Cleaning equipment, control method and device, program product, medium and cleaning system

Abstract

The invention discloses cleaning equipment, a control method and device, a program product, a medium and a cleaning system.The cleaning equipment comprises a contact type image sensor module, the contact type image sensor module is used for collecting a surface image of a to-be-cleaned surface, and the surface image is used for analyzing surface information of the to-be-cleaned surface. Through the technical scheme provided by the invention, the accuracy of identifying the surface information of the to-be-cleaned surface in the process of executing the cleaning task by the cleaning equipment can be improved.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment control technology, and in particular relates to a cleaning equipment and control method, device, program product, medium and cleaning system. Background Technology

[0002] Cleaning equipment (such as robotic vacuums and mops) is now widely used in households, replacing users in tasks like floor cleaning and bringing great convenience. If cleaning equipment could implement different cleaning programs for different areas, such as focusing on heavily soiled areas, it could achieve better cleaning efficiency and results. However, current cleaning equipment has low accuracy in recognizing surface information, making it difficult to perform targeted cleaning on different areas. Therefore, improving the accuracy of surface information recognition during cleaning is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] The embodiments of this application provide a cleaning equipment control method, apparatus, computer program product, computer-readable storage medium, and cleaning equipment, which can at least to some extent improve the accuracy of surface information identification of the surface to be cleaned by the cleaning equipment during the performance of cleaning tasks.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0005] According to a first aspect of the present application, a cleaning device is provided, the cleaning device including a contact image sensor module, the contact image sensor module being used to acquire surface images of a surface to be cleaned, the surface images being used to analyze surface information of the surface to be cleaned.

[0006] In some embodiments of this application, based on the foregoing scheme, the contact image sensor module includes a light source and an image sensor. The light source is used to project light onto the surface to be cleaned, and the image sensor is used to receive the reflected light reflected from the surface to be cleaned and generate a surface image of the surface to be cleaned based on the reflected light.

[0007] In some embodiments of this application, based on the foregoing scheme, the contact image sensor module further includes a lens array, which is used to refract the reflected light from the surface to be cleaned onto the image sensor.

[0008] In some embodiments of this application, based on the foregoing scheme, the light source is a white light source.

[0009] In some embodiments of this application, based on the foregoing scheme, the image sensor is a complementary metal oxide sensor.

[0010] In some embodiments of this application, based on the foregoing scheme, the contact image sensor module is installed at the bottom of the cleaning device.

[0011] In some embodiments of this application, based on the foregoing scheme, the bottom of the cleaning device is provided with a suction port, and the contact image sensor module is installed in front of the suction port in the target direction, which is the forward direction of the cleaning device during the cleaning task.

[0012] In some embodiments of this application, based on the foregoing scheme, the bottom of the cleaning device is provided with a cleaning component, and the contact image sensor module is installed at the rear position of the cleaning component in the target direction, the target direction being the forward direction of the cleaning device during the cleaning task.

[0013] In some embodiments of this application, based on the foregoing scheme, the bottom of the cleaning device is provided with a suction port and a cleaning component, and the contact image sensor module is installed between the suction port and the cleaning component.

[0014] In some embodiments of this application, based on the foregoing scheme, the surface information includes the degree of dirt and / or surface material of the surface to be cleaned.

[0015] In some embodiments of this application, based on the foregoing scheme, the length of the contact image sensor module is less than or equal to the diameter of the cleaning device.

[0016] In some embodiments of this application, based on the foregoing scheme, the length of the contact image sensor module is greater than or equal to the width of the cleaning coverage area of ​​the cleaning device during the cleaning task.

[0017] In some embodiments of this application, based on the foregoing scheme, during the cleaning process of the cleaning equipment performing the cleaning task, the distance between the contact image sensor module and the surface to be cleaned is 0mm-30mm.

[0018] According to a second aspect of the present application, a cleaning device control method is provided, wherein the cleaning device is the cleaning device as described in the first aspect embodiment above, the method comprising: acquiring a target surface image of a surface to be cleaned by a contact image sensor module; determining surface information of the surface to be cleaned based on the target surface image; and controlling the cleaning device to perform a cleaning action adapted to the surface information.

