Method and device for adjusting backwash frequency of a cleaning apparatus

Abstract

This invention provides a method and apparatus for adjusting the rewashing frequency of a cleaning device, relating to the field of smart homes. The cleaning device includes a cleaning component for cleaning surfaces to be cleaned. The method includes: detecting the degree of dirtiness of wastewater generated from cleaning the cleaning component; and determining the rewashing frequency of the cleaning device based on the degree of dirtiness, wherein the rewashing frequency is directly proportional to the degree of dirtiness. This invention solves the problem of low rewashing accuracy in related technologies, achieving an improved rewashing accuracy for cleaning devices.

Description

[0001] This application is a divisional application of application number 202210918238.7, filed on August 1, 2022, entitled “Method and apparatus for determining the cleaning mode of cleaning equipment”. [Technical Field] The present invention relates to the field of smart home, and more specifically, to a method and apparatus for adjusting the rewash frequency of a cleaning device. [Background Technology] With the advancement of technology, various intelligent robot devices are becoming increasingly widespread and are gradually entering more and more fields. For example, intelligent robot devices can be used to clean specific areas, enabling intelligent cleaning operations.

[0002] In existing technologies, cleaning equipment cannot intelligently identify dirt information in specific areas during the entire cleaning process to achieve targeted cleaning. This results in low cleaning accuracy and poor cleaning effect.

[0003] There is currently no effective solution to the problem of low cleaning accuracy of cleaning equipment in related technologies. [Summary of the Invention] This invention provides a method and apparatus for adjusting the backwashing frequency of cleaning equipment, which at least solves the problem of low backwashing accuracy of cleaning equipment in related technologies, and achieves the effect of improving the backwashing accuracy of cleaning equipment.

[0004] According to an embodiment of the present invention, a method for adjusting the backwashing frequency of a cleaning device is provided, characterized in that the cleaning device includes a cleaning component for cleaning a surface to be cleaned, and the method includes: detecting the degree of dirtiness of wastewater generated from cleaning the cleaning component; determining the backwashing frequency of the cleaning device based on the degree of dirtiness, wherein the backwashing frequency is proportional to the degree of dirtiness.

[0005] In an exemplary embodiment, determining the rewashing frequency of the cleaning equipment based on the degree of soiling includes: determining the rewashing frequency as a first rewashing frequency when the degree of soiling is greater than a first preset threshold; determining the rewashing frequency as a second rewashing frequency when the degree of soiling is less than or equal to the first preset threshold, wherein the second rewashing frequency is less than the first rewashing frequency; after determining the rewashing frequency as the first rewashing frequency, the method further includes: when the cleaning equipment returns to the base station for rewashing, detecting again the degree of soiling of the wastewater generated from cleaning the cleaning components; if the degree of soiling is detected again to be greater than the first preset threshold, adjusting the rewashing frequency to a third rewashing frequency, wherein the third rewashing frequency is greater than the first rewashing frequency; and if the degree of soiling of the wastewater is again less than or equal to the first preset threshold, adjusting the rewashing frequency to the second rewashing frequency.

[0006] In an exemplary embodiment, detecting the degree of soiling of the wastewater generated from cleaning the cleaning components includes at least one of the following: detecting the wastewater in the wastewater pipe using a second sensor configured on the cleaning equipment to determine the degree of soiling, wherein the wastewater pipe is a pipe used by the base station to extract wastewater from a cleaning tank to clean the cleaning components of the cleaning equipment; and acquiring detection information sent by the base station indicating the degree of soiling of the wastewater, wherein the detection information is information determined by the base station by detecting the wastewater in the wastewater pipe using a third sensor configured on its own, wherein the wastewater pipe is a pipe used by the base station to extract wastewater from a cleaning tank to clean the cleaning components of the cleaning equipment.

[0007] In one exemplary embodiment, the method further includes: determining the humidity of the cleaning component of the cleaning device according to the degree of dirtiness and controlling the cleaning device to clean the dirt according to the humidity, wherein the humidity is proportional to the degree of dirtiness.

[0008] In one exemplary embodiment, determining the humidity of the cleaning component of the cleaning device according to the degree of dirtiness and controlling the cleaning device to clean the dirt according to the humidity includes: determining the humidity of the cleaning component of the cleaning device as a first humidity when the degree of dirtiness is determined to be greater than a preset dirtiness threshold; controlling the cleaning device to clean the dirt according to the first humidity in a fine cleaning mode; determining the humidity of the cleaning component of the cleaning device as a second humidity when the degree of dirtiness is determined to be less than or equal to the dirtiness threshold; and controlling the cleaning device to clean the dirt according to the second humidity in a normal cleaning mode; wherein the first humidity is greater than the second humidity.

[0009] In one exemplary embodiment, controlling the cleaning device to clean the dirt according to the first humidity in a fine cleaning mode includes: controlling the cleaning device to clean the dirt at a first moving speed according to the first humidity in the fine cleaning mode; controlling the cleaning device to clean the dirt according to the second humidity in a normal cleaning mode includes: controlling the cleaning device to clean the dirt at a second moving speed according to the second humidity in the normal cleaning mode; wherein the first moving speed is less than the second moving speed.

[0010] According to another embodiment of the present invention, a device for determining the cleaning mode of a cleaning device is provided, comprising: a first acquisition module for acquiring information on dirt that needs to be cleaned in a target area; a first determination module for determining a target cleaning mode of the cleaning device based on the information on the dirt; and a control module for controlling the cleaning device to clean the dirt in the target area according to the target cleaning mode.

