed and processed to determine the dirt degree of the target medium in the suction pipe and the continuous time length of the dirt degree;

[0009] According to the dirt degree and the continuous time length of the dirt degree, the dirt state of the to-be-cleaned surface is determined.

[0010] Due to the great difference in reflection or scattering characteristics of different types of stains, such as inorganic particles and organic stains, to specific waveband light, compared with the existing single light source which cannot comprehensively and accurately respond to all stains, the present application adopts at least two first light sources and second light sources with non-overlapping wavebands, which alternately emit and collect their corresponding reflection signals in time, to obtain rich optical information, so as to more comprehensively characterize and identify different types of dirt, avoid misjudgment or missed judgment caused by the insensitivity of single light source to certain specific dirt, and significantly improve the accuracy and reliability of dirt degree judgment. And by alternately emitting light sources in non-overlapping time windows, the possibility of signals of two light sources reaching the receiver at the same time and mixing with each other is eliminated, signal crosstalk is avoided, and the purity of the collected reflection signals is ensured.

[0011] In addition, by combining the dirt degree and the duration for judgment, it can help to identify and filter out the signal mutation caused by non-dirt factors such as bubbles in the suction pipe, instantaneous water flow fluctuation, so that the dirt degree judgment is more stable and reliable, so as to realize more accurate dirt state judgment. In this way, based on the accurate dirt state judgment, the cleaning equipment can adopt appropriate cleaning strategy, which can not only ensure enough cleaning strength and time for heavy dirt area to ensure cleaning effect, but also can avoid wasting time and energy in light dirt or clean area, so as to optimize the overall cleaning efficiency.

[0012] Optionally, the first reflection signal and the second reflection signal are analyzed and processed to determine the dirt degree of the target medium in the suction pipe, comprising:

[0013] The first reflection signal is analyzed and processed to obtain first target data;

[0014] The second reflection signal is analyzed and processed to obtain second target data;

[0015] The first target data and the first preset dirt condition are analyzed and processed to determine the first dirt degree;

[0016] The second target data and the second preset dirt condition are analyzed and processed to determine the second dirt degree;

[0017] Based on the first dirt degree and the second dirt degree, the dirt degree of the target medium is determined.

[0018] In this way, by setting independent preset dirt conditions for the reflection signals corresponding to different light sources, the response to different types of contaminants can be optimized respectively. Furthermore, by fusing the two dirt levels, a more comprehensive and accurate comprehensive dirt assessment can be obtained than a single signal, improving the comprehensiveness and accuracy of detection. Moreover, this way of comprehensively considering the first dirt level and the second dirt level to determine the dirt level of the target medium can realize multi-dimensional perception, can overcome the limitations of a single light source, can detect multiple different types of dirt, and significantly improves the flexibility and adaptability of detection.

[0019] Optionally, based on the first dirt level and the second dirt level, the dirt level of the target medium is determined, including:

[0020] determining a first weight ratio corresponding to the first dirt level and a second weight ratio corresponding to the second dirt level;

[0021] based on the first dirt level, the second dirt level, the first weight ratio and the second weight ratio, calculating a dirt level value;

[0022] based on a preset matching strategy, matching the dirt level value with a preset threshold to determine the dirt level of the target medium.

[0023] In this way, by assigning variable weight ratios to different dirt levels, the contribution of each light source in dirt detection can be dynamically adjusted, making the detection result more reflect the real and complex dirt condition, improving the accuracy of judgment. Moreover, fusing the two dirt levels into a quantitative dirt level value and then matching it with a preset threshold reduces the impact of single signal fluctuations or accidental errors on dirt state determination, improving the stability and reliability of dirt detection,

[0024] In addition, the weight ratio and the preset matching strategy constitute a configurable decision framework, that is, suitable weight ratios and preset matching strategies can be flexibly adopted for different types of contaminants (such as particulate matter or oil stains) or different cleaning stages, thereby enhancing the overall adaptability.

[0025] Optionally, the first reflection signal is analyzed and processed to obtain first target data, and the second reflection signal is analyzed and processed to obtain second target data, including:

[0026] respectively converting the first reflection signal and the second reflection signal to obtain first data and second data;

[0027] respectively removing abnormal data in the first data and the second data to obtain a first target sequence and a second target sequence;

[0028] using a preset algorithm to process the data in the first target sequence and the second target sequence respectively to obtain the first target data and the second target data.

[0029] In this way, by eliminating abnormal data, signal interference caused by non-dirty factors can be effectively filtered out, ensuring that the data used for subsequent dirty judgment can reflect the optical properties of the sewage, thereby significantly improving the anti-interference ability and accuracy of the detection. And the present application uses a preset algorithm to process the data in a time sequence to obtain target data, which can smooth out small, meaningless random fluctuations, effectively prevent misjudgment during the dirty degree judgment process, and ensure the stability of the judgment result.

[0030] Optionally, the abnormal data in the first data and the second data are respectively eliminated to obtain a first target sequence and a second target sequence, comprising:

[0031] The corresponding first data and second data in each time window are sorted, and the maximum value and the minimum value in the sorted first data and second data are respectively determined;

[0032] The maximum value and the minimum value are respectively eliminated to obtain the first target sequence and the second target sequence.

[0033] Because the reflection signal intensity of different waveband light sources may have a magnitude difference, the residual signal of the previous light source will form a significant extreme value, such as a maximum value or a minimum value, in the current window. Therefore, eliminating the maximum value or the minimum value can solve the problem of instantaneous cross talk caused by light source switching, and can especially eliminate the influence of data changing at the moment of data collection and data switching, ensuring the accuracy of data analysis. Compared with complex filtering algorithms, the method of sorting and eliminating extreme values in the present application is simple in calculation, small in resource consumption, and can realize real-time data preprocessing, ensuring the timeliness of the response.

[0034] In addition, the maximum value or the minimum value may also be an extreme value caused by transient noise, electromagnetic interference or other random factors. Therefore, by eliminating the maximum value and the minimum value, the target sequence obtained can more stably reflect the real optical properties of the target medium in the time window, thereby improving the reliability of the measurement result.

[0035] Optionally, the abnormal data in the first data and the second data are respectively eliminated to obtain a first target sequence and a second target sequence, comprising:

[0036] The abnormal data in the first data and the second data are respectively identified and eliminated by a timestamp matching algorithm to obtain a first target sequence and a second target sequence.

[0037] It should be noted that the sorting rejection method may mis-reject the real effective extreme value due to unconditionally removing the maximum value and the minimum value in each time window. The time stamp matching algorithm of the present application only rejects data in a specific time period, and completely retains the original distribution of all data in the stable acquisition time window, including the possible real high value or low value, so that the subsequent data analysis can better reflect the real situation, without worrying about misjudgment or omission due to signal strength coincidence, and realizing accurate abnormal positioning and rejection.

[0038] Optionally, the control transmitter alternately emits the first light source and the second light source in non-overlapping time windows, and the receiver collects the first reflection signal of the first light source and the second reflection signal of the second light source in the corresponding time windows, respectively. The method further comprises:

[0039] determining the first time window for emitting the first light source and the second time window for emitting the second light source, and the first sampling frequency of the receiver in the first time window and the second sampling frequency in the second time window;

[0040] collecting signals based on the first time window and the first sampling frequency to obtain the first reflection signal;

[0041] collecting signals based on the second time window and the second sampling frequency to obtain the second reflection signal.

[0042] Since different light sources and their corresponding dirt response characteristics may have different requirements for sampling frequency. Therefore, by setting appropriate sampling frequency in each time window, for example, in order to identify a larger number of data in a shorter time or shorten the time interval, the interval time and the sampling frequency can be adjusted, the physical characteristics of different waveband light signals can be better matched, so that the reflection signal of the corresponding light source can be accurately collected, and the detection sensitivity and accuracy are improved.

[0043] Optionally, determining the first time window for emitting the first light source and the second time window for emitting the second light source, and the first sampling frequency of the receiver in the first time window and the second sampling frequency in the second time window, comprises:

[0044] analyzing and processing according to the waveband information of the first light source and / or the waveband information of the second light source to obtain the first time window, the second time window, the first sampling frequency and the second sampling frequency.

[0045] Therefore, by allocating differentiated sampling resources, i.e., time windows and sampling frequencies, according to different light sources such as wavelength band information, the fixed and unified configuration can be avoided, thereby effectively reducing the computational load and power consumption of the processor, and realizing the reasonable allocation of computational resources and energy. Moreover, the association of the time window and the sampling frequency with the light source wavelength band enables flexible adaptation to different types of light sources, thereby enhancing the adaptability to different application scenarios and detection requirements.

