Cleaning device and dirt detection method

Abstract

The present invention provides a cleaning device and a method for detecting dirt for the cleaning device. The cleaning device includes a cleaning unit (10) for cleaning a surface to be cleaned, a detection device (20) for detecting a physical attribute value of the cleaning unit (10), and a processor (30) electrically connected to the detection device (20), for acquiring the physical attribute value detected by the detection device (20), determining a degree of dirt on the surface to be cleaned based on the physical attribute value, and adjusting a cleaning mode of the cleaning device based on the degree of dirt. The detection device (20) detects the physical attribute value of the cleaning unit (10) of the cleaning device, and the processor (30) determines the degree of dirt on the surface to be cleaned based on the detected physical attribute value, so that information on the surface to be cleaned can be provided to the cleaning operation of the cleaning device, and the surface to be cleaned can be intelligently cleaned.

Description

Related Applications

[0001] This application claims priority from Chinese Patent Application No. 202110586184.4, filed on May 27, 2021, the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] FIELD OF THE DISCLOSURE The present disclosure relates to the technical field of intelligent devices, and more particularly to cleaning devices and soil detection methods for cleaning devices. [Background technology]

[0003] A cleaning device typically has the function of cleaning a floor surface, for example, by spraying a clean cleaning liquid and then collecting the dirty liquid from the floor surface. During actual use, the degree of dirt on the surfaces to be cleaned varies, so if surfaces to be cleaned with different degrees of dirt are cleaned using the same operating power, the relatively dirty floor surface may be incompletely cleaned, which is likely to result in resource waste for some relatively clean floor surfaces and may ultimately have a negative impact on the user's experience. Summary of the Invention

[0004] In view of the above problems, the present disclosure provides a cleaning device and a soil detection method for a cleaning device to overcome or at least partially overcome the above problems.

[0005] According to a first aspect of the present disclosure, there is provided a cleaning device comprising: a cleaning unit for cleaning a surface to be cleaned; a detection device for detecting a physical attribute value of the cleaning unit; and a processor that acquires the physical attribute value detected by the detection device, determines the degree of dirtiness of the surface to be cleaned using a comparison result between the physical attribute value and a dynamically set standard attribute value, and adjusts the cleaning mode of the cleaning device based on the degree of dirtiness.

[0006] Optionally, the detection device is located at or opposite the cleaning station.

[0007] Optionally, the detection device includes an optical detection device for detecting an optical attribute value of the cleaning element.

[0008] Optionally, the detection device includes an optical emitter and an optical receiver; the optical emitter is used to emit an optical signal to the cleaning unit; the optical receiver is used to receive an optical reflection signal formed by reflection from the cleaning unit, convert the optical reflection signal into a first electrical signal representing an optical attribute value of the cleaning unit, and output the first electrical signal to the processor; The processor is configured to calculate a degree of soiling of the surface to be cleaned using the optical attribute values.

[0009] Optionally, the first electrical signal includes a voltage, and the processor is configured to compare the voltage with a standard voltage and determine the degree of dirtiness of the surface to be cleaned depending on the comparison result, the standard voltage being the voltage of the cleaning unit in a previously detected clean state or the voltage of the cleaning unit detected when the cleaning device is powered on.

[0010] Optionally, the optical receiver and the receiver are located on the same side.

[0011] Optionally, the detection device includes an electrical detection device that detects an electrical attribute value of the cleaning part.

[0012] Optionally, the cleaning unit is provided with an electrode; the detection device is connected to an electrode of the cleaning unit, and is configured to detect a second electrical signal representing an electrical attribute value of the cleaning unit, and output the second electrical signal to the processor; The processor is configured to calculate a degree of soiling of the surface to be cleaned using the electrical attribute value.

[0013] Optionally, the detection device is a capacitance sensor that detects a capacitance of the cleaning unit and outputs the capacitance as the second electrical signal to the processor; The processor is configured to calculate a capacity change parameter of the cleaning unit based on the capacity and a standard capacity, and to calculate a degree of contamination of the surface to be cleaned using the capacity change parameter.

[0014] Optionally, the detector is configured to detect the electrical conductivity of the cleaning part and output the second electrical signal to the processor; The processor is configured to calculate a conductivity change parameter of the cleaning unit based on the conductivity and a standard conductivity, and to calculate a degree of contamination of the surface to be cleaned using the conductivity change parameter.

[0015] Optionally, the cleaning device further includes a fluid output device and a fluid recovery device, the fluid output device configured to spray liquid onto the cleaning unit or the surface to be cleaned, and the fluid recovery device configured to cause dirty liquid on the surface to be cleaned or the cleaning unit to flow into the fluid recovery device via a dirty liquid pipeline.

[0016] Optionally, the fluid output device includes a first container for storing the liquid, a fluid output line communicating with the first container for delivering the liquid in the first container to the cleaning unit or the surface to be cleaned, and at least one nozzle communicating with the fluid output line for spraying the liquid to the cleaning unit or the surface to be cleaned.

[0017] Optionally, the fluid recovery device includes a second container for storing dirty liquid, a second sensor provided in the second container for detecting the fluid level in the second container, at least one suction nozzle for sucking dirty liquid from the cleaning unit or the surface to be cleaned, and a suction pipe connecting the at least one suction nozzle to the second container and for sucking dirty liquid from the suction nozzle into the second container.

[0018] According to a second aspect of the present disclosure, there is provided a method of soil detection for a cleaning device, the method comprising: detecting a physical attribute value of a cleaning unit of a cleaning device for cleaning the surface to be cleaned; determining a degree of soiling of the surface to be cleaned using a comparison result between the physical attribute value and a dynamically set standard attribute value; and adjusting a cleaning mode of the cleaning device based on the degree of soiling.

[0019] Optionally, the physical attribute values ​​include optical attribute values; the step of detecting the physical attribute value of the cleaning unit of the cleaning device includes emitting an optical signal from an optical emitter, receiving an optical reflection signal formed by reflection by the cleaning unit using an optical receiver, and converting the optical reflection signal into a first electrical signal representing the optical attribute value of the cleaning unit; the step of determining the degree of contamination of the surface to be cleaned using the comparison result between the physical attribute value and the dynamically set standard attribute value includes calculating the degree of contamination of the surface to be cleaned using a difference between the optical attribute value and the standard optical attribute value; Here, the standard optical attribute value includes an optical attribute value of the cleaning unit in a clean state detected in advance, or an optical attribute value of the cleaning unit detected when the cleaning device is turned on.

[0020] Optionally, the physical attribute values ​​include electrical attribute values; the step of detecting a physical attribute value of the cleaning unit of the cleaning device includes detecting a second electrical signal representing an electrical attribute value of the cleaning unit, the second electrical signal including at least one of conductivity, capacitance, and resistance; the step of determining the degree of contamination of the surface to be cleaned using the comparison result between the physical attribute value and the dynamically set standard electrical attribute value includes calculating an electrical signal change parameter of the cleaning unit using the electrical attribute value and the standard electrical attribute value, and calculating the degree of contamination of the surface to be cleaned using the electrical signal change parameter; Here, the standard electrical attribute value includes an electrical attribute value of the cleaning unit in a clean state detected in advance, or an electrical attribute value of the cleaning unit detected when the cleaning device is powered on.

[0021] Optionally, the step of adjusting a cleaning mode of the cleaning device based on the degree of soiling comprises: obtaining a plurality of pre-divided soiling levels corresponding to different degrees of soiling; determining a target dirt level corresponding to the surface to be cleaned based on the degree of dirt on the surface to be cleaned; The method includes obtaining a cleaning mode of the cleaning device that matches the target dirt level, and controlling the operation of the cleaning device according to cleaning parameters corresponding to the cleaning mode, the cleaning parameters including the operating power of a motor that drives an exhaust fan and / or a cleaning unit.

