Automatic cleaning device, control method and storage medium

Abstract

The present disclosure provides an automatic cleaning device, a control method and a storage medium, the cleaning device comprising: a moving platform; a cleaning module provided at the bottom of the moving platform and used for cleaning an operation surface on a travel path of the automatic cleaning device; a light emitting assembly provided at the bottom of the moving platform and used for emitting a light signal toward the operation surface within a predetermined angle range; a light receiving assembly including a spectrum collecting unit receiving the light signal reflected from the operation surface and generating spectrum information based on the operation surface; and a control system provided inside the moving platform and configured to determine the material and / or dirt type of the operation surface based on at least the spectrum information, and control the cleaning module to clean the operation surface based on the material and / or dirt type of the operation surface. The present disclosure provides a spectrometer and / or a video imaging assembly at the bottom of the automatic cleaning device to obtain the material and / or dirt type of the operation surface of the operation surface.

Description

[Technical field]

[0001] (Related Applications) This application claims priority to Chinese patent application No. 202210367450.9, filed on April 8, 2022, the entire disclosure of which is incorporated herein by reference as part of this application.

[0002] The present disclosure relates to the technical field of robots, and more particularly to an automatic cleaning device, a control method, and a storage medium. [Background technology]

[0003] With the development of technology, service robots are becoming more and more prevalent in all aspects of our lives, and cleaning robots in particular are becoming more and more popular. However, due to the complexity of home environments that often contain a variety of materials such as carpets, tiles, and floors at the same time, cleaning robots are unable to accurately distinguish between different types of floor materials. For example, when the cleaning robot is sweeping or dragging a carpet, it cannot accurately identify the carpet, which may cause the carpet to get wet, damaging the expensive carpet or even causing mold to grow.

[0004] In addition, cleaning robots need to focus on cleaning grease, juice, coffee, pet urine and other stubborn stains on kitchen floors. However, current cleaning robots cannot accurately identify the areas of stubborn stains, and can only improve their cleaning ability by manually selecting the precision cleaning mode to uniformly focus on all areas, resulting in reduced cleaning efficiency. Summary of the Invention

[0005] An embodiment of the present disclosure provides an automatic cleaning device, the automatic cleaning device comprising: a moving platform and drive assembly; a cleaning module provided at the bottom of the moving platform and used for cleaning an operating surface on a travel path of the automatic cleaning device; a light emitting assembly disposed on a bottom surface of the moving platform and configured to emit a light signal toward the operation surface within a predetermined angular range; a light receiving assembly including a spectral collection unit configured to receive an optical signal reflected from the control surface and generate spectral information based on the control surface; and a control system provided inside the moving platform and configured to determine a material of the operating surface and / or a dirt type of the operating surface based on at least the spectral information, and to control the cleaning module to clean the operating surface based on the material of the operating surface and / or the dirt type of the operating surface.

[0006] An embodiment of the present disclosure provides an automatic cleaning device, the automatic cleaning device comprising a processor and a memory, the memory storing computer program instructions executable by the processor, the automatic cleaning device performing steps of any of the methods described above when the processor executes the computer program instructions.

[0007] An embodiment of the present disclosure provides a non-transitory computer-readable storage medium having computer program instructions stored thereon, the computer program instructions being capable of performing steps of any of the methods described above when called and executed by a processor.

[0008] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to interpret the principles of the present disclosure. Obviously, the accompanying drawings in the following description are merely some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these accompanying drawings without creative labor. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing the overall structure of an automatic cleaning device according to some embodiments of the present disclosure; [Diagram 2]FIG. 1 is a schematic diagram showing a bottom view of an automatic cleaning device according to some embodiments of the present disclosure; [Diagram 3] FIG. 1 is a schematic diagram illustrating a light emitting and receiving module structure of an automatic cleaning device according to some embodiments of the present disclosure. [Figure 4] Schematic diagram of the spectrum based on the material of the operating surface of some embodiments of the present disclosure. [Diagram 5] Schematic diagram of a spectrum based on material contamination of the operating surface of some embodiments of the present disclosure. [Figure 6] 1 is a schematic flowchart of a method for controlling an automatic cleaning device according to some embodiments of the present disclosure. [Figure 7] FIG. 1 is a schematic diagram illustrating the structure of an electronic device according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings, but obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present disclosure.

[0011] The terms used in the embodiments of the present disclosure are used only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. As used in the embodiments of the present disclosure and the appended claims, the singular forms "a," "the," and "the" are also intended to include the plural, and "plurality" generally includes at least two, unless the context clearly indicates otherwise.

[0012] It should be noted that the term "and / or" as used herein is merely an explanation of the relationship between related objects, and there are three relationships; for example, A and / or B means that A may exist alone, A and B may exist simultaneously, or B may exist alone. In addition, in this specification, " / " generally indicates that the related objects before and after it are in an "or" relationship.

[0013] In addition, in the embodiments of the present disclosure, terms such as first, second, and third may be used for explanation, but it should be understood that they should not be limited to these terms. These terms are used only for distinction. For example, the first may be called the second, and similarly, the second may be called the first, without departing from the scope of the embodiments of the present disclosure.

[0014] It should be noted that the terms "comprises," "has," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or device that includes a set of elements not only includes those elements, but also other elements explicitly listed or inherent to those products or devices. Unless further limited, an element defined with the phrase "comprises..." does not exclude the presence of other identical elements in a product or device that includes said element.

[0015] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0016] 1 and 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. As shown in FIG. 1 and FIG. 2, the automatic cleaning device may be a vacuum cleaning robot, a sweeping / mop / brushing / sweeping mopping robot, etc., and the automatic cleaning device is composed of a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160 and a man-machine interactive system 170.

[0017] The mobile platform 100 is configured to move automatically in a target direction on an operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be an autonomous mobile robot, such as a mopping robot, sweeping robot, or mopping robot, where the automatic cleaning device works on a floor surface, where the floor surface may be any operating surface, such as a tabletop, roof, platform, etc.; the automatic cleaning device may be a window cleaning robot, where the automatic cleaning device works on a glass exterior surface of a building, where the glass is the operating surface; the automatic cleaning device may be a pipe autonomous mobile robot, where the automatic cleaning device works on an inner surface of a pipe, where the inner surface of the pipe is the operating surface. Purely for illustrative purposes, a mopping robot is taken as an example in the present application.