[0019] In some embodiments of this application, based on the foregoing scheme, acquiring the target surface image of the surface to be cleaned by the contact image sensor module includes: acquiring at least one frame of surface image of the surface to be cleaned by the contact image sensor module during the cleaning task performed by the cleaning equipment; and stitching the at least one frame of surface image together to obtain the target surface image of the surface to be cleaned.

[0020] In some embodiments of this application, based on the aforementioned scheme, if the length of the contact image sensor module is less than the width of the cleaning coverage area of ​​the cleaning device during the cleaning task, the cleaning density of the cleaning device during the cleaning task is increased.

[0021] In some embodiments of this application, based on the foregoing scheme, the surface information includes the degree of dirt and / or surface material of the surface to be cleaned.

[0022] In some embodiments of this application, based on the foregoing scheme, determining the surface information of the surface to be cleaned based on the target surface image includes: acquiring a reference surface image of the surface to be cleaned by a camera device installed in the cleaning equipment; acquiring wastewater data of the cleaning equipment during the cleaning task; and determining the degree of dirt on the surface to be cleaned based on the target surface image and / or the reference surface image and / or the wastewater data.

[0023] In some embodiments of this application, based on the foregoing scheme, controlling the cleaning device to perform cleaning actions adapted to the surface information includes: if the degree of dirt is greater, controlling the cleaning time of the cleaning device to be longer, and / or controlling the cleaning intensity of the cleaning device to be greater.

[0024] In some embodiments of this application, based on the foregoing scheme, controlling the cleaning device to perform cleaning actions adapted to the surface information includes: if the dirt adhesion of the surface material is higher, controlling the cleaning time of the cleaning device to be longer, and / or controlling the cleaning intensity of the cleaning device to be greater.

[0025] In some embodiments of this application, based on the foregoing scheme, controlling the cleaning device to perform cleaning actions adapted to the surface information includes: if the surface material is a blanket material, controlling the cleaning device to lift the cleaning component.

[0026] According to a third aspect of the present application, a cleaning equipment control device is provided, wherein the cleaning equipment is the cleaning equipment as described in the first aspect embodiment above, the device comprising: an acquisition unit for acquiring a target surface image of a surface to be cleaned collected by a contact image sensor module; a determination unit for determining surface information of the surface to be cleaned based on the target surface image; and a control unit for controlling the cleaning equipment to perform cleaning actions adapted to the surface information.

[0027] According to a fourth aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform an operation as described in any of the second aspects above.

[0028] According to a fifth aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to perform the operation as described in any of the second aspects above.

[0029] According to a sixth aspect of the present application, a cleaning device is provided, the cleaning device including one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to perform the operation as described in any of the second aspects above.

[0030] According to a seventh aspect of the embodiments of this application, a cleaning system is provided, the cleaning system including the cleaning equipment and base station as described in the first aspect above.

[0031] Based on the technical solution proposed in this application, by installing a contact image sensor module in the cleaning equipment, a high-resolution surface image of the surface to be cleaned can be acquired in real time at close range during the cleaning process. In turn, the accuracy of surface information recognition of the surface to be cleaned can be improved by using the surface image.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0034] Figure 1 A schematic diagram of the cleaning equipment in an embodiment of this application is shown;

[0035] Figure 2 This diagram illustrates the working principle of the contact image sensor module in an embodiment of this application.

[0036] Figure 3 A flowchart of a cleaning equipment control method according to an embodiment of this application is shown;

[0037] Figure 4 The illustration shows a scenario of a cleaning device performing a cleaning task according to an embodiment of this application;

[0038] Figure 5 A block diagram of a cleaning equipment control device according to an embodiment of this application is shown;

[0039] Figure 6 A schematic diagram of the cleaning equipment in an embodiment of this application is shown. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0041] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0042] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solution of this application have been appropriately omitted.

[0043] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0044] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0045] In this application, in order to enable cleaning equipment to perform cleaning tasks on the surface to be cleaned more efficiently and accurately, this application proposes a cleaning device that can accurately identify the surface information of the surface to be cleaned, so as to support the cleaning device to perform targeted cleaning on areas with different surface information according to the identification results, thereby achieving better cleaning efficiency and cleaning effect.

