Multi-color dust developing method and system of cleaning equipment

Abstract

The embodiment of the invention provides a multi-color dust display method and system of cleaning equipment, and belongs to the technical field of dust display of the cleaning equipment. The multi-color dust developing method comprises the following steps: detecting stains in a detection range of cleaning equipment; when it is detected that stains exist in the detection range of the cleaning equipment, an image of the detection range is obtained; identifying and classifying stains in the image, and generating a dust display signal; displaying a color corresponding to the stain according to the dust display signal, and / or sending the dust display signal to a terminal to display the color corresponding to the stain; according to the cleaning degree of the stains, the colors corresponding to the stains are updated and displayed in real time. Stains are classified through image identification and different colors are distributed, so that a user can intuitively distinguish solid or liquid stains; by updating the color depth mapping cleaning degree in real time, a user can accurately grasp the cleaning progress, so that the cleaning reliability and the user experience are improved.

Description

Technical Field

[0001] This invention relates to the field of dust detection technology for cleaning equipment, and more specifically to a multi-color dust detection method and system for cleaning equipment. Background Technology

[0002] Many existing small cleaning appliances on the market, such as mops, vacuum cleaners, and sweepers, already incorporate green light dust detection. These devices use green lasers or LEDs to project light parallel to the ground, revealing solid dust particles. The principle is that the human eye is most sensitive to green; when ground particles are blocked by parallel light, the resulting shadows create the strongest contrast. Furthermore, green laser technology is relatively mature and inexpensive. Multispectral sensors and white light detection are also in the research and development stage, but their resolution is not high, and the sensors are expensive.

[0003] Currently, when cleaning equipment is cleaning stains, users can only determine whether stains exist, but cannot determine the type of stain or the cleaning process. Consequently, they cannot understand the real-time cleaning status of different stains, resulting in poor cleaning reliability and a poor user experience.

[0004] In the process of realizing this invention, the inventors of this application discovered that the above-mentioned solutions in the prior art have the defect of poor reliability in stain removal. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-color dust detection method and system for cleaning equipment, which has the function of high reliability in stain removal.

[0006] To achieve the above objectives, one embodiment of the present invention provides a multi-color dust detection method for a cleaning device, comprising: Detect stains within the detection range of cleaning equipment; If stains are detected within the detection range of the cleaning equipment, an image of the detection range is acquired; The stains in the image are identified and classified, and a dust detection signal is generated; The color corresponding to the stain is displayed according to the dust detection signal, and / or a dust detection signal is sent to the terminal to make it display the color corresponding to the stain; The color corresponding to the stain is updated in real time based on the degree of cleaning of the stain.

[0007] Optionally, the detection range includes the forward and lateral directions of the cleaning device.

[0008] Optionally, the stains within the detection range of the cleaning equipment include: The detector light emitter of the cleaning equipment is controlled to emit detector light; Acquire the reflected light received by the detection light receiver of the cleaning equipment; The presence of stains within the detection range of the cleaning device is determined based on the reflected light received by the detection light receiver.

[0009] Optionally, determining whether stains exist within the detection range of the cleaning device based on the reflected light received by the detection light receiver includes: Detect whether the intensity of the reflected light received by the probe light receiver is within the reflection intensity threshold range; If the intensity of reflected light received by the detection light receiver is not within the reflection intensity threshold range, it is determined that there is a stain within the detection range of the cleaning device, and the type of the stain is detected.

[0010] Optionally, detecting the type of stain includes: The detector detects whether the intensity of the reflected light received by the probe light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range. If the intensity of reflected light received by the detection light receiver is lower than the lower limit of the reflection intensity threshold range, the stain is determined to be a solid stain. If the intensity of reflected light received by the detection light receiver is higher than the upper limit of the reflection intensity threshold range, the stain is determined to be a liquid stain.

[0011] Optionally, identifying and classifying stains in the image includes: Images and category labels of different types of solid stains and liquid stains are obtained, and a training set is constructed; Construct a stain type image recognition model, and train the stain type image recognition model using the training set; The image is input into the trained stain type image recognition model to obtain the corresponding stain type.

[0012] Optionally, generating a dust detection signal includes: Different colors are used to classify different types of solid stains and liquid stains; A corresponding dust detection signal is generated based on the type of stain.