[0018] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions in response to unexpected environmental inputs, while the non-autonomous mobile platform itself cannot adaptively make operational decisions in response to unexpected environmental inputs, but can operate according to a predetermined procedure or a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device, and when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by a system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 is composed of a front part 111 and a rear part 110.

[0019] The sensing system 120 includes an attitude determination device 121 located on the mobile platform 100, a shock absorber 122 located in the front portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, a light receiving assembly 190 and sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers, etc., and provides various position information and moving status information of the equipment to the control system 130.

[0020] In order to more clearly explain the behavior of the automatic cleaning device, the following directions are defined. That is, the automatic cleaning device can move on the floor surface by various combinations of movements about three mutually perpendicular axes defined by the moving platform 100: the lateral axis x, the front-rear axis y, and the central vertical axis z. The forward driving direction along the front-rear axis y is designated as "forward", and the rear driving direction along the front-rear axis y is designated as "rear". The lateral axis x is substantially defined by the center point of the drive wheel assembly 141 in the drive system 140, and the axis center extends between the right wheel and the left wheel of the automatic cleaning device. Here, the automatic cleaning device can rotate around the x-axis. When the front part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is called "pitch up", and when the front part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is called "pitch down". Furthermore, the automatic cleaning device can rotate around the z-axis. When the automatic cleaning device is tilted to the right of the y-axis at the front of the automatic cleaning device, it is called "turn right", and when the automatic cleaning device is tilted to the left of the y-axis, it is called "turn left".

[0021] 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front and behind the drive wheel assembly 141, which can prevent the automatic cleaning device from falling when moving forward or backward, and prevent damage to the automatic cleaning device. The above "front" refers to the same side as the moving direction of the automatic cleaning device, and the above "rear" refers to the opposite side to the moving direction of the automatic cleaning device.

[0022] The attitude determination device 121 includes devices capable of determining the position or attitude of the automatic cleaning device, such as, but not limited to, a camera, a laser ranging device (LDS), a line structured light device, an ODO sensor, etc., and the attitude determination device 121 is not limited to being provided on the top of the automatic cleaning device, for example, the camera and line structured light device may be provided at any position on the front or side of the automatic cleaning device as needed, and the ODO sensor may be provided inside the automatic cleaning device.

[0023] Each assembly in the sensing system 120 may operate independently or may operate in concert to more accurately accomplish the intended function. The light receiving assembly 190 identifies the surface to be cleaned and determines the physical characteristics of the surface to be cleaned, such as the surface material, soil type, etc.

[0024] For example, the spectral collection unit 191 may be used to determine whether the surface to be cleaned is a carpet, and if the spectral collection unit 191 determines that the surface to be cleaned is a carpet material, the control system 130 may control the automatic cleaning device to perform a carpet mode cleaning.

[0025] A buffer 122 is provided at the front portion 111 of the moving platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device to run on the floor surface during the cleaning process, the buffer 122 detects one or more events (or objects) in the running path of the automatic cleaning device via a sensor system, e.g., an infrared sensor, and the automatic cleaning device may control the drive wheel assembly 141 in response to the event (or object) detected by the buffer 122, e.g., an obstacle, a wall, so that the automatic cleaning device moves away from the obstacle, for example.

[0026] The control system 130 is provided on a circuit board in the mobile platform 100 and includes a central processing unit, an application processor, etc., which communicates with a non-transitory memory such as a hard disk, a flash memory, a random access memory, etc., and the application processor receives the environmental information sensed by the multiple sensors from the sensing system 120, the obstacle information fed back from the laser ranging device, etc., and uses a positioning algorithm, such as SLAM, to draw an instant map of the environment in which the automatic cleaning device is installed, and autonomously determines a travel path based on the environmental information and the environmental map, and then controls the operation of the drive system 140, such as forward, backward, and / or steering, according to the autonomously determined travel path. Furthermore, the control system 130 can determine whether to activate the cleaning module 150 to perform a cleaning operation based on the environmental information and the environmental map.

[0027] Specifically, the control system 130 combines distance information and speed information fed back from the buffer 122, cliff sensor 123, and sensing devices such as ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, etc. to comprehensively determine the current working state of the vacuum cleaner, such as threshold crossing, carpet riding, located on a cliff, upper or lower caught, dust box full, lifted, etc., and gives specific next operation strategies according to different situations, so that the work of the automatic cleaning device can better meet the needs of the owner and obtain a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method according to the instant map information drawn by SLAM, which can greatly improve the cleaning efficiency of the automatic cleaning device.

[0028] The driving system 140 can execute driving commands to steer the automatic cleaning device to run across the floor surface based on specific distance and angle information such as x, y and θ components. The driving system 140 includes a driving wheel assembly 141, and the driving system 140 can control the left and right wheels simultaneously. In order for the automatic cleaning device to move more stably on the floor surface or have a higher moving ability, the automatic cleaning device may include one or more steering assemblies 142, the steering assembly 142 may be a driven wheel or a driving wheel, its structural form may be a universal wheel, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

[0029] The energy system 160 includes a rechargeable battery such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery is connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage drop monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery voltage drop monitoring circuit are connected to a microcomputer control circuit. The automatic cleaning device is connected to the charging pile for charging via a charging electrode provided on the side or under the main body.

[0030] The man-machine interactive system 170 includes keys on a panel of the automatic cleaning device, which are available for a user to select functions, and may further include a display screen and / or an indicator light and / or a speaker, which can display the current status or function options of the automatic cleaning device to the user, and may further include a mobile phone client program. In the case of a route navigation type automatic cleaning device, the mobile phone client can display to the user a map of the environment in which the automatic cleaning device is installed and the location of the automatic cleaning device, providing the user with more abundant and convenient function items, and the user can set cleaning parameters of the automatic cleaning device using the mobile phone client.