[0046] In addition, the present application also allows to customize appropriate detection strategies for light sources of different wavelength bands. For example, for a wavelength band sensitive to a specific pollutant, a longer detection time window or a higher sampling frequency can be allocated, so as to obtain more accurate reflection signals and improve the detection accuracy of the dirt degree of such pollutant.

[0047] Optionally, during the process of the emitter alternately emitting the first light source and the second light source, the method further comprises:

[0048] After the emitter emits the first light source in the previous time window, detecting the second reflection signal collected by the receiver in the current time window;

[0049] After determining that the second reflection signal does not match the second light source, generating an abnormal prompt information.

[0050] In this way, by verifying whether the signal received in the current time window matches the expected emitted light source, potential faults of the emitter, the receiver or the control circuit can be effectively detected, and early self-diagnosis is realized. Further, by generating an explicit abnormal prompt information, the user can be actively informed of the potential hardware problem, thereby avoiding misjudgment based on error data and guiding targeted maintenance, thereby improving the maintainability and overall intelligent experience of the cleaning device.

[0051] In addition, the above mechanism can also ensure that the reflection signal used for subsequent analysis is derived from the correct light source, thereby guaranteeing the reliability of data collection from the source.

[0052] In a second aspect, the present application provides a control device of a cleaning device, the cleaning device comprising an emitter, a receiver and a suction duct, the emitter and the receiver being respectively arranged on opposite sides of the suction duct, the emitter being configured to emit at least a first light source and a second light source, the wavelength bands corresponding to the first light source and the second light source being mutually non-overlapping, and the receiver being configured to receive reflection signals of the first light source and the second light source; the control device comprising:

[0053] a control module, configured to control the emitter to alternately emit the first light source and the second light source in mutually non-overlapping time windows during the process of the cleaning device performing cleaning on a to-be-cleaned surface, and to collect, by the receiver, a first reflection signal of the first light source and a second reflection signal of the second light source in the corresponding time windows, respectively;

[0054] The processing module is configured to analyze and process the first reflected signal and the second reflected signal, determine the dirt level of the target medium in the suction pipeline, and determine the duration of the dirt level.

[0055] The determining module is configured to determine the dirt state of the surface to be cleaned according to the dirt level and the duration of the dirt level.

[0056] In a third aspect, the present application provides a cleaning device, which comprises a transmitter, a receiver and a suction pipeline. The transmitter and the receiver are arranged on opposite sides of the suction pipeline, respectively. The transmitter is configured to emit at least a first light source and a second light source. The corresponding wave bands of the first light source and the second light source do not overlap with each other. The receiver is configured to receive reflected signals of the first light source and the second light source.

[0057] The cleaning device is configured to execute the method according to any one of the first aspect.

[0058] It should be noted that the second aspect to the third aspect of the present application correspond to the technical solution of the first aspect of the present application. The beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, and will not be described here again.

[0059] The control method and device of the cleaning device and the cleaning device provided by the present application are characterized in that, during the cleaning process of the cleaning device, the transmitter is controlled to alternately emit the first light source and the second light source in non-overlapping time windows. Correspondingly, the receiver is controlled to synchronously collect the first reflected signal and the second reflected signal of the two light sources in the corresponding time windows, respectively. This design ensures that the signals of the two light sources do not interfere with each other. Further, the two independent reflected signals collected are analyzed and processed, so as to comprehensively determine the dirt level and the duration of the target medium flowing in the suction pipeline, and determine the dirt state of the surface to be cleaned in combination with the two dimensions of the dirt level and the duration. In this way, the present application utilizes the complementary information of multiple wave bands, so as to more comprehensively represent and identify different types of dirt, solve the problem of inaccurate detection caused by the difference in reflection characteristics of different dirt for a single light source, and improve the accuracy and reliability of dirt detection. Moreover, by alternately emitting the light sources in non-overlapping time windows, the problem of mixing and interference of the reflected signals of the first light source and the second light source at the receiving end is avoided. Especially, by introducing the duration of the dirt level as a time dimension index for determining the dirt state, it is possible to distinguish between temporary and accidental dirt and large-area and continuous dirt area. Further, the cleaning device can make a more intelligent decision, for example, automatically enhancing the cleaning intensity or prolonging the cleaning time for the continuous dirt area, so as to improve the cleaning efficiency and effect, and avoid the problems of insufficient cleaning intensity and resource waste caused by the misjudgment based on the instantaneous value. BRIEF DESCRIPTION OF DRAWINGS

[0060] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0061] Figure 1 A schematic diagram of a part of a cleaning device according to an embodiment of the application;

[0062] Figure 2 A schematic diagram of a transmitter and a receiver according to an embodiment of the application;

[0063] Figure 3 A schematic diagram of a transmitter and a receiver according to another embodiment of the application;

[0064] Figure 4 A schematic diagram of a transmitter and a receiver according to yet another embodiment of the application;

[0065] Figure 5 A schematic diagram of a transmitter and a receiver according to still another embodiment of the application;

[0066] Figure 6 A schematic diagram of an application scenario according to an embodiment of the application;

[0067] Figure 7 A flowchart of a control method of a cleaning device according to an embodiment of the application;

[0068] Figure 8 A schematic diagram of a transmitter and a receiver according to an embodiment of the application;

[0069] Figure 9 A schematic diagram of a determination logic of a degree of dirt according to an embodiment of the application;

[0070] Figure 10 A flowchart of a determination of a state of dirt according to an embodiment of the application;

[0071] Figure 11 A schematic diagram of a control device of a cleaning device according to an embodiment of the application;

[0072] Figure 12 A schematic diagram of an electronic device according to an embodiment of the application.

[0073] The specific embodiments of the application have been shown by way of example in the above-described drawings and will be described in more detail hereafter. These drawings and description are not meant to restrict the scope of the inventive concept in any way but serve to explain the inventive concept to a person skilled in the art by way of reference to specific embodiments. DETAILED DESCRIPTION

[0074] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to indicate the same or similar components. The following detailed description is not meant to limit the scope of the application. Rather, the following detailed description is meant to provide an example of the apparatus and methods consistent with the application as detailed in the appended claims.

[0075] In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the terms "first", "second", etc. are used to distinguish the same or similar items or items with basically the same function and effect. For example, the first data and the second data are only used to distinguish different data, and the order is not limited. Those skilled in the art can understand that the terms "first", "second", etc. do not limit the quantity and execution order, and the terms "first", "second", etc. also do not necessarily mean different.

[0076] It should be noted that in the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0077] In the present application, "at least one" means one or more, and "multiple" means two or more. The relationship between the associated objects is described as "and / or", which means that there can be three relationships, for example, A and / or B, which means that A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one" or similar expressions refer to any combination of these items, including single or multiple combinations. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be singular or plural.

[0078] In the related art, the dirt detection of the scrubber mainly uses optical detection principle, that is, a single light source is carried to emit a light beam, such as an infrared light emitter to send infrared light, and the light intensity attenuation degree of the light beam reflected by the surface to be cleaned or scattered by the sewage in the suction pipe is detected by a light receiver to determine the dirt concentration of the surface to be cleaned.

[0079] However, since different types of dirt have different reflection characteristics on the same light source, it is difficult for a single light source to distinguish the types of dirt, such as distinguishing inorganic particles from organic stains, and thus the method of detecting dirt by using such a single light source results in a large error in the determination of the detected dirt, and it is difficult to accurately detect the dirt level of the surface to be cleaned.

[0080] In addition, if dirt detection is only performed by increasing the light source, multiple light sources will work at the same time, at which time, light signal crosstalk is likely to occur, and the detection accuracy will still be reduced.

[0081] To solve the above problems, the present application provides a control method of a cleaning device, which controls the emitter to alternately emit a first light source and a second light source with non-overlapping wave bands in non-overlapping time windows during the cleaning process of the cleaning device. Correspondingly, the receiver is controlled to synchronously collect the first reflection signal and the second reflection signal of the two light sources in the corresponding time windows, respectively. This design ensures that the signals of the two light sources do not interfere with each other. Further, the two independent reflection signals collected are analyzed and processed, so as to comprehensively judge the dirt level and the duration of the target medium flowing in the suction pipe, and the dirt level and the duration are combined to comprehensively determine the dirt state of the surface to be cleaned. In this way, the present application uses multi-band information complementation to more comprehensively represent and identify different types of dirt, solves the problem of inaccurate detection caused by the difference in reflection characteristics of different dirt by using a single light source, and improves the accuracy and reliability of dirt detection. And by alternately emitting light sources in non-overlapping time windows, the problem of mixing and interference of the reflection signals of the first light source and the second light source at the receiving end is avoided. Especially by introducing the duration of the dirt level as a time dimension index to judge the dirt state, it is possible to distinguish between short-term and accidental dirt and large-area and continuous dirt area. Further, the cleaning device can make more intelligent decisions, such as automatically enhancing the cleaning strength or prolonging the cleaning time for continuous dirt area, thereby improving the cleaning efficiency and effect and avoiding the waste of resources caused by the misjudgment based on the instantaneous value.