[0013] Optionally, displaying the color corresponding to the stain based on the dust detection signal includes: The cleaning device is controlled to emit a color corresponding to the stain to illuminate the stain.

[0014] Optionally, the color corresponding to the stain may be updated in real time according to the degree of stain removal, including: Each color is divided into multiple shades; Detect whether the cleaning equipment has started cleaning the stain; When the cleaning equipment begins to clean the stains, the detector light emitter is continuously controlled to emit detector light; Obtain the reflected light received by the current probe light receiver; The degree of cleaning of the stain is determined based on the reflected light received by the current detection light receiver; Update the color corresponding to the stain based on the current degree of cleaning of the stain.

[0015] Optionally, updating the color of the stain according to the current degree of stain removal includes: The range of reflected light intensity variation of stains is pre-divided into multiple intensity levels, and a mapping relationship is established with multiple shades of color. During the cleaning process, the corresponding color depth level is determined and updated based on the intensity level of the currently detected reflected light.

[0016] On the other hand, the present invention also provides a multi-color dust detection system for cleaning equipment, comprising: Cleaning equipment; The terminal is communicatively connected to the cleaning equipment; A control module, connected to the cleaning equipment and the terminal, is used to execute the multicolor dust detection method as described above.

[0017] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the above-described multicolor dust detection methods.

[0018] Through the above technical solution, the multi-color dust detection method and system for cleaning equipment provided by this invention detects stains within the detection range of the cleaning equipment and acquires images within the detection range, enabling the identification and classification of stains. Based on the type of stain, a corresponding dust detection signal can be generated to control the cleaning equipment and / or terminal to display the color corresponding to that type of stain. The color displayed for the current stain is continuously updated according to the cleaning process, thus reflecting the cleaning degree in real time. By classifying stains through image recognition and assigning different colors, users can intuitively distinguish between solid and liquid stains. By updating the color depth in real time to map the cleaning degree, users can accurately grasp the cleaning progress, thereby improving cleaning reliability and user experience.

[0019] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a multi-color dust detection method for a cleaning device according to an embodiment of the present invention; Figure 2 This is a flowchart of a multicolor dust detection method for a cleaning device according to an embodiment of the present invention for detecting stains within a detection range; Figure 3 This is a flowchart of a stain detection method in a multicolor dust detection device according to an embodiment of the present invention; Figure 4 This is a flowchart of the substance type diagnosis in a multicolor dust detection method for a cleaning device according to an embodiment of the present invention; Figure 5 This is a flowchart illustrating the process of identifying stains in an image using a multicolor dust detection method for a cleaning device according to an embodiment of the present invention. Figure 6 This is a flowchart illustrating the transmission of a dust detection signal in a multi-color dust detection method for a cleaning device according to an embodiment of the present invention; Figure 7 This is a flowchart of updating the real-time status of stains in a multi-color dust detection method for a cleaning device according to an embodiment of the present invention; Figure 8 This is a flowchart illustrating the determination of the current cleaning level in a multi-color dust detection method for a cleaning device according to an embodiment of the present invention. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0022] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0023] Figure 1 This is a flowchart of a multi-color dust detection method for a cleaning device according to an embodiment of the present invention. Figure 1 In this multicolor dust detection method, the following can be included: In step S1, stains are detected within the detection range of the cleaning equipment. This detection range can encompass both the forward and lateral directions of the cleaning equipment, with the forward direction being the area of ​​movement. Detecting stains in both the forward and lateral directions effectively increases the detection and cleaning range, resulting in higher cleaning efficiency and better performance. Specifically, the forward direction of the cleaning equipment refers to the area in front of its main body, and the lateral direction refers to the area to the side of its main body, i.e., directions perpendicular to or at an angle to the forward direction of the cleaning equipment.

[0024] For detecting stains within the detection range of cleaning equipment, a combination of a light transmitter and a light receiver can be used, detecting stains by measuring the intensity of reflected light. Specifically, light transmitters and receivers can be installed both in front of and to the side of the cleaning equipment.

[0025] In step S2, if a stain is detected within the detection range of the cleaning device, an image of the detection range is acquired. If a stain is present within the detection range, the image of the detection range is used to further determine the type of stain.

