Cleaning equipment control method and device and cleaning equipment

Abstract

The invention provides a control method and device of cleaning equipment and the cleaning equipment, and relates to the technical field of cleaning equipment. The cleaning equipment comprises a main machine body, a ground brush assembly, an image recognition device, a water pump assembly and a main draught fan. The floor brush assembly is rotationally connected with the main machine body; the image recognition device is arranged on the floor brush assembly, and the floor brush assembly comprises a rolling brush; the method comprises the steps that in the process that cleaning equipment executes a cleaning task, image information of a to-be-cleaned area is collected based on an image recognition device; under the condition that it is determined that the coloring liquid exists in front of the cleaning equipment based on the image information, the water pump assembly is controlled to be in a closed state, the main fan is controlled to operate based on the first suction force, and the rolling brush is controlled to operate based on the first rotating speed, so that the coloring liquid is cleaned, and the cleaning effect and efficiency of the coloring liquid are achieved; wherein the first suction is larger than the second suction, the first rotating speed is smaller than the second rotating speed, the second suction is the suction in the conventional cleaning mode, and the second rotating speed is the rotating speed in the conventional cleaning mode.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, apparatus and cleaning equipment for cleaning equipment. Background Technology

[0002] As home cleaning scenarios become increasingly complex, users are placing higher demands on the comprehensive cleaning capabilities of automated cleaning equipment such as floor scrubbers. In particular, when dealing with complex contaminants such as dark liquids, it is necessary not only to achieve efficient cleaning but also to avoid secondary pollution during the cleaning process.

[0003] In related technologies, floor scrubbers mainly rely on spray devices in conjunction with high-speed rotating roller brushes to clean the surface to be cleaned. Their working logic is to spray water to wet the stains, and then use the physical friction of the roller brush and the scraping action of the scraper to recycle the wastewater.

[0004] However, when faced with dark liquids that are highly penetrating or viscous, it is difficult to quickly decompose and remove stains by simply using a roller brush. Users often need to repeatedly push and pull the equipment to clean it multiple times, or even manually assist in scraping, resulting in low cleaning efficiency. Summary of the Invention

[0005] This application provides a control method, device, and cleaning equipment for a cleaning device. When the presence of colored liquid is detected by image recognition, the device automatically switches to a targeted cleaning mode that turns off the water spray, increases suction, and reduces the speed of the roller brush. This effectively prevents the colored liquid from spreading and achieves efficient recovery of the colored liquid, thereby improving the cleaning effect and efficiency of the colored liquid.

[0006] In a first aspect, this application provides a control method for a cleaning device, the cleaning device comprising: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is disposed on the floor brush assembly, the floor brush assembly comprising a roller brush; the method includes:

[0007] During the cleaning process, the cleaning equipment collects image information of the area to be cleaned based on the image recognition device.

[0008] If it is determined from image information that there is colored liquid in front of the cleaning equipment, the water pump assembly is controlled to be turned off, and the main fan is controlled to run based on a first suction force and the roller brush is controlled to run based on a first rotation speed to clean the colored liquid.

[0009] Among them, the first suction power is greater than the second suction power, the first rotation speed is less than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0010] Compared to existing methods for cleaning colored liquids, which suffer from poor cleaning results and require repeated cleaning, this application automatically detects colored liquids using image recognition and switches to a specific cleaning mode accordingly. This avoids the need for users to repeatedly push and pull the cleaning device or perform manual scraping due to incomplete cleaning, achieving rapid and effective removal of colored liquids and significantly shortening the overall cleaning time while improving cleaning efficiency. Furthermore, by shutting down the water pump assembly, the diluted or dispersing of the colored liquid by the sprayed water is prevented, effectively preventing the liquid from spreading or penetrating deeper into the surface to be cleaned. Simultaneously, the synergistic strategy of "strong suction (first suction power) and low rotation speed (first rotation speed)" enhances suction capacity for rapid liquid removal while reducing the mechanical agitation and crushing of stains by the roller brush, lowering the risk of stains becoming further embedded in the surface to be cleaned, optimizing the cleaning effect, and achieving a more thorough cleaning.

[0011] Furthermore, the aforementioned method achieves a fully automated process from identifying colored liquids to adjusting cleaning strategies, eliminating the need for users to manually judge and switch cleaning modes. This enables cleaning equipment to autonomously adapt to colored liquids of different properties, thereby simplifying operation, reducing the user's burden, and improving the product's intelligence level and user experience.

[0012] Optionally, the method also includes:

[0013] During the time period of cleaning the colored liquid, the roller brush is controlled to rotate at a frequency of target time intervals.

[0014] In this way, by controlling the intermittent rotation of the roller brush, the continuous, high-speed contact time between the roller brush and the colored liquid can be reduced, thereby further reducing the risk of liquid being crushed, penetrated, or splashed due to roller brush agitation. Furthermore, during the intervals when the roller brush pauses or operates at low speed, the main fan's suction force can be more concentrated on the colored liquid on the surface to be cleaned, avoiding airflow interference from the roller brush rotation and facilitating more efficient extraction of the colored liquid. Moreover, while ensuring effective removal of the colored liquid, intermittent operation can also reduce continuous wear on the roller brush and potentially reduce problems such as roller brush entanglement or clogging caused by viscous liquid.

[0015] Optionally, controlling the roller to rotate at a frequency that is at target intervals includes:

[0016] After the control roller brush rotates a preset number of times based on a first rotation speed within a first duration, it stops running for a second duration and repeats the process.

[0017] In this way, by controlling the rotation phase through a first duration and a preset number of revolutions, the roller brush completes a defined cleaning action within each working period. A second duration ensures sufficient stillness time, achieving precise intermittent control. During the first duration of roller brush rotation, its low speed (first rotation speed) moderately loosens the liquid and prevents it from spreading to surrounding areas. During the second duration after the roller brush stops, the high suction power of the main fan (first suction power) is unaffected by the roller brush rotation, focusing on drawing in the loosened liquid. This removes stains while minimizing liquid penetration due to continuous rolling. Furthermore, this periodic stopping operation helps prevent roller brush speed fluctuations caused by continuous contact with viscous liquids and maximizes the contact time between the roller brush and colored liquids, thereby improving cleaning effectiveness.

[0018] Optionally, the cleaning equipment also includes a steam generating device that ejects steam through nozzles; the method further includes:

[0019] During the cleaning process of the coloring liquid, the steam preparation device is kept on so that steam is sprayed into the coloring liquid through the nozzle.

[0020] High-temperature steam effectively softens and dissolves dark-colored liquid stains that are highly penetrating or viscous, reducing their adhesion to the surface to be cleaned. This makes them easier to remove later through the physical action of the roller brush and strong suction. Therefore, in addition to the "strong suction, low speed" control logic, steam control can be incorporated to accelerate the decomposition process of colored liquids without relying on large amounts of water or detergent. This can potentially reduce the number of reciprocating cleaning cycles of the roller brush, further improving the efficiency of a single cleaning pass. Furthermore, the high-temperature steam emitted by the steam generator not only cleans but also treats the area where the colored liquid is located at high temperatures, helping to kill some microorganisms and achieving a synergistic effect of cleaning and disinfection, thus improving hygiene levels.

[0021] Optionally, the floor brush assembly also includes a scraper assembly, which is located in front of the roller brush along the forward direction of the cleaning device; the scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned; after controlling the water pump assembly to be in the off state, and controlling the main fan to operate based on a first suction force and the roller brush to operate based on a first rotation speed to clean the colored liquid, the method further includes:

[0022] The scraper assembly is controlled to descend from the second position to the first position, and the water pump assembly is controlled to switch from the off state to the on state, so as to perform a scraping operation on the coloring liquid.

[0023] In this way, after the main fan initially sucks up most of the liquid, the liftable scraper assembly performs contact scraping, effectively removing stubborn residual stains that may still be attached to the surface to be cleaned or have seeped into the texture, achieving deep cleaning and stain removal. Reactivating the water pump assembly sprays clean water, which on the one hand wets the scraper assembly and the surface to be cleaned, reducing scraping resistance and preventing secondary contamination; on the other hand, the water flow washes away the scraped-up stains, which are then recovered by the suction of the main fan, thereby improving the cleaning effect. Furthermore, because the scraper assembly can switch between a first position and a second position, it can be raised during regular cleaning or preliminary cleaning to avoid unnecessary wear or resistance, and only be in the first position when scraping is required, allowing for on-demand function activation and improving application flexibility.

[0024] Optionally, the method also includes:

[0025] With the scraper assembly in the first position, the water pump assembly is controlled to operate based on a first water volume;

[0026] The first water volume is greater than the second water volume, which is the water volume under normal cleaning mode.