[0022] The present disclosure provides a cleaning device and a dirt detection method for a cleaning device, and the cleaning device provided by the present disclosure detects physical attribute values ​​of the cleaning part of the cleaning device using a detection device, and uses the detected physical attribute values ​​by a processor to determine the degree of dirt on the surface to be cleaned, providing information about the surface to be cleaned for the cleaning operation of the cleaning device, so as to intelligently clean the surface to be cleaned in a targeted manner.

[0023] The above description is merely a summary of the technical solutions of the present disclosure, which can be implemented according to the contents of this specification in order to more clearly understand the technical means of the present disclosure, and in order to make the above and other objectives, features and advantages of the present disclosure more clearly understandable, specific embodiments of the present disclosure are presented below.

[0024] In order to make the above and other objects, advantages and features of the present disclosure more apparent to those skilled in the art, specific embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0025] Various other advantages and benefits will be apparent to those skilled in the art from the following detailed description of the preferred embodiments. The accompanying drawings are intended only for purposes of illustrating the preferred embodiments and are not intended to limit the disclosure. The same reference numerals are used throughout the drawings to represent the same components. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a schematic diagram illustrating a partial structure of a cleaning device according to an embodiment of the present disclosure; [Figure 2] 1 is a schematic diagram illustrating the structure of a cleaning device according to an embodiment of the present disclosure; [Figure 3] FIG. 1 is a schematic diagram illustrating the structure of a cleaning device according to another embodiment of the present disclosure. [Figure 4] FIG. 10 is a schematic diagram illustrating a partial structure of a cleaning device according to another embodiment of the present disclosure. [Figure 5] 1 is a schematic diagram illustrating the voltage of a cleaning element as it changes with the color of the cleaning element, according to an embodiment of the present disclosure; [Figure 6] FIG. 1 is a schematic diagram illustrating the structure of a cleaning device according to another embodiment of the present disclosure. [Figure 7] FIG. 1 is a schematic diagram illustrating the flow of a method for detecting soiling for a cleaning device according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0027] In the following description, numerous specific details are provided to provide a more complete understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be practiced without one or more of these details. In other embodiments, some technical features well known in the art will not be described to avoid confusion with the present disclosure.

[0028] It should be noted that the terms used herein are merely used to describe particular embodiments and are not intended to limit the exemplary embodiments of the present disclosure. As used herein, the singular forms "a," "an," and "the" are also intended to encompass the plural forms unless the context clearly dictates otherwise. In addition, it should be further understood that the terms "comprises" and / or "comprises," as used herein, indicate the presence of features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0029]

[0023] Next, exemplary embodiments according to the present disclosure will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be embodied in various different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

[0030] An embodiment of the present disclosure provides a cleaning device. As can be seen with reference to FIG. 1 , the cleaning device provided by the embodiment of the present disclosure may include a cleaning unit 10, a detection device 20, and a processor 30. Here, the cleaning unit 10 is used to clean a surface to be cleaned. The detection device 20 is used to detect a physical attribute value of the cleaning unit 10, and the detection device 20 is selectably disposed on the cleaning unit 10 (as shown in FIG. 2 ) or opposite to the cleaning unit 10 (as shown in FIG. 3 ). The processor 30 is electrically connected to the detection device 20, and is used to acquire the physical attribute value detected by the detection device 20, determine the degree of dirtiness of the surface to be cleaned using a comparison result between the physical attribute value and a dynamically set standard attribute value, and adjust the cleaning mode of the cleaning device based on the degree of dirtiness.

[0031] In some preferred embodiments, the cleaning element may be, for example, one or more rolling brushes, which typically refer to brushes having a substantially horizontal axis of rotation, or one or more disc brushes, which typically refer to brushes having a substantially vertical axis of rotation, or of course various other components that perform the cleaning function.

[0032] According to the cleaning device provided by the embodiments of the present disclosure, a detection device 20 is provided in the cleaning device to detect the physical attribute values ​​of the cleaning unit 10 of the cleaning device, and the processor 30 can intelligently determine the degree of dirtiness of the surface to be cleaned based on the physical attribute values ​​without any human judgment, and can provide information about the surface to be cleaned for the cleaning operation of the cleaning device, further improving the intelligence of the cleaning device and at the same time improving the user experience.

[0033] In specific applications, the cleaning device may be, but is not limited to, a cleaning robot, mopping robot, floor polishing robot, weeding robot, or handheld cleaning device that cleans areas such as floors, walls, desktops, carpets, walls, or glass. The cleaning unit 10 in the cleaning device is a cleaning component such as a mop cloth, mop sponge, or mop rolling brush, and cleans the surface to be cleaned. Here, the processor 30 can be implemented using various application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), micro central control elements, microprocessors, or other electronic elements.

[0034] Furthermore, since the cleanliness of the cleaning components on the cleaning unit 10 changes as the number of uses and duration of use of the cleaning device increases, in this embodiment, the processor 30 can determine the degree of contamination of the surface to be cleaned using the comparison result between the physical attribute value and the dynamically set standard attribute value. That is, the standard attribute value is changeable. When the cleaning unit 10 on the cleaning device is first used, the standard attribute value may be the default standard attribute value set at the factory. Since the color of the surface of the cleaning unit 10 may change as the number of uses and duration of use of the cleaning unit 10 increases, the standard attribute value corresponding to the cleaning unit 10 may be adjusted. For example, the physical attribute value detected when the cleaning device is turned on may be used as the standard attribute value. Furthermore, the physical attribute value detected when the cleaning unit 10 is in a clean state after completing self-cleaning may be recorded as the standard attribute value. In this embodiment, the comparison result between the physical attribute value and the dynamically set standard attribute value can accurately determine the degree of contamination of the surface to be cleaned, improving cleaning efficiency.

[0035] Furthermore, the processor 30 in the cleaning device can intelligently adjust the cleaning mode of the cleaning device based on the acquired degree of soiling of the surface to be cleaned, thereby ensuring efficient cleaning of the surface while ensuring rational use of cleaning resources. The cleaning device can have multiple selectable cleaning modes, with different cleaning modes having different operating parameters. For example, in the deep cleaning mode, the motor driving the exhaust fan and / or cleaning unit has a relatively high operating power, and the water output and water output frequency are also relatively high. In the light cleaning mode, the motor driving the exhaust fan and / or cleaning unit has a relatively low operating power, and the water output and water output frequency are also relatively low. Therefore, for surfaces with different degrees of soiling, the appropriate cleaning mode of the cleaning device can be adjusted to complete the cleaning task while ensuring rational use of cleaning resources. In actual applications, the types of cleaning modes of the cleaning device and the operating parameters of the cleaning device for each cleaning mode can be set according to different requirements and are not limited to the embodiments of the present disclosure.

[0036] In the embodiments of the present disclosure, the detection device 20 may be an optical detection device or an electrical detection device. Different types of detection devices 20 have different physical attribute values ​​of the cleaning unit 10 in the cleaning device. Different types of detection devices 20 will be described in detail below.

[0037] 4 is a schematic diagram showing a partial structure of a cleaning device according to another embodiment of the present disclosure. In the cleaning device shown in FIG. 4, the detection device 20 may be an optical detection device 20, which is used to detect the optical attribute value of the cleaning unit 10. As can be seen from FIG. 4, the detection device 20 includes an optical emitter 21 and an optical receiver 22, and the optical receiver 22 and the receiver are disposed on the same side. Although FIG. 4 only schematically shows the relative positions of the optical emitter 21 and the optical receiver 22, in actual applications, the installation positions of the optical emitter 21 and the optical receiver 22 can be adjusted according to different requirements, and are not limited to this embodiment.