[0011] According to another embodiment of the present invention, a backwashing frequency adjustment device for a cleaning device is also provided, characterized in that the cleaning device includes a cleaning component for cleaning a surface to be cleaned, comprising: a detection module for detecting the degree of dirtiness of wastewater generated from cleaning the cleaning component; and a third determination module for determining the backwashing frequency of the cleaning device based on the degree of dirtiness, wherein the backwashing frequency is proportional to the degree of dirtiness.

[0012] According to another embodiment of the present invention, a cleaning device is also provided, including the backwash frequency adjustment device of the above-described cleaning device.

[0013] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program, when executed by a processor, implements the steps of the method described in any of the preceding claims.

[0014] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0015] By detecting the degree of dirtiness of the wastewater generated from cleaning the cleaning components of the aforementioned cleaning equipment and determining the rewashing frequency of the cleaning equipment based on the degree of dirtiness, this invention enables the cleaning equipment to intelligently adjust the frequency of returning to the base station for rewashing based on the detected degree of dirtiness of the wastewater from cleaning the aforementioned cleaning components. This solves the problem of low rewashing accuracy of the cleaning equipment and achieves the effect of improving the rewashing accuracy of the cleaning equipment. [Attached Image Description] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a mobile terminal hardware structure block diagram of a method for determining the cleaning mode of a cleaning device according to an embodiment of the present invention. Figure 2 This is a flowchart of a method for determining the cleaning mode of a cleaning device according to an embodiment of the present invention; Figure 3 This is a flowchart of a method for adjusting the backwash frequency of a cleaning device according to an embodiment of the present invention; Figure 4 This is a structural block diagram of a cleaning mode determination device for a cleaning device according to an embodiment of the present invention; Figure 5 This is a structural block diagram of the backwash frequency adjustment device of the cleaning equipment according to an embodiment of the present invention.

Detailed Implementation Methods

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0017] The method embodiments provided in this application can be executed in a mobile robot or a similar computing device. Taking running on a mobile robot as an example, Figure 1 This is a hardware structure block diagram of a method for determining the cleaning mode of a cleaning device according to an embodiment of the present invention. Figure 1 As shown, a mobile robot may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. In one exemplary embodiment, the mobile robot may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile robot described above. For example, the mobile robot may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0018] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the method for determining the cleaning mode of the cleaning equipment in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile robot via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0019] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile robot's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0020] First, the application scenarios of this invention will be explained: If cleaning equipment follows the same cleaning mode throughout the entire cleaning process—such as using the same moving speed and spraying the same amount of water on the cleaning items—it will fail to target different areas with varying conditions, resulting in low cleaning accuracy. To address this issue, this invention proposes a method for determining the cleaning mode of a cleaning device. By acquiring information about the dirt in the target area, the cleaning mode of the equipment can be intelligently adjusted to avoid low cleaning accuracy. The cleaning equipment involved in this invention can be a floor scrubber or other equipment with cleaning and automatic driving capabilities.

[0021] The present invention will now be described with reference to the embodiments: This embodiment provides a method for determining the cleaning mode of a cleaning device, such as... Figure 2 As shown, the method includes the following steps: Step S202: Obtain information on the dirt that needs to be cleaned in the target area; The target area can be the area that the cleaning equipment needs to clean, such as the floor area of ​​the living room at home. The dirt can be dust or sewage on the floor. There are no restrictions on the type of dirt.

[0022] Step S204: Determine the target cleaning mode of the cleaning equipment based on the information of the dirt; The cleaning equipment can be floor washing equipment, floor mopping equipment, or other smart mobile devices with cleaning capabilities. The information about the dirt can include the size, shape, color, etc., and the target cleaning mode of the cleaning equipment can be determined based on the information about the dirt.

[0023] Step S206: Control the cleaning equipment to clean the dirt in the target area according to the target cleaning mode.

[0024] The target cleaning mode can be a water treatment mode, a fine cleaning mode, etc. After the target cleaning mode is determined, the cleaning equipment can be controlled to clean the dirt in the target area according to the determined target cleaning mode.

[0025] The entity performing the above operations can be a cleaning device (e.g., an intelligent robot, or other devices with cleaning and autonomous driving capabilities), a processor installed within the cleaning device, or other devices with similar processing capabilities.

[0026] In an exemplary embodiment, the entity performing the above steps may be a background processor, or other devices with similar processing capabilities, or a machine that integrates at least a data processing device. The data processing device may include, but is not limited to, terminals such as computers and mobile phones.

[0027] Through the above steps, by acquiring information about the dirt that needs to be cleaned in the target area, determining the target cleaning mode of the cleaning equipment based on the dirt information, and controlling the cleaning equipment to clean the dirt in the target area according to the target cleaning mode, this invention enables the cleaning equipment to intelligently adjust the cleaning mode based on the acquired dirt information, thereby solving the problem of low cleaning accuracy of the cleaning equipment and achieving the effect of improving the cleaning accuracy of the cleaning equipment.

[0028] As an optional implementation, determining the target cleaning mode of the cleaning equipment based on the information of the dirt includes: when the dirt includes liquid dirt, obtaining the target accumulation amount of the liquid dirt; and when the target accumulation amount is determined to be greater than a preset first water volume threshold, determining the target cleaning mode as a water accumulation treatment mode, wherein the information of the dirt includes the target accumulation amount; and when the dirt includes liquid dirt and the accumulation amount of the liquid dirt is less than the first water volume threshold, or when the dirt includes solid dirt, obtaining the target degree of dirtiness of the dirt; and when the target degree of dirtiness is determined to be greater than a preset dirtiness threshold, determining the target cleaning mode as a fine cleaning mode, wherein the information of the dirt includes the target degree of dirtiness.