[0027] This provides a larger initial water volume than in conventional cleaning modes during the physical scraping action of the scraper assembly. This not only more thoroughly wets the contact area between the scraper assembly and the surface to be cleaned, reducing scraping resistance, but also more effectively washes away scraped-up stains and residues, improving cleaning efficiency. Since colored liquid residues may still adhere to or seep into the surface to be cleaned after the initial cleaning, increasing the water volume helps to dilute and suspend them, and, combined with the suction power of the main fan, quickly recovers them, achieving a deep cleaning cycle for colored liquids.

[0028] Optionally, the method also includes:

[0029] When the scraper assembly switches from the first position back to the second position, the water pump assembly is controlled to operate based on the second water volume.

[0030] In this way, after the scraping operation is completed, by adjusting the water spray volume back to the normal volume, the cleaning equipment smoothly transitions from the strong decontamination mode for colored liquids back to standard cleaning or other subsequent modes. This avoids water waste caused by continuous high-volume spraying or excessive wetting of the surface to be cleaned, reduces the potential impact of water on the surrounding area of ​​the cleaning equipment, and achieves a smooth transition between modes and resource optimization. Furthermore, the simultaneous adjustment of water volume and the switching of the physical position of the scraper assembly ensures the functional coordination of the cleaning equipment at different cleaning stages, allowing the cleaning strategy to dynamically adapt to the status of components, maintaining the continuity and adaptability of the cleaning process.

[0031] Optionally, the method also includes:

[0032] With the scraper assembly in the first position, the control brush operates based on the third rotation speed;

[0033] The third rotational speed is greater than the first rotational speed.

[0034] By controlling the roller brush to operate at a third rotation speed, the stronger bristle force is used to more thoroughly scrub and disperse the residual dirt that has just been scraped up, preventing it from re-aggregating or adhering, thus achieving a synergistic enhancement of "scraping-scrubbing".

[0035] In this way, by using a higher roller brush speed when the scraper assembly is in the first position, the cleaning time for residual stains can be shortened, improving the efficiency of a single cleaning action. Furthermore, increasing the roller brush speed after it has started operating at the first speed and then entering the scraping operation phase helps to fully emulsify and agitate the wastewater and residue generated during scraping, in conjunction with water spraying. This facilitates subsequent suction recovery, thereby improving the overall cleaning effect.

[0036] Optionally, the cleaning equipment also includes a photoelectric sensor for detecting the wavelength reflectivity of the surface to be cleaned; the method further includes:

[0037] If it is determined that there is colored liquid in front of the cleaning equipment, the area in front is detected again based on photoelectric sensors;

[0038] Once it is determined that the band reflectivity of the area in front meets the preset band range, a first prompt message is generated.

[0039] In this way, through dual verification of image recognition and optical reflectivity detection, misjudgments caused by changes in lighting and interference from patterns on the surface to be cleaned can be effectively reduced, improving the accuracy and reliability of identifying colored liquids. Furthermore, different colored liquids (such as red wine, coffee, and soy sauce) may have characteristic spectral reflectance properties. Therefore, by setting preset wavelength ranges, the spectral characteristics of different types of colored liquids can be specifically matched, improving the accuracy of colored liquid identification. In addition, by generating an initial prompt message to inform the user that the device has detected a colored liquid and is taking or will take targeted cleaning measures, the user's perception and trust in the intelligent behavior of the cleaning device are enhanced.

[0040] Optionally, the cleaning device may also include an optical sensor; the method may also include:

[0041] After cleaning the colored liquid, if an optical sensor determines that there is a fluorescent reaction at the target location, it is determined that the colored liquid has not been completely cleaned.

[0042] The target location is the area occupied by the colored liquid before it was cleaned up.

[0043] In this way, by detecting the fluorescent signals of residual stains, stains invisible to the naked eye can be identified, providing a more in-depth cleaning verification than visual inspection and enabling precise detection of residues. Furthermore, utilizing optical sensing technology for non-contact, highly sensitive residue detection improves the accuracy and reliability of cleaning effectiveness assessment.

[0044] Furthermore, based on the above verification results (whether there is a fluorescent reaction), the cleaning equipment can also automatically trigger secondary cleaning or prompt user intervention to improve cleaning quality and user experience, and ensure that residual stains from colored liquids are effectively removed.

[0045] Optionally, the method also includes:

[0046] If it is determined that the colored liquid has not been completely removed, the cleaning equipment is controlled to clean the target area again based on the normal cleaning mode.

[0047] Therefore, if the cleaning equipment detects that the colored liquid has not been thoroughly cleaned, it can automatically initiate a secondary cleaning process without user intervention, thus improving the autonomy and completeness of the cleaning process. Moreover, when targeted cleaning modes such as "strong suction and low speed" fail to completely remove the colored liquid, it can switch back to the regular cleaning mode for supplementary cleaning. This eliminates the need to develop or trigger more complex cleaning programs, helps control the energy consumption, wear and tear, and operational complexity of the cleaning equipment, and simplifies the cleaning process.

[0048] Optionally, the cleaning equipment may also include a display device, and the method may further include:

[0049] During the cleaning process, the status information of the cleaning equipment is acquired.

[0050] The current working status of the cleaning equipment is determined based on the status information, and the current working status is displayed visually on the display device and / or a second prompt message corresponding to the current working status is generated.

[0051] In this way, by transforming the operating status of cleaning equipment into intuitive visual information, such as icons, progress, and animations, users can clearly perceive the working mode (e.g., routine cleaning, liquid waste treatment), operating status, and abnormal situations of the cleaning equipment, enhancing their sense of confirmation and control over the cleaning equipment's effectiveness. Furthermore, generating corresponding secondary prompts based on the status information can proactively guide users to take necessary interventions or perform maintenance, improving cleaning efficiency and preventing equipment damage caused by neglecting problems. In addition, this transparent and timely status feedback allows users to understand the behavior of the cleaning equipment, such as why the cleaning mode is switched or why the water pump component is turned off, reducing confusion or anxiety caused by switching automatic operating modes. This builds user understanding and trust in intelligent functions, improving the overall smoothness and satisfaction of the user experience.

[0052] Optionally, determining the presence of a colored liquid in front of the cleaning device based on image information includes:

[0053] The image information is preprocessed to obtain the target image;

[0054] Extract target features from the target image and compare the target features with a preset feature library to determine that there is colored liquid in front of the cleaning equipment;

[0055] The target features are that the contact angle and spreading shape of the liquid meet the preset conditions.

[0056] Therefore, preprocessing can improve image quality, and by extracting target features and comparing them with a feature library, the recognition algorithm becomes more targeted. Furthermore, by analyzing physical characteristics such as the contact angle and spreading shape of the liquid, it is possible to effectively distinguish colored liquids from ordinary water or other liquids, thus effectively differentiating colored liquids from complex backgrounds and reducing the probability of false positives and false negatives. Moreover, by pre-setting a feature library to accommodate the morphological characteristics of various typical liquids, the cleaning equipment can identify multiple types of colored liquids (such as water-based and oil-based), improving the versatility of the recognition range. In addition, this application, through a clear feature extraction and comparison process, helps optimize the algorithm structure, reduces unnecessary computation, and enables the image recognition chip to achieve fast, real-time image recognition, improving algorithm processing efficiency and real-time performance, and meeting the needs of cleaning equipment for immediate decision-making during operation.

[0057] Secondly, this application provides a control device for a cleaning device, the cleaning device including: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is disposed on the floor brush assembly, the floor brush assembly including a roller brush; the control device includes:

[0058] The acquisition module is used to acquire image information of the area to be cleaned based on an image recognition device during the cleaning process of the cleaning equipment;

[0059] The control module is used to control the water pump assembly to be shut off when it is determined from image information that there is colored liquid in front of the cleaning equipment, and to control the main fan to run based on a first suction force and the roller brush to run based on a first rotation speed in order to clean the colored liquid.

[0060] Among them, the first suction power is greater than the second suction power, the first rotation speed is less than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0061] Thirdly, this application provides a cleaning device, which includes: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is disposed on the floor brush assembly, and the floor brush assembly includes a roller brush;

[0062] The cleaning equipment is used to perform the methods as described in any of the first aspects.

[0063] It should be noted that the second and third aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0064] The control method, apparatus, and cleaning equipment provided in this application utilize an image recognition device mounted on the floor brush assembly. During the cleaning process, the device acquires real-time image information of the area to be cleaned to identify the presence of colored liquids, such as soy sauce or coffee. Furthermore, when image analysis determines the presence of colored liquid, the cleaning equipment immediately adjusts its operating parameters. This includes shutting down the water pump assembly to stop water spraying or wet mopping, preventing liquid dilution or spread; switching the main fan to a higher initial suction power to enhance liquid extraction; and reducing the roller brush's rotation speed to minimize mechanical agitation and prevent further compaction and penetration. By shutting down the water pump assembly to prevent liquid spread and employing a "strong suction, low rotation speed" cleaning strategy, the device reduces roller brush agitation and penetration while rapidly removing liquid through enhanced suction, thus avoiding repeated pushing and pulling or manual scraping and improving cleaning efficiency per cycle. Attached Figure Description

[0065] 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.