[0038] Here, the optical emitter 21 is configured to emit an optical signal to the cleaning unit 10, the optical receiver 22 is configured to receive an optical reflection signal formed by reflection at the cleaning unit 10, convert the optical reflection signal into a first electrical signal representing the optical attribute value of the cleaning unit 10, and output the first electrical signal to the processor 30, and the processor 30 is configured to calculate the degree of dirtiness of the surface to be cleaned using the optical attribute value.

[0039] For example, the detection device 20 in this embodiment includes a pair of infrared pair tubes, one of which functions as an optical emitter 21 and the other as an optical receiver 22, i.e., the optical emitter 21 is an infrared receiver, and the optical receiver 22 is an infrared receiver. As can be seen from FIG. 4, the optical emitter 21 can emit infrared light toward the cleaning unit 10, and the optical receiver 22 is configured to receive the infrared light (reflected signal) reflected by the cleaning unit 10. As shown in FIG. 4, the infrared pair tubes are arranged on the same side, i.e., the infrared pair tubes are installed on the same side of the cleaning unit 10 and are both arranged facing the cleaning unit 10, ensuring that the infrared light reflected by the cleaning unit 10 is received by the optical receiver 22. Furthermore, after the optical receiver 22 receives the reflected signal reflected by the cleaning unit 10, it may convert it into a first electrical signal and output it to the processor 30.

[0040] For example, if the surface of the cleaning unit 10 is covered with a light-colored velvet fabric, the cleaning unit 10 will be light-colored when clean, and the light intensity of the reflected signal reflected by the cleaning unit 10 will be high. However, if the brush head is dirty, the color of the brush head will be darker, and the light intensity of the reflected signal reflected by the cleaning unit 10 will be lower. Furthermore, the optical receiver 22 may convert the received reflected signals of different intensities into different voltages and transmit the different voltages to the processor 30 as first electrical signals. As shown in FIG. 5, the lighter the color of the cleaning unit 10, the higher the light intensity and voltage reflected by the cleaning unit 10 will be. Conversely, the darker the color of the cleaning unit 10, the lower the light intensity and voltage will be.

[0041] As described above, the first electrical signal may include a voltage representing an optical attribute value, which may be directly detected by the detection device 20 and transmitted to the processor 30. Furthermore, when the processor 30 receives the voltage transmitted by the optical reflector, it compares this voltage with a standard voltage and determines the degree of contamination of the surface to be cleaned according to the comparison result. In an embodiment of the present disclosure, the standard electrical attribute value is a pre-detected electrical signal of the cleaning unit in a clean state. For example, the standard voltage may be the detected voltage of an unused cleaning unit 10 in a clean state. In practical applications, the color of the cleaning unit 10 changes as the number of uses or duration of use of the cleaning parts increases. In an embodiment of the present disclosure, the standard voltage may be set to the voltage of the cleaning unit detected when the cleaning device is turned on, which can solve the problem of differences between cleaning units of different colors or materials and improve the accuracy of the detection result of the degree of contamination of the surface to be cleaned. That is, when the cleaning device is used this time, the electrical signal of the cleaning unit 10 can be initially detected as the standard voltage when the cleaning device is turned on and used for subsequent judgment and comparison. Optionally, after using the cleaning device, the standard voltage may be initialized, and the standard voltage of the cleaning unit 10 in a clean state may be initially detected the next time the cleaning device is turned on. Here, when comparing the first electrical signal with the standard voltage and determining the degree of dirt on the surface to be cleaned according to the comparison result, the degree of dirt on the surface to be cleaned is determined according to the difference between the first electrical signal and the standard voltage, and the smaller this difference is, the lower the degree of dirt and the cleaner the surface to be cleaned is; otherwise, the higher the degree of dirt, the dirtier the surface to be cleaned is.

[0042] For example, if the standard voltage of a light-colored cleaning unit 10 is a, when the voltage received by the processor 30 from the optical reflector is high, it means that the color of the cleaning unit 10 is light-colored, and in this case, the closer the voltage is to a, the smaller the difference, meaning that the degree of dirtiness of the surface to be cleaned is low (i.e., the surface to be cleaned is relatively clean), and when the voltage is low, the darker the color of the cleaning unit 10, the greater the difference between the voltage and the standard voltage a, meaning that the degree of dirtiness of the surface to be cleaned is high (i.e., the surface to be cleaned is relatively dirty). Note that the color shades in this embodiment may be shades of the same color, and for example, if the cleaning part used by the cleaning unit 10 is blue, the determination may be made based on the dark blue, light blue, and intermediate transition colors of the cleaning part.

[0043] Of course, the light emitter 21 may emit light of other wavelengths, and the light receiver 22 may be a receiver capable of receiving light waves of corresponding lengths, which is not limited in the embodiments of the present disclosure. Furthermore, since different colors of the cleaning unit 10 have different corresponding reflectances, the processor 30 may automatically calculate the color of the cleaning unit 10 by referring to the reflectance curve data, and further compare the voltage value corresponding to the detected color of the cleaning unit 10 with the standard color voltage value of the cleaning unit 10 to determine the degree of dirtiness of the surface to be cleaned.

[0044] In an embodiment of the present disclosure, different contamination levels may be preset according to the degree of contamination of the surface to be cleaned. For example, a total of four levels may be set, namely, Level 1, Level 2, Level 3, and Level 4, in order of increasing degree of contamination. Furthermore, different threshold ranges, such as Threshold Range 1, Threshold Range 2, Threshold Range 3, and Threshold Range 4, may be set according to the differences in different physical attribute values ​​of the cleaning unit 10. A correspondence relationship may be established between each threshold range and the contamination level. For example, if the difference between the voltage received by the processor and the standard voltage corresponds to Threshold Range 1, the contamination level of the corresponding surface to be cleaned is Level 1; if the difference between the voltage and the standard voltage corresponds to Threshold Range 2, the contamination level is Level 2, and so on. Then, after calculating the physical attribute value (e.g., voltage) of the cleaning unit 10, the processor 30 may further determine a target threshold range for this physical attribute value, and determine the contamination level corresponding to this target threshold range as the contamination level of the surface to be cleaned. In practical applications, different materials and types of cleaning components may have different cleaning capabilities, so different threshold ranges and corresponding dirt levels may be set for different types of cleaning components, which may be specifically set according to different requirements, but are not limited to the embodiments of the present disclosure. In practical applications, multiple sets of standard attribute values ​​and multiple sets of dirt level threshold ranges may be stored in the cleaning device or the cloud, and selectively, at the moment the cleaning device is powered on, the corresponding standard attribute values ​​and corresponding dirt level threshold ranges may be first determined according to characteristic parameters such as the type of cleaning component of the cleaning unit, and then provide a judgment basis for judging the dirt level of the surface to be cleaned.

[0045] In an optional embodiment of the present disclosure, the detection device 20 is configured to detect a first physical attribute value of the cleaning unit 10 when the light emitter 21 is turned off and a second physical attribute value of the cleaning unit 10 when the light emitter 21 emits white light. The processor 30 is configured to determine a color of the cleaning unit 10 according to the first and second physical attribute values. Specifically, the first and second physical attribute values ​​may represent RGB signals of the cleaning unit 10 in a natural environment and a white light environment, respectively. The processor 30 may use the difference between the first and second physical attribute values ​​as the RGB signal value of the cleaning unit 10 to determine the color of the cleaning unit 10 after white balance correction, thereby determining the degree of contamination of the surface to be cleaned using the color of the cleaning unit 10.

[0046] In another optional embodiment of the present disclosure, the detection device 20 may be an electrical detection device 20 for detecting an electrical attribute value of the cleaning unit 10. Optionally, the cleaning unit 10 is provided with electrodes, and the detection device 20 is connected to the electrodes on the cleaning unit 10 to detect a second electrical signal representing the electrical attribute value of the cleaning unit 10 and output the second electrical signal to the processor 30, which determines the degree of contamination of the surface to be cleaned according to the electrical attribute value.