[0046] Next, we will combine Figure 1 The cleaning equipment proposed in this application is described in detail.

[0047] See Figure 1 The diagram shows a structural schematic of the cleaning equipment in an embodiment of this application.

[0048] like Figure 1 As shown, the cleaning device 100 may include a contact image sensor module 110, which can be used to acquire surface images of the surface to be cleaned, and the surface images can be used to analyze the surface information of the surface to be cleaned.

[0049] In this application, the surface information may include the degree of dirt and / or surface material of the surface to be cleaned.

[0050] Furthermore, the cleaning device 100 may also include wheels 140, which provide driving force for the cleaning device 100 during forward movement. The cleaning device 100 may also include guide wheels 120, which control the forward direction of the cleaning device 100. The cleaning device 100 may also include cleaning components 130, such as a mop, which are mainly used to clean dirt from the surface to be cleaned during the cleaning process. The cleaning device 100 may also include a suction port 150, which is mainly used to suck up dirt from the surface to be cleaned during the cleaning process.

[0051] To enable those skilled in the art to better understand this application, the following will continue to combine... Figure 1 This describes the process by which the cleaning equipment 100 performs a cleaning task on the ground (i.e., the surface to be cleaned).

[0052] like Figure 1 As shown, in some embodiments, guide wheels 120 and traveling wheels 140 enable the cleaning device 100 to move along a set path. During this movement, a contact image sensor module 110 can capture surface images of the ground. The captured images can then be analyzed to determine surface information, such as the degree of dirt and / or surface material. A suction port 150 can extract dirt from the ground, such as paper scraps, hair, and dust. A mop 130 then wipes away any remaining dirt that was not sucked up by the suction port 150, such as liquid dirt and shoe prints. For areas with higher levels of dirt and / or areas with stronger dirt adhesion, the cleaning device can be controlled to perform targeted cleaning, thereby achieving better cleaning efficiency and results.

[0053] Next, this application will combine Figure 2 This section provides a detailed explanation of the contact-type image sensor module.

[0054] See Figure 2 The diagram illustrates the working principle of the contact image sensor module in the embodiments of this application.

[0055] like Figure 2 As shown, the contact image sensor module 110 may include a light source 111 and an image sensor 113. The light source 111 is used to project light onto the surface 114 to be cleaned, and the image sensor 113 is used to receive the reflected light reflected by the surface 114 to be cleaned and generate a surface image of the surface 114 to be cleaned based on the reflected light.

[0056] In this application, the contact image sensor module has the characteristics of high integration, high resolution and high refresh rate. Therefore, during the cleaning process of the cleaning equipment, the contact image sensor module can scan the surface to be cleaned in real time to obtain a surface image of the surface to be cleaned with high clarity. Through the surface image, the surface information of the surface to be cleaned can be identified.

[0057] Specifically, for example, in identifying the degree of dirt on a surface to be cleaned, the surface can be scanned in real time. After obtaining the surface image, the images can be stitched together to create a pattern map of the surface, i.e., the target surface image. This pattern map can then be used to identify significantly different graphic or color areas on the surface (these areas may contain liquid contaminants such as soy sauce, milk, coffee, or soup, or solid contaminants such as shoe prints or dust. For example, by identifying the differences in color and pattern between the dirty areas and the ground, the dirty areas can be identified). These areas can then be designated as areas with a higher degree of dirt.

[0058] In identifying the surface material of a surface to be cleaned, the brightness of the surface image can be used to determine the material. Surfaces with higher image brightness can be identified as high-reflectivity surfaces, such as tile or metal floors. These smooth, high-reflectivity surfaces have lower adhesion and are therefore less likely to attract dirt. Conversely, surfaces with lower image brightness can be identified as low-reflectivity surfaces, such as carpets or rough surfaces. These low-reflectivity surfaces have higher adhesion and are therefore more likely to attract dirt.

[0059] In this way, the surface image of the surface to be cleaned generated by the contact image sensor module proposed in this application can achieve accurate identification of the surface information of the surface to be cleaned without complex image processing algorithms. This reduces the computing power required for identifying the surface information of the surface to be cleaned and improves the identification efficiency. Of course, in other embodiments, surface information can also be identified based on the obtained surface image of the surface to be cleaned using a pre-trained machine learning algorithm.