[0031] The dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has some interference with the floor surface, sweeps up the dust on the floor surface to the front of the dust suction port between the roller brush and the dust box, and sucks it into the dust box through the suction gas generated by the fan that passes through the dust box. The dust removal capacity of an automatic cleaning device is characterized by the dust pickup efficiency DPU, which is affected by the roller brush structure and material, the wind utilization rate of the duct consisting of the dust suction port, the dust box, the fan, the air outlet, and their connecting members, and the type and power of the fan, and is a complex system design issue. Compared with ordinary plug-in dust collectors, the improvement of dust removal capacity is of great significance for an automatic cleaning device with energy limitations. This is because the improvement of dust removal capacity directly and effectively reduces the required energy, that is, a machine that can clean 80 square meters of floors on a single charge can be evolved to clean more than 180 square meters on a single charge. In addition, by reducing the number of charging times, the battery life is also greatly extended, and users can correspondingly reduce the frequency of battery replacement. More intuitively and importantly, the improvement of dust removal ability is the most obvious and important user experience, and the user can directly conclude whether the machine cleans cleanly or wipes cleanly. The dry cleaning module may further include a side brush 152 on the rotating shaft, the rotating shaft of which is at a certain angle to the floor surface, and moves the dirt to the roller brush area of ​​the dry cleaning module 151.

[0032] The wet cleaning module 400 provided by this embodiment is configured to clean at least a part of the operating surface by a wet cleaning manner, where the wet cleaning module 400 includes a cleaning head 410 and a driving unit, where the cleaning head 410 is used to clean at least a part of the operating surface, and the driving unit drives the cleaning head to move back and forth along the surface to be cleaned, where the surface to be cleaned is a part of the operating surface. The cleaning head 410 moves back and forth along the surface to be cleaned, and the cleaning head 410 is provided with a cleaning cloth or cleaning plate on the contact surface with the surface to be cleaned, and the back and forth movement generates high-frequency friction with the surface to be cleaned to remove dirt on the surface to be cleaned. The cleaning head 410 includes a movable area 412 and a fixed area 411, and the movable area 412 is provided at an approximately central position of the cleaning head 410.

[0033] An embodiment of the present disclosure specifically provides an automatic cleaning device, as shown in FIG. 2, comprising: a moving platform 100; and a cleaning module 150 disposed at the bottom of the moving platform 100 and used for cleaning an operation surface on the travel path of the automatic cleaning device; and the automatic cleaning device of the embodiment of the present disclosure further comprises: a light emitting assembly 180 disposed at the bottom of the moving platform 100 and configured to emit an optical signal toward the operation surface within a predetermined angle range; a light receiving assembly 190 including a spectral collecting unit 191 configured to receive an optical signal reflected from the operation surface and generate spectral information based on the operation surface; and a control system 130 disposed inside the moving platform 100 and configured to determine the material and / or dirt type of the operation surface based on at least the spectral information, and control the cleaning module 150 to clean the operation surface based on the material and / or dirt type of the operation surface.

[0034] In some embodiments, as shown in FIG. 2 , a light emitting assembly 180 should be provided near a position close to the front edge of the bottom of the automatic cleaning device so as to detect the material or dirt status of the operation surface early, where the light emitting assembly 180 includes an invisible light emitting unit 181 and a visible light emitting unit 182, where the invisible light emitting unit 181 and the visible light emitting unit 182 respectively emit invisible light signals and visible light signals at a predetermined angle, where the invisible light emitting unit 181 may be, for example, an infrared emitting unit.

[0035] As shown in FIG. 3, the light-emitting assembly 180 includes a driving unit 183 which is used to supply appropriate driving voltage and driving current to the non-visible light-emitting unit 181 and the visible light-emitting unit 182 to perform photoelectric conversion, and since the light emission intensity and driving current of the non-visible light-emitting unit 181 and the visible light-emitting unit 182 are linearly related, the magnitude of the light intensity and the irradiation range of the light-emitting assembly 180 can be controlled by controlling the driving current.

[0036] The light-emitting assembly 180 includes an invisible light-emitting unit 181 and a visible light-emitting unit 182, and the wavelength range of the light-emitting assembly 180 may be, for example, 380 nm to 1100 nm. The luminous intensity of the invisible light-emitting unit 181 and the visible light-emitting unit 182 affects the sensing distance, so that the light-emitting assembly 180 needs to control the appropriate current so that the energy reflected to the light-receiving assembly is sufficient even when the light-emitting assembly 180 illuminates the operation surface. The radiation angle of the light-emitting assembly 180 affects the light radiation range, and when the radiation angle range is, for example, 30° to 90°, the operation surface in front of the automatic cleaning device can be illuminated, and the material or dirt type of the front area can be determined in advance during the cleaning operation. According to the need of the actual sensing range of the automatic cleaning device, in this embodiment, a white light LED with a wavelength range of 380 nm to 780 nm and an infrared LED with a wavelength range of 780 nm to 1100 nm are overlapped to realize a wide spectrum auxiliary light, and the illumination area within a range of 30° can be covered at the bottom. The outer size of the light emitting assembly 180 mainly affects the structure design, and in this embodiment, a 3535 package SMD (Surface Mounted Devices) can be used.

[0037] In some embodiments, the light receiving assembly 190 includes a spectral collection unit 191 configured to receive an optical signal reflected from the operating surface and generate spectral information based on the operating surface, where the spectral information based on the operating surface includes spectral information based on the material of the operating surface or spectral information based on the dirt type of the operating surface, for example, as shown in Figures 4 and 5, where the horizontal axis indicates the spectral wavelength and the vertical axis indicates the light intensity, and the spectral information is floor spectral information, short carpet spectral information, long carpet spectral information, threshold line spectral information, water stain spectral information, honey spectral information, peanut butter spectral information, oil spectral information, and ketchup spectral information, respectively.

[0038] In some embodiments, the light receiving assembly 190 further includes an image collecting unit 192, configured to receive the light signal reflected from the operation surface and generate a video image based on the operation surface, where the video image based on the operation surface includes a video image based on the material of the operation surface or a video image based on the dirt type of the operation surface, for example, the video image may be a photo of the material of the operation surface or a photo of the dirt type of the operation surface obtained by directly photographing, for example, the video image includes at least one of a floor video image, a short carpet video image, a long carpet video image, a threshold line video image, a water stain video image, a honey video image, a peanut butter video image, an oil video image, and a ketchup video image.