[0047] In an embodiment of the present disclosure, a pair of electrodes, a positive electrode and a negative electrode, is disposed on the cleaning unit 10. In practical application, the electrodes may be disposed on the cleaning unit 10 in the form of patches. The detection device 20 is a capacitance sensor, which may be connected to two electrodes of the cleaning unit 10 and configured to detect the capacitance of the cleaning unit 10 and output the detected capacitance of the cleaning unit 10 as a second electrical signal to the processor 30. The processor 30 is configured to calculate a capacitance change parameter of the cleaning unit 10 according to the capacitance and the standard capacitance, and determine the degree of contamination of the surface to be cleaned according to the capacitance change parameter. Here, the standard capacitance may be the capacitance of the cleaning unit 10 in a clean state that has been detected in advance, or the capacitance of the cleaning unit 10 that is detected when the cleaning device is powered on.

[0048] In practical applications, when a surface to be cleaned is clean, the cleaning unit 10 of the cleaning device may carry less media than when the surface to be cleaned is dirty. Therefore, the capacitance detected by the capacitance sensor is related to the area of ​​the electrodes, the distance between the electrodes, and the media between the electrodes. In the embodiment of the present disclosure, when the electrode size and the distance between the electrodes are kept constant, the only factor affecting the detection result of the capacitance sensor is the media between the electrodes. Therefore, the solution provided by the embodiment of the present disclosure uses a capacitance sensor to detect the capacitance of the cleaning unit 10 and uses a processor 30 to calculate a capacitance change parameter before and after the cleaning operation of the cleaning unit 10, thereby effectively and quickly determining the degree of contamination of the surface to be cleaned. In this embodiment, the capacitance change parameter may be the difference between the capacitance value currently detected by the capacitance sensor and the capacitance value of the cleaning unit 10 in a previously detected clean state. It may also be the difference between the capacitance value currently detected by the capacitance sensor and the initial capacitance value of the cleaning unit 10 immediately after the cleaning device is powered on, and can be specifically set according to different requirements. If the floor of a room is the surface to be cleaned, the capacity detected during the cleaning operation of the cleaning unit 10 is defined as the first capacity, the capacity detected after the cleaning operation is defined as the second capacity, the magnitude of the difference between the second capacity and the first capacity is defined as the capacity change parameter of the cleaning unit 10, and further, the degree of dirtiness of the surface to be cleaned is determined based on the capacity change parameter.

[0049] Since the medium between the two electrodes is different for different cleaning environments and cleaning parts, the dielectric constant of the medium may also change. Therefore, the degree of contamination of the surface to be cleaned corresponding to different capacitance change parameters is adaptively set and adjusted based on the cleaning environment of the cleaning device and the type of cleaning parts used, and then the degree of contamination of the surface to be cleaned is calculated. In this embodiment, the method for setting the degree of contamination is the same as the setting logic of the photodetector.

[0050] In an optional embodiment of the present disclosure, the electrode is a conductive electrode, the detection device 20 is configured to detect the conductivity of the cleaning unit 10 as a second electrical signal, and the processor 30 is configured to calculate a conductivity change parameter of the cleaning unit 10 according to the conductivity and the standard conductivity, and determine the degree of contamination of the surface to be cleaned according to the conductivity change parameter. The conductivity change parameter in this embodiment may be a conductivity change value, a change amplitude, a conductivity change rule, etc. The standard conductivity may be the capacity of the cleaning unit 10 in a previously detected clean state, or the standard conductivity of the cleaning unit 10 detected when the cleaning device is powered on.

[0051] The conductivity may vary depending on the cleaning environment and type of cleaning component. For example, the more impurities attached to the cleaning unit 10, the greater the difference between the conductivity detected in real time and the standard conductivity. That is, the greater the difference between the conductivity detected in real time and the standard conductivity, the more likely the cleaning surface is dirty, and the smaller the difference between the conductivity detected in real time and the standard conductivity, the cleaner the surface to be cleaned. Therefore, in the embodiment of the present disclosure, the contamination level of the surface to be cleaned corresponding to different conductivity change parameters is appropriately set and adjusted according to the cleaning environment of the cleaning device and the type of cleaning component used, and the degree of contamination of the surface to be cleaned is further determined.

[0052] The above describes a solution in which the capacitance or conductivity of the cleaning unit 10 is sent to the processor 30 as a second signal, and the processor 30 calculates the electrical attribute value accordingly to determine the degree of dirt on the surface to be cleaned. However, in actual applications, the resistance of the cleaning unit 10 may also be sent to the processor 30 as a second electrical signal, and the processor 30 determines the degree of dirt on the surface to be cleaned according to the change law of the resistance signal, so as to intelligently detect the degree of dirt on the surface to be cleaned without any human judgment.

[0053] While the above describes specific embodiments in which optical and electrical detection devices are used to detect optical and electrical attribute values, respectively, in alternative embodiments of the present disclosure, the detection device 20 may include both an optical and an electrical detection device. That is, the detection device 20 may be configured to detect the optical and electrical attribute values ​​of the cleaning unit 10, and the processor 30 may use the optical and electrical attribute values ​​to determine the degree of contamination of the surface to be cleaned. For example, different weights may be assigned to the optical and electrical attribute values. After the detection device 20 detects the optical and electrical attribute values, the optical and electrical attribute values ​​are used to calculate a final physical attribute value by referring to their respective weights, and the physical attribute value is then used to determine the degree of contamination of the surface to be cleaned. Here, weights may be assigned to the optical and electrical attribute values ​​based on characteristics such as the material and color of the cleaning parts on the cleaning unit 10.

[0054] More specifically, the degree of contamination of the surface to be cleaned is determined by combining the reflected signal from the cleaning unit with the resistance change parameter.

[0055] In an optional embodiment of the present disclosure, the cleaning device may further include a fluid output device 40 and a fluid recovery device 50. The fluid output device 40 is a device capable of controlling cleaning liquid, which may be clean water, a cleaning agent, or a mixture of clean water and a cleaning agent. The fluid output device 40 sprays the liquid onto the surface to be cleaned, and cleaning can be performed by the cleaning device. The fluid recovery device 50 uses the suction force of the exhaust fan to draw dirty liquid from the surface to be cleaned or the cleaning device through the dirty liquid duct into the fluid recovery device 50, thereby achieving the function of recovering the dirty liquid, i.e., the dirty liquid generated after cleaning the surface to be cleaned. Specifically, the fluid recovery device 50 can recover dirty liquid by using the exhaust fan to drive a suction nozzle to suck in the dirty liquid.

[0056] Optionally, the fluid output device 40 may include a first container 41 and a fluid output line 42. The first container 41 is configured to store any one of clean water, detergent, or a mixture of clean water and detergent, and the fluid can be sprayed onto the surface to be cleaned during use of the cleaning device to clean the surface. Furthermore, the fluid output line 42 communicates with the first container 41, and the fluid in the first container 41 is delivered to the cleaning unit or the surface to be cleaned via the fluid delivery line. Optionally, the fluid output line 42 may be a rigid pipe extending along a path or a hose with a variable path, which may be selected according to the type and structural design of the cleaning device.

[0057] Furthermore, the fluid output device 40 may further include at least one nozzle 43, and the fluid output device 40 may be in communication with the nozzle 43 via a fluid output pipe 42, thereby delivering the fluid in the first container 41 to the nozzle via the fluid output pipe, and further spraying the fluid onto the cleaning unit 10 and / or the surface to be cleaned. During the use of the cleaning device, the processor 30 is configured to control the amount of cleaning liquid sprayed by the fluid output device 40, the frequency of spraying the cleaning liquid, and the frequency of collecting the dirty liquid, etc.