[0082] It should be noted that the target medium can include solid and / or liquid medium, which is usually sewage or cleaning liquid, and the state of the target medium is not limited in the embodiments of the present application.

[0083] Optionally, the control method of the cleaning device provided by the present application is applied to a cleaning device, for example, Figure 1 A partial structure schematic diagram of a cleaning device provided by an embodiment of the present application is shown in Figure 1As shown, the cleaning device 100 comprises a transmitter 101, a receiver 103 and a suction duct 102, the transmitter 101 and the receiver 103 are respectively arranged on opposite sides of the suction duct 102, the transmitter 101 is used to emit at least a first light source and a second light source, the corresponding wave bands of the first light source and the second light source do not overlap, and the receiver 103 is used to receive the reflection signals of the first light source and the second light source.

[0084] Wherein, the transmitter 101 and the receiver 103 are arranged on opposite sides of the suction duct 102, which constitutes a transmission detection structure or a transmission detection structure. When the cleaning device 100 works, the light beam emitted by the transmitter 101 directly penetrates the target medium in the suction duct 102 and is captured by the receiver 103 on the opposite side. This structure can make the cleaning device 100 directly and sensitively detect the attenuation (i.e. shading effect) of light caused by suspended particles in sewage, so as to efficiently convert the dirt degree of sewage into a measurable light intensity signal.

[0085] This transmission detection structure provides a completely same and stable detection environment for the first light source and the second light source. The light sources of two different wave bands pass through the same target medium, which ensures that the interference and physical conditions of the two light sources are highly consistent. This consistency is the physical prerequisite for ensuring the accuracy of the multi-waveband detection algorithm.

[0086] Optionally, the transmitter 101 and the receiver 103 can be arranged horizontally or vertically. Since the transmitter 101 can emit at least a first light source and a second light source, at least two types of emitting lamps can be arranged in the transmitter 101.

[0087] Exemplarily, Figure 2 A structure diagram of a transmitter and a receiver provided by the embodiment of the application is shown in the figure, Figure 2 As shown, two types of emitting lamps are arranged in the transmitter 101, for example, the first emitting lamp and the second emitting lamp are arranged in one lamp bead, and the receiver 103 is a single receiving lamp, which is used to realize the wavelength receiving of the first emitting lamp and the second emitting lamp.

[0088] This integration of two light sources into one lamp bead greatly reduces the physical space occupation, is conducive to the compact design of the product structure, and can also reduce one independent lamp bead packaging body and related mounting structure, thereby reducing the material cost and manufacturing cost.

[0089] Since the two light sources are in the same lamp bead, their fields of view to the target area are almost coincident. Thus, the single receiving lamp receives reflected light from the same area, ensuring that the first reflected signal and the second reflected signal originate from the same detection point and angle, effectively avoiding signal deviation caused by differences in light source positions, and improving the accuracy and reliability of data comparison. Moreover, this integrated design facilitates rapid and accurate alternating lighting of the two light sources, ensuring that the receiver 103 can collect corresponding signals within a strictly synchronized time window, reducing crosstalk.

[0090] Optionally, the receiver 103 is a single light receiver that can receive both the first reflected signal of the first light source and the second reflected signal of the second light source.

[0091] Figure 3 Another structure diagram of a transmitter and a receiver provided by an embodiment of the present application is shown in FIG. 4. As shown in FIG. 4, the first transmitting lamp and the second transmitting lamp are arranged in two different lamp beads, and correspondingly, the single receiving lamp can receive light of corresponding wavelengths. Figure 3

[0092] Since each lamp bead can be independently optimized for its specific wavelength and optical properties, the lamp bead material, packaging structure, and lens design suitable for each wavelength can be selected, thereby achieving ideal performance in terms of luminous efficiency, spectral purity, and output power. Moreover, the two light sources can be arranged separately in space, which can also improve the degree of freedom of lamp bead deployment. For example, they can be arranged at a specific angle or distance to cover a wider area and avoid local shadows.

[0093] In addition, although the integration of the two light sources in one lamp bead can ensure consistent fields of view, separate design of the two light sources can completely eliminate any potential photoelectric crosstalk between the two light sources, ensuring the purity of the transmitted signals.

[0094] Optionally, at least two types of receiving lamps can also be arranged in the receiver 103. Since the receiver 103 is arranged opposite to the transmitter 101 and located on the same horizontal plane, the receiver 103 can also be arranged horizontally or vertically.

[0095] For example, Figure 4 Another structure diagram of a transmitter and a receiver provided by an embodiment of the present application is shown in FIG. 5. As shown in FIG. 5, two types of receiving lamps are arranged inside the receiver 103. The first receiving lamp is used to receive the wavelength of the first transmitting lamp, and the second receiving lamp is used to receive the wavelength of the second transmitting lamp. Figure 4

[0096] ​​In this way, the two receiving lamps can work simultaneously and continuously without time-sharing switching as in the single receiving lamp. This not only simplifies the control logic, but also realizes synchronous signal acquisition, avoiding signal distortion caused by timing difference, which is crucial for analyzing fast-changing dynamic processes.

[0097] Figure 5 Another schematic diagram of the transmitter and receiver is provided for the embodiments of the present application, as shown in Figure 5 The receiver 103 is internally disposed with two types of receiving lamps, i.e., the first emitting lamp and the first receiving lamp are arranged in a diagonal manner, and the second emitting lamp and the second receiving lamp are also arranged in a diagonal manner.

[0098] It can be understood that, compared with side-by-side arrangement, the diagonal arrangement maximizes the path length of light passing through the center of the target medium during propagation from the emitting lamp to the receiving lamp, achieving extremely high detection sensitivity. Because the absorption or scattering effect of pollutants (such as particulate matter, chemicals) in the target medium on light is amplified with the increase of the optical path. This makes that slight pollution changes can also cause sufficient signal attenuation, so the diagonal arrangement can capture low-concentration or weak pollutants, greatly improving the detection capability.

[0099] Therefore, compared with the scheme of placing the transmitter 101 and the receiver 103 on the same side of the suction pipe 102 and relying on the reflected light of the dirt or the pipe wall for detection, the light path of the present application can be more direct. The light beam is received after propagating in the target medium once, the optical path is fixed and the energy loss is small, so the receiver 103 can obtain a stronger initial signal. This helps to overcome the strong scattering and absorption of light by sewage, improves the signal quality and signal-to-noise ratio, and makes the detection more stable and reliable.

[0100] Optionally, the cleaning device 100 further comprises a control module and a signal processing module. The control module alternately drives the first light source and the second light source to work in time-sharing manner, so that the two light sources have no overlapping opening time, and controls the receiver 103 to synchronously collect the reflected signal during the opening of the light source.

[0101] The signal processing module is used to convert the light intensity signal output by the receiver 103 into a voltage value, so as to comprehensively determine the dirt degree based on the voltage value.

[0102] Optionally, the cleaning device 100 further comprises a water pump assembly, a cleaning member, a suction assembly and a power assembly. The water pump assembly is used to provide cleaning liquid and adjust the water spraying amount based on the determined cleaning strategy; the power assembly is used to drive the cleaning member to perform cleaning action and walk, and adjust the working power and walking speed based on the determined cleaning strategy; the suction assembly is used to provide suction force and adjust the suction force based on the determined cleaning strategy.

[0103] For example,Figure 6 An application scenario provided by an embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, the application scenario can be applied to a home scenario. Taking a cleaning device 100 as a scrubber, for example, the scrubber can rotate the first light source (such as infrared light) and the second light source (such as blue light) in turn in a non-overlapping time interval during cleaning of a to-be-cleaned surface according to a preset route. At the same time, the receiver can accurately collect the first reflection signal when the first light source is emitted and the second reflection signal when the second light source is emitted. Figure 6

[0104] Further, the scrubber can analyze and process the two collected reflection signals. By comprehensively analyzing the first reflection signal and the second reflection signal of the two different wave bands, the current degree of dirt suctioned can be calculated. At the same time, the two reflection signals are continuously monitored, and the duration of the current determined degree of dirt is calculated.

[0105] Further, the degree of dirt and the duration are combined in two dimensions to intelligently determine the state of the to-be-cleaned surface. For example, if the degree of dirt is determined to be heavy and the duration is long, it is determined that the to-be-cleaned surface is a persistent heavy pollution area. If the degree of dirt is heavy but the duration is short, it is determined that the to-be-cleaned surface is a local stubborn dirt area. If the degree of dirt is light and the duration is short, it is determined that the to-be-cleaned surface is in a clean state or a light dirt area.