[0026] A camera module and a supplementary lighting module can be installed on the front and side walls of the cleaning equipment. The supplementary lighting module can emit an auxiliary light source to cooperate with the camera module to capture clearer and more effective images.

[0027] Auxiliary light sources can include visible light and infrared light. Infrared light can create a better substrate difference than visible light, making the stains more clearly visible.

[0028] In step S3, stains in the image are identified and classified, and a dust detection signal is generated. By identifying and classifying stains in the image, the type of stain can be determined, and based on the type of stain, a corresponding color-developing light / dust detection light can be selected, and the color-developing light / dust detection light signal is generated.

[0029] For stains to be highlighted, this can involve irradiating the stain with different colors to make it more visible. If the stain is dust, then this is called stain highlighting. Here, stains can be uniformly understood as dust, and highlighting means making the stain visible.

[0030] In step S4, the color corresponding to the stain is displayed based on the dust detection signal, and / or a dust detection signal is sent to the terminal to make it display the color corresponding to the stain. The dust detection signal can be received by the cleaning equipment and / or the terminal, meaning the terminal and the cleaning equipment can communicate with each other. The terminal can include a mobile phone, tablet, etc.

[0031] When the cleaning equipment receives a dust detection signal, it will emit color-coding light / dust-detecting light corresponding to the type of stain in the detection area to intuitively show the user the type and location of the stain.

[0032] When the terminal receives a dust detection signal, the type and location of the stain can be displayed using different colors via a mobile phone or tablet app. Specifically, the mobile phone or tablet app can synchronize with the user's home map, determine the color-coded area on the map based on the location of the stain, and then select the corresponding color to display or flash based on the dust detection signal of the stain, thus intuitively showing the user the type and location of the stain.

[0033] Furthermore, the color display of the stain on the cleaning device and the color display of the stain on the terminal can be executed simultaneously, or one of them can be selected. Both methods can intuitively display the type and location of the stain, improving the user experience.

[0034] In step S5, the color of the stain is updated in real time according to the degree of stain removal. Initially, when a stain is detected and a dust signal is generated, the stain has not yet begun to be cleaned, and the cleaning equipment can be controlled to clean it. As the stain is continuously cleaned, it gradually decreases until it is completely removed. Based on this, the present invention can also update the color of the stain in real time according to the degree of stain removal. Specifically, the color displayed before the stain is cleaned can include the darkest value of the stain's corresponding color, and the stain's color gradually lightens as it is cleaned. Dynamic control of the stain's displayed color further improves the user's intuitive understanding and experience of the stain removal process.

[0035] In steps S1 to S5, stains within the detection range are first detected. If a stain is detected within the detection range, an image of that detection range, i.e., an image of the stain, is acquired. The stain is then identified based on the image, and the color of the stain / dust is determined according to its type, thereby generating a corresponding dust signal. At this point, the cleaning equipment and / or terminal can receive the dust signal and display the corresponding color of the stain based on it. The color before stain cleaning can be set to the darkest state of the stain's corresponding color, and the color gradually lightens as the stain is cleaned. Therefore, the color displayed by the cleaning equipment and / or terminal can be dynamically updated in real time.

[0036] Traditional cleaning equipment, when removing stains, only allows users to confirm the presence of stains, but cannot determine the type of stain or the progress of the cleaning process. This results in poor cleaning reliability and a negative user experience. In this embodiment of the invention, a method is employed that uses different colors to display dust based on the type of stain, and dynamically updates the color intensity in real time. This effectively reflects the degree of stain removal, improves the reliability of stain removal, and allows users to quickly understand the stain type and the cleaning process, leading to a better user experience.

[0037] In this embodiment of the invention, the detection of stains within the detection range / detection area of ​​the cleaning equipment can be achieved by the cooperation of a detection light emitter and a detection light receiver. Specific steps can be as follows: Figure 2 As shown. Specifically, in Figure 2 In this process, the detection steps for stains within the detection range may include: In step S10, the detection light emitter of the cleaning equipment is controlled to emit detection light. The detection light emitter can emit light and, in conjunction with a detection light receiver, receive the reflected light. That is, light can be emitted and received both forward and sideways from the cleaning equipment.