[0066] Figure 1 This is a partial structural schematic diagram of a cleaning device provided in an embodiment of this application;

[0067] Figure 2This is a schematic diagram of the structure of an image recognition device provided in an embodiment of this application;

[0068] Figure 3 This is a schematic diagram illustrating the position setting of an image recognition device provided in an embodiment of this application;

[0069] Figure 4 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0070] Figure 5 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0071] Figure 6 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application;

[0072] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0073] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0074] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0075] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first rotational speed and the second rotational speed are only used to distinguish different rotational speeds and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0076] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0077] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0078] In related technologies, floor scrubbers mainly rely on spray devices in conjunction with high-speed rotating roller brushes to clean the surface to be cleaned. Their working logic is to spray water to wet the stains, and then use the physical friction of the roller brush and the scraping action of the scraper to recycle the wastewater.

[0079] However, when faced with dark liquids that are highly penetrating or viscous, it is difficult to quickly decompose and remove stains by simply using a roller brush. Users often need to repeatedly push and pull the equipment to clean it multiple times, or even manually assist in scraping, resulting in low cleaning efficiency.

[0080] To address the aforementioned problems, this application provides a control method for cleaning equipment. By installing an image recognition device on the floor brush assembly, the cleaning equipment collects real-time image information of the area to be cleaned during the cleaning process to identify the presence of colored liquids, such as soy sauce or coffee. Furthermore, when image analysis determines the presence of colored liquid, the cleaning equipment immediately adjusts its operating parameters, including shutting down the water pump assembly to stop water spraying or wet mopping, preventing the liquid from being diluted or spread; switching the main fan to a higher initial suction power to enhance the liquid extraction capacity; and reducing the roller brush's rotation speed to minimize mechanical agitation of the liquid, preventing further crushing and penetration. Thus, by shutting down the water pump assembly to prevent liquid diffusion, and employing a "strong suction, low rotation speed" cleaning strategy, the method reduces liquid agitation and penetration by the roller brush while rapidly removing liquid through enhanced suction, thereby avoiding repeated pushing and pulling or manual scraping and improving the efficiency of a single cleaning cycle.

[0081] It should be noted that the control method for cleaning equipment provided in this application is applied to cleaning equipment, for example... Figure 1 This is a partial structural diagram of a cleaning device provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning equipment 100 includes: a main body 101, a floor brush assembly 102, an image recognition device 103, a water pump assembly 104, and a main fan 105; the floor brush assembly 102 is rotatably connected to the main body 101; the image recognition device 103 is disposed on the floor brush assembly 102, and the floor brush assembly 102 includes a roller brush 11.

[0082] Optional, Figure 2 This is a schematic diagram of the structure of an image recognition device provided in an embodiment of this application, as shown below. Figure 2 As shown, the image recognition device 103 includes a camera 12 and a pan-tilt assembly 13. The camera 12 can be a waterproof camera, used for close-up imaging of dirt on the surface to be cleaned in front of the cleaning device 100, for example... Figure 3 This is a schematic diagram illustrating the position setting of an image recognition device provided in an embodiment of this application, as shown below. Figure 3 As shown, the camera 12 is mounted on the floor brush assembly 102 via a gimbal assembly 13, at a distance of 5-10cm from the surface to be cleaned. The gimbal assembly 13 has a range of motion of 160 degrees horizontally, 120 degrees vertically, and 60 degrees roll, thereby driving the camera 12 to rotate.

[0083] For example, the lens axis of the camera 12 is set at a 30° angle to the surface to be cleaned so that the shooting range of the camera 12 accurately covers the area to be cleaned 5-10cm in front of the roller brush 11.

[0084] Optionally, the camera 12 features 1080P resolution, 30fps frame rate, 2.8mm focal length, and 80° field of view, and is equipped with an anti-fog protective cover. Furthermore, in conjunction with a supplementary lighting component, it provides illumination in low-light environments, ensuring clear image capture. This allows for the clear identification of target features of dirt, such as the dark brown of soy sauce, the purplish-red of red wine, the brownish-black of coffee, and non-geometric, irregular wetting contours, preventing the loss of target features due to image blur. The supplementary lighting component can be a white light-emitting diode (LED), and this application embodiment does not limit the specific device type corresponding to the supplementary lighting component.

[0085] For example, after the user activates the cleaning mode of the cleaning device 100, the camera 12 enters working mode and prepares to capture image information at 1080P resolution and 30fps frame rate. This allows the camera 12 to capture 30 frames of RGB color images per second to detect dirt that is about to enter the roller brush 11 in advance, avoiding delays in cleaning caused by dirt entering the cleaning area. Optionally, the cleaning device 100 can also simultaneously record target features such as the color (e.g., the color of liquid), shape (e.g., the radial pattern of liquid), and texture (e.g., irregular spread shape) of the dirt.

[0086] Optionally, the camera 12 can also integrate an image recognition chip, which is equipped with a lightweight artificial intelligence (AI) classification model to process the image information captured by the camera 12 in real time, perform feature algorithm processing such as color, shape, and texture, and complete the rapid classification of dirt types.

[0087] For example, an image recognition chip can perform noise reduction and cropping of effective areas on image information to extract target features of the contaminant, such as features with high color saturation or deep hues, non-geometric or irregular wetting contours on a plane, and identifiable contact angle features. A lightweight AI model is then compared with features in a pre-stored feature library, and the type of contaminant is determined by whether the matching degree is greater than a preset matching degree threshold. For example, the type of contaminant can be urine, particles, dark liquids, etc. This embodiment does not specifically limit the size of the preset matching degree threshold; for example, the preset matching degree threshold can be 85%.

[0088] Optionally, the cleaning device 100 may also include a steam generating device (not shown) that sprays steam through a nozzle, which may be located below the floor brush assembly 102; for example, the steam generating device may be a boiler.

[0089] Optionally, the floor brush assembly 102 is also provided with a scraper assembly (not shown in the figure). Along the forward direction of the cleaning device 100, the scraper assembly is located in front of the roller brush 11. The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned.

[0090] In this embodiment, the first position may refer to the position where the scraper assembly is lowered to the working state, directly contacts the surface to be cleaned, and can physically scrape the stains on the surface to be cleaned.

[0091] The second position can refer to the state in which the scraper assembly is raised. In the second position, the scraper assembly maintains a preset distance from the surface to be cleaned and does not participate in the cleaning operation or only plays a non-contact role such as assisting in guiding the flow.

[0092] The preset distance refers to the fixed or adjustable gap between the bottom of the scraper blade and the surface to be cleaned (such as the ground) when the scraper blade assembly is in the second position. This application embodiment does not specifically limit the size of the preset distance, which ensures that the scraper blade assembly does not contact the surface to be cleaned in non-scraping mode.

[0093] Optionally, the scraper assembly can be switched between a first position and a second position to perform a scraping operation on the surface to be cleaned.

[0094] Optionally, the nozzle of the steam preparation device can be positioned below the scraper assembly.

[0095] Optionally, the cleaning device 100 also includes a photoelectric sensor (not shown in the figure), which is used to detect the wavelength reflectance of the surface to be cleaned. Taking soy sauce as an example, soy sauce contains caramel pigment and amino acids, giving it a dark brown or reddish-brown color. It also has specific absorption peaks in the visible light spectrum (such as strong absorption in the 450-550nm wavelength band, corresponding to the yellow light region). Furthermore, because soy sauce contains a large number of organic macromolecules (proteins, polysaccharides), its corresponding wavelength reflectance is only 1 / 3 that of urine. Therefore, by detecting the wavelength reflectance, it is possible to further determine whether soy sauce is present and accurately distinguish between urine and soy sauce.

[0096] Optionally, the cleaning device may also include an optical sensor (not shown in the figure); the optical sensor includes an emitting end and a detection end, the emitting end being used to emit a laser light source towards the surface to be cleaned, and the detection end being used to detect whether there is a fluorescent reaction in the area irradiated by the laser light source. For example, the laser light source is an ultraviolet light source.

[0097] It should be noted that trace amounts of pigment may remain on the surface after cleaning with coloring liquid. This pigment will exhibit a "brownish-red fluorescence" under ultraviolet light. Therefore, the presence or absence of fluorescence under ultraviolet light can be used to determine whether the coloring liquid has been completely removed.

[0098] Optionally, the cleaning device 100 also includes a display device (not shown in the figure). The image recognition chip can also send the result of the identified type of dirt to the host of the cleaning device 100. On the one hand, the type of dirt is displayed on the display device. For example, taking the display device as a screen, after receiving the "dirt type signal", the controller of the host immediately displays the type of dirt on the screen of the host in real time, such as the screen label "pet urine detected" or "coloring liquid detected", so that the user can intuitively understand the garbage situation in the cleaning area.