[0039] As shown in FIG. 3, the light receiving assembly 190 includes a lens unit 193, a spectrum collecting unit 191, an image collecting unit 192 and a signal processing unit 194. Here, the lens unit 193 is used to collect the reflected light of the light emitted from the light emitting assembly 180 to the floor surface, and even the weak reflected light is collected in the optical sensing area of ​​the spectrum collecting unit 191 and the image collecting unit 192, improving the sensitivity of the device, and in this embodiment, a combination of high-resolution lenses with a horizontal DFOV of 30° is used. The spectrum collecting unit 191 and the image collecting unit 192 are used to collect spectrum data and image data respectively, and the response wavelength range is 380 nm to 1100 nm, and the resolution is 1 nm.

[0040] The signal processing unit 194 converts the photoelectric signals from the spectrum collecting unit 191 and the image collecting unit 192 into digital signals, which are then sent to a control system of the automatic cleaning device, such as a CPU, for AI intelligent comparison. It is desirable that the transmission frame rate is as high as possible, such as greater than or equal to 15 fps, so as to quickly respond to material identification and enable the automatic cleaning device to quickly adjust the cleaning strategy.

[0041] In some embodiments, the automatic cleaning device further includes a storage device in which historical spectrum information and / or historical video images based on the material of the operation surface and / or the type of dirt on the operation surface are pre-stored. Specifically, the material of the operation surface may include a hard floor surface material and a soft floor surface material, where the hard floor surface material may further include a floor, a floor tile, etc., and the soft floor surface material may include a short carpet, a long carpet, etc. As shown in Figures 4 and 5, the historical spectrum information includes at least one of floor spectrum information, short carpet spectrum information, long carpet spectrum information, threshold line spectrum information, water stain spectrum information, honey spectrum information, peanut butter spectrum information, oil spectrum information, and ketchup spectrum information, and the historical video images include at least one of floor video images, short carpet video images, long carpet video images, threshold line video images, water stain video images, honey video images, peanut butter video images, oil video images, and ketchup video images. The automatic cleaning device may store the various specific historical spectral information and / or historical video images in a storage device for subsequent recall through data collection or pre-compilation. Of course, the various specific historical spectral information and / or historical video images may also be stored in a cloud or server for recall by the automatic cleaning device.

[0042] In some embodiments, the automatic cleaning device further comprises a storage device and is configured to pre-store a learning model based on the spectral information of the material of the operation surface and / or a learning model of the video image of the dirt type of the operation surface, and the control is further configured to use the learning model of the spectral information based on the material of the operation surface and / or the learning model of the video image of the dirt type of the operation surface stored in the storage device to identify the spectral information and / or the video image received by the light receiving assembly and determine the material of the operation surface and / or the dirt type of the operation surface. By pre-storing the learning model, the material of the operation surface and / or the dirt type of the operation surface can be quickly identified.

[0043] In some embodiments, the control system 130, for example a CPU, is configured to determine the material of the operation surface and / or the dirt type of the operation surface based on the spectral information. The spectral range is 380nm-1100nm, covering the wavelength range of visible light and infrared light, and the spectrometer usually has high sensitivity, so that even if the reflected light is weak, the corresponding waveform image can be obtained, so that the obtained spectral information is usually relatively complete, and different reflectances can be obtained for different materials or different dirt types, as shown in Figures 4-5, and a stable spectral contour can be formed, so that the spectral situation of the current operation surface photographed area can be obtained relatively accurately, and a relatively accurate judgment can be made about the material of the current area operation surface and / or the dirt type of the operation surface.

[0044] In some embodiments, a further judgment process of the control system is as follows: comparing the current spectral information formed by the light receiving assembly with the historical spectral information stored in a storage device, and if the degree of match between the current spectral information and the historical spectral information is greater than or equal to a predetermined first threshold, determining that the current material of the operating surface and / or the type of dirt on the operating surface are the material of the operating surface and / or the type of dirt on the operating surface corresponding to the historical spectral information.

[0045] The current spectral information formed by the light receiving assembly is compared with the historical spectral information stored in the storage device, and the degree of match is compared based on the contour line, for example, the peak values ​​or valley values ​​under the corresponding wavelengths may be compared, or the peak values ​​or valley values ​​within the corresponding wavelength range may be compared. If a preset threshold is met, for example, if the match is 80% to 90%, it is determined that the current spectral information and the historical spectral information match, and it is determined that the current material of the operation surface and / or the type of dirt on the operation surface correspond to the historical spectral information.

[0046] In some embodiments, the current spectral information formed by the light receiving assembly is compared with the historical spectral information stored in the storage device, the spectral information is expanded to form a one-dimensional feature vector, the Euclidean distance between the one-dimensional feature vector of the current spectral information and the one-dimensional feature vector of the historical spectral information stored in the storage device is calculated, and the historical spectral information corresponding to the one-dimensional feature vector with the smallest Euclidean distance with the one-dimensional feature vector of the current spectral information in the storage device is searched for, and if a preset threshold is satisfied, it is determined that the current spectral information and the historical spectral information are consistent, and it is determined that the current material of the operating surface and / or the type of dirt on the operating surface are the material of the operating surface and / or the type of dirt on the operating surface corresponding to the historical spectral information.

[0047] Further, in some embodiments, the control system is configured to determine the material of the operating surface and / or the dirt type of the operating surface based on the spectral information and the video image obtained by the light receiving assembly. Specifically, in some embodiments, when a degree of match between the current spectral information and the historical spectral information is less than a first predetermined threshold and greater than or equal to a second predetermined threshold, the control system compares the current video image formed by the light receiving assembly with a historical video image stored in a storage device.

