Method and device for calibrating reference physical property value of surface of cleaning part, and cleaning equipment

Abstract

The application discloses a kind of reference physical attribute value calibration methods, device and cleaning equipment of surface of cleaning part, the method comprises: determining the backwashing condition of triggering cleaning part, and cleaning equipment returns base station and carries out backwashing cleaning to cleaning part;After backwashing cleaning ends, the current physical attribute value of the surface of cleaning part is obtained, and the water quality information for representing the water quality condition of sewage pipe discharge of base station at the end of cleaning is obtained by base station feedback;The reference physical attribute value of the surface of cleaning part is calibrated based on the current physical attribute value and water quality information or the cleaning part is cleaned again.This application enables cleaning equipment to accurately dynamically calibrate the reference physical attribute value of the surface of cleaning cloth, which is beneficial to select the optimal cleaning mode to intelligently adjust the cleaning intensity, which not only avoids the resource waste and equipment wear caused by excessive cleaning, but also ensures efficient cleaning quality, prolongs the service life of cleaning components and the whole machine, while achieving the purpose of energy saving and environmental protection.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a method, apparatus and cleaning equipment for calibrating the reference physical property values ​​of a cleaning surface. Background Technology

[0002] Tracked or roller-type cleaning robots (including but not limited to sweepers and scrubbers) need to detect the dirt level of the cleaning area in real time when performing tasks, and dynamically adjust the cleaning strategy accordingly, such as increasing water volume, downward pressure, increasing rotation speed, and returning to the station for cleaning, so as to achieve efficient and high-quality floor cleaning.

[0003] Current cleaning robots primarily detect dirt levels in a cleaning area by real-time monitoring of the physical properties of the cleaning cloth surface and comparing these values ​​to preset baseline physical property values. The degree of dirtiness is then assessed based on the difference between the two. However, in this approach, the preset baseline physical property values ​​are typically calibrated based on the physical properties of a brand-new cleaning unit surface, and these values ​​remain constant. Since the cleaning unit is a consumable, its surface properties change or deteriorate over time, leading to variations in its actual baseline physical property values. Continuing to use this as the basis for assessing dirt levels will gradually reduce the accuracy of dirt detection, ultimately impacting the cleaning robot's cleaning effectiveness. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to propose a method for calibrating the reference physical property values ​​of the cleaning surface. This method dynamically calibrates the reference physical property values ​​of the cleaning surface to adapt to changes in the cleaning surface caused by wear and / or dirt. Simultaneously, it performs a re-wash to remove dirt from the cleaning surface, allowing for re-calibration of the reference physical property values ​​after dirt removal. This combination of dual-condition judgment and dynamic calibration enables the cleaning equipment to more accurately calibrate the reference physical property values ​​of the cleaning cloth surface. This dynamic calibration allows for timely adaptation to changes in the cleaning surface, facilitating more precise identification of the actual dirt level in the cleaning area. It allows for the selection of the optimal cleaning mode and intelligent adjustment of cleaning intensity to ensure efficient and thorough cleaning. This not only avoids resource waste and equipment wear caused by over-cleaning but also achieves energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0006] Therefore, a second objective of the present invention is to provide a calibration device for the reference physical property values ​​of a clean surface.

[0007] Therefore, a third objective of the present invention is to provide a cleaning device.

[0008] Therefore, a fourth objective of the present invention is to provide a cleaning system.

[0009] Therefore, a fifth objective of the present invention is to provide a computer-readable storage medium.

[0010] To achieve the above objectives, a first aspect of the present invention discloses a method for calibrating the reference physical property values ​​of a cleaning part surface, used in a cleaning system. The cleaning system includes a cleaning device and a base station. The cleaning device includes the cleaning part, which is used to clean a surface to be cleaned. The method includes: determining a condition that triggers a backwash of the cleaning part; the cleaning device returning to the base station to perform a backwash cleaning of the cleaning part; after the backwash cleaning is completed, acquiring the current physical property values ​​of the cleaning part surface and acquiring water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning; calibrating the reference physical property values ​​of the cleaning part surface based on the current physical property values ​​and the water quality information, or performing a rewash cleaning on the cleaning part.

[0011] According to the calibration method for the reference physical property values ​​of the cleaning section surface according to embodiments of the present invention, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces calibration deviations caused by accumulated dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during operation, preventing secondary pollution or stain spread due to the cleaning section becoming excessively dirty. After the rewashing is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning. Based on this, the changes in the cleaning section surface caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the reference physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface, so that the dynamic calibration of the reference physical property values ​​can be performed again after removing the dirt from the cleaning section surface. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0012] In addition, the method for calibrating the reference physical property values ​​of the surface of the clean part according to the above embodiments of the present invention may also have the following additional technical features: In some embodiments, calibrating the reference physical attribute value of the surface of the cleaning section based on the current physical attribute value and the water quality information, or re-cleaning the cleaning section, includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the original reference physical attribute value is calibrated as the reference physical attribute value. Therefore, when the difference between the physical attribute value and the original reference physical attribute value is less than the first preset difference threshold, and the water discharged from the base station's sewage pipe is clean water, it indicates that the current difference on the surface of the cleaning section has not changed significantly, and the current surface of the cleaning section has no obvious dirt. Therefore, there is no need to update the reference physical attribute value; thus, the pre-calibrated original reference physical attribute value is calibrated as the reference physical attribute value. In other words, in this case, the original reference physical attribute value remains unchanged. This avoids wasting computing resources due to frequent calibration procedures; at the same time, it prevents data drift caused by frequent and unnecessary updates to the baseline physical property values, ensuring the reliability of the data comparison baseline, thereby improving the accuracy and reliability of subsequent assessments of the wear and tear of cleaning components and the determination of dirt.

[0013] In some embodiments, calibrating the reference physical attribute values ​​of the surface of the cleaning section based on the current physical attribute values ​​and the water quality information, or performing a re-cleaning of the cleaning section, includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, controlling the cleaning equipment to perform a re-cleaning of the cleaning section at the base station. Therefore, when the difference between the physical attribute value and the original reference physical attribute value is greater than or equal to the first preset difference threshold, and the water discharged from the base station's sewage pipe is sewage, it indicates that the current difference of the cleaning section is large, and the surface of the cleaning section is highly soiled and has not been cleaned properly. The large current difference may be a false situation caused by high soiling levels; the actual difference may not be large, thus requiring further re-cleaning to remove the current dirt. After the re-cleaning is completed, a re-evaluation is performed. This avoids the influence of dirt on the calibration of the reference physical attribute values, making the calibration process more reliable and the calibration results more accurate. This avoids the impact of residual dirt on the calibration of the baseline physical property values, avoids the risk of data distortion, makes the calibration process more reliable, and the calibration results more accurate. This helps to improve the identification of dirt in the subsequent cleaning process, and makes it easier for the cleaning equipment to intelligently match the optimal cleaning mode according to the actual degree of dirt, so as to achieve more accurate and efficient floor cleaning operations.

[0014] In some embodiments, calibrating the reference physical attribute values ​​of the surface of the cleaning section based on the current physical attribute values ​​and the water quality information, or performing a re-cleaning of the cleaning section, includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, controlling the cleaning equipment to perform a re-cleaning of the cleaning section at the base station. Therefore, when the physical attribute value is less than the first preset difference threshold, and the water discharged from the base station's sewage pipe is sewage, it indicates that the current difference in the cleaning section has not changed significantly, but the surface of the cleaning section may have light-colored dirt such as milk, in which case a re-cleaning is required. After the re-cleaning is completed, a re-evaluation is performed. This avoids the influence of dirt on the calibration of the reference physical attribute values, making the calibration process more reliable and the calibration results more accurate. This avoids the impact of residual dirt on the calibration of the baseline physical property values, avoids the risk of data distortion, makes the calibration process more reliable, and the calibration results more accurate. This helps to improve the identification of dirt in the subsequent cleaning process, and makes it easier for the cleaning equipment to intelligently match the optimal cleaning mode according to the actual degree of dirt, so as to achieve more accurate and efficient floor cleaning operations.

[0015] In some embodiments, after the cleaning equipment is controlled to perform a re-wash cleaning of the cleaning section by the base station, the method further includes: after the re-wash cleaning is completed, acquiring the current physical property values ​​of the surface of the cleaning section again, and acquiring water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning; calibrating the reference physical property values ​​of the surface of the cleaning section based on the current physical property values ​​and the water quality information, or performing a re-wash cleaning on the cleaning section. Thus, after the re-wash cleaning, a re-evaluation is performed to determine whether to calibrate the reference physical property values ​​or perform a re-wash cleaning on the cleaning section, thereby avoiding the influence of dirt on the calibration of the reference physical property values, making the calibration process more reliable and the calibration results more accurate. This avoids the influence of residual dirt on the calibration of the reference physical property values, avoids the risk of data distortion, makes the calibration process more reliable, and the calibration results more accurate, thereby improving dirt identification in subsequent cleaning processes. This facilitates the cleaning equipment to intelligently match the optimal cleaning mode based on the actual degree of dirt, achieving more precise and efficient floor cleaning operations.