[0099] On the other hand, the image recognition chip can also be linked with cleaning strategies, such as increasing suction or reducing rotation speed after recognizing colored liquids, to achieve precise adaptation of "recognition-cleaning strategy".

[0100] It should be noted that the specific component types corresponding to the display device in the embodiments of the present application are not limited, and it can be any component that can visually present information. For example, the display device can also be an LED, a digital tube, a character liquid crystal display, etc.

[0101] Exemplarily, Figure 4 FIG. is a schematic diagram of an application scenario provided by an embodiment of the present application. As Figure 4 shown, taking a home scenario as an example, the cleaning device 100 can be a floor washer. This application scenario includes the floor washer and the coloring liquid 200. For example, the coloring liquid 200 can be cola, black coffee, soy sauce, etc. The embodiments of the present application do not limit the specific types of dirt corresponding to the coloring liquid 200.

[0102] The user starts the floor washer in the living room and selects the regular cleaning mode to perform a cleaning task on the surface to be cleaned in the living room. At this time, the water pump component is in an open state to spray an appropriate amount of clean water or cleaning liquid onto the roller brush or the surface to be cleaned; the main fan operates at a second suction force, and the roller brush rotates at a second rotational speed to perform wet wiping cleaning on the surface to be cleaned.

[0103] During the process of the floor washer moving forward, the image recognition device disposed on the floor brush component continuously collects image information of the surface to be cleaned in front. When the floor washer approaches or there is coloring liquid 200 on the surface to be cleaned in front, the image recognition device can capture the image information containing the coloring liquid 200.

[0104] Further, the floor washer processes and analyzes the image information, and determines that there is coloring liquid 200 in front based on image features (such as dark color, clear boundary, and liquid spreading feature). After confirming that there is coloring liquid 200 in front, the floor washer immediately performs the following linkage control:

[0105] Close the water pump component, that is, stop spraying water, which is to prevent the clean water from diluting the coloring liquid 200, resulting in its diffusion and penetration, increasing the cleaning difficulty and the pollution area.

[0106] Increase the suction force of the main fan, that is, increase the suction force of the main fan from the second suction force to the first suction force. This is to use a strong air flow to directly suck away as much and as quickly as possible the coloring liquid 200 on the surface to be cleaned for preliminary dry recovery.

[0107] Reduce the rotational speed of the roller brush, that is, reduce the rotational speed of the roller brush from the second rotational speed to the first rotational speed. The low-speed rotation can prevent the coloring liquid 200 from splashing due to the high-speed swinging of the roller brush, polluting the surrounding clean areas or the interior of the device, and cooperate with the strong suction force to gently guide the liquid to the suction port by the roller brush.

[0108] In this way, the floor scrubber uses a targeted cleaning mode of "strong suction, low speed, and no water spray" to clean the area where the colored liquid 200 is located, so as to achieve targeted cleaning of the colored liquid 200.

[0109] Optionally, after confirming the absence of colored liquid 200 based on image information collected by the image recognition device, or after a preset time, the floor scrubber can automatically return to its normal cleaning mode. This involves restarting the water pump assembly to resume wet mopping; adjusting the main fan suction to the second suction level; and adjusting the roller brush speed to the second speed. This allows the floor scrubber to continue cleaning other areas of the living room in normal mode while continuously performing image detection to prepare for the next appearance of colored liquid 200.

[0110] It should be noted that this application can also be applied to shopping malls, schools, and offices. The embodiments of this application do not limit the specific application scenarios; the above are merely illustrative examples.

[0111] It should be noted that the cleaning device 100 can be a floor scrubber or any smart handheld mobile device with cleaning function. This application embodiment does not specifically limit the type of cleaning device 100.

[0112] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0113] For example, Figure 5 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The control method for the cleaning device is applied to... Figures 1-3 The cleaning equipment shown, such as Figure 5 As shown, the control method for this cleaning equipment includes the following steps:

[0114] S501. During the cleaning process, the cleaning equipment collects image information of the area to be cleaned based on the image recognition device.

[0115] In this embodiment of the application, image information may refer to visual information collected by the image recognition device on the floor brush assembly of the cleaning equipment, which reflects the condition of the surface to be cleaned in the area to be cleaned. It may include information such as the texture, shape, color, and spatial distribution of dirt. This embodiment of the application does not limit the specific content corresponding to the image information.

[0116] For example, during the cleaning process of the cleaning equipment performing cleaning tasks according to a preset path or user instructions, the image recognition device integrated on the floor brush assembly continuously or periodically collects real-time image information of the area to be cleaned in front of the equipment. For example, after the camera or vision sensor enters the working state, it collects image information of the area to be cleaned in front of the equipment at 1080P resolution and 30fps frame rate so as to instantly identify the dirt that is about to enter the roller brush.

[0117] S502. When it is determined from the image information that there is colored liquid in front of the cleaning equipment, the water pump assembly is controlled to be turned off, and the main fan is controlled to run based on the first suction force and the roller brush is controlled to run based on the first speed to clean the colored liquid.

[0118] Among them, the first suction power is greater than the second suction power, the first rotation speed is less than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0119] In this embodiment of the application, the coloring liquid can refer to liquid stains that have obvious color and usually have strong penetrability or adhesion. Their characteristics make it difficult to remove them quickly by conventional roller brush friction and water spraying. For example, the coloring liquid can be dark liquids such as soy sauce, juice, and coffee.

[0120] The first suction power can refer to a specific suction level higher than that of the normal cleaning mode, which is activated by the main fan when colored liquid is detected. This suction power value is designed to generate a sufficiently strong airflow to effectively draw the colored liquid into the air duct. For example, the first suction power can be 22000 Pa. This application embodiment does not specifically limit the magnitude of the suction power corresponding to the first suction power.

[0121] The second suction power can refer to the default suction level used by the cleaning device when it does not detect colored liquids or performs normal cleaning, i.e., the suction power in the normal cleaning mode. This second suction power can be set according to factors such as balancing cleaning effect, energy consumption, and noise. In this application embodiment, the suction power corresponding to the second suction power is not specifically limited.

[0122] The first rotational speed can refer to a specific rotational speed, lower than that of the normal cleaning mode, at which the roller brush is controlled to activate when a colored liquid is detected. This first rotational speed is used to reduce the spread of the liquid to the surrounding area. For example, the first rotational speed can be 450-500 rpm, and the embodiments of this application do not specifically limit the magnitude of the rotational speed corresponding to the first rotational speed.

[0123] The second rotational speed can refer to the default rotational speed of the roller brush when the cleaning equipment is in normal cleaning mode. For example, the second rotational speed can be 500-550 rpm. In this embodiment of the application, the specific value of the rotational speed corresponding to the second rotational speed is not limited.

[0124] The standard cleaning mode refers to the standard operating mode of the cleaning equipment. In the standard cleaning mode, parameters such as the water pump assembly, main fan suction, and roller brush speed are all set to preset default values, such as second water volume, second suction, and second speed, which is suitable for cleaning most common dust, debris, and dirt.

[0125] For example, when the presence of colored liquid is detected based on the collected image information, the cleaning equipment automatically performs the following control actions, including: shutting off the water pump assembly to stop water spraying, preventing the water from diluting or pushing the colored liquid, causing it to spread or penetrate deeper into the ground; increasing the suction power of the main fan to a level higher than the first suction power of the normal cleaning mode, enhancing the ability to draw out the liquid; and reducing the rotation speed of the roller brush to a level lower than the first rotation speed of the normal cleaning mode, reducing the mechanical agitation and crushing of the liquid by the roller brush, thereby enabling faster and more effective removal of highly penetrating and highly viscous colored liquids and reducing the number of repeated cleaning operations.

[0126] Compared to existing methods for cleaning colored liquids, which suffer from poor cleaning results and require repeated cleaning, this application automatically detects colored liquids using image recognition and switches to a specific cleaning mode accordingly. This avoids the need for users to repeatedly push and pull the cleaning device or perform manual scraping due to incomplete cleaning, achieving rapid and effective removal of colored liquids and significantly shortening the overall cleaning time while improving cleaning efficiency. Furthermore, by shutting down the water pump assembly, the diluted or dispersing of the colored liquid by the sprayed water is prevented, effectively preventing the liquid from spreading or penetrating deeper into the surface to be cleaned. Simultaneously, the synergistic strategy of "strong suction (first suction power) and low rotation speed (first rotation speed)" enhances suction capacity for rapid liquid removal while reducing the mechanical agitation and crushing of stains by the roller brush, lowering the risk of stains becoming further embedded in the surface to be cleaned, optimizing the cleaning effect, and achieving a more thorough cleaning.

[0127] Furthermore, the aforementioned method achieves a fully automated process from identifying colored liquids to adjusting cleaning strategies, eliminating the need for users to manually judge and switch cleaning modes. This enables cleaning equipment to autonomously adapt to colored liquids of different properties, thereby simplifying operation, reducing the user's burden, and improving the product's intelligence level and user experience.