[0038] In step S11, the reflected light received by the detection light receiver of the cleaning equipment is acquired. Specifically, after the detection light emitter emits detection light towards the detection area / range, considering that the reflected light from different stains may be enhanced or weakened relative to the tile / floor, the presence of stains can be determined based on the intensity of the reflected light received in real time by the detection light receiver.

[0039] In step S12, the presence of stains within the detection range of the cleaning equipment is determined based on the reflected light received by the detection light receiver. Specifically, the intensity of the reflected light received by the detection light receiver can be compared with the intensity of the reflected light from the tile / floor, and the presence of stains within the detection range is determined based on changes in the intensity of the reflected light.

[0040] In this embodiment of the invention, after obtaining the intensity of the reflected light from the detector light receiver, the reflected light intensity can be further compared with a reflection intensity threshold to detect stains. Specific steps can be as follows: Figure 3 As shown. Specifically, in Figure 3 In this context, methods for detecting reflected light intensity and stains may include: In step S120, it is detected whether the intensity of the reflected light received by the probe light receiver is within the reflection intensity threshold range. This reflection intensity threshold range can be determined based on the intensity of the reflected light from the tile / floor when the probe light is emitted by the probe light transmitter. Specifically, the reflected light intensity differs between tiles and flooring, therefore their reflection intensity thresholds also differ. The reflection intensity threshold range can include average values ​​or range data, and the specific setting can be determined based on the actual detection accuracy.

[0041] Furthermore, the range of reflection intensity thresholds can be obtained by pre-calibrating the reflection intensity of the cleaning equipment on clean tiles or floors, such as setting it to a range of ±10% of the average reflection intensity.

[0042] Furthermore, the reflection intensity threshold range can be determined based on the reflected light intensity of common solid and liquid stains. Specifically, common solid and liquid stains are placed on clean tiles or floors. Based on the property that solid stains absorb light and reduce reflected light intensity, while liquid stains enhance reflected light intensity, the reflected light intensity of each type of solid and liquid stain is obtained. Simultaneously, the maximum reflected light intensity of solid stains and the minimum reflected light intensity of liquid stains are obtained, and the reflection intensity threshold range is determined based on the median and difference between these two values.

[0043] Specifically, the range of reflection intensity thresholds can be obtained according to formula (1). (1) in, , These represent the upper and lower limits of the reflection intensity threshold range, respectively. The minimum reflected light intensity in a liquid stain. This represents the maximum reflected light intensity in a solid stain. As a regulating factor, and Preferably, the adjustment factor may include 10. By determining the reflection intensity threshold range based on the maximum reflected light intensity in solid stains and the minimum reflected light intensity in liquid stains, the accuracy and effectiveness of stain identification can be effectively improved.

[0044] In step S121, if the intensity of reflected light received by the detection light receiver is not within the reflection intensity threshold range, it is determined that a stain exists within the detection range of the cleaning device, and the type of stain is detected. Specifically, if the intensity of reflected light received by the current detection light receiver is not within the reflection intensity threshold range, it indicates that the reflected light is not directly reflected from the tile / floor, but rather reflected through stains, etc. Therefore, it can be determined that a stain exists within the detection range of the cleaning device. Conversely, if the intensity of reflected light received by the current detection light receiver is within the reflection intensity threshold range, it indicates that the reflected light is directly reflected from the tile / floor, and there is no stain within the detection range. After determining that a stain exists within the detection range of the cleaning device, the type of stain can be determined and diagnosed. Specifically, the type of stain can include solid stains and liquid stains.

[0045] In this embodiment of the invention, after determining that stains exist within the detection range of the cleaning equipment, the type of stain can be further diagnosed. Specifically, the diagnostic steps can be as follows: Figure 4 As shown. Specifically, in Figure 4 In this context, the diagnostic steps for this type of stain may include: In step S1210, it is detected whether the intensity of the reflected light received by the probe light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range. Wherein, after determining that the current reflected light intensity is not within the reflection intensity threshold range, it can be further determined whether the reflected light intensity is stronger or weaker than the reflection intensity threshold range.

[0046] In step S1211, if the intensity of reflected light received by the detection light receiver is lower than the lower limit of the reflection intensity threshold range, the stain is determined to be a solid stain. Specifically, if the intensity of reflected light received by the detection light receiver is weaker than the reflection intensity threshold range, it indicates that the detection light is being absorbed, and the stain can be determined to be a solid stain.