[0060] like Figure 2 As shown in this application, the contact image sensor module 110 may further include a lens array 112, which is used to refract the reflected light reflected from the surface 114 to be cleaned onto the image sensor 113.

[0061] In this application, the lens array enables the image sensor to obtain better depth of field, thereby improving the clarity of the surface image of the surface to be cleaned and thus enhancing the accuracy of surface information recognition during cleaning operations. Of course, in this application, the contact image sensor module may also exclude the lens array.

[0062] In this application, the light source 111 can be a white light source. The advantage of a white light source is that it can reflect the color information of the surface to be cleaned more realistically, accurately, and comprehensively, thereby improving the realism of the surface image of the surface to be cleaned and thus improving the accuracy of the cleaning equipment in recognizing the surface information of the surface to be cleaned during the cleaning task. Of course, in this application, the light source can also be a monochromatic light source such as red, green, or blue.

[0063] In this application, the image sensor 113 can be a complementary metal-oxide sensor.

[0064] Complementary metal-oxide (CMOS) sensors are image sensors fabricated using CMOS technology. They capture light and convert it into electrical signals. Compared to common image sensors (such as CCD sensors), CMOS sensors offer lower power consumption, lower cost, and faster readout speeds, making them suitable for rapid image capture. Furthermore, CMOS sensors have high integration density, allowing for easier integration of other functional circuits, such as analog-to-digital converters and signal processing circuits.

[0065] like Figure 1 As shown, in this application, the contact image sensor module 110 can be installed on the bottom of the cleaning equipment 100.

[0066] In this application, a contact image sensor module is installed at the bottom of a cleaning device. During the cleaning process, a light source projects light onto the surface to be cleaned. The projected light is reflected by the surface and then refracted by a lens array to the image sensor. The image sensor then generates a surface image of the surface by capturing the light. Because the contact image sensor module is installed at the bottom of the cleaning device, the interference from ambient light is minimal during the acquisition of the surface image, thus ensuring the quality of the surface image and improving the accuracy of surface information recognition.

[0067] like Figure 1As shown in this application, the contact image sensor module 110 can be installed in front of the suction port 150 in the target direction, which is the forward direction of the cleaning device 100 during the cleaning task.

[0068] In this application, by installing a contact image sensor module in front of the suction port in the target direction, the cleaning device can first acquire surface images of the ground (i.e., the surface to be cleaned) through the contact image sensor module during the cleaning task, and then determine the surface information of the ground by analyzing the acquired surface images. Then, the cleaning device can perform targeted cleaning on different areas of the ground based on the surface information of different areas. For example, it can focus on cleaning areas with high levels of dirt (e.g., increasing the cleaning time on that area, increasing the suction power of the vacuum cleaner, increasing the downward pressure of the mop, increasing the vibration intensity of the mop, increasing the rotation speed of the mop, etc.).

[0069] In this application, the contact image sensor module 110 may also be installed at the rear of the cleaning component 130 in the target direction, which is the forward direction of the cleaning device 100 during the cleaning task.

[0070] In this application, by installing a contact image sensor module behind the cleaning component in the target direction, the cleaning effect of the surface to be cleaned can be checked. If the cleaning effect of a certain area of ​​the surface to be cleaned is poor, the cleaning equipment can be controlled to return to that area for repeated cleaning to ensure a better cleaning effect on the surface to be cleaned.

[0071] In this application, the contact image sensor module 110 can also be installed at the position between the suction port and the cleaning component.

[0072] In this application, it is understood that the contact image sensor module can be installed at any location on the bottom of the cleaning equipment, as needed, and is not limited to the locations listed above.

[0073] In this application, the length of the contact image sensor module 110 is adapted to the size of the cleaning device 100.

[0074] Specifically, in this application, the length of the contact image sensor module 110 can satisfy a first preset size relationship with the diameter of the cleaning device 100.