[0058] As described above, the cleaning device may include an exhaust fan and a motor for the cleaning unit to perform cleaning operations. Optionally, the processor 30 in the cleaning device provided by the embodiment of the present disclosure may adjust the operating power of the motor driving the exhaust fan and / or the cleaning unit according to the degree of dirtiness of the surface to be cleaned. That is, after the processor 30 determines the degree of dirtiness of the surface to be cleaned, it may adaptively adjust the operating power of the motor driving the exhaust fan and / or the cleaning unit in the cleaning device according to the degree of dirtiness of the surface to be cleaned. For example, for a relatively clean floor surface, the device may not only perform normal cleaning, but may also adaptively reduce the power of the exhaust fan and / or the motor. However, for a relatively dirty floor surface, more cleaning liquid may need to be sprayed. In this case, the operating power of the exhaust fan and / or the motor may need to be increased to collect the dirty liquid on the floor surface in a timely manner, thereby achieving intelligent cleaning and effectively improving the user experience.

[0059] As described in the above embodiment, different dirt levels may be set according to different degrees of dirt, and optionally, when adjusting the operating power of the motor that drives the exhaust fan and / or cleaning unit, the processor 30 first obtains multiple dirt levels corresponding to different predetermined degrees of dirt, then determines a target dirt level corresponding to the surface to be cleaned based on the degree of dirt on the surface to be cleaned, and finally obtains the operating power of the motor that drives the exhaust fan and / or cleaning unit that matches the target dirt level, and controls the cleaning device to operate at the operating power of the motor that drives the exhaust fan and / or cleaning unit.

[0060] For example, there are four contamination levels: contamination level 1, contamination level 2, contamination level 3, and contamination level 4. In this case, the operating powers of the motors driving the exhaust fan and / or cleaning unit corresponding to contamination levels 1, 2, 3, and 4, respectively, may be preset. For example, level 1 corresponds to exhaust fan operating power x1 and motor operating power y1, level 2 corresponds to exhaust fan operating power x2 and motor operating power y2, level 3 corresponds to exhaust fan operating power x3 and motor operating power y3, and level 4 corresponds to exhaust fan operating power x4 and motor operating power y4. When determining a target contamination level corresponding to the surface to be cleaned from multiple contamination levels, the exhaust fan operating power and motor operating power that match the preset target contamination level can be set as the target exhaust fan operating power and target motor operating power currently required for the cleaning device. Then, the cleaning device performs cleaning work with the obtained exhaust fan operating power and / or motor operating power, effectively cleaning the surface to be cleaned while ensuring the rational use of cleaning resources.

[0061] In practical application, as shown in Figure 6, the cleaning device may further include a device body 60, which may be a hollow, elongated columnar body, with the processor 30, fluid output device 40, and fluid recovery device 50 all disposed within the hollow body 60, thereby rationally utilizing the space within the cleaning device and reducing its overall volume. One end of the device body 60 may be connected to the cleaning unit 10, and if the cleaning device is a handheld cleaning device, the other end of the device body 60 may be provided with a handle 61. When the cleaning device is in use, the entire assembly formed by the handle 61 and the device body 60 is inclined relative to the cleaning unit 10. In this way, the downward force generated by the gravity of the device body 60 brings the cleaning components into closer contact with the surface to be cleaned, making it easier for the user to push the cleaning unit 10 using the handle 61 and saving more effort. When the cleaning device is placed on a charging pile, the entire assembly formed by the handle 61 and the device body 60 is perpendicular to the cleaning unit 10, thereby reducing the space occupied by the handheld cleaning device.

[0062] During use of the cleaning device, the fluid in the fluid output device 40 may decrease over time. Therefore, in an embodiment of the present disclosure, the liquid output device 40 may be provided with a first sensor in the first container 41 of the fluid output device 40, configured to detect the fluid level in the first container 41. Alternatively, the first sensor may be provided in the fluid output line 42 of the fluid output device 40, configured to detect whether fluid is present in the fluid output line 42. Here, the first sensor is connected to the processor 30, and the processor 30 may control whether the cleaning device sprays fluid, whether the cleaning device performs a cleaning task, or whether the fluid output device 40 needs to be replenished with cleaning fluid based on the detection result of the first sensor. For example, if the processor 30 determines that the fluid level in the first container is lower than a first set level or there is no fluid in the fluid output line according to the detection result of the first sensor, it may determine that the fluid output device 40 needs to be replenished with fluid.

[0063] Optionally, the fluid recovery device 50 may include a second container 51 for storing dirty liquid, although the specific shape is not strictly limited. The second container 51 may be provided with a second sensor for detecting the fluid level in the second container. Here, the second sensor is connected to the processor 30, and the processor 30 determines whether the recovered dirty liquid stored in the fluid recovery device 50 needs to be immediately disposed of based on the detection result of the second sensor (e.g., the fluid level in the second container), thereby ensuring smooth cleaning operations of the cleaning device. For example, when the processor 30 determines based on the detection result of the second sensor that the fluid level in the second container 51 is higher than a second set level, it determines that the dirty liquid in the second container needs to be immediately disposed of. In this embodiment, the first sensor and the second sensor may be non-contact sensors or contact sensors, and the non-contact sensor may be a capacitance sensor.

[0064] Optionally, the fluid recovery device 50 further includes at least one suction nozzle 52 and a suction line 53 connecting the suction nozzle 52 to the second container. The suction nozzle 52 is disposed on the cleaning unit 10 and sucks dirty liquid from the cleaning unit 10 and / or the surface to be cleaned, and the sucked dirty liquid is delivered to the second container via the suction line 53. The suction line 53 may be a rigid pipe extending along a path or a hose with a variable path, which may be selected depending on the specific type and structural design of the cleaning device. Of course, in addition to the above, the fluid recovery device 50 may further include an exhaust fan for driving the suction nozzle 52 to suck dirty liquid.

[0065] In an embodiment of the present disclosure, the cleaning apparatus may further include an audio prompting device connected to the processor 30 and configured to transmit audio prompting information. For example, as described above, the processor 30 may determine whether the first container needs to be refilled with liquid or whether the dirty liquid in the second container needs to be disposed of according to the detection results of the first sensor or the second sensor. Optionally, when the processor 30 determines that the fluid output device 40 needs to be refilled with fluid according to the detection results of the first sensor and / or that the collected dirty liquid stored in the fluid recovery device 50 needs to be disposed of, the audio prompting device may transmit corresponding audio prompting information to prompt the user to perform timely maintenance of the cleaning apparatus. Of course, the audio prompting module may transmit other prompting information related to the cleaning apparatus, and is not limited to the embodiment of the present disclosure. In addition to the audio prompting, the cleaning apparatus in this embodiment may include a display device (e.g., a display screen) connected to the processor and configured to display relevant parameters of the cleaning apparatus, such as the degree of dirtiness of the surface to be cleaned, the power level of the exhaust fan, etc.

[0066] In an optional embodiment of the present disclosure, after the processor 30 determines the degree of dirtiness of the surface to be cleaned and determines whether the first container needs to be refilled with liquid or whether the dirty liquid in the second container needs to be disposed of, it first displays audio, text, image and / or animation prompting information via an audio prompting device and / or a display device, and simultaneously recommends currently available operations to the user, such as refilling clean water, refilling detergent, disposing of the dirty liquid, replacing cleaning parts and switching cleaning modes, and the user then performs or triggers different operation commands according to the prompting information to complete the cleaning task, and the cleaning task can be completed by adding human-computer interaction functions based on the actual degree of dirtiness and the user's cleaning requirements, thereby further improving the user's usage experience.

[0067] Based on the same concept, an embodiment of the present disclosure further provides a dirt detection method for a cleaning device, and as can be seen with reference to FIG. 7, the dirt detection method for a cleaning device provided by an embodiment of the present disclosure includes at least the following steps S701 to S703.

[0068] In step S701, the physical attribute values ​​of the cleaning unit 10 of the cleaning device are detected.