[0128] Optionally, the method also includes:

[0129] During the time period of cleaning the colored liquid, the roller brush is controlled to rotate at a frequency of target time intervals.

[0130] In this embodiment, the target duration can refer to a pre-set or dynamically adjusted time parameter based on real-time conditions, used to control the duration of each rotation of the roller brush or the interval between rotation and pause. For example, a 0.5-second pause after every 2 seconds of rotation can extend the contact time between the roller brush and the liquid. This embodiment does not specifically limit the size of the target duration; it can be set based on the liquid recognition area, viscosity estimation, etc., or it can be set by the user.

[0131] It should be noted that "partial time period" can refer to the selective use of intermittent rotation control during a certain period of time in the entire cleaning process for colored liquids. That is, during certain time periods, intermittent operation of "rotation-pause" or "rotation-low speed-rotation" is carried out at fixed intervals according to the target duration.

[0132] In this way, by controlling the intermittent rotation of the roller brush, the continuous, high-speed contact time between the roller brush and the colored liquid can be reduced, thereby further reducing the risk of liquid being crushed, penetrated, or splashed due to roller brush agitation. Furthermore, during the intervals when the roller brush pauses or operates at low speed, the main fan's suction force can be more concentrated on the colored liquid on the surface to be cleaned, avoiding airflow interference from the roller brush rotation and facilitating more efficient extraction of the colored liquid. Moreover, while ensuring effective removal of the colored liquid, intermittent operation can also reduce continuous wear on the roller brush and potentially reduce problems such as roller brush entanglement or clogging caused by viscous liquid.

[0133] Optionally, controlling the roller to rotate at a frequency that is at target intervals includes:

[0134] After the control roller brush rotates a preset number of times based on a first rotation speed within a first duration, it stops running for a second duration and repeats the process.

[0135] In this embodiment of the application, the first duration may refer to the duration during which the roller brush continuously rotates at a first rotational speed within each intermittent operating cycle. This first duration determines the length of time the roller brush operates continuously in a single cycle.

[0136] The preset number of revolutions refers to the number of rotations the brush completes within a first time period. This preset number of revolutions is used to precisely control the mechanical force of the brush during the rotation phase. This application does not limit the specific number of revolutions corresponding to the preset number of revolutions; for example, the preset number of revolutions is 2 revolutions.

[0137] Optionally, the roller brush can be controlled to rotate a preset number of times in a predefined direction based on a first rotation speed within a first time period. The predefined direction can be forward rotation (clockwise rotation). This application embodiment does not specifically limit the predefined direction.

[0138] The second duration can refer to the duration during which the brush stops operating within each intermittent operating cycle. For example, the second duration is 0.5 seconds. This application embodiment does not specifically limit the length of time corresponding to the first duration and the second duration.

[0139] For example, during the cleaning process of a cleaning device for colored liquids, the roller brush can be controlled to operate according to a fixed "run-stop" cycle. That is, the roller brush is controlled to rotate continuously at a first speed for a first duration, and after completing a preset number of rotations during this period, the roller brush is controlled to stop running for a second duration. The above-mentioned "rotation-stop" cycle is repeated during a certain period of the entire cleaning process. This not only prolongs the contact time between the roller brush and the liquid, but also avoids fluctuations in the speed of the roller brush caused by the viscosity resistance of the liquid.

[0140] In this way, by controlling the rotation phase through a first duration and a preset number of revolutions, the roller brush completes a defined cleaning action within each working period. A second duration ensures sufficient stillness time, achieving precise intermittent control. During the first duration of roller brush rotation, its low speed (first rotation speed) moderately loosens the liquid and prevents it from spreading to surrounding areas. During the second duration after the roller brush stops, the high suction power of the main fan (first suction power) is unaffected by the roller brush rotation, focusing on drawing in the loosened liquid. This removes stains while minimizing liquid penetration due to continuous rolling. Furthermore, this periodic stopping operation helps prevent roller brush speed fluctuations caused by continuous contact with viscous liquids and maximizes the contact time between the roller brush and colored liquids, thereby improving cleaning effectiveness.

[0141] Optionally, the method also includes:

[0142] During the cleaning process of the coloring liquid, the steam preparation device is kept on so that steam is sprayed into the coloring liquid through the nozzle.

[0143] For example, during the cleaning process of the cleaning equipment for colored liquids, in addition to turning off the water pump and operating with the first suction and the first speed, the steam preparation device can also be turned on simultaneously. High-temperature steam (120°C low-temperature steam) is sprayed through its nozzles onto the identified colored liquid stain area to soften the pigment through high temperature and prevent the pigment in the colored liquid from seeping into the gaps.

[0144] High-temperature steam effectively softens and dissolves dark-colored liquid stains that are highly penetrating or viscous, reducing their adhesion to the surface to be cleaned. This makes them easier to remove later through the physical action of the roller brush and strong suction. Therefore, in addition to the "strong suction, low speed" control logic, steam control can be incorporated to accelerate the decomposition process of colored liquids without relying on large amounts of water or detergent. This can potentially reduce the number of reciprocating cleaning cycles of the roller brush, further improving the efficiency of a single cleaning pass. Furthermore, the high-temperature steam emitted by the steam generator not only cleans but also treats the area where the colored liquid is located at high temperatures, helping to kill some microorganisms and achieving a synergistic effect of cleaning and disinfection, thus improving hygiene levels.

[0145] Optionally, after controlling the water pump assembly to be in the off state and controlling the main fan to operate based on a first suction force and the roller brush to operate based on a first rotation speed to clean the colored liquid, the method further includes:

[0146] The scraper assembly is controlled to descend from the second position to the first position, and the water pump assembly is controlled to switch from the off state to the on state, so as to perform a scraping operation on the coloring liquid.

[0147] In this embodiment of the application, the scraping operation can refer to the mechanical scraping action performed by the cleaning equipment on the surface to be cleaned by the scraper assembly on the floor brush assembly to scrape the colored liquid.

[0148] Optionally, during the steam spraying process, the physical action of the scraper assembly can be used to assist steam cleaning. The scraping motion peels off the softened coloring liquid and removes the coloring liquid, preventing pigment residue and improving the overall cleaning effect.

[0149] For example, after the main fan completes the initial cleaning of the colored liquid based on the first suction force and the roller brush completes the initial cleaning based on the first rotation speed, the scraper assembly in the second position can be controlled to descend to the first position to contact the surface to be cleaned. At the same time, the previously turned-off water pump assembly is turned on again. Through the contact and scraping of the scraper assembly with the surface to be cleaned, combined with water spraying, the remaining colored liquid stains are further physically removed and rinsed.

[0150] In this way, after the main fan initially sucks up most of the liquid, the liftable scraper assembly performs contact scraping, effectively removing stubborn residual stains that may still be attached to the surface to be cleaned or have seeped into the texture, achieving deep cleaning and stain removal. Reactivating the water pump assembly sprays clean water, which on the one hand wets the scraper assembly and the surface to be cleaned, reducing scraping resistance and preventing secondary contamination; on the other hand, the water flow washes away the scraped-up stains, which are then recovered by the suction of the main fan, thereby improving the cleaning effect. Furthermore, because the scraper assembly can switch between a first position and a second position, it can be raised during regular cleaning or preliminary cleaning to avoid unnecessary wear or resistance, and only be in the first position when scraping is required, allowing for on-demand function activation and improving application flexibility.

[0151] Optionally, the method also includes:

[0152] With the scraper assembly in the first position, the water pump assembly is controlled to operate based on a first water volume;

[0153] The first water volume is greater than the second water volume, which is the water volume under normal cleaning mode.

[0154] In this embodiment, the first water volume may refer to the water flow rate or water volume per unit time of the water pump assembly when the scraper assembly is in the first position and performing the scraping operation, which is greater than the water volume in the normal cleaning mode.

[0155] The second water volume can refer to the standard water output or water spray volume used by the water pump component in the normal cleaning mode, which is suitable for cleaning ordinary stains.

[0156] It should be noted that the embodiments of this application do not specifically limit the specific water volume corresponding to the first water volume and the second water volume, which can be set based on the actual application scenario requirements.

[0157] For example, when the scraper assembly has descended to the first position to contact the surface to be cleaned and is performing a scraping operation, the water spray volume of the water pump assembly can be specifically controlled, that is, the water pump assembly can be controlled to operate at a first water volume to achieve a rapid increase in negative pressure to scrape the surface to be cleaned.

[0158] This provides a larger initial water volume than in conventional cleaning modes during the physical scraping action of the scraper assembly. This not only more thoroughly wets the contact area between the scraper assembly and the surface to be cleaned, reducing scraping resistance, but also more effectively washes away scraped-up stains and residues, improving cleaning efficiency. Since colored liquid residues may still adhere to or seep into the surface to be cleaned after the initial cleaning, increasing the water volume helps to dilute and suspend them, and, combined with the suction power of the main fan, quickly recovers them, achieving a deep cleaning cycle for colored liquids.