[0048] As described above, first, the current spectrum information is compared with the historical spectrum information, and if the degree of coincidence is equal to or greater than the first threshold, for example, 80% or more, the material of the current operation surface and / or the dirt type of the operation surface are determined directly based on the historical spectrum information. If the degree of coincidence is smaller than the first threshold and larger than the second threshold, for example, if the degree of coincidence is 70% and equal to or greater than the second threshold, 60%, the material of the current operation surface and / or the dirt type of the operation surface are determined based on the historical video image, and if the degree of coincidence between the current video image and the historical video image is equal to or greater than a predetermined third threshold, for example, if the video image coincidence is equal to or greater than the third threshold, 80%, the material of the current operation surface and / or the dirt type of the operation surface are determined to be the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical video image. This method assists in determining the material of the operation surface and / or the dirt type of the operation surface based on the video image in a situation where the material of the operation surface and / or the dirt type of the operation surface cannot be completely determined from the spectral information, and can further improve the accuracy of determining the material of the operation surface and / or the dirt type of the operation surface.

[0049] After the control system determines the material of the operating surface and / or the dirt type of the operating surface, the control system controls the cleaning module to clean the operating surface according to a corresponding cleaning strategy adopted based on the material of the operating surface and / or the dirt type of the operating surface. Specifically, the cleaning strategy includes, but is not limited to, the following examples: If the material of the operating surface is identified as a hard floor material, a normal cleaning strategy is adopted, e.g., cleaning with normal power, mopping with normal water amount.

[0050] If the material of the operating surface is identified as short carpet, the mopping function is not performed and only cleaning is performed to avoid wetting the carpet.

[0051] If the material of the operating surface is identified as long carpet, the area is not cleaned and the control system controls the drive system to take a detour to avoid jamming of the automatic cleaning device by the long carpet.

[0052] If a stepped floor structure, such as a threshold line, is identified, cleaning of the threshold line area is discontinued.

[0053] If water is identified on the operating surface, the dry cleaning module is controlled to stop operation and / or the automatic cleaning device reduces the amount of water used when mopping to prevent more water stains from forming on the floor surface.

[0054] If heavy soiling such as oil, ketchup or peanut butter is identified on the operating surface, the water supply to the cleaning device may be increased during mopping to improve detergent concentration, and the mopping intensity or vibration frequency of the wet cleaning module may be increased to remove as much soiling as possible.

[0055] In an embodiment of the present disclosure, a spectrometer and / or a video imaging assembly is provided at the bottom of the automatic cleaning device to obtain the material of the operating surface and / or the dirt type of the operating surface, and based on the material of the operating surface and / or the dirt type of the operating surface, the cleaning module is controlled to clean the operating surface, thereby realizing identification of soft floor surfaces, hard floor surfaces and dirt types and targeted cleaning.

[0056] An embodiment of the present disclosure further provides a control method for an automatic cleaning device, which is applicable to the automatic cleaning device described in the above embodiments, and similar features have similar technical effects, which will not be repeated here, and specifically includes the following steps, as shown in FIG. 6 : In step S602, a light-emitting assembly disposed on the bottom surface of the moving platform of the automatic cleaning device emits a light signal toward the operation surface within a predetermined angle range. In step S604, a spectrum collecting unit of a light receiving assembly receives the optical signal reflected from the operation surface to generate spectrum information based on the operation surface. In step S606, a control system determines a material of the operation surface and / or a dirt type of the operation surface based on the spectrum information, and controls the cleaning module to clean the operation surface based on the material of the operation surface and / or the dirt type of the operation surface.

[0057] In some embodiments, the light emitting assembly includes a non-visible light emitting unit and a visible light emitting unit, the non-visible light emitting unit and the visible light emitting unit emitting a non-visible light signal and a visible light signal, respectively, at a predetermined angle.

[0058] In some embodiments, the light emitting assembly further includes a driving unit, and the method further includes adjusting a driving current or voltage in the driving unit based on the spectral information, and adjusting an intensity and / or a predetermined angle of the non-visible light emitting unit and the visible light emitting unit emitted light signals.

[0059] In some embodiments, the light receiving assembly further includes an image gathering unit, and the method further includes receiving a light signal reflected from the control surface to generate a video image based on the control surface.

[0060] In some embodiments, the method further includes determining a material and / or a material surface dirt type of the interface based on the spectral information and the video image, and controlling the cleaning module to clean the interface based on the material and / or material surface dirt type of the interface.

[0061] In some embodiments, the method further includes pre-storing historical spectral information and historical video images based on the material of the operating surface and / or the material surface soiling type.

[0062] In some embodiments, the method further includes comparing current spectral information formed by the light receiving assembly with historical spectral information stored in a storage device, and determining that the current material and / or material surface dirt type of the operating surface is the operating surface material and / or material surface dirt type corresponding to the historical spectral information if a degree of match between the current spectral information and the historical spectral information is equal to or greater than a first predetermined threshold.

[0063] In some embodiments, the method further comprises: comparing a current video image generated by the light receiving assembly with a historical video image stored in a storage device if a degree of match between the current spectral information and the historical spectral information is less than a first predetermined threshold and greater than or equal to a second predetermined threshold; The method further includes determining that the material and / or material surface dirt type of the current operation surface is the material and / or material surface dirt type of the operation surface corresponding to the historical video image when the degree of match between the current video image and the historical video image satisfies a predetermined third threshold.

[0064] In some embodiments, the historical spectral information includes at least one of floor spectral information, short carpet spectral information, long carpet spectral information, threshold line spectral information, limescale floor spectral information, honey floor spectral information, peanut butter floor spectral information, oil bed spectral information, and ketchup floor spectral information; The historical video images include at least one of a floor video image, a short carpet video image, a long carpet video image, a threshold line video image, a limescale floor video image, a honey floor video image, a peanut butter floor video image, an oil floor video image, and a ketchup floor video image.

[0065] In some embodiments, the light emitting assembly includes an invisible light emitting unit and / or a visible light emitting unit, and the invisible light emitting unit and / or the visible light emitting unit correspondingly emit invisible light signals and / or visible light signals, respectively, toward the operating surface within the predetermined angle range.

[0066] In some embodiments, the light emitting assembly includes a driving unit, and the control system is further configured to adjust a driving current or voltage in the driving unit based on the generated spectral information to adjust an intensity and / or a predetermined angle of the light emitting assembly emitted light signal.