[0016] In some embodiments, after the backwash or rewash cleaning is completed, and before acquiring the current physical property value of the surface of the cleaning unit, the method further includes: controlling the cleaning unit to rotate at a preset speed for a preset time. Thus, before acquiring the current physical property value of the surface of the cleaning unit, the cleaning unit is controlled to operate at a preset speed (such as the speed during normal operation), for a preset time, such as 3 seconds. This continuous rotation for a certain period effectively avoids false detections caused by transients, ensuring that the acquired physical property values ​​have a certain degree of consistency, and guaranteeing their accuracy and reliability.

[0017] In some embodiments, calibrating the reference physical attribute value of the surface of the cleaning section based on the current physical attribute value and the water quality information, or re-cleaning the cleaning section, includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the current physical attribute value is calibrated as the reference physical attribute value. Therefore, when the physical attribute value is greater than or equal to the original reference physical attribute value, and the water discharged from the base station's sewage pipe is clean water, it indicates that the current difference in the cleaning section has changed significantly, and the surface of the cleaning section may have dirt that is easily stained but cannot be washed off. In this case, the reference physical attribute value needs to be recalibrated, specifically using the current physical attribute value as the reference physical attribute value. This achieves dynamic calibration of the reference physical attribute value to adapt to the current changes in the cleaning section, thereby facilitating more accurate identification of the actual dirt situation in the cleaning area, selecting the optimal cleaning mode to intelligently adjust the cleaning intensity, and ensuring efficient and thorough cleaning results.

[0018] In some embodiments, the method for calibrating the reference physical property values ​​of the cleaning surface further includes: recording the reference physical property values ​​after each calibration; and controlling the operating state of the cleaning equipment based on the difference between the reference physical property values ​​and the pre-calibrated original reference physical property values. This enables dynamic monitoring of the reference physical property values ​​of the cleaning surface and determines the degree of wear and tear relative to the original clean state, facilitating subsequent replacement reminders or cleaning equipment control, and avoiding impacts on cleaning effectiveness or progress.

[0019] In some embodiments, controlling the operating state of the cleaning equipment based on the difference between the baseline physical attribute value and the original baseline physical attribute value includes: sending a reminder message to the user to replace the cleaning part when the difference between the baseline physical attribute value and the original baseline physical attribute value is greater than or equal to a second preset difference threshold; and controlling the cleaning equipment to operate normally when the difference between the baseline physical attribute value and the original baseline physical attribute value is less than the second preset difference threshold. This ensures cleaning effectiveness while avoiding premature or delayed replacement of consumables, improving user experience and optimizing equipment operating efficiency and maintenance costs.

[0020] In some embodiments, the original baseline physical attribute value is the physical attribute value of the surface of the cleaning unit detected under a preset scenario. The preset scenario includes: the cleaning equipment has installed a new cleaning unit, and the new cleaning unit is in a wetted operating state. Therefore, by setting a preset scenario and using the physical attribute value obtained under this scenario as the original baseline physical attribute value, it is possible to ensure that the original baseline physical attribute value is sufficiently accurate, providing an accurate, reliable, and consistent comparison basis for subsequent calibration of the baseline physical attribute value, which is beneficial for accurately assessing changes in the cleaning unit.

[0021] In some embodiments, the physical property values ​​include optical property values ​​or electrical property values. This provides a variety of types of physical property values, which can be flexibly selected or configured according to actual needs, offering greater flexibility and applicability. For example, optical detection excels at identifying changes in color depth, while electrical detection is more sensitive to liquid content and soluble stains. Therefore, the type of physical property value can be flexibly selected based on specific application scenarios, which helps improve the accuracy of dirt detection and environmental adaptability.

[0022] In some embodiments, the optical property values ​​are detected by an optical sensor mounted on the cleaning device. This not only offers advantages such as low cost, convenient hardware installation, and compact structure, but also efficiently captures differences in reflectivity of the cleaning section under varying degrees of dirt through precise signal conversion and processing algorithms. This easily implemented detection mechanism ensures stable monitoring of cleaning section wear and dirt levels while significantly improving the overall feasibility and practicality of the cleaning equipment.

[0023] In some embodiments, the optical attribute values ​​are obtained based on the reflected signals of the light signals emitted by the emitting unit of the optical sensor after reflection from the surface of the cleaning part. The reflected signals differ depending on the color of the surface of the cleaning part, resulting in different optical attribute values. Therefore, without relying on complex digital processing algorithms or heavy computing resources, this not only reduces hardware costs and system implementation difficulty but also provides stable and reliable data support for determining the level of dirt on the ground and intelligently controlling cleaning equipment.

[0024] In some embodiments, the rewashing conditions for the cleaning section include: the self-cleaning device of the cleaning equipment activates to clean the cleaning section, and the dirt level of the cleaning section is higher than a preset dirt level when the cleaning time reaches a preset time; or, the self-cleaning device of the cleaning equipment activates to clean the cleaning section, and the dirt level of the cleaning section is higher than the preset dirt level when the clean water in the water tank of the self-cleaning device is used up. Therefore, it is possible to accurately identify situations where the self-cleaning function fails and the cleaning section cannot be thoroughly cleaned, and to promptly control the cleaning equipment to return to the base station for rewashing, effectively avoiding inaccurate ground dirt level calibration due to continuous dirt accumulation in the cleaning section.

[0025] In some embodiments, the base station includes a water quality detection device for detecting the water quality information; the water quality detection device includes a transmitter for emitting light waves and a receiver for receiving light waves, the transmitter and the receiver being respectively disposed on opposite sides of the sewage pipe; when water flows through the sewage pipe, the transmitter emits light waves, the light waves pass through the sewage pipe and are received by the receiver, and the turbidity of the water flow in the sewage pipe, which characterizes the water quality information, is obtained by comparing the light waves passing through the sewage pipe. This facilitates the cleaning equipment in accurately determining whether to trigger the calibration of the reference physical property value, or deciding whether to perform a re-cleaning of the cleaning section, thereby effectively ensuring the overall cleaning effect of the cleaning equipment. At the same time, this water quality detection device has a simple structural design, offering advantages such as low cost, ease of installation, and implementation.

[0026] To achieve the above objectives, a second aspect of the present invention discloses a calibration device for the reference physical property value of a cleaning part surface, comprising: a determining module, configured to determine the conditions for triggering a rewash of the cleaning part, wherein the cleaning device returns to a base station to perform a rewash cleaning of the cleaning part; an acquiring module, configured to acquire, after the rewash cleaning is completed, the current physical property value of the cleaning part surface, and water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of the rewash cleaning; and a controlling module, configured to calibrate the reference physical property value of the cleaning part surface based on the physical property value and the water quality information, or to perform a rewash cleaning of the cleaning part.

[0027] According to the reference physical property value calibration device for the surface of the cleaning section of the present invention, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces the calibration deviation caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during the operation, preventing secondary pollution or stain spread due to the cleaning section becoming too dirty. After the rewashing is completed, the current physical property value of the surface of the cleaning section is acquired simultaneously, as well as the water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of the cleaning. Based on this, the changes in the surface of the cleaning section caused by wear and / or dirt are comprehensively judged. Based on the judgment result, on the one hand, the reference physical property value of the surface of the cleaning section can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the reference physical property value can be performed again after the dirt is removed. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0028] To achieve the above objectives, a third aspect of the present invention discloses a self-moving cleaning device, comprising: a body; a cleaning section disposed on the body, the cleaning section being used to clean a surface to be cleaned; a reference physical property value calibration device for the surface of the cleaning section as described in the second aspect of the present invention, or a processor, a memory, and a reference physical property value calibration program for the surface of the cleaning section stored in the memory and executable on the processor, wherein when the reference physical property value calibration program for the surface of the cleaning section is executed by the processor, it implements the reference physical property value calibration method for the surface of the cleaning section as described in any embodiment of the first aspect of the present invention.

[0029] According to the cleaning equipment of the present invention, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces the calibration deviation caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during the operation, preventing secondary pollution or stain spread caused by the cleaning section becoming too dirty, resulting in the ground becoming dirtier with each cleaning. After the rewashing is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as the water quality information fed back by the base station, which characterizes the water quality discharged from the base station's sewage pipe at the end of the cleaning process. Based on this, the changes in the cleaning section surface caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the reference physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the reference physical property values ​​can be performed again after the dirt on the surface of the cleaning section is removed. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0030] To achieve the above objectives, a fourth aspect of the present invention discloses a cleaning system, comprising: a base station; and the cleaning equipment described in the third aspect of the present invention.

[0031] According to the cleaning system of this invention, after determining the conditions for triggering a rewash of the cleaning section, the cleaning equipment returns to the base station to perform a rewash cleaning of the cleaning section. This not only reduces calibration deviations caused by accumulated dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during operation, preventing secondary pollution or stain spread due to the cleaning section becoming excessively dirty. After the rewash is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning. Based on this, the changes in the cleaning section surface caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the baseline physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the baseline physical property values ​​can be performed again after removing the dirt from the surface of the cleaning section. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0032] To achieve the above objectives, an embodiment of the fifth aspect of the present invention discloses a computer-readable storage medium storing a calibration program for reference physical property values ​​of a cleaning part surface. When the calibration program for reference physical property values ​​of a cleaning part surface is executed by a processor, it implements the calibration method for reference physical property values ​​of a cleaning part surface as described in any embodiment of the first aspect of the present invention.