[0106] Optionally, the scrubber can automatically adjust the cleaning behavior or cleaning strategy according to the determined state of the to-be-cleaned surface. For example, for a persistent heavy dirt area, a deep cleaning strategy such as reducing speed, increasing suction, and increasing water output can be adopted. For a local stubborn dirt area, a fixed-point cleaning strategy such as increasing suction and water output for a short time in the area can be adopted. For a clean state or a light dirt area, a normal cleaning mode is maintained for efficient passing.

[0107] It should be noted that the specific application scenario of the cleaning device 100 is not limited by the embodiments of the present application, and can also be applied to a shopping mall scenario, a school scenario, and an office scenario. The above are only illustrative examples.

[0108] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be 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 can not be described in detail in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0109] Figure 7 A flowchart of a control method of a cleaning device provided by an embodiment of the present application is shown in FIG. 2. As shown in FIG. 2, the control method can be applied to a home scenario. Taking a cleaning device 100 as a scrubber, for example, the scrubber can rotate the first light source (such as infrared light) and the second light source (such as blue light) in a non-overlapping time interval during cleaning of a to-be-cleaned surface according to a preset route. At the same time, the receiver can accurately collect the first reflection signal when the first light source is emitted and the second reflection signal when the second light source is emitted. Figure 7 ​As shown, the control method for cleaning equipment is applied to the cleaning equipment; the control method for the cleaning equipment includes the following steps:

[0110] S701. During the cleaning process of the cleaning equipment, the transmitter is controlled to alternately emit the first light source and the second light source within non-overlapping time windows, and the receiver collects the first reflection signal of the first light source and the second reflection signal of the second light source respectively within the corresponding time windows.

[0111] In this embodiment, the first light source can refer to a light beam emitted by the transmitter and having a first specific optical characteristic, and the second light source can refer to a light beam emitted by the same transmitter and having a second specific optical characteristic. The wavelengths of the first and second light sources do not overlap. For example, the first light source is 850nm infrared light, and the second light source is 450nm blue light. This embodiment does not limit the specific light source types of the first and second light sources, as long as their corresponding wavelengths do not overlap.

[0112] In this way, by using light sources with non-overlapping wavelengths, the response of the target medium to different spectra can be obtained, thereby more accurately analyzing the composition and degree of contamination.

[0113] A time window can refer to a preset, limited period of time during which the transmitter is controlled to emit a specific light source, and the receiver is simultaneously configured to collect the reflected signal of that specific light source.

[0114] For example, within a first time window, a first light source is controlled to emit its first light source, and all reflected signals collected by the receiver during this period are identified as the first reflected signal. Subsequently, the first time window closes, and the system switches to a second time window. At this time, the first light source is turned off, the second light source is turned on, and the receiver collects the second reflected signal.

[0115] For example, Figure 8 A schematic diagram of the working principle of a transmitter and receiver provided in the embodiments of this application is shown below. Figure 8 As shown, within time window T1, the transmitter emits the first light source, and correspondingly, the receiver collects the first reflected signal multiple times. Within time window T2, the transmitter emits the second light source, and correspondingly, the receiver collects the second reflected signal multiple times. The above process is repeated in this way.

[0116] Optionally, time window T1 = time window T2 = time window T3 = time window T4.

[0117] It is understandable that different types of light sources have different detection capabilities for the target medium. Therefore, the time windows for the transmitter to emit the first light source and the second light source can be different. For example, for light sources with weaker detection capabilities, a longer time window can be set to improve detection accuracy.

[0118] For example, the cleaning device controls the emitter to alternately turn on the first light source and the second light source. At the same time, the receiver is precisely synchronized to collect the reflection signals of the corresponding light source only in the time window of the emission of the corresponding light source, so as to obtain the first reflection signal and the second reflection signal respectively. Optionally, the first reflection signal and the second reflection signal are both light intensity signals.

[0119] S702, analyzing and processing the first reflection signal and the second reflection signal to determine the dirt degree of the target medium in the suction pipeline and the duration of the dirt degree.

[0120] In the embodiment of the application, the duration can refer to the cumulative time during which the determined dirt degree of the target medium is maintained above a certain specific level or threshold, reflecting how long the dirt degree has lasted.

[0121] In this step, the first reflection signal and the second reflection signal are analyzed and processed, which can be determined by calculating the ratio or establishing a corresponding mapping algorithm with the known dirt degree, to determine the dirt degree of the target medium, and the above analysis and processing process is continuously performed, so as to determine the length of time during which the dirt degree is maintained above a certain level or threshold, i.e. the duration of the dirt degree.

[0122] It should be noted that the embodiment of the application does not specifically limit the way and algorithm for determining the dirt degree of the target medium, and the above is only an example.

[0123] S703, determining the dirt state of the surface to be cleaned according to the dirt degree and the duration of the dirt degree.

[0124] In the embodiment of the application, the dirt state can refer to a comprehensive conclusion about the pollution condition of the surface to be cleaned, which is obtained by fusing the information of the two dimensions of the dirt degree and the duration of the dirt degree through a specific logic or algorithm.

[0125] For example, the dirt state can be a clean state, a persistent heavy dirt area, a light dirt area, a moderate dirt area, a local stubborn dirt area, etc., and the embodiment of the application does not limit the specific content corresponding to the dirt state.

[0126] Different dirt states correspond to different cleaning strategies.

[0127] Due to the great difference in reflection or scattering characteristics of different types of stains, such as inorganic particles and organic stains, to specific wave bands of light, compared to the existing single light source which cannot comprehensively and accurately respond to all stains, the present application adopts at least two first light sources and second light sources with non-overlapping wave bands, which alternately emit and collect their corresponding reflection signals in time, to obtain rich optical information, so as to more comprehensively characterize and identify different types of stains, avoid misjudgment or omission caused by the insensitivity of single light source to certain specific stains, and significantly improve the accuracy and reliability of stain degree judgment. And by alternately emitting light sources in non-overlapping time windows, the possibility of signals from two light sources reaching the receiver at the same time and mixing with each other is eliminated, signal crosstalk is avoided, and the purity of the collected reflection signals is ensured.

[0128] In addition, by combining the degree of dirt and the duration for judgment, it can help to identify and filter out signal mutations caused by non-dirt factors such as bubbles in the suction pipe, transient water flow fluctuations, so that the dirt degree judgment is more stable and reliable, so as to realize more accurate dirt state judgment. In this way, based on the accurate dirt state judgment, the cleaning equipment can adopt appropriate cleaning strategies, which can not only ensure sufficient cleaning strength and time for heavy dirt areas to ensure cleaning effect, but also can avoid wasting time and energy in light dirt or clean areas, thereby optimizing the overall cleaning efficiency.

[0129] Optionally, the first reflection signal and the second reflection signal are analyzed and processed to determine the dirt degree of the target medium in the suction pipe, comprising:

[0130] The first reflection signal is analyzed and processed to obtain first target data;

[0131] The second reflection signal is analyzed and processed to obtain second target data;

[0132] The first target data and the first preset dirt condition are analyzed and processed to determine the first dirt degree;

[0133] The second target data and the second preset dirt condition are analyzed and processed to determine the second dirt degree;

[0134] Based on the first dirt degree and the second dirt degree, the dirt degree of the target medium is determined.

[0135] Among them, the first preset dirt condition is the first dirt threshold of at least two grade ranges preset in advance; the second preset dirt condition is the second dirt threshold of at least two grade ranges preset in advance; the first dirt threshold or the second dirt threshold of different grade ranges corresponds to different dirt degrees, such as less than threshold 1, which is light dirt, greater than threshold 1 and less than threshold 2, which is moderate dirt, and greater than threshold 2, which is heavy dirt.

[0136] The embodiments of this application do not limit the specific values ​​corresponding to the first dirt threshold and the second dirt threshold, which can be determined based on factors such as the wavelength, frequency, and light intensity of different light sources.

[0137] It is understandable that the more grade ranges there are, the more grades or degrees of dirtiness there are.

[0138] In this embodiment of the application, the first target data and the second target data may refer to voltage values ​​or digital quantities that can characterize the degree of light intensity attenuation. For example, the first target data and the second target data are analog-to-digital (AD) conversion values.

[0139] In this step, the first and second reflected signals are analyzed and processed separately, such as through signal amplification, filtering, and analog-to-digital conversion, converting them into first target data and second target data, respectively. Further, based on a pre-established light intensity-contamination lookup table or mathematical model, the first target data is compared with a first preset contamination condition to determine the first degree of contamination. Similarly, the second target data is compared with the second preset contamination condition to determine the second degree of contamination. Finally, a fusion algorithm is used to integrate the first and second degrees of contamination to determine the degree of contamination of the target medium.