[0069] 6, the cleaning device provided in this embodiment includes a detection device 20, which can detect the physical attribute value of the cleaning unit 10. The cleaning device may be, but is not limited to, a cleaning robot, a mopping robot, a floor polishing robot, a weeding robot, or a handheld cleaning device for cleaning areas such as floors, walls, desktops, carpets, walls, or glass. The cleaning unit 10 in the cleaning device is provided with cleaning components such as a mopping cloth, a mopping sponge, or a mopping rolling brush to clean the surface to be cleaned.

[0070] The detecting device 20 may be an optical detecting device 20 or an electrical detecting device 20, and different types of detecting device 20 will detect different physical attribute values ​​of the cleaning part 10 in the cleaning device.

[0071] In step S702, the degree of contamination of the surface to be cleaned is determined using the comparison result between the physical attribute value and the dynamically set standard attribute value.

[0072] After the sensing device 20 senses the physical attribute values ​​of the cleaning unit 10, the physical attribute values ​​can be used to determine the degree of soiling of the surface being cleaned.

[0073] Taking the case where the detection device 20 is an optical detection device 20 as an example, the physical attribute value of the cleaning unit 10 of the cleaning device detected in step S701 above is a corresponding optical attribute value. Specifically, during detection, first, an optical signal is emitted from the optical emitter 21, and the optical receiver 22 receives an optical reflection signal formed by reflection from the cleaning unit 10, and converts the optical reflection signal into a first electrical signal representing the optical attribute value of the cleaning unit 10. Furthermore, in step S702, the degree of contamination of the surface to be cleaned can be calculated using the difference between the optical attribute value and a standard optical attribute value. Here, the standard optical attribute value includes the optical attribute value of the cleaning unit in a previously detected clean state or the optical attribute value of the cleaning unit detected when the cleaning device is powered on.

[0074] For example, if the surface of the cleaning unit 10 is covered with a light-colored velvet fabric, the cleaning unit 10 will have a light color when it is clean, and the light intensity of the reflected signal reflected by the cleaning unit 10 will be high, while if the brush head is dirty, the color of the brush head will be dark and the light intensity of the reflected signal reflected by the cleaning unit 10 will be low. Furthermore, the optical receiver 22 can convert the received reflected signals of different intensities into different voltages, and then transmit the different voltages to the processor 30 as first electrical signals.

[0075] Correspondingly, the lighter the color of the cleaning unit 10, the higher the intensity of light reflected by the cleaning unit 10 and the higher the voltage; and the darker the color of the cleaning unit 10, the lower the intensity of light and the lower the voltage. Furthermore, after the processor 30 receives the first electrical signal (e.g., voltage) transmitted from the optical reflector, it compares the signal with a standard electrical attribute value (e.g., the difference between the two), and can determine the degree of contamination of the cleaning unit 10 based on the received voltage. Specifically, assuming that the standard electrical attribute value of a light-colored cleaning unit 10 is a, when the first electrical signal received by the processor 30 from the optical reflector is high, it means that the color of the cleaning unit 10 is light. In this case, the closer the first electrical signal is to a, the smaller the difference, meaning that the degree of contamination of the surface to be cleaned is low (i.e., the surface to be cleaned is relatively clean). In contrast, when the first electrical signal is low, the darker the color of the cleaning unit 10, the greater the difference between the first electrical signal and a, meaning that the degree of contamination of the surface to be cleaned is high (i.e., the surface to be cleaned is relatively dirty).

[0076] For example, if the detecting device 20 is an electrical detecting device 20, the physical attribute value of the cleaning unit 10 of the cleaning device detected in step S701 above is a corresponding electrical attribute value. Specifically, during detection, a second electrical signal representing the electrical attribute value of the cleaning unit 10 is detected, and then the degree of contamination of the surface to be cleaned is determined based on the electrical attribute value.

[0077] Alternatively, the second electrical signal may be a parameter such as conductivity, capacitance, or resistance. After acquiring the second electrical signal, a capacitance change parameter, a conductivity change parameter, a resistance change parameter, etc. of the cleaning unit 10 may be calculated based on the second electrical signal. Furthermore, an electrical signal change parameter of the cleaning unit 10 may be calculated based on the electrical attribute value and a standard electrical attribute value, and the degree of contamination of the surface to be cleaned may be calculated using the electrical signal change parameter. Here, the standard electrical attribute value may include an electrical attribute value of the cleaning unit in a pre-detected clean state or an electrical attribute value of the cleaning unit detected when the cleaning device is turned on. For example, the degree of contamination of the surface to be cleaned may be determined based on the difference between the real-time detected capacitance of the cleaning unit and the standard capacitance, and the degree of contamination of the surface to be cleaned may be determined based on the difference between the real-time detected conductivity of the cleaning unit and the standard conductivity. According to the method provided by the embodiments of the present disclosure, the degree of contamination of the surface to be cleaned can be determined quickly and efficiently without human intervention, depending on the different physical states of the cleaning unit 10 during cleaning.

[0078] In step S703, the cleaning mode of the cleaning device is adjusted based on the degree of contamination.

[0079] As described above, different levels of dirt on the surface to be cleaned will result in different operating parameters for the cleaning device. For example, a relatively clean floor surface can be cleaned normally by the device, while a relatively dirty floor surface requires more cleaning liquid to be sprayed. Therefore, the method provided by the embodiments of the present disclosure can adaptively adjust the operating power of the motor driving the exhaust fan and / or cleaning unit based on the degree of dirt on the surface to be cleaned. In practical applications, in addition to the operating power of the exhaust fan and the operating power of the motor, related operating parameters of the cleaning device, such as the fluid output amount and fluid output frequency of the fluid output device in the cleaning device, may also be adjusted, and are not limited to the embodiments of the present disclosure.

[0080] Optionally, when adjusting the operating power of the exhaust fan and / or motor, the operating power of the exhaust fan and / or motor can be increased or decreased.

[0081] That is, the more the degree of dirtiness of the surface to be cleaned increases, the more the fluid output amount of the fluid output device, the motor power of the cleaning unit, the fluid output frequency of the fluid output device, and / or the exhaust fan power of the fluid recovery device can be adaptively increased. That is, when the surface to be cleaned is a relatively dirty floor surface during use of the cleaning device, the output amount and output frequency of clean water from the fluid output device, the motor power of the cleaning unit, and the exhaust fan power of the fluid recovery device can be increased.

[0082] Conversely, if the degree of dirtiness of the surface to be cleaned is low, the fluid output amount of the fluid output device, the motor power of the cleaning unit, the fluid output frequency of the fluid output device, and / or the exhaust fan power of the fluid recovery device can be adaptively reduced. That is, if the surface to be cleaned is a relatively clean floor surface during use of the cleaning device, the output amount and output frequency of clean water from the fluid output device, the motor power of the cleaning unit, and the exhaust fan power of the fluid recovery device can be reduced. During the entire operation of the cleaning device, operating parameters such as the operating power of the motor and exhaust fan of the cleaning device can be instantly adjusted according to changes in the degree of dirtiness of the surface to be cleaned detected in real time, thereby ensuring the operating efficiency of the cleaning device while reducing energy consumption.

[0083] As can be seen from the above embodiments, the degree of dirt on the surface to be cleaned is divided into different dirt levels, and in an embodiment of the present disclosure, the step of adjusting the operating power of the motor driving the exhaust fan and / or cleaning unit based on the degree of dirt includes:

[0084] In step S1, a plurality of dirt levels corresponding to different pre-defined dirt levels are obtained. In practical applications, the number of dirt levels may be set according to different requirements, or may be pre-defined according to the type of surface to be cleaned or the environment of the surface to be cleaned. This is not limited to the embodiments of the present disclosure.