[0029] In an exemplary embodiment, the contaminant can be liquid or solid. If the contaminant is liquid, the target volume of the liquid contaminant needs to be determined first. If the target volume is 15ml and the preset first water volume threshold is 10ml, it can be determined that the target volume is greater than the first water volume threshold of 10ml, and the target cleaning mode is determined to be the water treatment mode.

[0030] Assuming the cleaning equipment is currently in water accumulation mode, and the target accumulation volume is 5ml, while the preset first water volume threshold is 10ml, the target accumulation volume of 5ml is less than the first water volume threshold of 10ml. In this case, the cleaning equipment can exit the water accumulation mode and further determine the target dirt level of the liquid contaminant. Assuming the target dirt level is 50 and the preset dirt threshold is 40, it can be determined that the target dirt level is greater than the preset dirt threshold. Therefore, the target cleaning mode is determined to be a fine cleaning mode. In this embodiment of the invention, the dirt level can be determined based on the ratio of the area occupied by the contaminant to the area of ​​a certain ground surface. For example, if the contaminant completely covers the ground, the current dirt level can be determined to be 100; if the contaminant occupies half of the ground, the current dirt level can be determined to be 50. Alternatively, the dirt level can be determined based on the volume of the contaminant, for example, exceeding a certain volume threshold (e.g., thresholds set at 50ml, 30ml, 10cm). 3 Or 20cm 3 In cases such as (etc.), the current level of dirtiness is determined to be 100. If it reaches half of the certain volume threshold, the current level of dirtiness is determined to be 50, and so on. Other embodiments are similar. Of course, this method of determining the level of dirtiness is only an example and is not limited to it.

[0031] Assuming the cleaning equipment is currently in normal working mode and the acquired contaminant is liquid, and the target volume of the acquired liquid contaminant is 5ml, with a preset first water volume threshold of 10ml, it can be determined that the target volume is less than the first water volume threshold of 10ml. Then, the target dirtiness of the liquid contaminant can be further determined. Assuming the target dirtiness is 50 and the preset dirtiness threshold is 40, it can be determined that the target dirtiness is greater than the preset dirtiness threshold. At this point, the target cleaning mode is determined to be the fine cleaning mode.

[0032] Assuming the cleaning equipment is currently in normal working mode and the dirt it collects is solid dirt, it is necessary to determine the target level of dirtiness of the solid dirt. Assuming the target level of dirtiness is 40 and the preset dirt threshold is 30, it can be determined that the target level of dirtiness is greater than the preset dirt threshold. At this time, the target cleaning mode is determined to be fine cleaning mode.

[0033] As an optional implementation, controlling the cleaning equipment to clean the dirt in the target area according to the target cleaning mode includes: in the water accumulation treatment mode, controlling the cleaning equipment to reduce the water output, wherein the water output is the amount of water sprayed onto the cleaning component of the cleaning equipment; when the water output is reduced to less than a preset second water volume threshold, stopping the reduction of the water output to obtain a target water output; and controlling the cleaning equipment to clean the dirt in the target area according to the target water output.

[0034] In one exemplary embodiment, assuming the cleaning device is currently in a water accumulation treatment mode, the device is controlled to reduce the water output to prevent excessive water accumulation on the cleaning components. Assuming a preset water output threshold of 50ml, the reduction stops when the water output falls below 50ml. For example, if the water output remains at 45ml after reduction, this 45ml is taken as the target water output, and the cleaning device is controlled to clean the target area using this target output of 45ml.

[0035] As an optional implementation, controlling the cleaning device to clean the dirt in the target area according to the target cleaning mode includes: in the fine cleaning mode, controlling the cleaning device to reduce its moving speed to obtain a target moving speed; controlling the cleaning device to clean the dirt in the target area according to the target moving speed; and / or increasing the number of times the dirt in the target area is cleaned to a target number of times; and controlling the cleaning device to clean the dirt in the target area according to the target number of times.

[0036] In an exemplary embodiment, assuming the cleaning device is currently in fine cleaning mode, in order to improve the cleaning effect, the moving speed of the cleaning device can be reduced. For example, if the current moving speed of the cleaning device is 0.5 meters per second, the moving speed can be appropriately reduced for fine cleaning, such as to 0.25 meters per second. 0.25 meters is used as the target moving speed, and the cleaning device is controlled to clean the dirt in the target area at 0.25 meters per second.

[0037] Assuming the cleaning equipment is currently in fine cleaning mode, the number of cleaning cycles can be increased to improve cleaning effectiveness. For example, if the cleaning equipment currently cleans the target area 3 times, and the target cleaning cycle is 5 times, then the number of cleaning cycles in the target area can be increased to the target cleaning cycle of 5. This means the cleaning equipment will clean the target area 5 times, indicating a high level of dirt; therefore, it needs to be cleaned repeatedly in the target area 5 times.

[0038] Assuming the cleaning equipment is currently in fine cleaning mode, to further improve the cleaning effect, the cleaning speed can be reduced while the number of cleaning cycles can be increased. For example, if the current cleaning equipment speed is 0.5 meters per second, the speed can be appropriately reduced for fine cleaning, such as to 0.25 meters per second. This 0.25 meters per second can be used as the target speed, controlling the cleaning equipment to clean the target area at a rate of 0.25 meters per second. If the cleaning equipment currently cleans the target area 3 times, and the target cleaning cycle is 5 times, then the number of cleaning cycles in the target area can be increased to the target cleaning cycle of 5 times. This means the target area has a lot of dirt, therefore, it needs to be cleaned repeatedly 5 times.