[0047] In step S1212, if the intensity of reflected light received by the detection light receiver is higher than the upper limit of the reflection intensity threshold range, the stain is determined to be a liquid stain. Specifically, if the intensity of reflected light received by the detection light receiver is stronger than the reflection intensity threshold range, it indicates that there is enhanced reflection of the detection light, and the stain can be determined to be a liquid stain.

[0048] In this embodiment of the invention, after acquiring an image of the detection range, image recognition can be performed on the image to determine the type of stain in the image. Specifically, the recognition steps can be as follows: Figure 5 As shown. Specifically, in Figure 5 In this process, the steps for identifying the type of stain may include: In step S30, images and category labels of different types of solid and liquid stains are acquired, and a training set is constructed. Images of common stains can be collected from various sources, and each stain image is labeled and classified to construct a training set for training the model.

[0049] Specifically, common solid stains in the home can include, but are not limited to, dust, rice grains, bread, tea leaves, and paper scraps. Common liquid stains in the home can include, but are not limited to, water, juice, soy sauce, milk, and cola. The types of fixed stains and liquid stains will not be listed here, but can be further classified according to actual needs.

[0050] In step S31, a stain type image recognition model is constructed and trained using a training set. The specific form of the stain type image recognition model may include, but is not limited to, convolutional neural network models known to those skilled in the art.

[0051] In step S32, the image is input into the trained stain type image recognition model to obtain the corresponding stain type. Once the stain type image recognition model is trained, the stain type can be identified and determined based on the current image.

[0052] In this embodiment of the invention, after identifying the type of stain, different dust detection signals can be generated according to the type of stain. Specific steps can be as follows: Figure 6 As shown. Specifically, in Figure 6 In this process, the generation of the dust detection signal may include: In step S33, different colors are used to classify different types of solid and liquid stains. Different colors can be used for different types of stains, such as brown for bread, white for rice grains, and orange for juice. The type and number of colors can be selected according to the actual stain detection needs, so that the number of stain types corresponds to the number of colors, improving the dust detection effect.

[0053] In step S34, a corresponding dust detection signal is generated based on the type of stain. Specifically, after determining the color corresponding to the type of stain, a dust detection signal corresponding to that color can be generated, and this signal includes the shade level of the color.

[0054] In this embodiment of the invention, different dust detection methods are employed after the cleaning device and / or terminal receive a dust detection signal. Specifically, after receiving the dust detection signal, the cleaning device emits a color corresponding to the stain to illuminate the stain, i.e., to illuminate the detection area. After receiving the dust detection signal, the terminal APP displays the color corresponding to the stain at the stain location. The methods for the cleaning device to illuminate the stain and the terminal to display the stain color can include simultaneous execution or selection of either execution.

[0055] In this embodiment of the invention, after identifying the type of stain, the stain can be cleaned using a robotic arm or cleaning tool on the cleaning device. As the stain is continuously cleaned, the color illuminated by the cleaning device and / or the color displayed on the terminal APP need to be updated in real time. The specific update steps can be as follows: Figure 7 As shown. Specifically, in Figure 7 In this context, the real-time color update step may include: In step S60, each color is divided into multiple shade levels. The shade level of a color can be determined by pixel brightness values, including RGB values.

[0056] In step S61, it is detected whether the cleaning equipment has started cleaning the stains. Whether the cleaning equipment is cleaning the stains can be determined by detecting the operation of the cleaning equipment's robotic arm or cleaning tools.

[0057] In step S62, when the cleaning equipment starts cleaning the stains, the detector light emitter is continuously controlled to emit detector light. Specifically, the detector light emitter continues to operate and emit detector light throughout the cleaning process.

[0058] In step S63, the reflected light received by the current probe light receiver is acquired. The probe light receiver continuously receives probe light to obtain the intensity of the reflected light in real time.

[0059] In step S64, the degree of stain removal is determined based on the reflected light received by the current detection light receiver. Specifically, the initial reflected light intensity of the stain can be converted to the median value of the reflected light intensity threshold range to obtain the reflected light intensity difference of the stain. Multiple removal degrees are then divided at equal intervals based on this reflected light intensity difference; for example, 1 / 10 of the reflected light intensity difference can be mapped to 10% of the stain removal degree, and so on.