[0033] According to an embodiment of the present invention, when the reference physical property value calibration program for the surface of the cleaning section stored thereon is executed by a processor, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces the calibration deviation caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during the operation, preventing secondary pollution or stain spread due to the cleaning section becoming too dirty and the ground becoming dirtier the more it is mopped. After the rewashing is completed, the current physical property value of the surface of the cleaning section is acquired simultaneously, as well as the water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of the cleaning. Based on this, the changes in the surface of the cleaning section caused by wear and / or dirt are comprehensively judged. Based on the judgment result, on the one hand, the reference physical property value of the surface of the cleaning section can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the reference physical property value can be re-performed after the dirt on the surface of the cleaning section is removed. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0034] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a method for calibrating the reference physical property values ​​of a clean surface according to an embodiment of the present invention; Figure 2 This is a structural block diagram of a device for calibrating the reference physical property values ​​of a clean surface according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a cleaning device according to an embodiment of the present invention; Figure 4 This is a structural block diagram of a cleaning system according to an embodiment of the present invention. Detailed Implementation

[0036] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0037] The following is for reference. Figure 1 A method for calibrating the reference physical property values ​​of the surface of a clean part according to an embodiment of the present invention is described.

[0038] Figure 1 This is a flowchart of a method for calibrating the reference physical property values ​​of a clean surface according to an embodiment of the present invention. Figure 1 As shown, the method includes at least steps S1-S3, wherein the reference physical property value calibration method for the surface of the cleaning part is used in the cleaning system, the cleaning system includes cleaning equipment and base station, the cleaning equipment includes a cleaning part, and the cleaning part is used to clean the surface to be cleaned.

[0039] Step S1: Determine the conditions for triggering the cleaning unit's rewashing, and the cleaning equipment returns to the base station to perform rewashing and cleaning of the cleaning unit.

[0040] The cleaning equipment includes, but is not limited to, sweepers and scrubbers; the cleaning unit includes, but is not limited to, mops, rollers or conveyors.

[0041] In this embodiment, during the mopping task, once the conditions for triggering the cleaning unit's rewash are determined, it indicates that the current self-cleaning ability is insufficient to clean the mop. The cleaning equipment is then controlled to return to the base station for rewashing. This avoids calibration deviations caused by dirt accumulation and promptly removes liquid dirt (such as edible liquids like soy sauce and ketchup, easily colored liquids like ink and pigments, and cleaning liquids like laundry detergent and shower gel), dust, and stubborn stains absorbed by the mop during operation. This prevents secondary pollution or stain spread caused by an overly dirty mop, resulting in a "dirtier the more you mop" situation. Deep cleaning by the base station restores the cleaning components to a clean state, effectively preventing repeated application and spread of localized stains within the cleaning area, thereby eliminating their negative impact on the overall cleaning effect and the system's generalization ability.

[0042] Specifically, the conditions for triggering backwashing and returning to the base station differ for different types of cleaning equipment: when the cleaning equipment is a sweeping machine, the triggering condition for backwashing can be an adaptive judgment by the sweeping machine, and then the sweeping machine will return to the base station on its own and complete the cleaning of the cleaning components; when the cleaning equipment is a floor scrubber, the triggering condition for backwashing can be manually determined by the user based on the self-cleaning status or actual cleaning effect fed back by the cleaning equipment, and the process of the floor scrubber returning to the base station can also be completed manually by the user.

[0043] Step S2: After the backwash cleaning is completed, obtain the current physical property values ​​of the surface of the cleaned part, and obtain the water quality information fed back by the base station to characterize the water quality of the sewage pipe discharged from the base station at the end of the cleaning.

[0044] In this embodiment, after the cleaning component completes its rewash, the current physical property values ​​of its surface are acquired. Based on the color or voltage changes of the cleaning component surface represented by these current physical property values, the wear and tear on the cleaning component surface is determined. Simultaneously, water quality information fed back from the base station is collected to analyze the drainage situation from the base station's wastewater pipe after cleaning, such as determining whether the discharged water is sewage or clean water. This water quality information is then combined with the water quality information to determine the degree of soiling of the mop. Therefore, based on the current physical property values ​​and water quality information, the actual degree of soiling of the cleaning component can be accurately inferred, and subsequent cleaning strategies and mop calibration schemes can be dynamically adjusted accordingly. This not only intelligently increases cleaning intensity to ensure efficient and thorough cleaning in heavily soiled areas, but also optimizes operating parameters in lightly soiled environments, effectively avoiding resource waste and equipment wear caused by over-cleaning. This ensures cleaning quality while extending the service life of the cleaning components and the entire machine.

[0045] Step S3: Based on the current physical property values ​​and water quality information, calibrate the baseline physical property values ​​of the surface of the cleaning section or perform a re-cleaning of the cleaning section.

[0046] In this embodiment, the system compares the current physical attribute values ​​obtained after the cleaning component completes its rewash with pre-set baseline physical attribute values ​​for the cleaning section surface. For example, if there is a significant difference between the current physical attribute values ​​and the baseline physical attribute values, it indicates that the current cleaning section surface is significantly different from its clean state, which may mean that the cleaning section has suffered significant physical wear. At this time, the system further combines water quality information to determine the state: if the water quality information indicates dirty water (sewage), it means that the cleaning section has not only suffered significant wear but also has a high concentration of contaminants on its surface, and the system determines that a rewash cleaning operation needs to be performed on the cleaning section; if the water quality information indicates clean water, it means that although the cleaning section has suffered wear, its surface contamination is extremely low and meets the normal working conditions. In this case, it is only necessary to calibrate the baseline physical attribute values ​​based on the current physical attribute values ​​and water quality information to adapt to the current state of the cleaning section. Alternatively, if there is a small difference between the current physical property value and the baseline physical property value, it indicates that the current surface of the clean section is not significantly different from the clean state, which means that the wear and tear on the clean section is small. Furthermore, if the water quality information is characterized as sewage, it indicates that there are easily colored substances or stubborn stains on the surface of the clean section. In this case, it is not necessary to calibrate the baseline physical property value of the surface of the clean section. Instead, the clean section needs to be rewashed to remove the easily colored substances or stubborn stains on the surface of the clean section.

[0047] Therefore, based on changes in the physical properties of the cleaning unit's surface and feedback water quality information, the system can accurately determine the degree of wear and dirt on the cleaning unit's surface, and then flexibly adjust the cleaning strategy accordingly. Simultaneously, it can dynamically calibrate the baseline physical properties of the cleaning unit's surface based on the actual wear and tear of the cleaning unit (such as the mop) to adapt to the current wear state, facilitating more accurate detection of the actual dirt level. This allows the cleaning equipment to more precisely select cleaning modes for efficient cleaning. Consequently, it not only achieves higher cleaning efficiency, longer service life of cleaning components, and better cleaning results, but also dynamically adjusts water and electricity consumption based on the actual degree of dirt, thus achieving energy conservation and environmental protection.

[0048] Therefore, in the embodiments of the present invention, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces the calibration deviation caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during the operation, preventing secondary pollution or stain spread due to the cleaning section becoming too dirty and the ground becoming dirtier with each cleaning. After the rewashing is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as the water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of the cleaning. Based on this, the changes in the cleaning section surface caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the reference physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the reference physical property values ​​can be performed again after the dirt on the surface of the cleaning section is removed. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0049] In one embodiment of the present invention, calibrating the reference physical attribute value of the surface of the cleaning part or re-cleaning the cleaning part based on the current physical attribute value and water quality information includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the original reference physical attribute value is calibrated as the reference physical attribute value.

[0050] For example, the current physical attribute value is denoted as d, the pre-calibrated original baseline physical attribute value is denoted as D(1), and the first preset difference threshold is, for example, 5%.

[0051] In a specific embodiment, for example, the system uses a programmable full-color LED (Light Emitting Diode) array as the transmitter to emit light of a specific wavelength, and uses the LEDs as the receiver. By comparing the difference in reflected light wavelength between a clean mop and a stained mop, the system can accurately detect the color and degree of dirt. Specifically, after completing the optical calibration of the original baseline physical property values, the system needs to keep the installation positions of the transmitter and receiver and the LED illumination mode constant when performing the mopping task. Based on this, the system collects the return value of the mop color in real time (i.e., the current physical property value) and compares it with the original baseline physical property value that can characterize the cleanliness of the mop, thereby determining the current dirt level of the mop based on the color change of the mop.

[0052] In a specific embodiment, a sophisticated algorithm based on multidimensional optical data analysis can be used for the determination of dirt on the surface of the cleaning unit (such as a mop) and the baseline calibration mechanism. First, during the data acquisition phase, the microcontroller receives feedback signals from the sensor array periodically via a serial port. Specifically, each acquisition cycle generates a 31x3 matrix (corresponding to the voltage response values ​​of 31 LED points and their red, green, and blue color channels). This matrix is ​​defined as a "frame" of data, where each row represents a reading at a spatial location on the mop or sensor array. To establish an accurate detection benchmark, the system continuously acquires N frames of data during the calibration phase, forming a list of "31x3 matrices" of length N as the original input samples. Based on this, the system preprocesses the data, for example, by performing a three-point moving average on each location and each channel along the cycle dimension to effectively reduce random noise interference that may be introduced by a single acquisition.