[0075] For example, the first preset size relationship can be an equal relationship, which ensures that the contact image sensor module can collect surface images of the entire area traversed by the cleaning equipment, guaranteeing the integrity of the information in the images of the surface to be cleaned. Of course, the first preset size relationship can also be that the length of the contact image sensor module is less than the diameter of the cleaning equipment. Furthermore, the length of the contact image sensor module can be greater than a certain set threshold, such as greater than 1 / 2 of the diameter of the cleaning equipment.

[0076] In this application, the length of the contact image sensor module 110 can also satisfy a second preset size relationship with the width of the cleaning coverage area of ​​the cleaning device 100 during the cleaning task.

[0077] It should be noted that the width of the cleaning coverage area can refer to the width of the cleaning parts covered by the cleaning equipment during the cleaning task.

[0078] Specifically, in this application, the second preset size relationship can be that the length of the contact image sensor module is greater than or equal to the width of the cleaning coverage area of ​​the cleaning device during the cleaning task. It should be noted that for some models of cleaning devices, the cleaning components have a telescopic function. In this case, the second preset size relationship can be that the length of the contact image sensor module is greater than or equal to the maximum width of the cleaning coverage area of ​​the cleaning device during the cleaning task. This ensures that the contact image sensor module can capture surface images of the entire cleaning area of ​​the cleaning device, guaranteeing the integrity of the information in the image of the surface to be cleaned. Of course, in some other embodiments, the second preset size relationship can also be that the length of the contact image sensor module is less than the width of the cleaning coverage area of ​​the cleaning device during the cleaning task.

[0079] In this application, during the cleaning process of the cleaning equipment, the distance between the contact image sensor module 110 and the surface 114 to be cleaned can be less than or equal to a preset distance. For example, the preset distance can be less than or equal to 20mm, specifically set to 5mm to 20mm; it can also be less than or equal to 30mm, specifically set to 0mm to 30mm; or it can be less than or equal to 25mm, specifically set to 1mm to 25mm. It is understood that the preset distance can be set according to the actual situation of the cleaning equipment, such as according to the structural parameters of the cleaning equipment, and is not specifically limited in this application.

[0080] In this application, by setting the distance between the contact image sensor module and the surface to be cleaned to be less than or equal to a preset distance, the contact image sensor module is brought as close as possible to the surface to be cleaned. Therefore, during the process of the contact image sensor module acquiring the surface image of the surface to be cleaned, the interference of external ambient light on the acquisition of the surface image of the surface to be cleaned can be reduced, thus ensuring the quality of the surface image of the surface to be cleaned and improving the accuracy of surface information recognition of the surface to be cleaned.

[0081] Based on the same inventive concept, this application also provides a cleaning equipment control method, wherein the cleaning equipment is as described above, and the cleaning equipment includes a contact image sensor module, which will be discussed in conjunction with... Figure 3 The present application provides a detailed description of the cleaning equipment control method proposed in this application.

[0082] Reference Figure 3 A flowchart of a cleaning equipment control method according to an embodiment of this application is shown. This cleaning equipment control method can be executed by a device with computing processing capabilities. (Refer to...) Figure 3 As shown, the cleaning equipment control method includes at least steps 310 to 330:

[0083] Step 310: Obtain the target surface image of the surface to be cleaned by the contact image sensor module.

[0084] Specifically, in this application, the acquisition of the target surface image of the surface to be cleaned, collected by the contact image sensor module, can be performed according to the following steps 311 to 312:

[0085] Step 311: During the cleaning process of the cleaning equipment, at least one frame of surface image of the surface to be cleaned is acquired by the contact image sensor module.

[0086] Step 312: Stitch together the at least one frame of surface image to obtain the target surface image of the surface to be cleaned.

[0087] In this application, during the cleaning process, a contact image sensor module located at the bottom of the cleaning device can scan the surface to be cleaned in real time to obtain at least one high-resolution surface image of the surface. In some embodiments, the contact image sensor module can be elongated, so each frame of surface image acquired can also be elongated. By stitching together the at least one frame of surface images, a target surface image of the surface to be cleaned can be obtained.

[0088] In this application, if the length of the contact image sensor module is less than the width of the cleaning coverage area of ​​the cleaning device during the cleaning process, the cleaning density of the cleaning device during the cleaning process can be increased.