[0067] In some embodiments, the light receiving assembly further includes an image collecting unit configured to receive light signals reflected from the control surface and generate a video image based on the control surface.

[0068] In some embodiments, the control system is configured to determine a material of the interface and / or a type of dirt on the interface based on the spectral information and the video image, and to control the cleaning module to clean the interface based on the material of the interface and / or the type of dirt on the interface.

[0069] In some embodiments, the automatic cleaning device comprises: The apparatus further includes a storage device configured to previously store historical spectrum information and / or historical video images based on the material of the operation surface and / or the type of dirt on the operation surface.

[0070] In some embodiments, the control system further comprises: The current spectral information formed by the light receiving assembly is compared with the historical spectral information stored in a storage device, and if the degree of match between the current spectral information and the historical spectral information is equal to or greater than a predetermined first threshold, it is determined that the current material of the operation surface and / or the current type of dirt on the operation surface are the material of the operation surface and / or the type of dirt on the operation surface corresponding to the historical spectral information.

[0071] In some embodiments, the control system further comprises: If the degree of coincidence between the current spectrum information and the historical spectrum information is less than a first threshold and equal to or greater than a second threshold, comparing the current image formed by the light receiving assembly with the historical image stored in the storage device; If the degree of match between the current video image and the historical video image is equal to or greater than a predetermined third threshold, it is configured to determine that the current material of the operation surface and / or the type of dirt on the operation surface are the material of the operation surface and / or the type of dirt on the operation surface that correspond to the historical video image.

[0072] In some embodiments, the automatic cleaning device comprises: A storage device configured to store in advance a learning model based on the material of the operation surface and / or the spectral information of the dirt type on the operation surface and / or a learning model of a video image, The control is further configured to identify the spectral information and / or the video image received by the light receiving assembly using a learning model of the spectral information and / or the video image based on the material of the operating surface and / or the dirt type of the operating surface stored in the storage device, and determine the material of the operating surface and / or the dirt type of the operating surface.

[0073] The control system further comprises: Expanding the current spectral information generated by the light receiving assembly to construct a one-dimensional feature vector; Calculating the Euclidean distance between the one-dimensional feature vector of the current spectrum information and the one-dimensional feature vector of the historical spectrum information stored in the storage device; If the Euclidean distance satisfies a predetermined distance threshold, it is determined that the current spectral information matches the historical spectral information, and the current material of the operation surface and / or the current dirt type of the operation surface are the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical spectral information.

[0074] In some embodiments, the wavelength range of the light emitting assembly is from 380 nm to 1100 nm.

[0075] In some embodiments, the predetermined angle range is between 30° and 90°.

[0076] In some embodiments, the receiver assembly has a resolution of 1 nm.

[0077] An embodiment of the present disclosure provides a method for controlling an automatic cleaning device, the method comprising: emitting a light signal toward the operation surface within a predetermined angle range by a light emitting assembly provided on a bottom surface of the moving platform of the automatic cleaning device; receiving, with a light receiving assembly, a light signal reflected from the control surface and generating spectral information based on the control surface; The control system determines the material of the operating surface and / or the type of dirt on the operating surface based on the spectral information, and controls a cleaning module to clean the operating surface based on the material of the operating surface and / or the type of dirt on the operating surface.

[0078] In some embodiments, the light emitting assembly includes an invisible light emitting unit and / or a visible light emitting unit, and the invisible light emitting unit and / or the visible light emitting unit correspondingly emit invisible light signals and / or visible light signals, respectively, toward the operating surface within the predetermined angle range.

[0079] In some embodiments, the light emitting assembly further comprises a drive unit, and the method further comprises: The method further includes adjusting a driving current or voltage in the driving unit based on the generated spectral information to adjust an intensity and / or a predetermined angle of the light emitting assembly emitting light signal.

[0080] In some embodiments, the light receiving assembly further comprises an image gathering unit, and the method further comprises: The method further includes receiving a light signal reflected from the operation surface and generating a video image based on the operation surface.

[0081] In some embodiments, the method further comprises: The method further includes determining a material of the operation surface and / or a type of dirt on the operation surface based on the spectral information and the video image, and controlling the cleaning module to clean the operation surface based on the material of the operation surface and / or the type of dirt on the operation surface.

[0082] In some embodiments, the method further comprises: The method further includes storing in advance historical spectrum information and / or historical video images based on the material of the operation surface and / or the type of dirt on the operation surface.

[0083] In some embodiments, the method further comprises: The method further includes comparing the current spectral information formed by the light receiving assembly with the historical spectral information stored in a storage device, and determining that the current material of the operation surface and / or the current dirt type of the operation surface are the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical spectral information if the degree of match between the current spectral information and the historical spectral information is greater than or equal to a predetermined first threshold.

[0084] In some embodiments, the method further comprises: comparing the current image formed by the light receiving assembly with the historical image stored in a storage device when the degree of coincidence between the current spectrum information and the historical spectrum information is less than a first predetermined threshold and equal to or greater than a second predetermined threshold; The method further includes determining that, when the degree of match between the current video image and the historical video image is equal to or greater than a predetermined third threshold, the current material of the operation surface and / or the type of dirt on the operation surface are the material of the operation surface and / or the type of dirt on the operation surface that correspond to the historical video image.

[0085] In some embodiments, the method further includes identifying the received spectral information and / or video image using a learning model of spectral information and / or a learning model of video images based on the material of the operating surface and / or the dirt type of the operating surface that have been pre-stored by the automatic cleaning device, and determining the material of the operating surface and / or the dirt type of the operating surface.

[0086] In some embodiments, the method further comprises: Expanding the current spectral information generated by the light receiving assembly to construct a one-dimensional feature vector; Calculating the Euclidean distance between the one-dimensional feature vector of the current spectrum information and the one-dimensional feature vector of the historical spectrum information stored in the storage device; The method further includes determining that the current spectral information matches the historical spectral information if the Euclidean distance meets a predetermined distance threshold, and that the current material of the operation surface and / or the current dirt type of the operation surface are the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical spectral information.