[0060] Specifically, the degree of cleaning can be quantified as a percentage to facilitate the digital display of the real-time accuracy of stain removal, making it more intuitive and accurate.

[0061] In step S65, the color of the stain is updated according to the current degree of stain removal. Different degrees of stain removal result in different intensity levels, which can be visually displayed using different shades of color. Therefore, the color of the stain needs to be updated in real time.

[0062] In this embodiment of the invention, after acquiring the reflected light received by the probe light receiver in real time, the intensity level of the stain can be determined. Specific steps can be as follows: Figure 8 As shown. Specifically, in Figure 8 In this process, determining the intensity level of the stain may include: In step S640, the range of reflected light intensity variation of the stain is pre-divided into multiple intensity levels, and a mapping relationship is established with multiple shade levels of color. The number of shade levels is the same as the number of intensity levels. Specifically, the reflected light intensity of the stain can be pre-divided to obtain multiple intensity levels. Simultaneously, each intensity level is matched one-to-one with each shade level, and a mapping relationship is established. Therefore, based on the real-time reflected light intensity of the stain, the real-time intensity level of the stain can be accurately determined, and then mapped to the corresponding color shade, updating the displayed color shade of the stain.

[0063] Furthermore, the intensity level can be determined based on the initial reflected light intensity when the stain is detected and the median or upper / lower limit of the reflection intensity threshold. Specifically, it can be determined according to actual accuracy requirements. For example, the median between the initial reflected light intensity and the reflection intensity threshold can be divided into several intensity levels, meaning each intensity level corresponds to a degree of cleaning, and the color depth level can be determined based on the cleaning level. Further, limiting the number of depth levels to the same number as the intensity levels allows for a convenient correspondence between different intensities of reflected light / cleaning degree and color depth.

[0064] In step S641, during the cleaning process, the corresponding color depth level is determined and updated based on the intensity level of the currently detected reflected light. Specifically, after obtaining the reflected light intensity of the current stain, it can be compared with pre-defined intensity levels to determine the current stain's intensity level. Based on the mapping relationship between intensity levels and color depth levels, the current stain's color depth level can be obtained, and the corresponding color depth of the stain can then be displayed according to this color depth level.

[0065] On the other hand, the present invention also provides a multi-color dust detection system for cleaning equipment, which may include cleaning equipment, a terminal, and a control module.

[0066] The terminal communicates with the cleaning equipment, and the control module is connected to both the cleaning equipment and the terminal to execute any of the multicolor dust detection methods described above.

[0067] In this embodiment of the invention, the communication connection method between the terminal and the cleaning equipment may include, but is not limited to, Wi-Fi, Bluetooth, etc. For Wi-Fi (Wireless Local Area Network) communication, the cleaning equipment can be connected to the local Wi-Fi network of a home or business, and then connected to the Internet through a router; for Bluetooth communication, the cleaning equipment and the terminal can be directly paired via Bluetooth.

[0068] In this embodiment of the invention, the specific form of the cleaning equipment may include, but is not limited to, sweeping machines, floor scrubbers, vacuum cleaners, etc.

[0069] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the above-described multicolor dust extraction methods.

[0070] Through the above technical solution, the multi-color dust detection method and system for cleaning equipment provided by this invention detects stains within the detection range of the cleaning equipment and acquires images within the detection range, enabling the identification and classification of stains. Based on the type of stain, a corresponding dust detection signal can be generated to control the cleaning equipment and / or terminal to display the color corresponding to that type of stain. The color displayed for the current stain is continuously updated according to the cleaning process, thus reflecting the cleaning degree in real time. By classifying stains through image recognition and assigning different colors, users can intuitively distinguish between solid and liquid stains. By updating the color depth in real time to map the cleaning degree, users can accurately grasp the cleaning progress, thereby improving cleaning reliability and user experience.

[0071] This invention not only makes stains visible, but also constructs a complete interactive closed loop of "perception-recognition-visualization-feedback". By transforming the invisible cleaning process into intuitive color variations, the cleaning status becomes transparent, greatly enhancing the user's trust and sense of control over the cleaning equipment. This represents an important direction in the evolution of cleaning equipment from "automation tools" to "intelligent interactive partners".