[0140] Optionally, the fusion algorithm can be a weighted average, a maximum value algorithm, etc., and the embodiments of this application do not specifically limit it.

[0141] For example, Figure 9 A logic diagram for determining the degree of dirtiness is provided in an embodiment of this application, such as... Figure 9 As shown, the first preset dirt condition includes a first dirt threshold with two levels, namely threshold 1 and threshold 2, where threshold 1 is less than threshold 2; the second preset dirt condition includes a second dirt threshold with two levels, namely threshold 3 and threshold 4, where threshold 3 is less than threshold 4.

[0142] If the first target data is greater than threshold 1, determine whether the first target data is greater than threshold 2. If yes, it is determined to be heavily dirty; otherwise, it is determined to be moderately dirty.

[0143] If the first target data is less than or equal to the threshold 1, it is determined to be slightly dirty.

[0144] Similarly, when the second target data is greater than threshold 3, it is determined whether the second target data is greater than threshold 4. If it is, it is determined to be heavily dirty; if not, it is determined to be moderately dirty.

[0145] When the second target data is less than or equal to the threshold 3, it is determined that the target medium is lightly soiled.

[0146] Further, after determining the first soiling degree and the second soiling degree, the soiling degree of the target medium is determined based on a relationship mapping table or a preset matching strategy. For example, in the case of the relationship mapping table, Table 1 is a preset relationship mapping table.

[0147] Table 1

[0148]

[0149] In this way, by setting independent preset soiling conditions for the reflection signals corresponding to different light sources, the response to different types of contaminants can be optimized respectively. Further, by fusing the two soiling degrees, a more comprehensive and accurate comprehensive soiling evaluation than a single signal can be obtained, thereby improving the comprehensiveness and accuracy of detection. Moreover, this way of determining the soiling degree of the target medium by comprehensively considering the first soiling degree and the second soiling degree can realize multi-dimensional perception, can overcome the limitations of a single light source, can detect multiple different types of soiling, and significantly improves the flexibility and adaptability of detection.

[0150] Optionally, the soiling degree of the target medium is determined based on the first soiling degree and the second soiling degree, including:

[0151] determining a first weight ratio corresponding to the first soiling degree and a second weight ratio corresponding to the second soiling degree;

[0152] calculating a soiling degree value based on the first soiling degree, the second soiling degree, the first weight ratio, and the second weight ratio;

[0153] matching the soiling degree value with a preset threshold value based on a preset matching strategy to determine the soiling degree of the target medium.

[0154] In the embodiments of the present application, the preset matching strategy can refer to a rule that pre-set to correspond the soiling degree value with the soiling degree grade. The preset matching strategy can be a threshold comparison method. For example, two preset thresholds t1 and t2 are pre-set, and t1 < t2. If the soiling degree value < t1, it is matched as lightly soiled. If t1 ≤ the soiling degree value < t2, it is matched as moderately soiled. If the soiling degree value ≥ t1, it is matched as heavily soiled.

[0155] Optionally, the matching result can refer to Table 1. Table 1 can also be the soiling degree of the target medium determined by matching the soiling degree value with the preset threshold value through calculation of the first soiling degree × the first weight ratio + the second soiling degree × the second weight ratio = the soiling degree value.

[0156] The preset threshold can be one or more data demarcation points determined in advance through experiments or calibration, and is used to divide different dirt levels. The size of the preset threshold is not limited in the embodiments of the present application.

[0157] Optionally, the preset threshold is different for different types of to-be-cleaned surfaces or application scenarios.

[0158] In the present application, a first weight ratio can be assigned to the first dirt level, and a second weight ratio can be assigned to the second dirt level. These weight ratios can be dynamically adjusted according to the characteristics of the light source, the reliability of historical data, or the type of dirt. Optionally, the first weight ratio = 0.5, and the second weight ratio = 0.5.

[0159] For example, a weighted average formula is used to calculate the dirt level value by using the first dirt level x the first weight ratio + the second dirt level x the second weight ratio. The dirt level value integrates the information of the two light sources. Further, the calculated dirt level value is compared with the preset threshold set in advance, so as to be mapped to a specific dirt level.

[0160] In this way, by assigning variable weight ratios to different dirt levels, the contribution of each light source in the dirt detection can be dynamically adjusted, so that the detection result can better reflect the real and complex dirt condition, and the accuracy of the judgment is improved. Moreover, the two dirt levels are integrated into a quantitative dirt level value, which is then matched with the preset threshold, thereby reducing the influence of single signal fluctuation or accidental error on the determination of the dirt state, and improving the stability and reliability of the dirt detection.

[0161] In addition, the weight ratio and the preset matching strategy constitute a configurable decision framework, that is, suitable weight ratios and preset matching strategies can be flexibly adopted for different types of pollutants (such as particulate matter or oil stains) or different cleaning stages, thereby enhancing the overall adaptability.

[0162] Optionally, the first reflection signal is analyzed and processed to obtain the first target data, and the second reflection signal is analyzed and processed to obtain the second target data, including:

[0163] The first reflection signal and the second reflection signal are respectively converted to obtain the first data and the second data.

[0164] The abnormal data in the first data and the second data are respectively removed to obtain the first target sequence and the second target sequence.

[0165] The data in the first target sequence and the second target sequence are respectively processed by using a preset algorithm to obtain the first target data and the second target data.

[0166] Optionally, the preset algorithm can be an algorithm of taking average value, median value, maximum value, calculating root mean square value, summing, etc. of the target sequence, and the embodiments of the present application do not limit the specific algorithm corresponding to the preset algorithm.

[0167] In the embodiments of the present application, the first data and the second data can be a digital sequence represented by AD values within a time window.

[0168] For example, the first reflection signal and the second reflection signal collected by the receiver are subjected to analog-digital conversion to obtain the first data and the second data. Further, the converted first data and the second data are respectively screened, and abnormal data are identified and removed. Then, the mean value algorithm is used to respectively operate on the first target sequence and the second target sequence to obtain the first target data and the second target data, which are used for subsequent determination of the degree of dirt.

[0169] Optionally, the abnormal data can be residual data of the previous light source when the light source is switched, or can be a sudden value caused by a transient large bubble in the suction pipeline, circuit noise interference, etc. The embodiments of the present application do not limit the type of abnormal data.

[0170] In this way, by removing the abnormal data, signal interference caused by non-dirt factors can be effectively filtered out, and data used for subsequent determination of dirt can reflect the optical properties of sewage, thereby significantly improving the anti-interference ability and accuracy of detection. Moreover, the present application uses a preset algorithm to process data within a time sequence to obtain target data, which can smooth out small, meaningless random fluctuations, effectively prevent misjudgment in the process of determining the degree of dirt, and ensure the stability of the judgment result.

[0171] Optionally, the abnormal data in the first data and the second data are respectively removed to obtain the first target sequence and the second target sequence, including:

[0172] The corresponding first data and second data in each time window are respectively sorted, and the maximum value and the minimum value in the sorted first data and second data are respectively determined.

[0173] The maximum value and the minimum value are respectively removed to obtain the first target sequence and the second target sequence.

[0174] In the present application, the maximum value and the minimum value in each time window can be regarded as potential abnormal values in the time window. Since the wave bands corresponding to the two light sources do not overlap each other, if there is a reflection signal corresponding to the previous light source after the two light sources are switched, there is a large difference between the reflection signal corresponding to the current light source.

[0175] It should be noted that the presence of air bubbles, electrical signal spikes, or the inhalation of large particles within the suction pipe can also lead to abnormal data points. These abnormal data points typically manifest as significantly high or low extreme values ​​within a time window. Therefore, removing the maximum and minimum values ​​can prevent the impact of these occasional noises on the overall judgment.

[0176] For example, Figure 10 This is a flowchart illustrating a method for determining the state of dirt / contamination, as provided in an embodiment of this application. Figure 10 As shown, during the cleaning process of the cleaning equipment, the transmitter is controlled to turn on the first light source and emit the first light source within a first time window. Correspondingly, the receiver is controlled to collect the first reflected signal within the corresponding time window and convert the collected first reflected signal into first data represented by the AD value. Furthermore, the first data is sorted, and the maximum and minimum values ​​after sorting are removed to obtain the first target sequence, thereby obtaining the first median value in the first target sequence. The first median value can be the median value.