[0087] In some embodiments, controlling a cleaning module to clean the interface based on a material of the interface and / or a soiling type of the interface includes: If the material of the operating surface is a hard floor surface material, perform a predetermined power cleaning and / or pre-mopping with a preset amount of water; if the operating surface material is short-cut carpet, cleaning the short-cut carpet and / or stopping the mopping action; controlling a drive system to perform a detouring operation when the material of the operating surface is a long carpet; controlling a dry cleaning module to stop operation and / or reduce the amount of water used when mopping the automatic cleaning device when water is present on the operating surface; and performing at least one of the following operations when there is heavy soiling on the operating surface: increasing the water supply of the cleaning device, increasing the concentration of the cleaning agent, and increasing the mopping intensity or vibration frequency of the wet cleaning module; Includes at least one of the following:

[0088] An embodiment of the present disclosure provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium storing computer program instructions, which, when called and executed by a processor, perform steps of the control method described in any one of the above.

[0089] An embodiment of the present disclosure provides an automatic cleaning device, the automatic cleaning device comprising a processor and a memory, wherein computer program instructions executable by the processor are stored in the memory, and when the processor executes the computer program instructions, the automatic cleaning device performs steps of the control method of any one of the above embodiments.

[0090] The embodiments of the present disclosure can solve the technical problem of accurately identifying floor materials or key areas.

[0091] The embodiments of the present disclosure have the following technical effects. An embodiment of the present disclosure provides a spectrometer and / or a video imaging assembly at the bottom of an automatic cleaning device to obtain the material and / or material surface dirt type of the operating surface, and control the cleaning module to clean the operating surface based on the material and / or material surface dirt type of the operating surface, thereby realizing identification of carpets, floors and dirt types and target cleaning.

[0092] As shown in Fig. 7, the automatic cleaning device may include a processing unit (e.g., a central processor, a graphic processor, etc.) 701, which can perform various appropriate operations and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. The RAM 703 stores various programs and data required for the operation of the automatic cleaning device. The processing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0093] Typically, input devices 706 such as a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc., output devices 707 such as a liquid crystal display (LCD), speaker, vibrator, etc., storage devices 708 such as a hard disk, etc., and communication devices 709 are also connected to the I / O interface 705. The communication devices 709 allow the electronic device to communicate and exchange data with other devices wirelessly or via wires. Although FIG. 7 illustrates an electronic device with various devices, it should be understood that it is not necessary to implement or include all of the devices illustrated. More or fewer devices may be implemented or included.

[0094] The flowcharts and block diagrams in the accompanying drawings illustrate possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a specified logical function. It should be noted that in some alternative implementations, the functions shown in the blocks may be implemented in a different order from the order shown in the accompanying drawings. For example, two blocks shown in succession may actually be executed substantially in parallel, or they may be executed in reverse order depending on the related functions. Also, each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts may be implemented by a dedicated system based on a hard disk for executing the specified functions or operations, or may be implemented by a combination of a dedicated hard disk and computer instructions.

[0095] Finally, it should be noted that each embodiment in this specification will be described gradually, each embodiment will focus on the differences from other embodiments, and the same or similar parts between each embodiment can be referred to each other. The system or device disclosed in the embodiment will be briefly described since it corresponds to the disclosed method of the embodiment, and the related contents can be referred to the description of the method part.

[0096] The above embodiments are used to explain the technical solutions of the present disclosure, but are not intended to limit them. The present disclosure has been described in detail with reference to the above embodiments. However, those skilled in the art can modify the technical solutions described in each of the above embodiments, or equivalently replace some of the technical features thereof, and it should be understood that these modifications and replacements do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of each of the embodiments of the present disclosure.

Claims

1. a moving platform and drive assembly; a cleaning module provided at the bottom of the moving platform and used for cleaning an operating surface on a travel path of the automatic cleaning device; a light emitting assembly provided on a bottom surface of the moving platform and configured to emit a light signal toward the operation surface within a predetermined angular range; a light receiving assembly including a spectral collection unit configured to receive an optical signal reflected from the control surface and generate spectral information based on the control surface; and a control system provided inside the moving platform and configured to determine the material and / or the type of dirt on the operation surface based on at least the spectral information, and to control the cleaning module to clean the operation surface based on the material and / or the type of dirt on the operation surface.

2. 2. The automatic cleaning device of claim 1, wherein the light emitting assembly includes an invisible light emitting unit and / or a visible light emitting unit, and the invisible light emitting unit and / or the visible light emitting unit correspondingly emit an invisible light signal and / or a visible light signal, respectively, toward the operation surface within the predetermined angle range.

3. 2. The automatic cleaning device of claim 1, wherein the light emitting assembly includes a drive unit, and the control system is further configured to adjust a drive current or voltage in the drive unit based on the generated spectral information to adjust an intensity and / or a predetermined angle of an emitted light signal of the light emitting assembly.

4. The automatic cleaning device of any one of claims 1 to 3, characterized in that the light receiving assembly further includes an image collection unit configured to receive a light signal reflected from the operation surface and generate a video image based on the operation surface.

5. The automatic cleaning device of claim 4, characterized in that the control system determines the material and / or the type of dirt on the operation surface based on the spectral information and the video image, and controls the cleaning module to clean the operation surface based on the material and / or the type of dirt on the operation surface.

6. The automatic cleaning device is 6. The automatic cleaning device according to claim 5, further comprising a storage device in which historical spectrum information and / or historical video images based on the material of the operation surface and / or the type of dirt on the operation surface are stored in advance.

7. The control system further comprises: The automatic cleaning device of claim 6, further comprising: a processor configured to compare current spectral information formed by the light receiving assembly with historical spectral information stored in a storage device; and, if the degree of agreement between the current spectral information and the historical spectral information is equal to or greater than a predetermined first threshold, determine that the current material of the operation surface and / or the dirt type of the operation surface are the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical spectral information.