[0072] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0074] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0075] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0076] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0077] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0078] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0079] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0080] The above are merely embodiments of this application and are not intended to limit the scope of 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 multi-color dust detection method for cleaning equipment, characterized in that, include: Detect stains within the detection range of cleaning equipment; If stains are detected within the detection range of the cleaning equipment, an image of the detection range is acquired; The stains in the image are identified and classified, and a dust detection signal is generated; The color corresponding to the stain is displayed according to the dust detection signal, and / or a dust detection signal is sent to the terminal to make it display the color corresponding to the stain; The color corresponding to the stain is updated in real time based on the degree of cleaning of the stain.

2. The multicolor dust detection method according to claim 1, characterized in that, The detection range includes the front and sides of the cleaning equipment.

3. The multicolor dust detection method according to claim 1 or 2, characterized in that, The stains detected by the cleaning equipment include: The detector light emitter of the cleaning equipment is controlled to emit detector light; Acquire the reflected light received by the detection light receiver of the cleaning equipment; The presence of stains within the detection range of the cleaning device is determined based on the reflected light received by the detection light receiver.

4. The multicolor dust detection method according to claim 3, characterized in that, Determining whether stains exist within the detection range of the cleaning device based on the reflected light received by the detection light receiver includes: Detect whether the intensity of the reflected light received by the probe light receiver is within the reflection intensity threshold range; If the intensity of reflected light received by the detection light receiver is not within the reflection intensity threshold range, it is determined that there is a stain within the detection range of the cleaning device, and the type of the stain is detected.

5. The multicolor dust detection method according to claim 4, characterized in that, The types of stains detected include: The detector detects whether the intensity of the reflected light received by the probe light receiver is lower than the lower limit of the reflection intensity threshold range or higher than the upper limit of the reflection intensity threshold range. If the intensity of reflected light received by the detection light receiver is lower than the lower limit of the reflection intensity threshold range, the stain is determined to be a solid stain. If the intensity of reflected light received by the detection light receiver is higher than the upper limit of the reflection intensity threshold range, the stain is determined to be a liquid stain.

6. The multicolor dust detection method according to claim 5, characterized in that, Identifying and classifying stains in the image includes: Images and category labels of different types of solid stains and liquid stains are obtained, and a training set is constructed; Construct a stain type image recognition model, and train the stain type image recognition model using the training set; The image is input into the trained stain type image recognition model to obtain the corresponding stain type.

7. The multicolor dust detection method according to claim 6, characterized in that, The generation of dust detection signals includes: Different colors are used to classify different types of solid stains and liquid stains; A corresponding dust detection signal is generated based on the type of stain.

8. The multicolor dust detection method according to claim 7, characterized in that, The color corresponding to the stain, as indicated by the dust detection signal, includes: The cleaning device is controlled to emit a color corresponding to the stain to illuminate the stain.

9. The multicolor dust detection method according to claim 8, characterized in that, The color corresponding to the stain is updated in real time based on the degree of stain removal, including: Each color is divided into multiple shades; Detect whether the cleaning equipment has started cleaning the stain; When the cleaning equipment begins to clean the stains, the detector light emitter is continuously controlled to emit detector light; Obtain the reflected light received by the current probe light receiver; The degree of cleaning of the stain is determined based on the reflected light received by the current detection light receiver; Update the color corresponding to the stain based on the current degree of cleaning of the stain.

10. The multicolor dust detection method according to claim 9, characterized in that, The color of the stain is updated based on the current degree of stain removal, including: The range of reflected light intensity variation of stains is pre-divided into multiple intensity levels, and a mapping relationship is established with multiple shades of color. During the cleaning process, the corresponding color depth level is determined and updated based on the intensity level of the currently detected reflected light.

11. A multi-color dust detection system for cleaning equipment, characterized in that, include: Cleaning equipment; The terminal is communicatively connected to the cleaning equipment; A control module, connected to the cleaning equipment and the terminal, is used to perform the multicolor dust detection method as described in any one of claims 1-10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that are read by a machine to cause the machine to perform the multicolor dust detection method as described in any one of claims 1-10.

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