[0053] Furthermore, the system utilizes Mahalanobis distance as the core indicator for measuring the cleanliness of the surface in the cleaning section. It is important to note that this anomaly detection process is not performed in the overall high-dimensional feature space, but rather precisely at each independent spatial location of the sensor array, that is, the calculation is completed within the original three-channel color space.

[0054] During the calibration phase, the system saves the preprocessed data and stacks N three-dimensional vectors (i.e., the voltage values ​​of the three channels) into samples according to their positions, estimating the 3×3 covariance matrix Σi corresponding to that position. To ensure the positive definiteness of the matrix and the stability of the inversion operation, diagonal regularization (i.e., ridge loading) is also applied. The resulting "Mahanobis space" contains two key elements: First, the center That is, the mean vector of the three channels at position i during baseline calibration, corresponding to the i-th row of the mean matrix in the calibration record; Second, scale and correlation The covariance is estimated from the three-channel samples at that location over N calibrated periods. When it appears in a quadratic form, it is equivalent to weighting the difference vector according to the variance of each channel and the correlation between channels. In the direction of larger variance, the same numerical deviation contributes less to the distance, so that the calculated distance can better match the dimensions and joint fluctuation characteristics of the data.

[0055] When the reading at position i of the current frame is acquired in real time When there are three channels in one row, the system uses the formula... Calculate Mahalanobis distance Intuitively, this means a reading on a clean surface. It should fall under the Centered on, by The delineated "normal fluctuation ellipsoid" is within its distribution range; once the surface becomes dirty or its optical state changes abnormally, the reading... This will deviate from the distribution, causing a significant increase in the Mahalanobis distance. If a calculated Mahalanobis distance exists... If a location exceeds the preset upper limit threshold (i.e., the maximum allowed Mahalanobis distance between the current physical attribute value and the original baseline physical attribute value), the system will determine that the location is "dirty" and output the dirt determination results of all points simultaneously.

[0056] Furthermore, to address wear and color differences caused by long-term use of the cleaning unit, the system incorporates a deviation monitoring mechanism based on Euclidean distance to dynamically calibrate the original baseline physical property values. Here, "deviation" refers to the Euclidean distance between the average values ​​of the three channels between two calibration baselines (i.e., the original baseline physical property values). Specifically, the system re-detects after each base station backwash to determine the deviation between the currently detected color baseline (i.e., the current physical property value) and the initial color baseline (i.e., the original baseline physical property value). This deviation is compared to a preset error tolerance (i.e., the first preset difference threshold), and combined with acquired water quality information for a comprehensive judgment. Based on the judgment result, the baseline value is automatically updated, thereby ensuring the accuracy and adaptability of the mop soiling detection.

[0057] In this embodiment, when the difference between the current physical attribute value of the surface of the cleaning component and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, i.e., dD(1) < 5%, and the water quality information discharged from the base station sewage pipe indicates that the water is clean, it means that the current difference of the surface of the cleaning component has not changed much, and there is no obvious dirt on the surface of the cleaning component. Therefore, there is no need to update the reference physical attribute value. Thus, the pre-calibrated original reference physical attribute value is calibrated as the reference physical attribute value. In other words, in this case, the original reference physical attribute value is kept unchanged. This avoids wasting computing resources due to frequent calibration procedures; at the same time, it also prevents data drift of the reference physical attribute value due to frequent and unnecessary updates, ensuring the reliability of the data comparison benchmark, thereby improving the accuracy and reliability of subsequent assessment of the wear and tear of the cleaning component and the judgment of dirt.

[0058] In one embodiment of the present invention, calibrating the reference physical attribute value of the surface of the cleaning part or re-cleaning the cleaning part based on the current physical attribute value and water quality information includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, controlling the cleaning equipment to re-clean the cleaning part at the base station.

[0059] In an embodiment, when the difference between the current physical property value of the surface of the cleaning component and the pre-calibrated original reference physical property value is greater than or equal to a first preset difference threshold, i.e., dD(1) When the water quality information discharged from the base station's sewage pipe is classified as sewage (5%), it indicates a large difference in the current cleaning value, and the surface of the cleaning area is highly soiled and not yet cleaned properly. The large difference may be a false alarm caused by the high degree of soiling, and the actual difference may not be significant. Therefore, further cleaning is needed to remove the existing dirt. After cleaning, a reassessment is performed. This avoids the influence of dirt on the baseline physical property value calibration, making the calibration process more reliable and the results more accurate. It also avoids the impact of residual dirt on the baseline physical property value calibration, preventing data distortion and improving the accuracy of the calibration process. This facilitates better dirt identification in subsequent cleaning processes, allowing cleaning equipment to intelligently match the optimal cleaning mode based on the actual degree of soiling, achieving more precise and efficient floor cleaning operations.

[0060] In one embodiment of the present invention, calibrating the reference physical attribute value of the surface of the cleaning part or re-cleaning the cleaning part based on the current physical attribute value and water quality information includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, controlling the cleaning equipment to re-clean the cleaning part at the base station.

[0061] In this embodiment, when the difference between the current physical property value of the cleaning component surface and the pre-calibrated original baseline physical property value is less than the first preset difference threshold, i.e., dD(1) < 5%, and the water quality information discharged from the base station sewage pipe is characterized as sewage, it indicates that the current difference of the cleaning part has not changed much, but there may be light-colored dirt such as milk on the surface of the cleaning part. In this case, the cleaning part needs to be re-washed. After the re-washing is completed, the evaluation is carried out again. Thus, the influence of dirt on the baseline physical property value calibration is avoided, making the calibration process more reliable and the calibration result more accurate. It avoids the influence of residual dirt on the baseline physical property value calibration due to dirt on the cleaning component, avoids the risk of data distortion, makes the calibration process more reliable, and the calibration result more accurate, thereby improving the dirt identification in the subsequent cleaning process, and making it easier for the cleaning equipment to intelligently match the optimal cleaning mode according to the actual degree of dirt, so as to achieve more accurate and efficient ground cleaning operations.

[0062] In one embodiment of the present invention, after the cleaning device performs a re-wash cleaning on the cleaning part at the base station, the method further includes: after the re-wash cleaning is completed, acquiring the current physical property value of the surface of the cleaning part again, and acquiring water quality information fed back by the base station to characterize the water quality of the sewage pipe discharged from the base station at the end of the cleaning; calibrating the reference physical property value of the surface of the cleaning part or performing a re-wash cleaning on the cleaning part based on the current physical property value and water quality information.

[0063] In this embodiment, after the rewash cleaning process is completed, the system automatically returns to the initial evaluation step. This involves re-acquiring the current physical property values ​​of the cleaned surface and the water quality information from the base station, which characterizes the quality of the wastewater discharged from the sewage pipe at the end of the rewash cleaning. The system then comprehensively evaluates the current physical property values ​​and water quality information. Based on the evaluation results, it calibrates the baseline physical property values ​​of the cleaned surface or performs a rewash cleaning. Therefore, after the rewash cleaning, a new evaluation is performed to determine whether to calibrate the baseline physical property values ​​or perform a rewash cleaning. This avoids the influence of dirt on the calibration of the baseline physical property values, making the calibration process more reliable and the calibration results more accurate. It also avoids the influence of residual dirt on the calibration of the baseline physical property values, avoiding the risk of data distortion. This makes the calibration process more reliable and the calibration results more accurate, thus improving dirt identification in subsequent cleaning processes. Consequently, the cleaning equipment can intelligently match the optimal cleaning mode based on the actual degree of dirt, achieving more precise and efficient floor cleaning operations.

[0064] In a specific embodiment, during the mopping task, the sensors remain continuously activated and calculate the Mahalanobis distance in real time to assess the degree of dirt on the mop (cleaning section) surface. Based on the current physical property values, the system triggers a corresponding graded cleaning strategy, specifically including the following three levels: First, when significant dirt is detected, and the difference between the current physical attribute value and the original baseline physical attribute value is less than a first preset difference threshold, the system triggers the first cleaning strategy (corresponding to response level 2 and trigger scenario P0). At this time, the system control unit starts the water pump for 1 to 5 seconds, increasing the self-cleaning water volume of the cleaning unit. In this mode, general stains can be effectively scraped off the rollers and recycled to the wastewater tank, allowing the robot to continue performing cleaning tasks without worrying about stain residue.

[0065] Secondly, if the current physical attribute value does not show a significant downward trend within a preset time period (e.g., 3 to 8 seconds) after the first cleaning strategy is triggered; or, when the difference between the current physical attribute value and the original baseline physical attribute value is detected to be greater than or equal to the first preset difference threshold, the system triggers the second cleaning strategy (corresponding to 3 response levels and trigger scenario P1). This indicates that the stains have stubbornly adhered to the mop, posing a very high risk of cross-contamination. At this time, the system control host immediately returns to the base station to perform a deep cleaning of the cleaning section, and automatically performs a re-mopping operation on the current cleaning area after the cleaning is completed to ensure that stubborn stains are thoroughly removed.