[0085] In step S2, a target dirt level corresponding to the surface to be cleaned is determined based on the dirt level of the surface to be cleaned. Referring to the above embodiment, when determining a target dirt level corresponding to the surface to be cleaned based on the dirt level of the surface to be cleaned, the target dirt level may be determined based on the determined physical attribute value of the surface to be cleaned. For example, a total of four levels, Level 1, Level 2, Level 3, and Level 4, may be set in order of increasing dirt level. Also, different threshold ranges, such as Threshold Range 1, Threshold Range 2, Threshold Range 3, and Threshold Range 4, may be set according to different physical attribute values ​​of the cleaning unit 10, and a correspondence relationship may be established between each threshold range and the dirt level.

[0086] In step S3, a cleaning mode of the cleaning device that matches the target dirt level is obtained, and the cleaning device is controlled to operate according to cleaning parameters corresponding to the cleaning mode.

[0087] In other words, when determining the degree of dirtiness of the surface to be cleaned, a dirt level corresponding to the surface to be cleaned is determined, and cleaning modes and corresponding operating parameters of the cleaning device may be preset for different dirt levels, for example, cleaning mode 1, cleaning mode 2, cleaning mode 3, and cleaning mode 4 may be preset, corresponding to levels 1, 2, 3, and 4 in step S2 above, respectively. Furthermore, different cleaning modes correspond to different cleaning parameters of the cleaning device, and taking the operating power of the motor that drives the exhaust fan and / or cleaning unit as an example, level 1 corresponds to exhaust fan operating power x1 and motor operating power y1, level 2 corresponds to exhaust fan operating power x2 and motor operating power y2, level 3 corresponds to exhaust fan operating power x3 and motor operating power y3, and level 4 corresponds to exhaust fan operating power x4 and motor operating power y4. Once a target dirt level corresponding to the surface to be cleaned is determined from multiple dirt levels, the exhaust fan operating power and motor operating power that match the predetermined target dirt level are obtained as the target exhaust fan operating power and target motor operating power currently required for the cleaning device, and the cleaning device is controlled to perform cleaning work using the obtained exhaust fan operating power and / or motor operating power.

[0088] In an optional embodiment of the present disclosure, cleaning modes corresponding to different dirt levels and the operating parameters of the cleaning device corresponding to the cleaning modes can be generated by machine learning or set by other methods. After determining the degree of dirt on the surface to be cleaned, a corresponding cleaning mode is determined, and the operating parameters of the cleaning device corresponding to the selected cleaning mode are used to control the cleaning device to perform cleaning operations. For example, if the dirt level on the surface to be cleaned is high, it means that the surface to be cleaned is relatively dirty, and the operating power of the corresponding exhaust fan and / or motor is increased, while the amount of cleaning liquid, the frequency of spraying the cleaning liquid, and the frequency of collecting the dirty liquid are also increased. Conversely, if the dirt level on the surface to be cleaned is low, it means that the surface to be cleaned is relatively clean, and the operating power of the corresponding exhaust fan and / or motor, the amount of cleaning liquid, the frequency of spraying the cleaning liquid, and the frequency of collecting the dirty liquid are reduced. According to the solution provided by the embodiment of the present disclosure, by intelligently adjusting the cleaning mode of the cleaning device according to the degree of dirt on the surface to be cleaned, it is possible to effectively clean the surface to be cleaned while rationally allocating and saving cleaning resources.

[0089] In an optional embodiment of the present disclosure, a linear operating curve of the cleaning device may also be preset, in which the degree of dirt is used as an independent variable and the operating parameters of the cleaning device are used as dependent variables, and during the cleaning operation of the cleaning device, the operating curve is used to control the operation of the cleaning device, and the operating parameters of the cleaning device can be adaptively adjusted based on the detected degree of dirt on the surface to be cleaned, and the operating parameters include one or more of parameters such as the operating power of the motor driving the exhaust fan and / or cleaning unit, the cleaning frequency, the cleaning effort, the water output amount, etc.

[0090] The embodiments of the present disclosure provide a dirt detection method for a cleaning device. Based on the method provided by the embodiments of the present disclosure, the cleaning device itself can detect the physical attribute value of the cleaning unit 10 in the cleaning device, and intelligently determine the dirt level of the surface to be cleaned based on the physical attribute value without human judgment, thereby providing a certain reference standard for the cleaning operation of the cleaning device.

[0091] Furthermore, the method provided by the embodiments of the present disclosure can intelligently clean the targeted surface to be cleaned according to the degree of dirtiness of the surface to be cleaned, and flexibly adjust the operating parameters of the cleaning device, thereby further improving the intelligence of the cleaning device and at the same time rationally utilizing cleaning resources and further improving the user experience.

[0092] An embodiment of the present disclosure provides a handheld cleaning device, the cleaning device including a cleaning unit, a detection device, a processor, and a device body, wherein one end of the device body is connected to the cleaning unit, the detection device may be disposed on the cleaning unit or on the device body opposite the cleaning unit, and the device body has a cavity, and the processor is disposed within the cavity of the device body.

[0093] Here, the cleaning unit is used to clean the surface to be cleaned, the detection device is used to detect a physical attribute value of the cleaning unit, and the processor is electrically connected to the detection device, acquires the physical attribute value detected by the detection device, and is used to determine the degree of dirtiness of the surface to be cleaned based on the physical attribute value, and adjusts the operating power of the motor that drives the exhaust fan and / or the cleaning unit based on the degree of dirtiness. Furthermore, the relative positions, connection relationships, and functions of the cleaning unit, detection device, and processor can be referenced from the descriptions of the above embodiments, and are not repeated here.

[0094] Optionally, the entire device body is an elongated column having a cavity, the processor is disposed in the cavity of the device body, and a handle is provided at the other end of the device body, and when the cleaning device is in use, the entire device formed by the handle and the device body is inclined relative to the cleaning part.

[0095] Optionally, the cleaning device includes a fluid output device for storing a fluid, which may be a cleaning liquid, which may be one of clean water, a cleaning agent, or a mixture of clean water and a cleaning agent.

[0096] The fluid output device includes a first container and a fluid output line, the first container is used for storing a fluid, the fluid output line is connected to the first container, and the fluid in the first container is delivered to the cleaning unit or the surface to be cleaned through the fluid delivery line, the fluid output line can be optionally a rigid pipe extending along a path or a hose whose path can be changed, and can be specifically selected according to the type of cleaning device and the structural design of the cleaning device.

[0097] The fluid output device may further include at least one nozzle, and the fluid storage device is in communication with the nozzle via a fluid output line, and delivers fluid in the fluid storage device to the nozzle via the fluid output line, and further sprays the fluid onto the cleaning section and / or the surface to be cleaned.

[0098] The fluid output device is provided with a first sensor connected to the processor.

[0099] The first sensor may be provided in a first container of the fluid output device and used to detect a fluid level in the first container, or in a fluid output line of the fluid output device and used to detect whether fluid is present in the fluid output line, and the processor is configured to determine whether the fluid output device needs to be replenished with cleaning fluid according to the detection result of the first sensor.

[0100] Optionally, the handheld cleaning device may further include a fluid recovery device for recovering soiling liquids on the surface to be cleaned.

[0101] Here, the fluid recovery device includes a second container for storing the dirty liquid.

[0102] The fluid recovery device further includes at least one suction nozzle and a suction line connecting the suction nozzle to a second container, wherein the suction nozzle is provided on the cleaning unit and sucks up dirty liquid from the cleaning unit and / or the surface to be cleaned, and the sucked dirty liquid is delivered into the second container via the suction line.

[0103] The fluid recovery device further includes a second sensor disposed in the second container and connected to the processor for detecting a fluid level in the second container, and the processor is configured to determine whether the dirty liquid in the second container needs to be cleaned up according to the detection result of the second sensor.