[0039] As an optional implementation, obtaining information about the dirt that needs to be cleaned in the target area includes: if the cleaning equipment is equipped with a camera for visual recognition, determining the information about the dirt through the camera; or if the cleaning equipment is equipped with a first sensor for detecting liquids, determining the information about the dirt by detecting the wastewater recovered by the cleaning equipment through the first sensor.

[0040] In one exemplary embodiment, when a camera for visual recognition is configured on the cleaning equipment, information about the dirt can be determined by the camera. For example, the camera can capture an image of the dirt, and information about the dirt, such as its size, shape, and color, can be obtained through an image recognition algorithm.

[0041] When a cleaning device is equipped with a first sensor for detecting liquids, information about the contaminants can be determined through the first sensor. For example, the degree of dirtiness of the contaminants can be detected by a turbidity sensor, or the volume of liquid contaminants can be determined by a liquid level sensor, etc.

[0042] As an optional implementation, after controlling the cleaning device to clean the dirt in the target area according to the target cleaning mode, the method includes: determining that the cleaning device has completed cleaning the liquid dirt in the target area when the dirt includes liquid dirt, the accumulated amount of the liquid dirt is less than a preset first water volume threshold, and the target dirt level of the liquid dirt is less than a preset dirt threshold; and determining that the cleaning device has completed cleaning the solid dirt in the target area when the dirt includes solid dirt, and the target dirt level of the solid dirt is less than a preset dirt threshold.

[0043] In an exemplary embodiment, the dirt can be liquid or solid. Assuming the dirt is liquid, the preset first water volume threshold is 50ml, and the preset dirt threshold is 30. After the cleaning device cleans the dirt in the target area according to the target cleaning mode, if the accumulated amount of liquid dirt is detected to be 40ml, which is less than the preset first water volume threshold of 50ml, and the target dirt level of the liquid dirt is 20, which is less than the preset dirt threshold of 30, then it can be determined that the cleaning device has completed the cleaning of the liquid dirt in the target area.

[0044] Assuming the dirt is solid, and the preset dirt threshold is 30, after the cleaning equipment cleans the dirt in the target area according to the target cleaning mode, if the target dirt level of the solid dirt is detected to be 20, which is less than the preset dirt threshold of 30, then it can be determined that the cleaning equipment has completed the cleaning of the solid dirt in the target area.

[0045] As an optional implementation, the method further includes: when the cleaning equipment returns to the base station for rewashing, detecting the degree of dirtiness of the wastewater used to clean the cleaning components of the cleaning equipment; and determining the rewashing frequency of the cleaning equipment based on the degree of dirtiness, wherein the rewashing frequency is proportional to the degree of dirtiness.

[0046] In an exemplary embodiment, when the cleaning equipment returns to the base station for rewashing, the degree of dirtiness of the wastewater from the cleaning components of the cleaning equipment can be detected. Preferably, the wastewater can be detected at preset time intervals, such as every 5 minutes. Alternatively, the degree of dirtiness can be detected during the cleaning process, such as after 1 minute, 2 minutes, or 5 minutes of cleaning, or at the end of cleaning. There is no limitation on when the degree of dirtiness is detected. The rewashing frequency of the cleaning equipment can be determined based on the degree of dirtiness of the wastewater. For example, if the degree of dirtiness of the wastewater is 20, the rewashing frequency of the cleaning equipment can be determined to be 2 times; if the degree of dirtiness of the wastewater is 30, the rewashing frequency of the cleaning equipment can be determined to be 3 times. That is, the higher the degree of dirtiness, the higher the rewashing frequency.

[0047] This embodiment also provides a method for adjusting the backwash frequency of a cleaning device, the cleaning device including a cleaning component for cleaning the surface to be cleaned, such as... Figure 3 As shown, the method includes the following steps: Step S302: Detect the degree of dirtiness of the wastewater generated from cleaning the cleaning components; Step S304: Determine the rewashing frequency of the cleaning equipment based on the degree of dirtiness, wherein the rewashing frequency is directly proportional to the degree of dirtiness.

[0048] Through the above steps, by detecting the degree of dirtiness of the wastewater generated from cleaning the cleaning components of the above-mentioned cleaning equipment, and determining the rewashing frequency of the cleaning equipment based on the degree of dirtiness, this invention enables the cleaning equipment to intelligently adjust the frequency of returning to the base station for rewashing based on the detected degree of dirtiness of the wastewater from cleaning the above-mentioned cleaning components. This solves the problem of low rewashing accuracy of the cleaning equipment and achieves the effect of improving the rewashing accuracy of the cleaning equipment.

[0049] In an exemplary embodiment, the degree of soiling of the wastewater generated from cleaning the cleaning components of the aforementioned cleaning equipment can be detected when the cleaning equipment returns to the base station for rewashing. Preferably, the soiling level of the wastewater can be detected at preset time intervals, such as every 5 minutes; alternatively, it can be detected during the cleaning process, such as after 1, 2, or 5 minutes of cleaning, or at the end of cleaning, etc. There is no limitation on when the soiling level is detected. The rewashing frequency of the cleaning equipment can be determined based on the degree of soiling of the wastewater. For example, if the soiling level of the wastewater is 20, the rewashing frequency can be determined to be 2 times; if the soiling level is 30, the rewashing frequency can be determined to be 3 times. That is, the higher the soiling level, the higher the rewashing frequency.