[0066] Finally, during the cleaning process of the cleaning unit by the base station, the system introduces a cleanliness acceptance standard (corresponding to threshold level 1 and trigger scenario P2). The system continuously monitors the area using the Mahalanobis distance algorithm consistent with the mopping process (e.g., by controlling the mop to rotate for 3 seconds to obtain continuous measurement values ​​to eliminate false alarms). If the physical property value of the cleaning unit is still greater than the preset cleanliness threshold, it is determined that the mop has not met the cleanliness standard. The system will then trigger a third cleaning strategy, controlling the base station to perform a second cleaning (rewash) on the cleaning unit, and re-mopping the corresponding area after the cleaning is completed.

[0067] The above-mentioned graded cleaning strategy can dynamically adjust the water volume and cleaning strategy according to the stubbornness of the dirt, effectively avoiding secondary pollution caused by an overly dirty mop.

[0068] In one embodiment of the present invention, after the backwash cleaning is completed or the rewash cleaning is completed, and before obtaining the current physical property value of the surface of the cleaning part, the method further includes: controlling the cleaning part to rotate at a preset speed for a preset time.

[0069] In this embodiment, before acquiring the current physical property values ​​of the cleaning unit's surface, the system pre-controls the cleaning unit to operate continuously at a preset speed (e.g., the rated speed during normal operation) for a preset period of time (e.g., 3 seconds). This continuous rotation for a certain period effectively avoids false detections caused by transients, ensuring that the acquired physical property values ​​have a certain degree of consistency, thus guaranteeing their accuracy and reliability.

[0070] In one embodiment of the present invention, calibrating the reference physical attribute value of the surface of the cleaning part or re-cleaning the cleaning part based on the current physical attribute value and water quality information includes: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the current physical attribute value is calibrated as the reference physical attribute value.

[0071] In an embodiment, when the difference between the current physical property value of the surface of the cleaning part and the pre-calibrated original reference physical property value is greater than or equal to a first preset difference threshold, i.e., dD(1) When the water quality information discharged from the base station sewage pipe is characterized as clear water, it indicates that the current difference in the cleaning section is large, and there may be dirt on the surface of the cleaning section that is easy to stain but cannot be washed off. In this case, the baseline physical attribute value needs to be recalibrated. Specifically, the current physical attribute value is used as the baseline physical attribute value. This realizes the dynamic calibration of the baseline physical attribute value to adapt to the current changes in the cleaning section, which helps to more accurately identify the actual dirt situation in the cleaning area, select the optimal cleaning mode to intelligently adjust the cleaning intensity, and ensure efficient and thorough cleaning results.

[0072] In one embodiment of the present invention, the method for calibrating the reference physical property values ​​of the cleaning surface further includes: recording the reference physical property values ​​after each calibration; and controlling the operating status of the cleaning equipment based on the difference between the reference physical property values ​​and the pre-calibrated original reference physical property values.

[0073] In this embodiment, the baseline physical property values ​​are continuously recorded for each calibration update. As the mop is used for longer periods, the calibration values ​​will be updated multiple times due to the combined effects of material damage and easily staining dirt, for example, gradually updating from the original baseline physical property value D(1) to D(2), D(3), ... until D(n). The operation of the cleaning equipment is controlled based on the difference between the updated baseline physical property value and the original baseline physical property value. This enables dynamic monitoring of the baseline physical property values ​​of the cleaning surface and determines the degree of wear and tear relative to the original clean state, facilitating subsequent replacement reminders or cleaning equipment control, and avoiding impacts on cleaning effectiveness or progress.

[0074] In one embodiment of the present invention, controlling the operating state of the cleaning equipment based on the difference between the reference physical attribute value and the original reference physical attribute value includes: sending a reminder message to the user for replacing the cleaning part when the difference between the reference physical attribute value and the original reference physical attribute value is greater than or equal to a second preset difference threshold; and controlling the cleaning equipment to operate normally when the difference between the reference physical attribute value and the original reference physical attribute value is less than the second preset difference threshold.

[0075] The second preset difference threshold is, for example, 50%.

[0076] In this embodiment, the degree of wear and tear on the cleaning unit is quantified by calculating the difference between the baseline physical attribute value and the original baseline physical attribute value. Specifically, when the difference is greater than or equal to a second preset difference threshold, i.e., D(n) - D(1)... When the cleaning unit reaches 50%, it indicates that the cleaning unit has suffered significant wear and tear compared to its original state, and its cleaning ability has also decreased significantly. Continued use will make it difficult to guarantee effective cleaning quality, thus significantly affecting the cleaning effect. Therefore, a reminder message will be sent to the user to replace the cleaning unit in a timely manner, such as replacing the mop, to ensure the cleaning unit's cleaning ability and guarantee the cleaning effect of the cleaning equipment.

[0077] On the other hand, when the difference is less than the second preset difference threshold, i.e., D(n)-D(1)<50%, it indicates that the wear and tear on the cleaning unit is relatively small compared to its original state, the degree of wear is still within a controllable range, and its cleaning ability does not significantly decrease, still meeting the needs of normal operation. Therefore, it is sufficient to control the cleaning equipment to operate normally without additional intervention. Thus, based on the comparison between the difference and the second preset difference threshold, it is possible to determine whether the cleaning unit needs to be replaced, thereby ensuring the cleaning effect while avoiding premature or late replacement of the cleaning unit, which improves the user experience and optimizes equipment operating efficiency and maintenance costs.

[0078] In one embodiment of the present invention, the original reference physical property value is the physical property value of the surface of the cleaning part detected under a preset scenario. The preset scenario includes: the cleaning equipment has installed a new cleaning part, and the new cleaning part is in a wetted operating state.

[0079] In this embodiment, after installing a new cleaning unit, the system acquires physical property values ​​under a specific state of wet operation and sets them as the original baseline physical property values. Specifically, the microcontroller controls the light source to emit light in turn according to a preset frequency and color sequence. The light is reflected by the mop surface and received by the receiver, and a specific voltage value is formed by analog-to-digital conversion sampling. Each point in the array uses light of a different color to illuminate the mop surface in turn, thereby acquiring multiple sets of voltage response values ​​under the corresponding colors as the color value of that point. Based on this, the microcontroller collects data from the mop surface under normal operating conditions for a period of time, extracts the statistical characteristics (such as mean, variance, etc.) of each point and each color channel data to form a feature vector, constructs a feature space, and uses this as the initial color baseline of the clean mop surface to complete a calibration, which is then used as the original baseline physical property value.

[0080] As a specific implementation example, the system can collect 93 voltage data points formed by 31 LEDs (or 15 LEDs) emitting red, green, and blue light respectively, as one frame, and continuously record 100 frames of data to jointly calculate and establish the original baseline physical attribute value. Based on this, the deviation generated in subsequent detection is specifically manifested as the difference between the voltage value corresponding to the current physical attribute value and the voltage value corresponding to the original baseline physical attribute value.

[0081] Therefore, by setting a preset scenario, the physical attribute values ​​obtained under this scenario can be used as the original baseline physical attribute values. This ensures that the original baseline physical attribute values ​​are accurate enough, providing an accurate, reliable and consistent basis for subsequent calibration of the baseline physical attribute values, which is conducive to accurately assessing changes in the cleaning department.

[0082] In one embodiment of the present invention, the physical property value includes an optical property value or an electrical property value.

[0083] In this embodiment, physical attribute values ​​specifically encompass two main categories: optical attribute values ​​and electrical attribute values. These correspond to different detection principles and sensing mechanisms, collectively constructing the cleaning equipment's multi-dimensional perception capability of the cleaning surface's state. Optical attribute values ​​are primarily acquired through optical detection devices. The detection logic utilizes the difference in light reflectivity between the clean surface and its soiled state to quantify the degree of soiling: when the surface of the clean surface (such as a light-colored velvet fabric) is clean, its reflectivity is high, the received unit receives a strong reflected signal, which is converted into a high voltage signal. This voltage value has a small difference from the preset standard voltage (cleanliness benchmark). Conversely, when the clean surface becomes stained and the color deepens, the reflectivity decreases, and the voltage signal output by the transmitting unit weakens accordingly. The processor can accurately determine the degree of soiling on the surface to be cleaned by comparing the difference between the current voltage and the standard voltage.

[0084] Electrical property values ​​are achieved through an electrical detection device, which typically has electrodes in the cleaning section. The device reflects the amount of dirt by detecting changes in parameters such as capacitance, conductivity, or resistance between the electrodes. The principle is that changes in the medium between the electrodes (i.e., the turbid liquid or impurities on the cleaning section) directly change the electrical parameters. For example, as dirt increases, the dielectric constant or ion concentration of the medium changes, causing the detected capacitance or conductivity to deviate from the standard electrical property values ​​(such as standard capacitance or standard conductivity). The processor calculates the capacitance or conductivity change parameters based on this and then determines the level of dirt.

[0085] This provides a variety of physical property values ​​that can be flexibly selected or configured according to actual needs, offering greater flexibility and applicability. For example, optical detection excels at identifying changes in color depth, while electrical detection is more sensitive to liquid content and soluble stains. Therefore, the type of physical property value can be selected based on the specific application scenario, which helps improve the accuracy of dirt detection and environmental adaptability.