[0177] Furthermore, the transmitter is controlled to turn on the second light source and emit the second light source within the second time window. Correspondingly, the receiver is controlled to collect the second reflection signal within the corresponding time window and convert the collected second reflection signal into second data represented by the AD value. Furthermore, the second data is sorted, and the maximum and minimum values ​​after sorting are removed to obtain the second target sequence, thereby obtaining the second median in the second target sequence. This second median can be the median value.

[0178] Furthermore, based on the first median and the first preset dirt conditions, analysis and processing are performed to determine the first degree of dirtiness. Based on the second median and the second preset dirt conditions, analysis and processing are performed to determine the second degree of dirtiness. Based on the first degree of dirtiness and the second degree of dirtiness, a weighted algorithm is used to determine the degree of dirtiness of the target medium. If the degree of dirtiness is less than a preset threshold, the surface to be cleaned is determined to be clean. Otherwise, the degree of dirtiness is continuously monitored to determine the duration of the degree of dirtiness of the target medium in the suction pipe. The duration is compared with a time threshold to determine the dirtiness state of the surface to be cleaned.

[0179] The time threshold can refer to one or more pre-set reference time values ​​used to compare the duration of dirtiness with the degree of soiling. It is a time threshold used to classify and judge different states of soiling. This application does not specifically limit the size of the time threshold; it can be determined based on the type of soiling.

[0180] Since the reflection signal intensity of different waveband light sources can have order of magnitude difference, the residual signal of the last light source can form a significant extreme value, such as a maximum value or a minimum value, in the current window, and thus, the maximum value or the minimum value can be removed to solve the problem of instantaneous crosstalk caused by light source switching, and in particular, the influence of data change at the time of data acquisition and at the time of switching can be removed to ensure the accuracy of data analysis. Compared with a complex filtering algorithm, the sorting and extreme value removal method is simple in calculation, has low resource consumption, can realize real-time data preprocessing, and ensures the timeliness of the response.

[0181] In addition, the maximum value or the minimum value can also be an extreme value caused by instantaneous noise, electromagnetic interference or other random factors, and thus, by removing the maximum value and the minimum value, the obtained target sequence can more stably reflect the real optical characteristics of the target medium in the time window, thereby improving the reliability of the measurement result.

[0182] Optionally, the abnormal data in the first data and the second data are respectively removed to obtain the first target sequence and the second target sequence, including:

[0183] The abnormal data in the first data and the second data are respectively identified and removed by a timestamp matching algorithm to obtain the first target sequence and the second target sequence.

[0184] In the embodiment of the application, the timestamp matching algorithm can refer to a data screening method based on a time marker. It marks each collected data point with a timestamp, and uses prior knowledge of control timing to identify and remove abnormal data points caused by physical processes such as light source switching residue.

[0185] In this step, the timestamp corresponding to each data in the first data and the second data is obtained, and then the timestamp matching algorithm is used to identify the data points that do not meet the conditions at the start and end of each time window. For example, if the first data at the start time has a sharp mutation, but the first data corresponding to the subsequent time stamp remains stable, it is determined that the first data at the start time is abnormal data, and it is removed to obtain the first target sequence. Correspondingly, the processing process of the second data is similar to that of the first data, and will not be described here.

[0186] It should be noted that the sorting and removal method will unconditionally remove the maximum value and the minimum value in each time window, which may mistakenly remove the real and valid extreme values. The timestamp matching algorithm of the application only removes the data in a specific time period, completely retains the original distribution of all data in the stable acquisition time window, including the possible real high value or low value, so that the subsequent data analysis can better reflect the real situation, without worrying about misjudgment or omission due to signal strength coincidence, and realizes accurate abnormal positioning and removal.

[0187] Optionally, the transmitter is controlled to alternately emit the first light source and the second light source in non-overlapping time windows, and the receiver is controlled to collect the first reflection signal of the first light source and the second reflection signal of the second light source in corresponding time windows, respectively. The method further comprises:

[0188] determining the first time window in which the first light source is emitted and the second time window in which the second light source is emitted, and the first sampling frequency of the receiver in the first time window and the second sampling frequency of the receiver in the second time window;

[0189] collecting signals based on the first time window and the first sampling frequency to obtain the first reflection signal;

[0190] collecting signals based on the second time window and the second sampling frequency to obtain the second reflection signal.

[0191] In the present application, not only the first time window and the second time window in which the first light source and the second light source are alternately emitted are defined, but also the sampling frequency for signal collection in each time window is further set.

[0192] In this way, in the first time window, the receiver is controlled to work at the first sampling frequency to collect the first reflection signal. Further, in the second time window, the second sampling frequency is switched to collect the second reflection signal.

[0193] Since different light sources and their corresponding dirt response characteristics may have different requirements for the sampling frequency. Therefore, by setting a suitable sampling frequency in each time window, for example, in order to identify a larger number of data in a shorter time or shorten the time interval, the interval time and the sampling frequency can be adjusted, the physical characteristics of different waveband light signals can be better matched, so that the reflection signal of the corresponding light source can be accurately collected, and the detection sensitivity and accuracy are improved.

[0194] Optionally, the first time window in which the first light source is emitted and the second time window in which the second light source is emitted, and the first sampling frequency of the receiver in the first time window and the second sampling frequency of the receiver in the second time window are determined, comprising:

[0195] analyzing and processing the waveband information of the first light source and / or the waveband information of the second light source to obtain the first time window, the second time window, the first sampling frequency and the second sampling frequency.

[0196] In the embodiments of the present application, the waveband information can refer to a characteristic parameter used to describe the specific position and range of the light wave emitted by the light source in the electromagnetic spectrum.

[0197] Optionally, a first time window and a first sampling frequency can be determined based on the first band information; a second time window and a second sampling frequency can be determined based on the second band information. Alternatively, the first time window, second time window, first sampling frequency, and second sampling frequency can be determined by comprehensively analyzing the first and second band information.

[0198] The band information includes wavelength, bandwidth, and phase. Wavelength refers to the wavelength at which the energy emitted by the light source is concentrated; for example, the first light source emits infrared light at 850 nm, and the second light source emits blue light at 450 nm. Bandwidth refers to the range of wavelengths emitted by the light source.

[0199] Different band information corresponds to different sampling frequencies. Optionally, the higher the sampling frequency, the shorter the time to collect the same amount of data, which is necessary to effectively restore the wavelength and phase characteristics of the signal.

[0200] Therefore, by allocating differentiated sampling resources—namely, time windows and sampling frequencies—based on the wavelength information of different light sources, a fixed and uniform configuration can be avoided, thereby effectively reducing the processor's computational load and power consumption, and achieving a rational allocation of computing resources and energy. Furthermore, associating the time window and sampling frequency with the light source's wavelength allows for flexible adaptation to different types of light sources, enhancing adaptability to various application scenarios and detection requirements.

[0201] Furthermore, this application allows for the customization of appropriate detection strategies for light sources in different wavelength bands. For example, for wavelength bands sensitive to specific pollutants, a longer detection time window or a higher sampling frequency can be allocated to obtain more accurate reflection signals and improve the detection accuracy of the degree of contamination for that type of pollutant.

[0202] Optionally, during the process of the transmitter alternately emitting the first light source and the second light source, the method further includes:

[0203] After the transmitter emits the first light source in the previous time window, the receiver detects the second reflected signal collected in the current time window.

[0204] After determining that the second reflected signal does not match the second light source, an error message is generated.

[0205] It should be noted that the mismatch between the second reflected signal and the second light source refers to the detection of a characteristic signal belonging to the first light source, such as a residual signal with a specific wavelength of the first light source.

[0206] For example, during the normal alternating emission of light sources by the cleaning equipment, after the transmitter emits the first light source in the previous time window, it will emit the second light source in the current time window that follows. If the signal collected by the detection receiver at this time is compared with the signal characteristics corresponding to the expected second light source.

[0207] It can be understood that, in the case that the cleaning device works normally and there is no crosstalk, the signal characteristics detected in the current time window should match the characteristics of the second light source. If it is determined at this time that the second reflected signal does not match the second light source, it is determined that an abnormal situation occurs, and further, an abnormal prompt information can be generated.

[0208] Optionally, the abnormal situation can be that the first light source fails to turn off in time, the light source is not correctly switched, the receiver channel is crosstalk, or the receiver filter is invalid, etc. The specific cause of the abnormal situation is not limited in the present application.

[0209] The abnormal prompt information can be a display prompt or sent to the terminal device of the user for visual display, and the display content can be the cause corresponding to the abnormal situation and the abnormal component. The display content and display form of the abnormal prompt information are not limited in the embodiments of the present application.