[0089] To enable those skilled in the art to better understand this application, the following is combined with Figure 4 The following is an illustration using a specific example.

[0090] See Figure 4 The diagram illustrates a scenario where a cleaning device performs a cleaning task according to an embodiment of this application.

[0091] like Figure 4 As shown in sub-figure (a), the length of the contact image sensor module in the cleaning equipment is A. The length A is equal to the width of the cleaning coverage area of ​​the cleaning equipment during the cleaning task. In the surface to be cleaned with a width of D, the cleaning density of the cleaning equipment during the cleaning task is 3 (i.e., including a1, a2, a3, a total of 3 times).

[0092] like Figure 4 As shown in sub-figure (b), the length of the contact image sensor module in the cleaning equipment is B. The length B is less than the width of the cleaning coverage area of ​​the cleaning equipment during the cleaning task. In the surface to be cleaned with a width of D, the cleaning density of the cleaning equipment during the cleaning task is 5 (i.e., including b1, b2, b3, b4, b5, a total of 5 times).

[0093] It is evident that if the length of the contact image sensor module is less than the width of the cleaning coverage area of ​​the cleaning equipment during the cleaning task, by increasing the cleaning density of the cleaning equipment during the cleaning task, it can be ensured that the contact image sensor module can collect surface images of the entire cleaning area of ​​the cleaning equipment, thereby ensuring the integrity of the information in the image of the surface to be cleaned, and thus improving the accuracy of surface information recognition of the surface to be cleaned.

[0094] Step 320: Based on the target surface image, determine the surface information of the surface to be cleaned, wherein the surface information includes the degree of dirt and / or surface material of the surface to be cleaned.

[0095] Specifically, in the process of identifying the degree of dirt on a surface to be cleaned, the system can identify distinct graphic or color areas on the surface (these areas may contain liquid contaminants such as soy sauce, milk, coffee, or soup, or solid contaminants such as shoe prints or dust) through the target surface image. These areas can then be identified as areas with a high degree of dirt.

[0096] In identifying the surface material of a surface to be cleaned, the surface material can be determined based on the brightness (or reflectivity) of the target surface image. Surfaces with higher image brightness can be identified as high-reflectivity surfaces, such as tile or metal floors. These smooth, high-reflectivity surfaces have lower adhesion and are therefore less likely to attract dirt. Conversely, surfaces with lower image brightness can be identified as low-reflectivity surfaces, such as carpets or rough surfaces. These low-reflectivity surfaces have higher adhesion and are therefore more likely to attract dirt.

[0097] In this way, the surface image of the surface to be cleaned generated by the contact image sensor module proposed in this application can achieve accurate identification of the surface information of the surface to be cleaned without complex image processing algorithms. This reduces the computing power required for identifying the surface information of the surface to be cleaned and improves the identification efficiency. Of course, in other embodiments, surface information can also be identified based on the obtained surface image of the surface to be cleaned using a pre-trained machine learning algorithm.

[0098] It should be noted that the technical solution provided in this application can also determine the type of dirt on the surface to be cleaned, such as liquid dirt, solid dirt, etc.

[0099] In other embodiments of this application, determining the surface information of the surface to be cleaned based on the target surface image can also be performed according to steps 411 to 413 as follows:

[0100] Step 411: Obtain a reference surface image of the surface to be cleaned, captured by a camera device installed in the cleaning equipment.

[0101] Step 412: Obtain wastewater data from the cleaning equipment during the cleaning process.

[0102] Step 413: Determine the degree of dirt on the surface to be cleaned based on the target surface image, and / or the reference surface image, and / or the wastewater data.

[0103] In this embodiment, the degree of dirt on the surface to be cleaned is determined by combining information from multiple dimensions, including the target surface image determined by the contact image sensor module, the reference surface image acquired by the camera device, and the wastewater data generated by the cleaning equipment during the cleaning process. (Before determining the surface information of the surface to be cleaned based on the target surface image acquired by the contact image sensor module, an image can be taken by the camera device, the obtained reference surface image can be analyzed, and an algorithm can be used to determine the areas with dirt, so as to identify the degree of dirt on the surface to be cleaned in advance. In addition, the wastewater data generated by the cleaning equipment during the cleaning process can also reflect the degree of dirt on the surface to be cleaned to a certain extent, so the degree of dirt on the surface to be cleaned can also be determined based on the wastewater data.) This can enhance the accuracy of the determination of the degree of dirt on the surface to be cleaned to a certain extent.