[0159] Optionally, the method also includes:

[0160] When the scraper assembly switches from the first position back to the second position, the water pump assembly is controlled to operate based on the second water volume.

[0161] For example, after the scraper assembly completes the scraping operation, while controlling the scraper assembly to rise from the first position back to the second position that maintains a gap with the surface to be cleaned, the water spray volume of the water pump assembly can also be simultaneously adjusted from the first water volume used in the scraping stage back to the second water volume.

[0162] In this way, after the scraping operation is completed, by adjusting the water spray volume back to the normal volume, the cleaning equipment smoothly transitions from the strong decontamination mode for colored liquids back to standard cleaning or other subsequent modes. This avoids water waste caused by continuous high-volume spraying or excessive wetting of the surface to be cleaned, reduces the potential impact of water on the surrounding area of ​​the cleaning equipment, and achieves a smooth transition between modes and resource optimization. Furthermore, the simultaneous adjustment of water volume and the switching of the physical position of the scraper assembly ensures the functional coordination of the cleaning equipment at different cleaning stages, allowing the cleaning strategy to dynamically adapt to the status of components, maintaining the continuity and adaptability of the cleaning process.

[0163] Optionally, the method also includes:

[0164] With the scraper assembly in the first position, the control brush operates based on the third rotation speed;

[0165] The third rotational speed is greater than the first rotational speed.

[0166] In this embodiment, the third rotational speed refers to the operating speed of the roller brush when the scraper assembly is in the first position performing the scraping operation. Optionally, the third rotational speed can be greater than or equal to the second rotational speed. This embodiment does not specifically limit the magnitude of the third rotational speed; for example, the third rotational speed can be 500 rpm.

[0167] It should be noted that slightly increasing the rotation speed of the roller brush can enhance the liquid entrainment efficiency while avoiding liquid residue streaks caused by low rotation speed. This method is especially suitable for low-viscosity dark liquids, such as cola and black coffee, which have a viscosity of 1.2-1.5 mPa・s.

[0168] For example, when the scraper assembly descends to the first position to contact the surface to be cleaned for scraping operation, the rotation speed of the roller brush can be controlled in a coordinated manner, that is, the roller brush can be controlled to run at a third rotation speed to utilize stronger bristle force to more thoroughly scrub and disperse the residual stains that have just been scraped up, preventing them from re-aggregating or adhering, thereby achieving a synergistic enhancement of "scraping-scrubbing".

[0169] In this way, by using a higher roller brush speed when the scraper assembly is in the first position, the cleaning time for residual stains can be shortened, improving the efficiency of a single cleaning action. Furthermore, increasing the roller brush speed after it has started operating at the first speed and then entering the scraping operation phase helps to fully emulsify and agitate the wastewater and residue generated during scraping, in conjunction with water spraying. This facilitates subsequent suction recovery, thereby improving the overall cleaning effect.

[0170] Optionally, the method also includes:

[0171] If it is determined that there is colored liquid in front of the cleaning equipment, the area in front is detected again based on photoelectric sensors;

[0172] Once it is determined that the band reflectivity of the area in front meets the preset band range, a first prompt message is generated.

[0173] In this embodiment, the preset wavelength range can refer to a pre-defined wavelength range and its reflectance threshold that match the optical reflectance characteristics of the coloring liquid. For example, soy sauce contains caramel coloring and amino acids, which have specific absorption peaks in the visible light spectrum, especially in the 450-550nm wavelength range. Therefore, the type of contaminant can be identified by comparing whether the detected reflectance data falls within the preset wavelength range.

[0174] It should be noted that the embodiments of this application do not specifically limit the numerical value corresponding to the preset band range. The preset band range can be set based on experimental data or by the user, and is used to distinguish coloring liquids from other liquids or interfering substances.

[0175] For example, in the near-infrared spectrum (700-900nm), urine contains a large number of water molecules (hydrogen bond structure), which will show a strong reflection peak near 850nm. Soy sauce contains a large number of organic macromolecules (proteins, polysaccharides), and the corresponding wavelength reflectance is only 1 / 3 of that of urine. Therefore, the presence of coloring liquid can be further determined by detecting wavelength reflectance.

[0176] Furthermore, by training on a large number of "urine + soy sauce" mixed scenario samples, when the two liquids are cross-contaminated (such as soy sauce spilled on urine traces), a "layered analysis" method can be used to distinguish them. That is, the surface layer is detected by soy sauce spectrum and the bottom layer is detected by urine infrared feature detection. This application does not specifically limit the method for distinguishing between colored liquids and urine.

[0177] For example, after image recognition initially determines the presence of colored liquid in front, the cleaning device can also activate a photoelectric sensor to perform a secondary detection on the same area. The photoelectric sensor emits light of a specific wavelength and measures its reflectance to analyze the characteristics of the reflectance spectrum. If the measured reflectance data falls within a preset wavelength range, the presence of colored liquid is confirmed, and a first alert message is generated.

[0178] In this way, through dual verification of image recognition and optical reflectivity detection, misjudgments caused by changes in lighting and interference from patterns on the surface to be cleaned can be effectively reduced, improving the accuracy and reliability of identifying colored liquids. Furthermore, different colored liquids (such as red wine, coffee, and soy sauce) may have characteristic spectral reflectance properties. Therefore, by setting preset wavelength ranges, the spectral characteristics of different types of colored liquids can be specifically matched, improving the accuracy of colored liquid identification. In addition, by generating an initial prompt message to inform the user that the device has detected a colored liquid and is taking or will take targeted cleaning measures, the user's perception and trust in the intelligent behavior of the cleaning device are enhanced.

[0179] Optionally, the method also includes:

[0180] After cleaning the colored liquid, if an optical sensor determines that there is a fluorescent reaction at the target location, it is determined that the colored liquid has not been completely cleaned.

[0181] The target location is the area occupied by the colored liquid before it was cleaned up.

[0182] It should be noted that coloring liquids contain pigments that can exhibit fluorescence under laser light. Therefore, if the detection end detects a fluorescence signal at the target location after the emitting end emits a laser light of a specific wavelength (such as ultraviolet light) at the target location, it means that there is a fluorescent substance residue at the target location, i.e., the residue of the coloring liquid or its pigment components.

[0183] For example, after cleaning the colored liquid, an optical sensor is introduced to verify the cleaning effect. The optical sensor detects the target location. If a fluorescent reaction is detected at the target location, it is determined that the colored liquid has not been completely cleaned.

[0184] In this way, by detecting the fluorescent signals of residual stains, stains invisible to the naked eye can be identified, providing a more in-depth cleaning verification than visual inspection and enabling precise detection of residues. Furthermore, utilizing optical sensing technology for non-contact, highly sensitive residue detection improves the accuracy and reliability of cleaning effectiveness assessment.

[0185] Optionally, based on the verification results (whether there is a fluorescent reaction), the cleaning equipment can also automatically trigger secondary cleaning or prompt user intervention to improve cleaning quality and user experience, and ensure that residual stains from colored liquids are effectively removed.

[0186] Optionally, the method also includes:

[0187] If it is determined that the colored liquid has not been completely removed, the cleaning equipment is controlled to clean the target area again based on the normal cleaning mode.

[0188] It should be noted that if it is determined that the coloring liquid has not been cleaned up, the cleaning equipment can be controlled to execute S501-S502 again, or the roller brush can be controlled to rotate at a frequency of target time intervals, the scraper assembly can be controlled to be in the first position, and the water pump assembly can be controlled to switch from the off state to the on state to perform scraping and washing operations on the coloring liquid. The embodiments of this application do not specifically limit the cleaning strategy to be taken again when it is determined that the coloring liquid has not been cleaned up.

[0189] Therefore, if the cleaning equipment detects that the colored liquid has not been thoroughly cleaned, it can automatically initiate a secondary cleaning process without user intervention, thus improving the autonomy and completeness of the cleaning process. Moreover, when targeted cleaning modes such as "strong suction and low speed" fail to completely remove the colored liquid, it can switch back to the regular cleaning mode for supplementary cleaning. This eliminates the need to develop or trigger more complex cleaning programs, helps control the energy consumption, wear and tear, and operational complexity of the cleaning equipment, and simplifies the cleaning process.

[0190] Optionally, the method also includes:

[0191] During the cleaning process, the status information of the cleaning equipment is acquired.

[0192] The current working status of the cleaning equipment is determined based on the status information, and the current working status is displayed visually on the display device and / or a second prompt message corresponding to the current working status is generated.

[0193] In this embodiment, status information refers to data or logic signals generated or recorded by various sensors, controllers, and functional modules within the cleaning equipment during operation, which reflect a specific aspect of the equipment's status. For example, status information may include image recognition results, roller brush motor current values, water tank level sensor signals, fan speed, fault codes, etc.