[0050] As an optional implementation, determining the rewashing frequency of the cleaning equipment based on the degree of soiling includes: determining the rewashing frequency as a first rewashing frequency when the degree of soiling is greater than a first preset threshold; determining the rewashing frequency as a second rewashing frequency when the degree of soiling is less than or equal to the first preset threshold, wherein the second rewashing frequency is less than the first rewashing frequency; after determining the rewashing frequency as the first rewashing frequency, the method further includes: when the cleaning equipment returns to the base station for rewashing, detecting again the degree of soiling of the wastewater generated from cleaning the cleaning components; if the degree of soiling is detected again to be greater than the first preset threshold, adjusting the rewashing frequency to a third rewashing frequency, wherein the third rewashing frequency is greater than the first rewashing frequency; and if the degree of soiling of the wastewater is again less than or equal to the first preset threshold, adjusting the rewashing frequency to the second rewashing frequency.

[0051] In one exemplary embodiment, assuming the first preset threshold is 30 and the degree of dirtiness of the wastewater is 40, since the degree of dirtiness of the wastewater 40 is greater than the first preset threshold 30, the first rewashing frequency of the cleaning equipment can be determined to be 4 times. Assuming the degree of dirtiness of the wastewater is 20, since the degree of dirtiness of the wastewater 20 is less than the first preset threshold 30, the second rewashing frequency of the cleaning equipment can be determined to be 2 times.

[0052] After determining the first backwashing frequency to be 4 times, when the cleaning equipment returns to the base station for backwashing, the dirt level of the wastewater generated from cleaning the cleaning components of the equipment is detected again. Assuming the first preset threshold is still 30, and the detected dirt level of the wastewater is 50, the backwashing frequency is adjusted to a third backwashing frequency of 5 times. Assuming the detected dirt level of the wastewater is 10, the backwashing frequency is adjusted to a second backwashing frequency of 2 times.

[0053] As an optional implementation, detecting the degree of dirtiness of the wastewater generated from cleaning the cleaning components includes at least one of the following: detecting the wastewater in the wastewater pipe using a second sensor configured on the cleaning equipment to determine the degree of dirtiness, wherein the wastewater pipe is the pipe through which the base station extracts wastewater from the cleaning tank to clean the cleaning components of the cleaning equipment; acquiring detection information sent by the base station indicating the degree of dirtiness of the wastewater, wherein the detection information is information determined by the base station through a third sensor configured on its own to detect the wastewater in the wastewater pipe, wherein the wastewater pipe is the pipe through which the base station extracts wastewater from the cleaning tank to clean the cleaning components of the cleaning equipment.

[0054] In one exemplary embodiment, the second sensor may be a turbidity sensor configured on the cleaning equipment, or other sensors capable of detecting the degree of dirtiness in the wastewater. When the cleaning equipment is equipped with a second sensor, the wastewater in the wastewater pipe can be detected by the second sensor. It should be noted that the aforementioned wastewater pipe is the pipe through which the base station of the cleaning equipment draws wastewater from the cleaning tank to clean the cleaning components of the cleaning equipment.

[0055] The third sensor can be a turbidity sensor configured on the base station itself, or other sensors capable of detecting the degree of dirtiness in wastewater. If the base station of the cleaning equipment is equipped with a third sensor, it can detect the wastewater in the sewage pipe. Then, by acquiring the detection information indicating the degree of dirtiness sent by the base station, the degree of dirtiness of the wastewater can be determined.

[0056] As an optional implementation, the method further includes: determining the humidity of the cleaning component of the cleaning device according to the degree of dirtiness and controlling the cleaning device to clean the dirt according to the humidity, wherein the humidity is proportional to the degree of dirtiness.

[0057] In one exemplary embodiment, the degree of soiling of the wastewater generated by the cleaning components of the cleaning equipment can be detected when the cleaning equipment returns to the base station for rewashing. After obtaining the degree of soiling, the humidity level of the cleaning components can be determined based on the degree of soiling. The humidity level and the degree of soiling can be directly proportional. The humidity level of the cleaning components can be indirectly determined by the amount of water sprayed onto the cleaning components, or it can be determined by a sensor that detects the humidity level of the cleaning components. The method of determining the humidity level of the cleaning components is not limited here. Assuming that the humidity level of the cleaning components is indirectly determined by the amount of water sprayed onto the cleaning components, then if the degree of soiling of the wastewater is 20, the amount of water sprayed onto the cleaning components can be determined to be 20 ml, and if the degree of soiling of the wastewater is 30, the amount of water sprayed onto the cleaning components can be determined to be 30 ml.

[0058] As an optional implementation, determining the humidity of the cleaning component of the cleaning device according to the degree of dirtiness and controlling the cleaning device to clean the dirt according to the humidity includes: determining the humidity of the cleaning component of the cleaning device as a first humidity when the degree of dirtiness is determined to be greater than a preset dirt threshold; controlling the cleaning device to clean the dirt according to the first humidity in a fine cleaning mode; determining the humidity of the cleaning component of the cleaning device as a second humidity when the degree of dirtiness is determined to be less than or equal to the dirt threshold; and controlling the cleaning device to clean the dirt according to the second humidity in a normal cleaning mode; wherein the first humidity is greater than the second humidity.

[0059] In one exemplary embodiment, the preset dirt threshold can be 20, 30, or other values ​​that can represent the degree of dirtiness. The value of the dirt threshold is not limited here. Assuming the preset dirt threshold is 30, the determined degree of dirtiness is 40, and the humidity of the cleaning component is indirectly determined by the amount of water sprayed onto the component, then if the current degree of dirtiness 40 is greater than the dirt threshold 30, the humidity of the cleaning component is determined to be the first humidity corresponding to a water volume of 30ml sprayed onto the component. The cleaning equipment is then controlled to treat the dirt according to the first humidity in fine cleaning mode.