[0210] In this way, by verifying whether the signal received in the current time window matches the expected light source, potential faults of the transmitter, receiver or control circuit can be effectively detected, and early self-diagnosis is realized. Further, by generating clear abnormal prompt information, the user can be actively informed of potential hardware problems, avoiding misjudgment based on error data, and guiding targeted maintenance, thereby improving the maintainability and overall intelligent experience of the cleaning device.

[0211] In addition, the above mechanism can also ensure that the reflected signal used for subsequent analysis is derived from the correct light source, thereby ensuring the reliability of data acquisition from the source.

[0212] Optionally, the time interval at which the transmitter emits the first light source and the second light source in the time window is adjusted based on target requirements; and / or, the sampling frequency of the receiver in the time window is adjusted based on target requirements.

[0213] The determination method of the target requirements includes at least one of the following methods:

[0214] In response to the operation of the user on the cleaning device;

[0215] Receiving a voice instruction of the user and analyzing;

[0216] Based on the application environment in which the cleaning device is currently located;

[0217] Based on the type of the surface to be cleaned.

[0218] The user manual operation can make the detection of the user's specific operation on the machine body key, screen or application (APP) of the cleaning device. The voice instruction of the user is the voice command sent by the user to the cleaning device. The type of the surface to be cleaned can include floor, carpet, tile, etc.

[0219] Optionally, the target requirement is determined based on the current application environment of the cleaning device. The application environment can be determined by sensors such as ambient light sensors, artificial intelligence cameras, etc. Different application environments correspond to different time intervals of the emitter emitting the first light source and the second light source in the time window, and / or different sampling frequencies of the receiver in the time window.

[0220] In this way, the application can adjust the time interval of the light source emission according to the target requirement, such as speeding up or slowing down the alternating frequency of the first light source and the second light source. The sampling frequency of the receiver can also be adjusted according to the target requirement, for example, increasing or decreasing the data sampling frequency in each time window.

[0221] For example, the interval time can be 1ms, and the sampling frequency is 100khz, that is, 10 data can be collected for each light source opening. Then the interval time is adjusted to 0.5ms based on the target requirement, and the sampling frequency is 200khz.

[0222] In this way, by dynamically adjusting the time interval and the sampling frequency according to the target requirement, it can avoid using a fixed high-performance mode in any scene. This realizes the reasonable matching of computing resources, power consumption and current cleaning task requirement, thereby significantly improving the energy efficiency. Moreover, the application enables the cleaning device to actively or passively switch to the appropriate time interval and sampling frequency, ensuring the accuracy of dirt detection and the effectiveness of cleaning strategy under different cleaning surface materials and different environmental conditions, improving the overall intelligent level, and greatly improving the convenience and satisfaction of use.

[0223] Optionally, the method further comprises:

[0224] determining a target cleaning level matched with the dirt state; each target cleaning level corresponds to a cleaning strategy parameter;

[0225] adjusting the current working parameter of the cleaning device to the cleaning strategy parameter corresponding to the target cleaning level;

[0226] The cleaning strategy parameter includes at least one of the following:

[0227] The speed of the cleaning device;

[0228] The rotating speed of the cleaning part of the cleaning device;

[0229] suction force of the suction assembly;

[0230] water output of the water pump assembly.

[0231] For example, after determining the dirt state of the target medium in the suction pipeline, the dirt state can be mapped to a preset target cleaning level. Each target cleaning level represents a cleaning intensity level and defines a set of suitable cleaning strategy parameters. Further, the cleaning device switches the current working parameters to the set of preset cleaning strategy parameters to perform the cleaning action matching the dirt state.

[0232] For example, the travel speed of the cleaning device corresponding to light dirt is greater than the travel speed of the cleaning device corresponding to moderate or heavy dirt, the rotation speed of the cleaning element of the cleaning device corresponding to light dirt is less than the rotation speed of the cleaning element of the cleaning device corresponding to moderate or heavy dirt, the suction force of the suction assembly corresponding to light dirt is less than the suction force of the suction assembly corresponding to moderate or heavy dirt, and the water output of the water pump assembly corresponding to light dirt is less than the water output of the water pump assembly corresponding to moderate or heavy dirt.

[0233] In this way, the application can automatically match the appropriate cleaning intensity according to the real-time detected dirt state. This avoids energy waste caused by using too high intensity when the dirt is light, and ensures that sufficient cleaning force is provided when the dirt is heavy, thereby optimizing the energy and resource use efficiency while ensuring the cleaning effect. Moreover, by designing the cleaning level as a set of coordinated cleaning strategy parameters, the cleaning device can simultaneously adjust multiple execution units such as suction force, rotation speed, and water output, thereby improving the coordination and overall performance of the cleaning device.

[0234] In addition, the above process is fully automated and does not require manual intervention and mode switching by the user, greatly improving the convenience of the product and enhancing the user experience.

[0235] In the foregoing embodiments, the control method of the cleaning device provided by the embodiments of the application is introduced, and in order to realize each function in the method provided by the embodiments of the application, the cleaning device as an execution subject can include a hardware structure and / or a software module to realize each function in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a certain function in each function 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 of the technical solution and the design constraint conditions.

[0236] For example, Figure 11 A structural schematic diagram of a cleaning device control device provided by an embodiment of the application is shown in FIG. 1. Figure 11As shown, the control device 1100 of the cleaning device is applied to the cleaning device; the cleaning device comprises a transmitter, a receiver and a suction pipe, the transmitter and the receiver are respectively arranged on opposite sides of the suction pipe, the transmitter is used to emit at least a first light source and a second light source, the corresponding wave bands of the first light source and the second light source do not overlap with each other, and the receiver is used to receive the reflection signals of the first light source and the second light source; the control device 1100 of the cleaning device comprises:

[0237] a control module 1101, configured to control the transmitter to alternately emit the first light source and the second light source in non-overlapping time windows during the cleaning process of the cleaning device on the to-be-cleaned surface, and control the receiver to respectively collect a first reflection signal of the first light source and a second reflection signal of the second light source in the corresponding time windows;

[0238] a processing module 1102, configured to analyze and process the first reflection signal and the second reflection signal, and determine a dirt degree of a target medium in the suction pipe and a duration of the dirt degree;

[0239] a determination module 1103, configured to determine a dirt state of the to-be-cleaned surface according to the dirt degree and the duration of the dirt degree.

[0240] Optionally, the processing module 1102 is specifically configured to:

[0241] analyze and process the first reflection signal to obtain first target data;

[0242] analyze and process the second reflection signal to obtain second target data;

[0243] analyze and process the first target data and a first preset dirt condition to determine a first dirt degree;

[0244] analyze and process the second target data and a second preset dirt condition to determine a second dirt degree;

[0245] determine the dirt degree of the target medium based on the first dirt degree and the second dirt degree.

[0246] Optionally, the processing module 1102 comprises a determination unit, which is configured to:

[0247] determine a first weight ratio corresponding to the first dirt degree and a second weight ratio corresponding to the second dirt degree;

[0248] calculate a dirt degree value based on the first dirt degree, the second dirt degree, the first weight ratio and the second weight ratio;

[0249] match the dirt degree value with a preset threshold value based on a preset matching strategy to determine the dirt degree of the target medium.

[0250] Optionally, the processing module 1102 further comprises an analysis processing unit, which is configured to:

[0251] convert the first reflection signal and the second reflection signal respectively to obtain first data and second data;

[0252] remove abnormal data in the first data and the second data respectively to obtain a first target sequence and a second target sequence;

[0253] process data in the first target sequence and the second target sequence respectively by using a preset algorithm to obtain first target data and second target data.

[0254] Optionally, the analysis processing unit is specifically configured to:

[0255] sort the corresponding first data and second data in each time window respectively, and determine the maximum value and the minimum value in the sorted first data and second data respectively;

[0256] remove the maximum value and the minimum value respectively to obtain the first target sequence and the second target sequence.

[0257] Optionally, the analysis processing unit is specifically configured to:

[0258] identify and remove abnormal data in the first data and the second data respectively by using a timestamp matching algorithm to obtain the first target sequence and the second target sequence.

[0259] Optionally, the control transmitter alternately emits the first light source and the second light source in non-overlapping time windows, and the receiver collects the first reflection signal of the first light source and the second reflection signal of the second light source in the corresponding time windows respectively, and the control device 1100 of the cleaning equipment further comprises a collection module, which is configured to:

[0260] determine a first time window for emitting the first light source and a second time window for emitting the second light source, and a first sampling frequency of the receiver in the first time window and a second sampling frequency in the second time window;

[0261] collect signals based on the first time window and the first sampling frequency to obtain the first reflection signal;

[0262] collect signals based on the second time window and the second sampling frequency to obtain the second reflection signal.