[0104] Step 330: Control the cleaning equipment to perform cleaning actions adapted to the surface information.

[0105] In this application, the control cleaning device performs cleaning actions adapted to the surface information, which can be executed according to the following step 331:

[0106] Step 331: If the degree of dirt is greater, the cleaning time of the cleaning equipment is controlled to be longer, and / or the cleaning intensity of the cleaning equipment is controlled to be greater.

[0107] In this application, if the surface to be cleaned is heavily soiled, such as containing liquid contaminants including soy sauce, milk, coffee, or soup, or solid contaminants including shoe prints or dust, a better cleaning effect can be achieved by increasing the cleaning time of the cleaning equipment and / or enhancing the cleaning intensity of the cleaning equipment (e.g., increasing the cleaning time on the surface to be cleaned, increasing the suction power of the vacuum cleaner on the surface to be cleaned, increasing the downward pressure of the mop, enhancing the vibration intensity of the mop, and increasing the rotation speed of the mop).

[0108] In this application, the control cleaning device performs cleaning actions adapted to the surface information, which can also be performed according to the following step 332:

[0109] Step 332: If the surface material has a higher dirt adhesion, the cleaning time of the cleaning equipment is controlled to be longer, and / or the cleaning intensity of the cleaning equipment is controlled to be greater.

[0110] In this application, if the surface material has a higher dirt adhesion, for example, if the surface to be cleaned is a rough surface such as a wooden floor, a better cleaning effect can be ensured by increasing the cleaning time of the cleaning equipment and / or increasing the cleaning intensity of the cleaning equipment.

[0111] In this application, the control cleaning device performs cleaning actions adapted to the surface information, which can also be performed according to the following step 333:

[0112] Step 333: If the surface material is a blanket material, control the cleaning device to lift the cleaning component.

[0113] In this application, if the surface material is a carpet material, such as a rug (e.g., the surface image is displayed as hair-like lines), the cleaning device can be controlled to lift the cleaning component, such as lifting the mop, to avoid wetting the carpet.

[0114] In practical applications, the technical solution proposed in this application can be applied to floor cleaning in household settings. Household floor patterns are often regularly repeating. The contact image sensor module installed in the cleaning equipment can consist of a white light source, a complementary metal-oxide sensor (CMOS sensor), and a lens array, enabling close-range scanning and recording of patterns. Specifically, the white light source illuminates the floor, and the reflected light is refracted through the lens array onto the CMOS sensor, generating strip-shaped surface images. As the cleaning equipment moves forward, these continuously scanned strip-shaped images are stitched together to create a complete image of the floor. By identifying areas in the created floor image that differ in shape and color from the regularly repeating image, dirty areas can be identified in real time, allowing for targeted cleaning of these areas.

[0115] The following describes an embodiment of the apparatus described in this application, which can be used to execute the cleaning equipment control method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the cleaning equipment control method described above.

[0116] See Figure 5 The diagram shows a block diagram of a cleaning equipment control device according to an embodiment of this application, wherein the cleaning equipment is the cleaning equipment described in the above embodiments.

[0117] like Figure 5 As shown, the cleaning equipment control device 500 according to an embodiment of this application includes: an acquisition unit 501, an acquisition unit determination unit 502, and a control unit 503.

[0118] The acquisition unit 501 is used to acquire a target surface image of the surface to be cleaned collected by the contact image sensor module; the determination unit 502 is used to determine the surface information of the surface to be cleaned based on the target surface image; and the control unit 503 is used to control the cleaning equipment to perform cleaning actions adapted to the surface information.

[0119] In some embodiments of this application, based on the foregoing scheme, the acquisition unit 501 is configured to: acquire at least one frame of surface image of the surface to be cleaned by the contact image sensor module during the cleaning task performed by the cleaning equipment; and stitch the at least one frame of surface image to obtain a target surface image of the surface to be cleaned.