[0060] Assuming a preset dirt threshold of 30 and a determined dirt level of 20, and assuming the humidity of the cleaning component is indirectly determined by the amount of water sprayed onto it, then if the dirt level of 20 is less than the dirt threshold of 30, the humidity of the cleaning component can be determined as the second humidity corresponding to a water volume of 20ml sprayed onto it. The cleaning equipment is then controlled to treat the dirt according to this second humidity level in normal cleaning mode.

[0061] As an optional implementation, controlling the cleaning device to clean the dirt according to the first humidity in the fine cleaning mode includes: controlling the cleaning device to clean the dirt at a first moving speed according to the first humidity in the fine cleaning mode; controlling the cleaning device to clean the dirt according to the second humidity in the normal cleaning mode includes: controlling the cleaning device to clean the dirt at a second moving speed according to the second humidity in the normal cleaning mode; wherein, the first moving speed is less than the second moving speed.

[0062] In an exemplary embodiment, when the cleaning equipment is controlled to process dirt according to a first humidity level in a fine cleaning mode, the moving speed of the cleaning equipment in the fine cleaning mode can be changed to a first moving speed, which may be 0.25 meters per second. The cleaning equipment is controlled to clean the dirt at a speed of 0.25 meters per second according to the first humidity level in the fine cleaning mode. Since the degree of dirt is high at this time, the cleaning equipment can use a higher humidity level, so that the cleaning equipment can clean the dirt at a lower speed to achieve the purpose of fine cleaning.

[0063] When the cleaning equipment is controlled to process dirt according to the second humidity in the normal cleaning mode, the moving speed of the cleaning equipment in the normal cleaning mode can be set to the second moving speed, which can be 0.5 meters per second. The cleaning equipment is controlled to clean the dirt at a speed of 0.5 meters per second according to the second humidity in the normal cleaning mode. Because the degree of dirt is low at this time, the cleaning parts can use a lower humidity, and the cleaning equipment can clean the dirt at a faster speed, which can improve the cleaning efficiency.

[0064] In one exemplary embodiment, the degree of dirtiness of sewage is directly related to the degree of dirtiness of the ground. If it is difficult to directly determine the degree of dirtiness of the ground, the degree of dirtiness of the ground (such as light transmittance) can be indirectly obtained through the degree of dirtiness of sewage.

[0065] 1. During the first wash of the machine-made wet mop, test the level of dirt in the wastewater from washing the mop. 2. After obtaining the initial level of soiling in the wastewater, adjust the rewash frequency and mop humidity. Conduct numerous experiments using the controlled variable method and analyze the results to obtain an empirical formula for the optimal rewash frequency and mop humidity. 3. Using empirical formulas, intelligent adjustment of mop humidity and rewash frequency is achieved.

[0066] In one exemplary embodiment, the cleaning mode switching of the cleaning equipment can be achieved through the following steps.

[0067] Step 1: Obtain the current water volume and dirt status of the floor being cleaned using machine vision or other sensors that can measure water volume and the degree of soiling in the recycled wastewater; Step 2: If a large amount of water is detected on the ground, the water output of the floor cleaning robot will be reduced; Step 3: If the ground is found to be heavily soiled, a fine cleaning mode will be entered, which will reduce the moving speed and clean repeatedly. Step 4: Continuously monitor the level of water accumulation or dirt until the floor is cleaned to the threshold for cleanliness or water accumulation.

[0068] In another exemplary embodiment, the cleaning mode switching of the cleaning device can be achieved through the following steps.

[0069] Step 1: The machine detects the volume characteristics of the recycled water using internal sensors and the degree of dirtiness using a turbidity sensor.

[0070] Step 2: If the amount of water recovered exceeds the set threshold, the machine will enter the water accumulation treatment mode and reduce the water output until the water volume meets the set normal threshold.

[0071] Step 3: If the level of dirtiness of the recycled water exceeds the threshold, the fine cleaning mode is entered. The fine cleaning mode determines the cleaning time or number of times the area is cleaned.

[0072] Step 4: For machines with visual recognition, there is no need for internal water volume and dirt sensors; the trigger conditions can be determined directly using vision.

[0073] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0074] This embodiment also provides a cleaning mode determination device for a cleaning device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0075] Figure 4 This is a structural block diagram of a cleaning mode determination device for a cleaning device according to an embodiment of the present invention, such as... Figure 4 As shown, the device includes: The first acquisition module 42 is used to acquire information about the dirt that needs to be cleaned in the target area; The first determining module 44 is used to determine the target cleaning mode of the cleaning equipment based on the information of the dirt. The control module 46 is used to control the cleaning equipment to clean the dirt in the target area according to the target cleaning mode.

[0076] In an optional embodiment, the first determining module 44 can determine the target cleaning mode of the cleaning device based on the information of the dirt in the following ways: when the dirt includes liquid dirt, obtain the target accumulation amount of the liquid dirt; when the target accumulation amount is determined to be greater than a preset first water volume threshold, determine the target cleaning mode as a water accumulation treatment mode, wherein the information of the dirt includes the target accumulation amount; when the dirt includes liquid dirt and the accumulation amount of the liquid dirt is less than the first water volume threshold, or when the dirt includes solid dirt, obtain the target degree of dirtiness of the dirt; when the target degree of dirtiness is determined to be greater than a preset dirtiness threshold, determine the target cleaning mode as a fine cleaning mode, wherein the information of the dirt includes the target degree of dirtiness.

[0077] In an optional embodiment, the control module 46 can control the cleaning equipment to clean the dirt in the target area according to the target cleaning mode in the following manner: in the water accumulation treatment mode, control the cleaning equipment to reduce the water output, wherein the water output is the amount of water sprayed onto the cleaning component of the cleaning equipment; when the water output is reduced to less than a preset second water volume threshold, stop reducing the water output to obtain the target water output; control the cleaning equipment to clean the dirt in the target area according to the target water output.