[0194] The current operating status can refer to a general description of the current operating condition of the equipment, derived from acquired status information and logical judgment. For example, the current operating status may include the currently executing cleaning mode, anomaly warning, completion prompt, initial identification results, process status feedback, etc.

[0195] The second type of notification message can refer to the message content generated to convey the current working status or related operation suggestions, maintenance requirements, or abnormal alarms to the user. Its format is similar to the description of the first type of notification message, and will not be repeated here; only the presentation of the two differs.

[0196] Optionally, the second prompt information can be displayed through the display device of the cleaning equipment, such as by showing corresponding animation switching on a screen, displaying the currently executing cleaning mode of the colored liquid, and using indicator lights or LEDs to change colors, allowing users to more intuitively understand the working status of the cleaning equipment. The animation switching can include rotating brush animation, water volume increase / decrease, cleaning mode switching, etc. This application embodiment does not limit the specific display content corresponding to the animation switching.

[0197] For example, during the cleaning process, the cleaning equipment continuously or periodically acquires various status information reflecting its operating status. Furthermore, based on a preset algorithm or mapping relationship, this status information is analyzed to determine the current working state of the cleaning equipment. Examples of current working states include "routine cleaning," "cleaning colored liquids," and "low water tank."

[0198] After determining the current working status, feedback can be provided to the user in two main ways. One way is to visually display the current working status on the device's built-in display using icons, text, progress bars, colors, etc. The other way is to generate a second prompt message that matches the current working status. This second prompt message can be conveyed to the user through voice, beeping, or push notifications from the terminal device application (APP).

[0199] In this way, by transforming the operating status of cleaning equipment into intuitive visual information, such as icons, progress, and animations, users can clearly perceive the working mode (e.g., routine cleaning, liquid waste treatment), operating status, and abnormal situations of the cleaning equipment, enhancing their sense of confirmation and control over the cleaning equipment's effectiveness. Furthermore, generating corresponding secondary prompts based on the status information can proactively guide users to take necessary interventions or perform maintenance, improving cleaning efficiency and preventing equipment damage caused by neglecting problems. In addition, this transparent and timely status feedback allows users to understand the behavior of the cleaning equipment, such as why the cleaning mode is switched or why the water pump component is turned off, reducing confusion or anxiety caused by switching automatic operating modes. This builds user understanding and trust in intelligent functions, improving the overall smoothness and satisfaction of the user experience.

[0200] Optionally, determining the presence of a colored liquid in front of the cleaning device based on image information includes:

[0201] The image information is preprocessed to obtain the target image;

[0202] Extract target features from the target image and compare the target features with a preset feature library to determine that there is colored liquid in front of the cleaning equipment;

[0203] The target features are that the contact angle and spreading shape of the liquid meet the preset conditions.

[0204] In this embodiment, the contact angle refers to the angle between the edge of the droplet formed by the liquid on the solid surface and the solid surface. The size of the contact angle reflects the wettability of the liquid on the solid surface. For example, a smaller contact angle corresponds to an easily spread aqueous liquid, while a larger contact angle corresponds to an oily liquid that forms droplets.

[0205] Spread shape can refer to the geometric shape formed by the diffusion of liquid on a solid surface (such as circular, irregular wetting shape, splash shape). It is affected by the viscosity of the liquid, surface tension and the material of the surface to be cleaned. Different liquids often exhibit different spreading characteristics.

[0206] It should be noted that coloring liquids, taking soy sauce as an example, have a high viscosity (about 15-20 mPa・s, which is 1.5 times that of water). After being poured, they spread slowly, and the edges are "irregular blocks". They also have high surface tension, so they will form tiny bumps on the surface of the tile (contact angle about 60-70°).

[0207] For example, by using a camera to capture dynamic images at 30 frames per second, the "slow diffusion and clear edges" morphological characteristics of soy sauce can be observed, contrasting sharply with the "rapid spreading and blurred edges" morphological characteristics of urine. This allows for effective differentiation between colored liquids and pet urine by distinguishing between contact angles and spreading shapes.

[0208] In this application, the preset conditions may refer to rules or threshold ranges that match liquid morphology features stored in a preset feature library, set to determine whether a target feature in an image belongs to a colored liquid. For example, the contact angle is within a certain range and the spreading shape conforms to a specific contour pattern. When the extracted target feature meets the preset conditions, it can be determined to be a colored liquid.

[0209] Optionally, preprocessing refers to a series of standardization and optimization operations performed on the original image data before image feature extraction and analysis. Its purpose is to eliminate or reduce interference from noise, uneven illumination, etc., enhance the region of interest, and provide a higher-quality, more consistent input image for subsequent processing. Preprocessing may include algorithms such as grayscale conversion, filtering, denoising, contrast enhancement, binarization, and cropping. This application does not limit the specific algorithms used for preprocessing.

[0210] For example, the image recognition chip integrated into the cleaning equipment can optimize the acquired images. For instance, it can filter out image noise caused by sewage reflection and dust obstruction through denoising algorithms, and use Region of Interest (ROI) cropping technology to retain only the area containing the colored liquid on the surface to be cleaned, excluding irrelevant areas such as the floor brush housing and roller brush, thereby reducing the chip's computational load and improving processing efficiency.

[0211] After obtaining the optimized target image, the target features in the target image can be extracted by image analysis algorithms (such as edge detection, texture analysis, color segmentation or feature extraction based on deep learning). The extracted target features are then compared and matched with the feature templates of colored liquids in the preset feature library. If the matching degree reaches the set threshold, it is determined that there is colored liquid in front of the cleaning equipment.

[0212] A preset feature library can refer to a database or set of models that has been pre-built and stored in the cleaning equipment. The preset feature library contains standard feature data of coloring liquids, serving as a reference benchmark for real-time identification and comparison. For example, the standard feature data includes features corresponding to different types and forms of coloring liquids.

[0213] Therefore, preprocessing can improve image quality, and by extracting target features and comparing them with a feature library, the recognition algorithm becomes more targeted. Furthermore, by analyzing physical characteristics such as the contact angle and spreading shape of the liquid, it is possible to effectively distinguish colored liquids from ordinary water or other liquids, thus effectively differentiating colored liquids from complex backgrounds and reducing the probability of false positives and false negatives. Moreover, by pre-setting a feature library to accommodate the morphological characteristics of various typical liquids, the cleaning equipment can identify multiple types of colored liquids (such as water-based and oil-based), improving the versatility of the recognition range. In addition, this application, through a clear feature extraction and comparison process, helps optimize the algorithm structure, reduces unnecessary computation, and enables the image recognition chip to achieve fast, real-time image recognition, improving algorithm processing efficiency and real-time performance, and meeting the needs of cleaning equipment for immediate decision-making during operation.

[0214] In the foregoing embodiments, the control method for the cleaning equipment provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the cleaning equipment, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0215] For example, Figure 6 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application, as shown below. Figure 6 As shown, the control device 600 of the cleaning equipment is applied to the cleaning equipment, which includes: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is mounted on the floor brush assembly, which includes a roller brush; the control device 600 of the cleaning equipment includes:

[0216] The acquisition module 601 is used to acquire image information of the area to be cleaned based on an image recognition device during the cleaning process of the cleaning equipment performing the cleaning task.

[0217] The control module 602 is used to control the water pump assembly to be turned off when it is determined based on image information that there is colored liquid in front of the cleaning equipment, and to control the main fan to run based on a first suction force and the roller brush to run based on a first rotation speed in order to clean the colored liquid.

[0218] Among them, the first suction power is greater than the second suction power, the first rotation speed is less than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0219] Optionally, the control device 600 of the cleaning equipment further includes a first control module, which is used for:

[0220] During the time period of cleaning the colored liquid, the roller brush is controlled to rotate at a frequency of target time intervals.

[0221] Optionally, the first control module is specifically used for:

[0222] After the control roller brush rotates a preset number of times based on a first rotation speed within a first duration, it stops running for a second duration and repeats the process.

[0223] Optionally, the cleaning equipment also includes a steam generating device that sprays steam through nozzles; the control device 600 of the cleaning equipment further includes a second control module, which is used for:

[0224] During the cleaning process of the coloring liquid, the steam preparation device is kept on so that steam is sprayed into the coloring liquid through the nozzle.

[0225] Optionally, the floor brush assembly also includes a scraper assembly, which is located in front of the roller brush along the forward direction of the cleaning device; the scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned; after the water pump assembly is controlled to be off, and the main fan is controlled to operate based on a first suction force and the roller brush based on a first rotation speed to clean the colored liquid, the control device 600 of the cleaning device further includes a third control module, which is used for:

[0226] The scraper assembly is controlled to descend from the second position to the first position, and the water pump assembly is controlled to switch from the off state to the on state, so as to perform a scraping operation on the coloring liquid.