[0120] In some embodiments of this application, based on the aforementioned scheme, if the length of the contact image sensor module is less than the width of the cleaning coverage area of ​​the cleaning device during the cleaning task, the cleaning density of the cleaning device during the cleaning task is increased.

[0121] In some embodiments of this application, based on the foregoing scheme, the surface information includes the degree of dirt and / or surface material of the surface to be cleaned.

[0122] In some embodiments of this application, based on the foregoing scheme, the determining unit 502 is configured to: acquire a reference surface image of the surface to be cleaned by a camera device installed in the cleaning equipment; acquire wastewater data of the cleaning equipment during the cleaning process; and determine the degree of dirt on the surface to be cleaned based on the target surface image and / or the reference surface image and / or the wastewater data.

[0123] In some embodiments of this application, based on the foregoing scheme, the control unit 503 is configured to: control the cleaning time of the cleaning equipment to be longer and / or control the cleaning intensity of the cleaning equipment to be greater if the degree of dirt is greater.

[0124] In some embodiments of this application, based on the foregoing scheme, the control unit 503 is configured to: control the cleaning time of the cleaning device to be longer if the dirt adhesion of the surface material is higher, and / or control the cleaning intensity of the cleaning device to be greater.

[0125] In some embodiments of this application, based on the foregoing scheme, the control unit 503 is configured to: if the surface material is a blanket material, control the cleaning device to lift the cleaning component.

[0126] Based on the same inventive concept, embodiments of this application provide a computer program product, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the operations performed by the cleaning equipment control method as described above.

[0127] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0128] Based on the same inventive concept, this application also provides a cleaning device, see reference. Figure 6 The diagram shows a structural schematic of a cleaning device according to an embodiment of this application. The cleaning device includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instruction) stored in the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, it implements the cleaning device control method as described above.

[0129] Among them, Figure 6 In this document, a bus architecture (represented by bus 600) is used. Bus 600 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 can be used to store data used by processor 602 during operation.

[0130] Based on the same inventive concept, embodiments of this application provide a cleaning system, which includes the cleaning equipment and base station as described above.

[0131] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0133] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0134] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0135] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A cleaning device, characterized in that, The cleaning equipment includes a contact image sensor module, which is used to acquire surface images of the surface to be cleaned, and the surface images are used to analyze the surface information of the surface to be cleaned.

2. The cleaning equipment according to claim 1, characterized in that, The contact image sensor module includes a light source and an image sensor. The light source is used to project light onto the surface to be cleaned, and the image sensor is used to receive the reflected light from the surface to be cleaned and generate a surface image of the surface to be cleaned based on the reflected light.

3. The cleaning equipment according to claim 2, characterized in that, The contact image sensor module also includes a lens array, which is used to refract reflected light from the surface to be cleaned onto the image sensor.

4. The cleaning equipment according to claim 2, characterized in that, The light source is a white light source.

5. The cleaning equipment according to claim 2, characterized in that, The image sensor is a complementary metal-oxide sensor.

6. The cleaning equipment according to claim 1, characterized in that, The contact image sensor module is installed at the bottom of the cleaning equipment.

7. The cleaning equipment according to claim 6, characterized in that, The cleaning device has a suction port at its bottom, and the contact image sensor module is installed in front of the suction port in the target direction, which is the direction in which the cleaning device moves forward during the cleaning task.

8. The cleaning equipment according to claim 6, characterized in that, The bottom of the cleaning device is equipped with a cleaning component, and the contact image sensor module is installed behind the cleaning component in the target direction, which is the forward direction of the cleaning device during the cleaning task.

9. The cleaning equipment according to claim 6, characterized in that, The bottom of the cleaning device is provided with a suction port and a cleaning component, and the contact image sensor module is installed between the suction port and the cleaning component.

10. A method for controlling cleaning equipment, characterized in that, The cleaning equipment is the cleaning equipment as described in any one of claims 1 to 9, and the method includes: Acquire a target surface image of the surface to be cleaned, captured by a contact image sensor module; Based on the target surface image, determine the surface information of the surface to be cleaned; Control the cleaning equipment to perform cleaning actions adapted to the surface information.

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