[0086] In one embodiment of the invention, optical property values ​​are detected by an optical sensor disposed on a cleaning device.

[0087] In this embodiment, optical sensors configured on the cleaning equipment can acquire optical property values ​​reflecting the surface condition of the cleaned area in real time and dynamically. Benefiting from the highly mature technological foundation in the field of optical sensing, this detection scheme not only boasts advantages such as low cost, convenient hardware installation, and compact structure, but also efficiently captures the reflectivity differences of the cleaned area under different levels of dirt through precise signal conversion and processing algorithms. This easily implemented detection mechanism ensures stable monitoring of the wear and tear and dirt level of the cleaned area while significantly improving the overall feasibility and practicality of the cleaning equipment.

[0088] Specifically, in terms of cost, the transmitter uses common visible light programmable full-color LEDs, while the receiver uses ordinary visible light LEDs, resulting in low-cost core components. Regarding real-time performance, the sensor is directly mounted on the robot host, enabling timely detection of mop dirt. The time delay from the mop (such as a track or roller structure) contacting the dirt to the sensor responding and outputting a result can be controlled within 0.5 seconds. Structurally, the internal design utilizes numerous small-package surface-mount components, significantly reducing vertical space requirements and making the overall design of a single sensor extremely compact. In terms of maintenance, the self-cleaning process of the mop each time the robot returns to the base station, combined with the optimized mop structure design, effectively keeps the sensor surface clean, thus ensuring long-term stable detection performance.

[0089] In one embodiment of the present invention, the optical attribute value is obtained based on the reflection signal of the light signal emitted by the emitting unit of the optical sensor after being reflected by the surface of the cleaning part. The reflection signal is different when the surface of the cleaning part presents different colors, and the corresponding optical attribute values ​​are different.

[0090] In this embodiment, the acquisition of optical attribute values ​​primarily relies on the coordinated operation of the transmitting and receiving units within the optical sensor. The hardware structure of this optical sensor is simple and mature, typically consisting of a pair of infrared photodiodes or light-emitting diodes, one acting as the transmitting unit (i.e., the emitting end) and the other as the receiving unit (i.e., the receiving end). In terms of layout, the infrared photodiodes are positioned on the same side as the cleaning section and opposite to it, ensuring that the emitted infrared light, after reflection from the cleaning section, can be effectively captured by the receiving unit. Once the receiving unit receives the reflected signal, it converts it into a corresponding electrical signal and outputs it to the microcontroller unit.

[0091] During operation, the transmitting unit emits specific light signals towards the surface of the cleaning part (such as a mop). When these light signals come into contact with the surface of the cleaning part, they are reflected. The receiving unit is responsible for accurately capturing the reflected light signals and directly converting them into corresponding electrical signals (such as voltage values) as optical attribute values. The core physical mechanism of this detection process lies in the difference in light reflectivity, that is, when the surface of the cleaning part presents different colors or shades, its ability to reflect light is completely different.

[0092] Specifically, when the cleaning section is in its original clean state, its surface material is usually a light color with high light reflectivity. At this time, the intensity of the reflected signal received by the receiving unit is high, and the corresponding optical property value (voltage value) is also high. However, when the cleaning section becomes contaminated with dust, oil, or other dirt during the cleaning process, its surface color gradually darkens due to the accumulation of dirt, resulting in a significant decrease in light reflectivity. Most of the light is absorbed, causing the intensity of the reflected signal captured by the receiving unit to weaken, and the corresponding optical property value to decrease accordingly. Therefore, the microcontroller unit only needs to monitor and analyze the difference in the intensity of the reflected signal caused by the change in surface color in real time to accurately quantify the current degree of dirt adhesion on the cleaning section. Thanks to this direct detection method based on physical reflection characteristics, this solution does not rely on complex digital processing algorithms or heavy computing resources, which not only reduces hardware costs and system implementation difficulty but also provides stable and reliable data support for judging the level of dirt on the ground and intelligently controlling cleaning equipment.

[0093] In one embodiment of the present invention, the rewashing conditions of the cleaning section include: the self-cleaning device of the cleaning equipment is turned on to clean the cleaning section, and when the cleaning time reaches a preset time, the dirt level of the cleaning section is higher than the preset dirt level; or, the self-cleaning device of the cleaning equipment is turned on to clean the cleaning section, and when the clean water in the water tank of the self-cleaning device is used up, the dirt level of the cleaning section is higher than the preset dirt level.

[0094] In this embodiment, after the original reference physical attribute values ​​are calibrated by the optical sensor, during the mopping task, the installation position of the optical sensor and the lighting method of the LEDs remain unchanged. The return value of the mop color is received and compared with the original reference physical attribute value, which characterizes the degree of dirtiness of the mop. The dirtiness level of the mop is determined based on the comparison. For each point, if the color return value deviates from the original reference physical attribute value by more than a certain value, it is recorded as dirty. The degree of dirtiness for each point is judged independently and output simultaneously. When the cleaning device performs the mopping task, if the status of each cleaning point is normal, the mopping task continues normally. If it is detected that the cleaning time for a certain cleaning point has reached the preset time and the color return value of the dirt is continuously high (i.e., the dirtiness level of the cleaning part is higher than the preset dirtiness level), it indicates that there is still obvious dirt in the area. The system will initially activate the water self-cleaning function (such as reducing the movement speed of the host or pausing movement to enhance local cleaning). If the cleaning part is still not cleaned at this time, the rewash condition is directly triggered, and the cleaning device is controlled to return to the base station for rewash cleaning.

[0095] Alternatively, during the self-cleaning process of the cleaning unit, if the self-cleaning function runs for a period of time and the water in the tank is exhausted, and the dirt level of the cleaning unit is still higher than the preset dirt level, it indicates that there is still significant dirt even after the water is depleted, and the cleaning unit has not been thoroughly cleaned. In this case, the system will immediately trigger the rewash function, controlling the cleaning equipment to return to the base station for deep cleaning and recording the current location on the cleaning map. After the rewash is completed, the equipment will return to the same location for inspection. If dirt is still present, the rewash function will be triggered again to ensure thorough cleaning of stubborn stains. Therefore, by clearly defining the specific conditions for triggering the rewash, the system can accurately identify situations where the self-cleaning function fails and cannot thoroughly clean the dirt in the cleaning unit, and promptly control the cleaning equipment to return to the base station for rewashing, effectively avoiding inaccurate dirt level calibration due to continuous dirt in the cleaning unit.

[0096] In one embodiment of the present invention, the base station includes a water quality detection device for detecting water quality information; the water quality detection device includes a transmitter for emitting light waves and a receiver for receiving light waves, the transmitter and the receiver being respectively disposed on opposite sides of a sewage pipe; when water flows through the sewage pipe, the transmitter emits light waves, the light waves pass through the sewage pipe and are received by the receiver, and the turbidity of the water flow in the sewage pipe used to characterize water quality information is obtained by comparing the light waves passing through the sewage pipe.

[0097] In this embodiment, the base station is equipped with a water quality detection device for real-time monitoring of water quality information. The water quality detection device includes a transmitter and a receiver respectively positioned on opposite sides of the sewage pipe. Specifically, when sewage generated from the backwashing of the cleaning equipment flows through the sewage pipe, the transmitter emits light waves into the sewage pipe. These light waves are captured by the receiver on the opposite side after passing through the water flow within the sewage pipe. Because suspended particles and impurities in the water absorb and scatter light, causing light intensity to decrease, and the higher the impurity concentration, the more significant the attenuation of the light waves, the more accurately the turbidity of the water flow in the sewage pipe can be calculated by comparing the differences in intensity and other parameters between the light waves emitted by the transmitter and the transmitted light waves ultimately received by the receiver in real time. This turbidity can then be used as an indicator of water quality information, providing reliable data support for judging the degree of dirtiness in the cleaning unit and the sewage discharge status of the base station.

[0098] Therefore, by acquiring water quality information through a water quality testing device, the quality of the water discharged from the sewage pipe can be accurately determined. This helps cleaning equipment to accurately determine whether to trigger the calibration of baseline physical property values ​​or decide whether to perform a re-cleaning of the cleaning section, thereby effectively ensuring the overall cleaning effect of the cleaning equipment. At the same time, the water quality testing device has a simple structural design, with advantages such as low cost and ease of installation and implementation.

[0099] According to the calibration method for the reference physical property values ​​of the cleaning section surface according to embodiments of the present invention, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces calibration deviations caused by accumulated dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during operation, preventing secondary pollution or stain spread due to the cleaning section becoming excessively dirty. After the rewashing is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning. Based on this, the changes in the cleaning section surface caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the reference physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface, so that the dynamic calibration of the reference physical property values ​​can be performed again after removing the dirt from the cleaning section surface. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0100] A further embodiment of the present invention discloses a calibration device for the reference physical property values ​​of a clean surface.

[0101] like Figure 2 As shown, the reference physical property value calibration device 100 for the surface of the clean section includes: a determination module 110, an acquisition module 120, and a control module 130.