[0227] Optionally, the control device 600 of the cleaning equipment further includes a fourth control module, which is used for:

[0228] With the scraper assembly in the first position, the water pump assembly is controlled to operate based on a first water volume;

[0229] The first water volume is greater than the second water volume, which is the water volume under normal cleaning mode.

[0230] Optionally, the control device 600 of the cleaning equipment further includes a fifth control module, which is used for:

[0231] When the scraper assembly switches from the first position back to the second position, the water pump assembly is controlled to operate based on the second water volume.

[0232] Optionally, the control device 600 of the cleaning equipment further includes a sixth control module, which is used for:

[0233] With the scraper assembly in the first position, the control brush operates based on the third rotation speed;

[0234] The third rotational speed is greater than the first rotational speed.

[0235] Optionally, the cleaning equipment also includes a photoelectric sensor for detecting the wavelength reflectivity of the surface to be cleaned; the control unit 600 of the cleaning equipment also includes a generation module for:

[0236] If it is determined that there is colored liquid in front of the cleaning equipment, the area in front is detected again based on photoelectric sensors;

[0237] Once it is determined that the band reflectivity of the area in front meets the preset band range, a first prompt message is generated.

[0238] Optionally, the cleaning equipment also includes an optical sensor; the control unit 600 of the cleaning equipment further includes a determining module, which is used for:

[0239] After cleaning the colored liquid, if an optical sensor determines that there is a fluorescent reaction at the target location, it is determined that the colored liquid has not been completely cleaned.

[0240] The target location is the area occupied by the colored liquid before it was cleaned up.

[0241] Optionally, the control device 600 of the cleaning equipment further includes a seventh control module, which is used for:

[0242] If it is determined that the colored liquid has not been completely removed, the cleaning equipment is controlled to clean the target area again based on the normal cleaning mode.

[0243] Optionally, the cleaning equipment also includes a display device, and the control device 600 of the cleaning equipment further includes a display module, which is used for:

[0244] During the cleaning process, the status information of the cleaning equipment is acquired.

[0245] The current working status of the cleaning equipment is determined based on the status information, and the current working status is displayed visually on the display device and / or a second prompt message corresponding to the current working status is generated.

[0246] Optionally, the control module 602 includes a determining unit, which is used to:

[0247] The image information is preprocessed to obtain the target image;

[0248] Extract target features from the target image and compare the target features with a preset feature library to determine that there is colored liquid in front of the cleaning equipment;

[0249] The target features are that the contact angle and spreading shape of the liquid meet the preset conditions.

[0250] It should be noted that the specific implementation principle and effect of the control device 600 of the above-mentioned cleaning equipment can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0251] This application also provides an electronic device. Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7 As shown, the electronic device may include: a processor 701 and a memory 702 communicatively connected to the processor 701; the memory 702 stores a computer program; the processor 701 executes the computer program stored in the memory 702, causing the processor 701 to perform the method described in any of the above embodiments.

[0252] The memory 702 and the processor 701 can be connected via bus 703.

[0253] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0254] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0255] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0256] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0257] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0258] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0259] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0260] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0261] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0262] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0263] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0264] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0265] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0266] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0267] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0268] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0269] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning equipment comprises a main body, a floor brush assembly, an image recognition device, a water pump assembly and a main air blower; the floor brush assembly is rotationally connected with the main body; the image recognition device is arranged on the floor brush assembly, and the floor brush assembly comprises a rolling brush; the method comprises: In the process of the cleaning equipment performing a cleaning task, image information of a to-be-cleaned area is collected based on the image recognition device; In the case where it is determined based on the image information that there is a colored liquid in front of the cleaning equipment, the water pump assembly is controlled to be in a closed state, and the main air blower is controlled to operate based on a first suction force and the rolling brush is controlled to operate based on a first rotating speed, so as to clean the colored liquid; Wherein, the first suction force is greater than a second suction force, and the first rotating speed is less than a second rotating speed, the second suction force is a suction force in a normal cleaning mode, and the second rotating speed is a rotating speed in the normal cleaning mode.

2. The method of claim 1, wherein, The method further comprises: In a part of a time period during which the colored liquid is cleaned, the rolling brush is controlled to rotate at an interval target time length.

3. The method of claim 2, wherein, The control of the rolling brush to rotate at an interval target time length comprises: After the rolling brush is controlled to rotate based on the first rotating speed for a preset number of turns in a first time length, the rolling brush is controlled to stop operating for a second time length, and the control is repeated.

4. The method of claim 1, wherein, The cleaning equipment further comprises a steam preparation device, and the steam preparation device sprays steam through a nozzle; the method further comprises: In the process of cleaning the colored liquid, the steam preparation device is controlled to be in an open state to spray steam to the colored liquid through the nozzle.

5. The method of claim 1, wherein, The floor brush assembly is further provided with a scraping strip assembly, and the scraping strip assembly is located on the front side of the rolling brush in the advancing direction of the cleaning equipment; the scraping strip assembly has a first position in contact with a to-be-cleaned surface and a second position maintaining a preset distance from the to-be-cleaned surface; after the water pump assembly is controlled to be in a closed state and the main air blower is controlled to operate based on a first suction force and the rolling brush is controlled to operate based on a first rotating speed to clean the colored liquid, the method further comprises: The scraping strip assembly is controlled to descend from the second position to the first position, and the water pump assembly is controlled to switch from the closed state to an open state to perform a scraping and washing operation on the colored liquid.

6. The method of claim 5, wherein, The method further comprises: In the case where the scraping strip assembly is in the first position, the water pump assembly is controlled to operate based on a first water amount; Wherein, the first water amount is greater than a second water amount, and the second water amount is a water amount in a normal cleaning mode.

7. The method of claim 6, wherein, The method further comprises: In the case where the scraping strip assembly switches from the first position back to the second position, the water pump assembly is controlled to operate based on the second water amount.

8. The method of claim 5, wherein, The method further comprises: In the case where the scraping strip assembly is in the first position, the rolling brush is controlled to operate based on a third rotating speed; Wherein, the third rotating speed is greater than the first rotating speed.

9. The method of claim 1, wherein, The cleaning equipment further comprises a photoelectric sensor for detecting the waveband reflectivity of a to-be-cleaned surface; the method further comprises: In the case where it is determined that there is the colored liquid in front of the cleaning equipment, the front area is detected again based on the photoelectric sensor; In the case where it is determined that there is the colored liquid in front of the cleaning equipment, the front area is detected again based on the photoelectric sensor; In a case where it is determined that the waveband reflectivity of the front area meets a preset waveband range, first prompt information is generated.

10. The method of claim 1, wherein, The cleaning device further comprises an optical sensor; and the method further comprises: After the colored liquid is cleaned, in a case where it is determined that the target position has a fluorescence reaction based on the optical sensor, it is determined that the colored liquid is not cleaned completely. The target position is a region occupied by the colored liquid before being cleaned.

11. The method of claim 10, wherein, The method further comprises: In a case where it is determined that the colored liquid is not cleaned completely, the cleaning device is controlled to clean the target position again based on the regular cleaning mode.

12. The method according to any one of claims 1-11, characterized in that, The cleaning device further comprises a display device, and the method further comprises: During execution of a cleaning task by the cleaning device, state information of the cleaning device is acquired; A current working state of the cleaning device is determined according to the state information, and the current working state is visually displayed on the display device and / or second prompt information corresponding to the current working state is generated.

13. The method of claim 1, wherein, The determination that the front of the cleaning device has the colored liquid based on the image information comprises: The image information is preprocessed to obtain a target image; A target feature in the target image is extracted, and the target feature is compared with a preset feature library to determine that the front of the cleaning device has the colored liquid; The target feature is a contact angle and a spreading shape of the liquid that meet a preset condition.

14. A control device for a cleaning apparatus, characterized in that The cleaning device comprises a main body, a brush assembly, an image recognition device, a water pump assembly and a main air blower; the brush assembly is rotationally connected to the main body; the image recognition device is arranged on the brush assembly, and the brush assembly comprises a rolling brush; the control device comprises: An acquisition module is configured to acquire image information of a region to be cleaned based on the image recognition device during execution of a cleaning task by the cleaning device; A control module is configured to, in a case where it is determined that the front of the cleaning device has the colored liquid based on the image information, control the water pump assembly to be in a closed state, and control the main air blower to operate based on a first suction force and the rolling brush to operate based on a first rotating speed to clean the colored liquid; The first suction force is greater than a second suction force, and the first rotating speed is less than a second rotating speed; the second suction force is a suction force in a regular cleaning mode, and the second rotating speed is a rotating speed in the regular cleaning mode.

15. A cleaning apparatus, characterized by The cleaning device comprises a main body, a brush assembly, an image recognition device, a water pump assembly and a main air blower; the brush assembly is rotationally connected to the main body; the image recognition device is arranged on the brush assembly, and the brush assembly comprises a rolling brush; The cleaning device is configured to execute the method according to any one of claims 1-13.

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