[0263] Optionally, the collection module is specifically configured to:

[0264] analyze and process the wave band information of the first light source and / or the wave band information of the second light source to obtain the first time window, the second time window, the first sampling frequency and the second sampling frequency.

[0265] Optionally, during the process that the emitter alternately emits the first light source and the second light source, the control device 1100 of the cleaning device further includes a generating module, which is configured to:

[0266] detect the second reflection signal collected by the receiver in the current time window after the emitter emits the first light source in the previous time window;

[0267] generate an abnormal prompt information after determining that the second reflection signal does not match the second light source.

[0268] It should be noted that the specific implementation principles and effects of the control device 1100 of the cleaning device described above can be referred to the related descriptions and effects of the above-mentioned embodiments, which will not be repeated here.

[0269] The embodiments of the present application also provide an electronic device, Figure 12 As shown in the structural schematic diagram of the electronic device provided by the embodiments of the present application, the electronic device can include a processor 1201 and a memory 1202 connected with the processor 1201; the memory 1202 stores a computer program; the processor 1201 executes the computer program stored in the memory 1202, so that the processor 1201 executes the method described in any of the above-mentioned embodiments. Figure 12

[0270] Among them, the memory 1202 and the processor 1201 can be connected through the bus 1203.

[0271] The embodiments of the present application also provide a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method described in any of the above-mentioned embodiments.

[0272] The embodiments of the present application also provide a chip running instruction, which is used to execute the method described in any of the above-mentioned embodiments executed by the electronic device.

[0273] The embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program is executed by the processor to implement the method described in any of the above-mentioned embodiments executed by the electronic device.

[0274] ​In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the modules is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be indirect coupling or communication connection through some interfaces, apparatuses or modules, and can be electrical, mechanical or other forms.

[0275] The modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical units, that is, can be located in one place, or can be distributed to a plurality of network units. Part or all of the modules can be selected to implement the embodiment scheme according to actual needs.

[0276] In addition, the function modules in each embodiment of the present application can be integrated in one processing unit, or each module can be physically present alone, or two or more modules can be integrated in one unit. The unit composed of the above modules can be realized in the form of hardware or in the form of hardware plus software function unit.

[0277] The integrated modules realized in the form of software function modules can be stored in a computer readable storage medium. The software function modules stored in the storage medium include a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method described in each embodiment of the present application.

[0278] It should be understood that the above processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the present application can be directly embodied as hardware processor execution or executed by a combination of hardware and software modules in the processor.

[0279] The memory can include a high-speed Random Access memory (RAM) and can also include a Non-volatile Memory (NVM), such as at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0280] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0281] The storage medium described above can be realized 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 storage, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0282] An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a host device.

[0283] It should be noted that, for the foregoing method embodiments, the purposes of brief description, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know 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.

[0284] Further need to be explained is that although each step in the flowchart is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise stated herein, the execution of these steps has no strict order limitation, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which 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 sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0285] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The technical features of the above embodiments can be combined arbitrarily, and in order to make the description brief, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of these technical features does not exist contradictory, it should be considered as the scope disclosed in the specification.

[0286] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The application is intended to cover any variations, uses or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the application pertains. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the application are indicated by the claims.

[0287] The above is only a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited to this. Any change or replacement within the technical scope disclosed in the embodiments of the present application should be covered in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device includes a transmitter, a receiver, and a suction pipe. The transmitter and the receiver are respectively disposed on opposite sides of the suction pipe. The transmitter is used to emit at least a first light source and a second light source, the wavebands corresponding to the first light source and the second light source do not overlap. The receiver is used to receive the reflected signals from the first light source and the second light source. The method includes: During the cleaning process of the cleaning equipment, the transmitter is controlled to alternately emit the first light source and the second light source within non-overlapping time windows, and the receiver collects the first reflection signal of the first light source and the second reflection signal of the second light source respectively within the corresponding time windows; The first reflected signal and the second reflected signal are analyzed and processed to determine the degree of contamination of the target medium in the suction pipe and the duration of the contamination. The dirt state of the surface to be cleaned is determined based on the degree of dirtiness and the duration of the dirtiness.

2. The method of claim 1, wherein, The step of analyzing and processing the first reflected signal and the second reflected signal to determine the degree of contamination of the target medium in the suction pipe includes: The first reflected signal is analyzed and processed to obtain the first target data; The second reflected signal is analyzed and processed to obtain the second target data; The first target data and the first preset dirt conditions are analyzed and processed to determine the first degree of dirt. The second target data and the second preset dirt conditions are analyzed and processed to determine the second degree of dirt. The degree of contamination of the target medium is determined based on the first degree of contamination and the second degree of contamination.

3. The method of claim 2, wherein, Determining the degree of contamination of the target medium based on the first degree of contamination and the second degree of contamination includes: Determine the first weighting ratio corresponding to the first degree of dirtiness and the second weighting ratio corresponding to the second degree of dirtiness; Calculate the degree of dirtiness value based on the first degree of dirtiness, the second degree of dirtiness, the first weight ratio, and the second weight ratio; Based on a preset matching strategy, the degree of dirtiness is matched with a preset threshold to determine the degree of dirtiness of the target medium.

4. The method of claim 2, wherein, The step of analyzing and processing the first reflected signal to obtain first target data, and analyzing and processing the second reflected signal to obtain second target data, includes: The first reflected signal and the second reflected signal are converted respectively to obtain the first data and the second data; Abnormal data are removed from the first data and the second data respectively to obtain the first target sequence and the second target sequence; The data in the first target sequence and the second target sequence are processed using a preset algorithm to obtain the first target data and the second target data.

5. The method of claim 4, wherein, The step of removing abnormal data from the first data and the second data respectively to obtain the first target sequence and the second target sequence includes: Sort the first data and the second data corresponding to each time window respectively, and determine the maximum and minimum values ​​of the sorted first data and the second data respectively; The maximum value and the minimum value are removed respectively to obtain the first target sequence and the second target sequence.

6. The method of claim 4, wherein, The removing of the abnormal data in the first data and the second data respectively to obtain the first target sequence and the second target sequence comprises: The abnormal data in the first data and the second data are identified and removed respectively by a timestamp matching algorithm to obtain the first target sequence and the second target sequence.

7. The method of claim 1, wherein, The control of the transmitter to alternately emit the first light source and the second light source in non-overlapping time windows and the acquisition of the first reflection signal of the first light source and the second reflection signal of the second light source in the corresponding time windows by the receiver, the method further comprises: determining a first time window for emitting the first light source and a second time window for emitting the second light source, and a first sampling frequency of the receiver in the first time window and a second sampling frequency in the second time window; acquiring the first reflection signal based on the first time window and the first sampling frequency; acquiring the second reflection signal based on the second time window and the second sampling frequency.

8. The method of claim 7, wherein, The determination of the first time window for emitting the first light source and the second time window for emitting the second light source, and the first sampling frequency of the receiver in the first time window and the second sampling frequency in the second time window comprises: analyzing and processing according to the wavelength band information of the first light source and / or the wavelength band information of the second light source to obtain the first time window, the second time window, the first sampling frequency and the second sampling frequency.

9. The method of claim 1, wherein, In the process of the transmitter alternately emitting the first light source and the second light source, the method further comprises: after the transmitter emits the first light source in the previous time window, detecting the second reflection signal collected by the receiver in the current time window; after determining that the second reflection signal does not match the second light source, generating an abnormal prompt information.

10. A control device for a cleaning apparatus, characterized in that The cleaning device comprises a transmitter, a receiver and a suction pipeline, the transmitter and the receiver are respectively arranged on opposite sides of the suction pipeline, the transmitter is used for emitting at least a first light source and a second light source, the corresponding wavelength bands of the first light source and the second light source do not overlap, and the receiver is used for receiving the reflection signals of the first light source and the second light source; the control device comprises: a control module, used for controlling the transmitter to alternately emit the first light source and the second light source in non-overlapping time windows and to acquire the first reflection signal of the first light source and the second reflection signal of the second light source in the corresponding time windows by the receiver in the process of the cleaning device performing cleaning on a to-be-cleaned surface; a processing module, used for analyzing and processing the first reflection signal and the second reflection signal, determining the dirt degree of a target medium in the suction pipeline, and the duration of the dirt degree; a determination module, used for determining the dirt state of the to-be-cleaned surface according to the dirt degree and the duration of the dirt degree.

11. A cleaning apparatus, characterized by comprises: The cleaning device comprises an emitter and a receiver arranged on opposite sides of a suction duct, the emitter being configured to emit at least a first light source and a second light source, the corresponding wave bands of the first light source and the second light source not overlapping, the receiver being configured to receive reflected signals of the first light source and the second light source. The cleaning device is configured to perform a method according to any one of claims 1-9.

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