[0102] The determination module 110 is used to determine the conditions for triggering the rewashing of the cleaning section, and the cleaning equipment returns to the base station to perform rewashing cleaning on the cleaning section; the acquisition module 120 is used to acquire the current physical property value of the surface of the cleaning section after the rewashing cleaning is completed, as well as the water quality information fed back by the base station to characterize the water quality discharged from the sewage pipe of the base station at the end of the rewashing cleaning; the control module 130 is used to calibrate the reference physical property value of the surface of the cleaning section based on the physical property value and the water quality information, or to perform rewashing cleaning on the cleaning section.

[0103] In one embodiment of the present invention, the control module 130 calibrates the reference physical attribute value of the surface of the cleaning part or performs a re-cleaning of the cleaning part based on the current physical attribute value and water quality information, including: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the original reference physical attribute value is calibrated as the reference physical attribute value.

[0104] In one embodiment of the present invention, the control module 130 calibrates the reference physical attribute value of the surface of the cleaning part or performs re-cleaning of the cleaning part based on the current physical attribute value and water quality information, including: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, the control device is controlled to perform re-cleaning of the cleaning part at the base station.

[0105] In one embodiment of the present invention, the control module 130 calibrates the reference physical attribute value of the surface of the cleaning part or performs re-cleaning of the cleaning part based on the current physical attribute value and water quality information, including: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, the control device is controlled to perform re-cleaning of the cleaning part at the base station.

[0106] In one embodiment of the present invention, after the control module 130 controls the cleaning equipment to perform a second cleaning of the cleaning part at the base station, it further includes: after the second cleaning is completed, acquiring the current physical property value of the surface of the cleaning part again, and acquiring water quality information fed back by the base station to characterize the water quality of the sewage pipe discharged from the base station at the end of cleaning; calibrating the reference physical property value of the surface of the cleaning part or performing a second cleaning of the cleaning part based on the current physical property value and water quality information.

[0107] In one embodiment of the present invention, after the backwash cleaning is completed or the rewash cleaning is completed, and before obtaining the current physical property value of the surface of the cleaning part, the control module 130 further includes: controlling the cleaning part to rotate at a preset speed for a preset time.

[0108] In one embodiment of the present invention, the control module 130 calibrates the reference physical attribute value of the surface of the cleaning part or performs a re-cleaning of the cleaning part based on the current physical attribute value and water quality information, including: when the difference between the current physical attribute value and the pre-calibrated original reference physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the current physical attribute value is calibrated as the reference physical attribute value.

[0109] In one embodiment of the present invention, the control module 130 is further configured to: record the reference physical attribute value after each calibration; and control the operating status of the cleaning equipment based on the difference between the reference physical attribute value and the pre-calibrated original reference physical attribute value.

[0110] In one embodiment of the present invention, the control module 130 controls the operating status of the cleaning equipment based on the difference between the reference physical attribute value and the original reference physical attribute value, including: when the difference between the reference physical attribute value and the original reference physical attribute value is greater than or equal to a second preset difference threshold, sending a reminder message to the user for replacing the cleaning part; and when the difference between the reference physical attribute value and the original reference physical attribute value is less than the second preset difference threshold, controlling the cleaning equipment to operate normally.

[0111] In one embodiment of the present invention, the original reference physical property value is the physical property value of the surface of the cleaning part detected under a preset scenario. The preset scenario includes: the cleaning equipment has installed a new cleaning part, and the new cleaning part is in a wetted operating state.

[0112] In one embodiment of the present invention, the physical property value includes an optical property value or an electrical property value.

[0113] In one embodiment of the present invention, the optical attribute value is obtained based on the reflection signal of the light signal emitted by the emitting unit of the optical sensor after being reflected by the surface of the cleaning part. The reflection signal is different when the surface of the cleaning part presents different colors, and the corresponding optical attribute values ​​are different.

[0114] In one embodiment of the present invention, the rewashing conditions of the cleaning section include: the self-cleaning device of the cleaning equipment is turned on to clean the cleaning section, and when the cleaning time reaches a preset time, the dirt level of the cleaning section is higher than the preset dirt level; or, the self-cleaning device of the cleaning equipment is turned on to clean the cleaning section, and when the clean water in the water tank of the self-cleaning device is used up, the dirt level of the cleaning section is higher than the preset dirt level.

[0115] In one embodiment of the present invention, the base station includes a water quality detection device for detecting water quality information; the water quality detection device includes a transmitter for emitting light waves and a receiver for receiving light waves, the transmitter and receiver being respectively disposed on opposite sides of a sewage pipe; when water flows through the sewage pipe, the transmitter emits light waves, the light waves pass through the sewage pipe and are received by the receiver, and the turbidity of the water flow in the sewage pipe used to characterize water quality information is obtained by comparing the light waves passing through the sewage pipe.

[0116] It should be noted that the specific implementation method for calibrating the reference physical property values ​​of the surface of the cleaning part is similar to the specific implementation method of the reference physical property value calibration method for the surface of the cleaning part described in the first aspect embodiment of the present invention. Therefore, for a detailed exemplary description of the reference physical property value calibration device 100 for the surface of the cleaning part, please refer to the aforementioned description of the reference physical property value calibration method for the surface of the cleaning part. To reduce redundancy, it will not be repeated here.

[0117] According to the present invention, the reference physical property value calibration device 100 for the surface of the cleaning section determines the conditions for triggering the rewashing of the cleaning section. After determining these conditions, the cleaning equipment returns to the base station to perform a rewashing of the cleaning section. This not only reduces calibration deviations caused by accumulated dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during operation, preventing secondary pollution or stain spread due to the cleaning section becoming excessively dirty. After the rewashing is completed, the current physical property value of the surface of the cleaning section is simultaneously acquired, as well as water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning. Based on this, the changes in the surface of the cleaning section caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the reference physical property value of the surface of the cleaning section can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from its surface, so that the dynamic calibration of the reference physical property value can be performed again after removing the dirt from the surface of the cleaning section. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0118] A further embodiment of the present invention also discloses a cleaning device.

[0119] In some embodiments, the cleaning device 200 includes: a body; and a cleaning section disposed on the body, the cleaning section being used to clean the surface to be cleaned; such as Figure 3 As shown, the reference physical property value calibration device 100 for the surface of the clean part described in the above embodiment of the present invention.

[0120] In other embodiments, the cleaning device 200 includes a processor, a memory, and a calibration program for the reference physical property values ​​of the cleaning surface stored in the memory and executable on the processor. When the calibration program for the reference physical property values ​​of the cleaning surface is executed by the processor, it implements the calibration method for the reference physical property values ​​of the cleaning surface as described in the above embodiments of the present invention.

[0121] It should be noted that when calibrating the reference physical property values ​​of the surface of the cleaning part, the specific implementation method is similar to the specific implementation method of the reference physical property value calibration method or device of the surface of the cleaning part in any of the above embodiments of the present invention. Therefore, for a detailed exemplary description of the calibration process of the reference physical property values ​​of the surface of the cleaning part, please refer to the relevant description of the reference physical property value calibration method or device of the surface of the cleaning part mentioned above. To reduce redundancy, it will not be repeated here.

[0122] According to the cleaning equipment 200 of this embodiment, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces the calibration deviation caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during operation, preventing secondary pollution or stain spread due to the cleaning section becoming too dirty. After the rewashing is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as the water quality information fed back by the base station, which characterizes the water quality discharged from the base station's sewage pipe at the end of cleaning. Based on this, the changes in the cleaning section surface caused by wear and / or dirt are comprehensively judged. Based on the judgment results, on the one hand, the reference physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the reference physical property values ​​can be performed again after removing the dirt from the surface of the cleaning section. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0123] A further embodiment of the present invention discloses a cleaning system, which includes a base station.

[0124] like Figure 4 As shown, the cleaning system 300 also includes the cleaning device 200 described in the above embodiments of the present invention.

[0125] According to the cleaning system 300 of this embodiment, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment is controlled to return to the base station to rewash the cleaning section. This not only avoids calibration deviations caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during operation, preventing secondary pollution or stain spread due to the cleaning section becoming too dirty and the floor becoming dirtier with each cleaning. After the rewashing is completed, the current physical property values ​​of the cleaning section surface are simultaneously acquired, as well as water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of cleaning. Based on this, the actual degree of dirt and wear on the cleaning section surface is comprehensively judged. Based on the judgment results, on the one hand, the reference physical property values ​​of the cleaning section surface can be dynamically calibrated to adapt to the current wear state of the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from its surface. This combination of dual-condition judgment and dynamic calibration enables cleaning equipment to more accurately identify the actual level of dirt and select the optimal cleaning mode. It then intelligently adjusts the cleaning intensity according to the degree of dirt to ensure efficient and thorough cleaning. This not only avoids the waste of resources and equipment wear caused by over-cleaning, but also achieves the goal of energy conservation and environmental protection while ensuring efficient cleaning quality, extending the service life of cleaning components and the whole machine.

[0126] A further embodiment of the present invention discloses a computer-readable storage medium storing a calibration program for the reference physical property values ​​of the surface of the cleaning part. When the calibration program for the reference physical property values ​​of the surface of the cleaning part is executed by a processor, it implements the calibration method for the reference physical property values ​​of the surface of the cleaning part as described in the above embodiments of the present invention.