[0078] In an optional embodiment, the control module 46 can control the cleaning device to clean the dirt in the target area according to the target cleaning mode in the following ways: in the fine cleaning mode, control the cleaning device to reduce its moving speed to obtain a target moving speed; control the cleaning device to clean the dirt in the target area according to the target moving speed; increase the number of times the dirt in the target area is cleaned to a target number of times; control the cleaning device to clean the dirt in the target area according to the target number of times of cleaning.

[0079] In an optional embodiment, the first acquisition module 42 can acquire information about the dirt that needs to be cleaned in the target area in the following ways: if a camera for visual recognition is configured in the cleaning equipment, the information about the dirt is determined by the camera; if a first sensor for detecting liquid is configured in the cleaning equipment, the information about the dirt is determined by detecting the wastewater recovered by the cleaning equipment through the first sensor.

[0080] In an optional embodiment, the above-described apparatus is further configured to: after controlling the cleaning equipment to clean the dirt in the target area according to the target cleaning mode, determine that the cleaning equipment has completed cleaning the liquid dirt in the target area when the dirt includes liquid dirt, the accumulation amount of the liquid dirt is less than a preset first water volume threshold, and the target dirt level of the liquid dirt is less than a preset dirt threshold; and determine that the cleaning equipment has completed cleaning the solid dirt in the target area when the dirt includes solid dirt, and the target dirt level of the solid dirt is less than a preset dirt threshold.

[0081] In an optional embodiment, the above-described apparatus further includes an acquisition submodule, configured to acquire wastewater from cleaning components of the cleaning equipment when the cleaning equipment returns to the base station for rewashing; and a determination submodule, configured to determine the rewashing frequency of the cleaning equipment based on the degree of soiling of the wastewater, wherein the rewashing frequency is proportional to the degree of soiling.

[0082] In an optional embodiment, the above-mentioned apparatus further includes: a second acquisition module, configured to detect the degree of dirtiness of the wastewater used to clean the cleaning components of the cleaning equipment when the cleaning equipment returns to the base station for rewashing; and a second determination module, configured to determine the rewashing frequency of the cleaning equipment based on the degree of dirtiness, wherein the rewashing frequency is proportional to the degree of dirtiness.

[0083] This embodiment also provides a backwash frequency adjustment device for a cleaning device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0084] Figure 5 This is a structural block diagram of the backwash frequency adjustment device of the cleaning equipment according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes: The detection module 52 is used to detect the degree of dirtiness of the wastewater generated from cleaning the cleaning components; The third determining module 54 is used to determine the rewashing frequency of the cleaning equipment based on the degree of dirtiness, wherein the rewashing frequency is proportional to the degree of dirtiness.

[0085] The rewash frequency adjustment device of the above-mentioned cleaning equipment further includes: a fourth determining module, used to determine the rewash frequency as a first rewash frequency when the degree of dirt is greater than a first preset threshold; and a fifth determining module, used to determine the rewash frequency as a second rewash frequency when the degree of dirt is less than or equal to the first preset threshold, wherein the second rewash frequency is less than the first rewash frequency. The aforementioned cleaning equipment rewash frequency adjustment device further includes: a third acquisition module, used to, after determining that the rewash frequency is a first rewash frequency, detect again the degree of dirtiness of the wastewater generated from cleaning the cleaning components when the cleaning equipment returns to the base station for rewashing; a first adjustment module, used to adjust the rewash frequency to a third rewash frequency when the degree of dirtiness is detected to be greater than the first preset threshold, wherein the third rewash frequency is greater than the first rewash frequency; and a second adjustment module, used to adjust the rewash frequency to a second rewash frequency when the degree of dirtiness of the wastewater is detected to be less than or equal to the first preset threshold.

[0086] The aforementioned detection module 52 further includes: a first determining subunit, configured to detect the sewage in the sewage pipe using a second sensor configured on the cleaning equipment to determine the degree of dirtiness, wherein the sewage pipe is a pipe through which the base station extracts sewage from the cleaning tank to clean the cleaning components of the cleaning equipment; and a first acquiring subunit, configured to acquire detection information sent by the base station indicating the degree of dirtiness of the sewage, wherein the detection information is information determined by the base station through its own configured third sensor detecting the sewage in the sewage pipe, wherein the sewage pipe is a pipe through which the base station extracts sewage from the cleaning tank to clean the cleaning components of the cleaning equipment.

[0087] The rewash frequency adjustment device of the above-mentioned cleaning equipment further includes: a sixth determining module, used to determine the humidity of the cleaning component of the cleaning equipment according to the degree of dirtiness and control the cleaning equipment to clean the dirt according to the humidity, wherein the humidity is proportional to the degree of dirtiness.

[0088] The sixth determining module in the rewash frequency adjustment device of the above-mentioned cleaning equipment further includes: a second determining subunit, used to determine the humidity of the cleaning component of the cleaning equipment as a first humidity when the degree of dirt is determined to be greater than a preset dirt threshold; a first control subunit, used to control the cleaning equipment to clean the dirt according to the first humidity in fine cleaning mode; a third determining subunit, used to determine the humidity of the cleaning component of the cleaning equipment as a second humidity when the degree of dirt is determined to be less than or equal to the dirt threshold; and a second control subunit, used to control the cleaning equipment to clean the dirt according to the second humidity in normal cleaning mode; wherein, the first humidity is greater than the second humidity.