8. The control system further comprises: If the degree of coincidence between the current spectrum information and the historical spectrum information is less than a first predetermined threshold and is equal to or greater than a second predetermined threshold, comparing the current image formed by the light receiving assembly with the historical image stored in the storage device; The automatic cleaning device described in claim 7, characterized in that if the degree of similarity between the current video image and the historical video image is equal to or greater than a predetermined third threshold, it is determined that the current material of the operating surface and / or the dirt type of the operating surface are the material of the operating surface and / or the dirt type of the operating surface corresponding to the historical video image.

9. The automatic cleaning device is A storage device configured to store in advance a learning model based on the material of the operation surface and / or the spectral information of the dirt type on the operation surface and / or a learning model of a video image, The automatic cleaning device of claim 5, characterized in that the control system is further configured to identify the spectral information and / or the video image received by the light receiving assembly by utilizing a learning model based on the spectral information of the material of the operating surface and / or the type of dirt on the operating surface and / or a learning model of the video image stored in the storage device, and to determine the material of the operating surface and / or the type of dirt on the operating surface.

10. The control system further comprises: Expanding the current spectral information generated by the light receiving assembly to construct a one-dimensional feature vector; Calculating the Euclidean distance between the one-dimensional feature vector of the current spectrum information and the one-dimensional feature vector of the historical spectrum information stored in a storage device; The automatic cleaning device of claim 6, further comprising: a detecting unit configured to detect a detected Euclidean distance from the detected object and a detecting unit configured to detect the ...

11. An automatic cleaning device according to any one of the preceding claims, characterized in that the wavelength range of the light emitting assembly is from 380nm to 1100nm.

12. 12. The automatic cleaning device according to claim 1, wherein the predetermined angle range is from 30 degrees to 90 degrees.

13. The automatic cleaning device according to any one of claims 1 to 12, characterized in that the light receiving assembly has a resolution of 1 nm.

14. emitting a light signal toward the operation surface within a predetermined angle range by a light emitting assembly provided on a bottom surface of the moving platform of the automatic cleaning device; receiving, with a light receiving assembly, a light signal reflected from the control surface to generate spectral information based on the control surface; A method for controlling an automatic cleaning device, comprising: determining, by a control system, the material and / or the type of dirt on the operation surface based on the spectral information; and controlling a cleaning module to clean the operation surface based on the material and / or the type of dirt on the operation surface.

15. 15. The control method according to claim 14, wherein the light-emitting assembly includes an invisible light-emitting unit and / or a visible light-emitting unit, and the invisible light-emitting unit and / or the visible light-emitting unit respectively emit invisible light signals and / or visible light signals toward the operation surface within the predetermined angle range.

16. The light emitting assembly further includes a drive unit, and the method further comprises:

15. The control method of claim 14, further comprising: adjusting a driving current or voltage in the driving unit based on the generated spectral information to adjust an intensity and / or a predetermined angle of the light emitting assembly emitted light signal.

17. The light receiving assembly further includes an image collecting unit, and the method further comprises: The control method according to any one of claims 14 to 16, further comprising receiving an optical signal reflected from the operation surface and generating a video image based on the operation surface.

18. The method comprises: The control method of claim 17, further comprising: determining a material of the operation surface and / or a type of dirt on the operation surface based on the spectral information and the video image; and controlling the cleaning module to clean the operation surface based on the material of the operation surface and / or the type of dirt on the operation surface.

19. The method comprises: The control method according to claim 18, further comprising: storing in advance historical spectrum information and / or historical video images based on the material of the operation surface and / or the type of dirt on the operation surface.

20. The method comprises: The control method of claim 19, further comprising: comparing current spectral information formed by the light receiving assembly with historical spectral information stored in a storage device; and, if a degree of agreement between the current spectral information and the historical spectral information is equal to or greater than a predetermined first threshold, determining that the current material of the operation surface and / or the dirt type of the operation surface are the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical spectral information.

21. The method comprises: comparing the current image formed by the light receiving assembly with the historical image stored in a storage device when the degree of coincidence between the current spectrum information and the historical spectrum information is less than a first predetermined threshold and is equal to or greater than a second predetermined threshold; The control method described in claim 20, further comprising: when the degree of similarity between the current video image and the historical video image is equal to or greater than a predetermined third threshold, determining that the current material of the operation surface and / or the dirt type of the operation surface are the material of the operation surface and / or the dirt type of the operation surface corresponding to the historical video image.

22. The method comprises: The control method according to claim 14, further comprising the automatic cleaning device using a learning model based on pre-stored spectral information of the material of the operation surface and / or the type of dirt on the operation surface and / or a learning model of a video image to identify the received spectral information and / or video image, and determine the material of the operation surface and / or the type of dirt on the operation surface.

23. The method comprises: Expanding the current spectral information generated by the light receiving assembly to construct a one-dimensional feature vector; Calculating the Euclidean distance between the one-dimensional feature vector of the current spectrum information and the one-dimensional feature vector of the historical spectrum information stored in a storage device; The method of claim 14, further comprising determining that the current spectral information matches the historical spectral information if the Euclidean distance meets a predetermined distance threshold, and that the current surface material and / or surface dirt type are the surface material and / or surface dirt type corresponding to the historical spectral information.

24. Controlling a cleaning module to clean the operation surface based on a material of the operation surface and / or a dirt type of the operation surface includes: When the material of the operation surface is a hard floor surface material, cleaning with a predetermined power and / or mopping with a preset amount of water is performed; if the operating surface material is short-cut carpet, cleaning the short-cut carpet and / or stopping the mopping operation; controlling a drive system to perform a detouring operation when the material of the operating surface is a long carpet; controlling a dry cleaning module to stop operation and / or reduce the amount of water used when mopping the automatic cleaning device when water is present on the operating surface; and When the operating surface is heavily soiled, performing at least one of the following operations: increasing the water supply of the cleaning device, increasing the concentration of the detergent, and increasing the mopping intensity or vibration frequency of the wet cleaning module; The control method according to any one of claims 14 to 23, characterized in that it includes at least one of the following:

25. An automatic cleaning device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, the automatic cleaning device performs steps of the control method described in any one of claims 14 to 24.

26. A non-transitory computer-readable storage medium having computer program instructions stored therein, the computer program instructions being adapted to implement the steps of the control method according to any one of claims 14 to 24 when called and executed by a processor.

Images