[0127] According to an embodiment of the present invention, when the reference physical property value calibration program for the surface of the cleaning section stored thereon is executed by a processor, after determining the conditions for triggering the rewashing of the cleaning section, the cleaning equipment returns to the base station to rewash the cleaning section. This not only reduces the calibration deviation caused by the accumulation of dirt, but also promptly removes liquid dirt, dust, and stubborn stains adsorbed by the cleaning section during the operation, preventing secondary pollution or stain spread due to the cleaning section becoming too dirty and the ground becoming dirtier the more it is mopped. After the rewashing is completed, the current physical property value of the surface of the cleaning section is acquired simultaneously, as well as the water quality information fed back by the base station to characterize the water quality discharged from the base station's sewage pipe at the end of the cleaning. Based on this, the changes in the surface of the cleaning section caused by wear and / or dirt are comprehensively judged. Based on the judgment result, on the one hand, the reference physical property value of the surface of the cleaning section can be dynamically calibrated to adapt to the current changes in the cleaning section; on the other hand, the cleaning section can be rewashed to remove dirt from the surface of the cleaning section, so that the dynamic calibration of the reference physical property value can be re-performed after the dirt on the surface of the cleaning section is removed. This combination of dual-condition judgment and dynamic calibration allows the cleaning equipment to more accurately calibrate the baseline physical property values ​​of the cleaning cloth surface. This dynamic calibration of the baseline physical property values ​​can adapt to the current changes in the cleaning area in a timely manner, thereby facilitating a more accurate identification of the actual dirt level in the cleaning area and selecting the optimal cleaning mode to intelligently adjust the cleaning intensity. This ensures efficient and thorough cleaning results, avoiding resource waste and equipment wear caused by over-cleaning. It also achieves the goals of energy conservation and environmental protection while ensuring high-efficiency cleaning quality, extending the service life of cleaning components and the entire machine.

[0128] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0129] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for calibrating the reference physical property values ​​of a clean surface, characterized in that, A cleaning system is used, the cleaning system including cleaning equipment and a base station, the cleaning equipment including a cleaning unit for cleaning a surface to be cleaned, the method including: Once the conditions for triggering the rewashing of the cleaning unit are determined, the cleaning equipment returns to the base station to perform a rewashing cleaning of the cleaning unit. After the backwash cleaning is completed, the current physical property values ​​of the surface of the cleaned part are obtained, as well as the water quality information fed back by the base station to characterize the water quality discharged from the sewage pipe of the base station at the end of the cleaning. Based on the current physical property values ​​and the water quality information, the baseline physical property values ​​of the surface of the cleaning section are calibrated, or the cleaning section is re-washed and cleaned.

2. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The step of calibrating the reference physical property values ​​of the surface of the cleaning section based on the current physical property values ​​and the water quality information, or performing a re-cleaning of the cleaning section, includes: When the difference between the current physical attribute value and the pre-calibrated original baseline physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the original baseline physical attribute value is calibrated as the baseline physical attribute value.

3. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The step of calibrating the reference physical property values ​​of the surface of the cleaning section based on the current physical property values ​​and the water quality information, or performing a re-cleaning of the cleaning section, includes: When the difference between the current physical attribute value and the pre-calibrated original baseline physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, the cleaning equipment is controlled to perform a re-washing and cleaning of the cleaning part at the base station.

4. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The step of calibrating the reference physical property values ​​of the surface of the cleaning section based on the current physical property values ​​and the water quality information, or performing a re-cleaning of the cleaning section, includes: When the difference between the current physical attribute value and the pre-calibrated original baseline physical attribute value is less than a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is sewage, the cleaning equipment is controlled to perform a re-washing and cleaning of the cleaning part at the base station.

5. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, After the cleaning equipment is controlled to perform a re-wash cleaning of the cleaning section at the base station, the system further includes: After the re-washing and cleaning is completed, the current physical property values ​​of the surface of the cleaned part are obtained again, as well as the water quality information fed back by the base station to characterize the water quality discharged from the sewage pipe of the base station at the end of the cleaning. Based on the current physical property values ​​and the water quality information, the baseline physical property values ​​of the surface of the cleaning section are calibrated, or the cleaning section is re-washed and cleaned.

6. The method for calibrating the reference physical property values ​​of the clean surface according to claim 5, characterized in that, After the backwash cleaning is completed or the rewash cleaning is completed, and before obtaining the current physical property values ​​of the cleaned surface, the process further includes: The cleaning unit is controlled to rotate at a preset speed for a preset time.

7. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The step of calibrating the reference physical property values ​​of the surface of the cleaning section based on the current physical property values ​​and the water quality information, or performing a re-cleaning of the cleaning section, includes: When the difference between the current physical attribute value and the pre-calibrated original baseline physical attribute value is greater than or equal to a first preset difference threshold, and the water quality information indicates that the water discharged from the sewage pipe is clean water, the current physical attribute value is calibrated as the baseline physical attribute value.

8. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, Also includes: Record the baseline physical property values ​​after each calibration; The operating status of the cleaning equipment is controlled based on the difference between the baseline physical attribute value and the pre-calibrated original baseline physical attribute value.

9. The method for calibrating the reference physical property values ​​of the clean surface according to claim 8, characterized in that, The method of controlling the operating status of the cleaning equipment based on the difference between the baseline physical attribute value and the original baseline physical attribute value includes: When the difference between the baseline physical attribute value and the original baseline physical attribute value is greater than or equal to the second preset difference threshold, a reminder message for replacing the cleaning unit is sent to the user. When the difference between the baseline physical attribute value and the original baseline physical attribute value is less than the second preset difference threshold, the cleaning equipment is controlled to operate normally.

10. The method for calibrating the reference physical property values ​​of the surface of the clean part according to any one of claims 2-9, characterized in that, The original baseline physical property value is the physical property value of the clean surface detected under a preset scenario, the preset scenario including: The cleaning equipment has been fitted with a new cleaning unit, and the new cleaning unit is in operation after being moistened.

11. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The physical property values ​​include optical property values ​​or electrical property values.

12. The method for calibrating the reference physical property values ​​of the clean surface according to claim 11, characterized in that, The optical property values ​​are detected by an optical sensor installed on the cleaning equipment.

13. The method for calibrating the reference physical property values ​​of the clean surface according to claim 12, characterized in that, The optical attribute value is obtained based on the reflected signal of the light signal emitted by the emitting unit of the optical sensor after being reflected by the surface of the cleaning part. The reflected signal is different when the surface of the cleaning part is different in different colors, and the corresponding optical attribute value is different.

14. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The rewashing conditions for the cleaning section include: the self-cleaning device of the cleaning equipment is activated to clean the cleaning section, and when the cleaning time reaches a preset time, the dirt level of the cleaning section is higher than a preset dirt level; or... The self-cleaning device of the cleaning equipment is activated to clean the cleaning section, and when the clean water in the water tank of the self-cleaning device is used up, the dirt level of the cleaning section is higher than the preset dirt level.

15. The method for calibrating the reference physical property values ​​of the clean surface according to claim 1, characterized in that, The base station includes a water quality detection device for detecting the water quality information; The water quality testing device includes a transmitter for emitting light waves and a receiver for receiving light waves, the transmitter and the receiver being respectively disposed on opposite sides of the sewage pipe; When water flows through the sewage pipe, the transmitter emits light waves, which pass through the sewage pipe and are received by the receiver. By comparing the light waves passing through the sewage pipe, the turbidity of the water flow in the sewage pipe, which is used to characterize the water quality information, is obtained.

16. A device for calibrating the reference physical property values ​​of a clean surface, characterized in that, A cleaning system, the cleaning system including cleaning equipment and a base station, the cleaning equipment including the cleaning unit for cleaning a surface to be cleaned, the device comprising: The determination module is used to determine the conditions that trigger the rewashing of the cleaning unit, and the cleaning equipment returns to the base station to perform rewashing and cleaning of the cleaning unit; The acquisition module is used to acquire the current physical property values ​​of the surface of the cleaned part after the backwash cleaning is completed, as well as the water quality information fed back by the base station to characterize the water quality discharged from the sewage pipe of the base station at the end of the backwash cleaning. The control module is used to calibrate the reference physical property values ​​of the surface of the cleaning part based on the physical property values ​​and the water quality information, or to perform a re-washing and cleaning of the cleaning part.

17. A cleaning device, characterized in that, include: body; The cleaning section is located on the machine body and is used to clean the surface to be cleaned. The calibration device for the reference physical property values ​​of the surface of the clean part as described in claim 16; or, The processor, the memory, and the calibration program for the reference physical property values ​​of the cleaning surface stored in the memory and executable on the processor, wherein the calibration program for the reference physical property values ​​of the cleaning surface, when executed by the processor, implements the calibration method for the reference physical property values ​​of the cleaning surface as described in any one of claims 1-15.

18. A cleaning system, characterized in that, include: Base station; The cleaning equipment as described in claim 17.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a calibration program for the reference physical property values ​​of the surface of the cleaning part, which, when executed by a processor, implements the calibration method for the reference physical property values ​​of the surface of the cleaning part as described in any one of claims 1-15.

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