[0089] The first control subunit in the backwash frequency adjustment device of the above-mentioned cleaning equipment includes: a first control submodule, used to control the cleaning equipment to clean the dirt at a first moving speed according to the first humidity in the fine cleaning mode; The second control subunit in the backwash frequency adjustment device of the above-mentioned cleaning equipment includes: a second control submodule, used to control the cleaning equipment to clean the dirt at a second moving speed according to the second humidity in the normal cleaning mode; wherein, the first moving speed is less than the second moving speed.

[0090] This embodiment also provides a cleaning device, which may include a device for determining the cleaning mode of the cleaning device described in any of the above claims, or the cleaning device may include a device for adjusting the backwash frequency of the cleaning device described in any of the above claims.

[0091] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0092] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0093] In this embodiment, the computer-readable storage medium described above may be configured to store a computer program for performing the following steps: S1, Obtain information on the dirt that needs to be cleaned in the target area; S2, determine the target cleaning mode of the cleaning equipment based on the information of the dirt; S3, control the cleaning equipment to clean the dirt in the target area according to the target cleaning mode.

[0094] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0095] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0096] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0097] In one exemplary embodiment, the processor described above may be configured to perform the following steps via a computer program: S1, Obtain information on the dirt that needs to be cleaned in the target area; S2, determine the target cleaning mode of the cleaning equipment based on the information of the dirt; S3, control the cleaning equipment to clean the dirt in the target area according to the target cleaning mode.

[0098] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adjusting the backwash frequency of a cleaning device, characterized in that, The cleaning equipment includes a cleaning component for cleaning the surface to be cleaned, and the method includes: The degree of dirtiness of the wastewater generated from cleaning the aforementioned components is detected; The rewashing frequency of the cleaning equipment is determined based on the degree of dirtiness, wherein the rewashing frequency is directly proportional to the degree of dirtiness.

2. The method according to claim 1, characterized in that, Determining the rewashing frequency of the cleaning equipment based on the degree of dirtiness includes: determining the rewashing frequency as a first rewashing frequency when the degree of dirtiness is greater than a first preset threshold; and determining the rewashing frequency as a second rewashing frequency when the degree of dirtiness is less than or equal to the first preset threshold, wherein the second rewashing frequency is less than the first rewashing frequency. After determining the rewash frequency as the first rewash frequency, the method further includes: when the cleaning equipment returns to the base station for rewashing, detecting again the degree of dirtiness of the wastewater generated from cleaning the cleaning components; if the degree of dirtiness is detected again as greater than the first preset threshold, adjusting the rewash frequency to a third rewash frequency, wherein the third rewash frequency is greater than the first rewash frequency; and if the degree of dirtiness of the wastewater is detected again as less than or equal to the first preset threshold, adjusting the rewash frequency to a second rewash frequency.

3. The method according to claim 1, wherein detecting the degree of dirtiness of the wastewater generated from cleaning the cleaning components includes at least one of the following: The wastewater in the sewage pipe is detected by a second sensor configured on the cleaning equipment to determine the degree of dirtiness. The sewage pipe is the pipe used by the base station to extract sewage from the cleaning tank to clean the cleaning components of the cleaning equipment. The base station sends detection information indicating the degree of dirtiness of the wastewater. The detection information is determined by the base station through a third sensor configured on its own to detect the wastewater in the wastewater pipe. The wastewater pipe is a pipe through which the base station extracts wastewater from the cleaning tank to clean the cleaning components of the cleaning equipment.

4. The method according to claim 1, characterized in that, The method further includes: Based on the degree of dirtiness, the humidity of the cleaning component of the cleaning equipment is determined and the cleaning equipment is controlled to clean the dirt according to the humidity, wherein the humidity is directly proportional to the degree of dirtiness.

5. The method according to claim 4, characterized in that, Based on the degree of soiling, determine the humidity of the cleaning component of the cleaning equipment and control the cleaning equipment to clean the dirt according to the humidity, including: If the degree of dirt is determined to be greater than a preset dirt threshold, the humidity of the cleaning component of the cleaning equipment is determined to be a first humidity; the cleaning equipment is controlled to clean the dirt according to the first humidity in fine cleaning mode; If the degree of dirt is determined to be less than or equal to the dirt threshold, the humidity of the cleaning component of the cleaning equipment is determined to be a second humidity; the cleaning equipment is controlled to clean the dirt according to the second humidity in normal cleaning mode; Wherein, the first humidity is greater than the second humidity.

6. The method according to claim 5, characterized in that, Controlling the cleaning equipment to clean the dirt according to the first humidity in the fine cleaning mode includes: controlling the cleaning equipment to clean the dirt at a first moving speed according to the first humidity in the fine cleaning mode; Controlling the cleaning equipment to clean the dirt according to the second humidity in normal cleaning mode includes: controlling the cleaning equipment to clean the dirt at a second moving speed according to the second humidity in normal cleaning mode; Wherein, the first moving speed is less than the second moving speed.

7. A backwashing frequency adjustment device for a cleaning equipment, characterized in that, The cleaning equipment includes cleaning components for cleaning surfaces to be cleaned, including: The detection module is used to detect the degree of dirtiness of the wastewater generated from cleaning the cleaning components; The third determining module is used to determine the rewashing frequency of the cleaning equipment based on the degree of dirtiness, wherein the rewashing frequency is proportional to the degree of dirtiness.

8. A cleaning device, characterized in that, Includes the backwash frequency adjustment device for the cleaning equipment as described in claim 7.

9. A storage medium, characterized in that, The storage medium stores a computer program, wherein the program can be executed by a terminal device or a computer to perform the backwashing frequency adjustment method of the cleaning equipment according to any one of claims 1 to 6.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the backwash frequency adjustment method for the cleaning equipment according to any one of claims 1 to 6.

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