[0104] An embodiment of the present disclosure provides a cleaning device, the cleaning device including a cleaning unit, a detection device, a processor, a fluid output device, and a fluid recovery device. The cleaning unit is used to clean a surface to be cleaned, the detection device is used to detect a physical attribute value of the cleaning unit, and the processor is electrically connected to the detection device, acquires the physical attribute value detected by the detection device, and is used to determine the degree of contamination of the surface to be cleaned based on the physical attribute value, and adjusts the operating power of a motor that drives an exhaust fan and / or the cleaning unit based on the degree of contamination. The relative positions, connection relationships, and functions of the cleaning unit, the detection device, and the processor can be referenced in the above embodiment, and are not further described here.

[0105] Here, the fluid output device is used to store a fluid, which may be a cleaning liquid such as clean water, a detergent, or a mixture of clean water and a detergent, and the fluid recovery device is used to recover the dirty liquid from the surface to be cleaned.

[0106] The fluid output device includes a first container and a fluid output line, the first container is used for storing fluid, the fluid output line is connected to the first container, and the fluid in the first container is delivered to the cleaning unit or the surface to be cleaned through the fluid delivery line, optionally the fluid output line may be a rigid pipe extending along a path, or a hose with a changeable path, which may be selected according to the type of cleaning device and the structural design of the cleaning device.

[0107] Optionally, the fluid output device may further include at least one nozzle, wherein the fluid storage device is in communication with the nozzle via a fluid output line, and fluid in the fluid storage device is delivered to the nozzle via the fluid output line, further spraying the fluid onto the cleaning section and / or the surface to be cleaned.

[0108] Optionally, the fluid output device is provided with a first sensor connected to the processor.

[0109] Alternatively, the first sensor may be provided in a first container of the fluid output device and used to detect the fluid level in the first container, or in a fluid output line of the fluid output device and used to detect whether there is fluid in the fluid output line, and the processor may be used to determine whether the fluid output device needs to be replenished with cleaning fluid according to the detection result of the first sensor.

[0110] Optionally, the cleaning device includes a fluid recovery device for recovering contaminating liquid on the surface to be cleaned.

[0111] Here, the fluid recovery device includes a second container for storing the dirty liquid.

[0112] The fluid recovery device further includes at least one suction nozzle and a suction line connecting the suction nozzle to a second container, wherein the suction nozzle is provided on the cleaning unit and sucks up dirty liquid from the cleaning unit and / or the surface to be cleaned, and the sucked dirty liquid is delivered into the second container via the suction line.

[0113] The fluid recovery device further includes a second sensor disposed in the second container and connected to the processor for detecting a fluid level in the second container, and the processor is configured to determine whether the dirty liquid in the second container needs to be cleaned up according to the detection result of the second sensor.

[0114] Optionally, the cleaning apparatus further includes a voice output device connected to the processor for outputting voice information, the voice output device outputting voice information when the processor determines, based on the detection result of the first sensor, that the fluid output device needs to be refilled with fluid and / or that the collected dirty liquid stored in the fluid recovery device needs to be disposed of.

[0115] Optionally, the cleaning device further includes a display device connected to the processor for displaying the degree of dirtiness of the surface to be cleaned, the detection results of the first sensor and / or the detection results of the second sensor; of course, the display device may also display operating parameters such as the power of the exhaust fan when the cleaning device is operating, but this disclosure is not limited to such.

[0116] Optionally, the cleaning device may further include a device body, one end of which is connected to the cleaning unit, and the detection device may be disposed in the cleaning unit or on the device body opposite the cleaning unit.

[0117] The device body has a cavity, and the processor, the fluid output device and the fluid recovery device are disposed within the cavity of the device body.

[0118] As will be apparent to those skilled in the art, the method of detecting dirt on the cleaning device mentioned in this embodiment can be referred to the corresponding working steps of the cleaning device in the above embodiment, and will not be repeated in this specification for the sake of brevity.

[0119] In an alternative embodiment of the present disclosure, a computer-readable storage medium is further provided, wherein computer program instructions are stored on the computer-readable storage medium, the computer program instructions, when executed by a processor, causing the processor to perform a method for detecting soiling in a cleaning device.

[0120] The specific work processes of the above-mentioned systems, devices, modules and units will not be repeated here for the sake of brevity, but it will be apparent to those skilled in the art that reference can be made to the corresponding processes in the method embodiments.

[0121] Furthermore, all functional units in each embodiment of the present disclosure may be physically independent from each other, two or more functional units may be integrated, or all functional units may be integrated into one processing unit. The integrated functional units may be implemented in the form of hardware, software, or firmware.

[0122] Those skilled in the art may understand that when implemented in the form of software and sold or used as a standalone product, the integrated functional unit may be stored in a computer-readable storage medium. Based on this understanding, essentially the technical solution of the present disclosure, or all or part of the technical solution, may be embodied in the form of a software product, and the computer software product is stored in a storage medium and includes a plurality of instructions for a computing device (which may be a personal computer, a server, a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium may include a USB flash disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, and other media capable of storing program code.

[0123] Alternatively, all or part of the steps for implementing the aforementioned method embodiments may be achieved by hardware (a computing device such as a personal computer, a server, or a network device) associated with program instructions, which may be stored in a computer-readable storage medium, which, when executed by a processor of the computing device, causes the computing device to perform all or part of the method steps described in each embodiment of the present disclosure.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate, not to limit, the technical solutions of the present disclosure; although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art shall understand that, within the spirit and principle of the present disclosure, they may modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for part or all of the technical features, and these modifications or substitutions shall not cause the corresponding technical solutions to depart from the protection scope of the present disclosure.

Claims

1. a cleaning unit for cleaning a surface to be cleaned; a detection device for detecting a physical attribute value of the cleaning unit; a processor that acquires the physical attribute value detected by the detection device, determines the degree of dirtiness of the surface to be cleaned using a comparison result between the physical attribute value and a standard attribute value that is dynamically set according to the number of times the cleaning unit is used, and adjusts the cleaning mode of the cleaning device based on the degree of dirtiness.

2. The cleaning device according to claim 1 , wherein the detection device is disposed on the cleaning unit or opposite the cleaning unit.

3. The cleaning device of claim 1 , wherein the detection device includes an optical detection device for detecting an optical attribute value of the cleaning part.

4. the detection device includes an optical emitter and an optical receiver; the optical emitter is used to emit an optical signal to the cleaning unit; the optical receiver is used to receive an optical reflection signal formed by reflection from the cleaning unit, convert the optical reflection signal into a first electrical signal representing an optical attribute value of the cleaning unit, and output the first electrical signal to the processor; The cleaning device of claim 3 , wherein the processor is configured to calculate a degree of soiling of the surface to be cleaned using the optical attribute value.

5. the first electrical signal includes a voltage representing the optical attribute value; 5. The cleaning device of claim 4, wherein the processor is configured to compare the voltage with a standard voltage and determine the degree of dirtiness of the surface to be cleaned based on the comparison result, and the standard voltage is the voltage of the cleaning unit in a clean state detected in advance, or the voltage of the cleaning unit detected when the cleaning device is turned on.

6. The cleaning device of claim 4 , wherein the optical receiver and the optical emitter are located on the same side.

7. The cleaning device of claim 1 , wherein the detection device includes an electrical detection device that detects an electrical attribute value of the cleaning unit.

8. The cleaning unit is provided with an electrode, the detection device is connected to an electrode of the cleaning unit, and is configured to detect a second electrical signal representing an electrical attribute value of the cleaning unit, and output the second electrical signal to the processor; The cleaning device of claim 7 , wherein the processor is configured to calculate a degree of soiling of the surface to be cleaned using the electrical attribute value.

9. the detection device is a capacitance sensor that detects a capacitance of the cleaning unit and outputs the detected capacitance as the second electrical signal to the processor; The cleaning device according to claim 8 , wherein the processor is configured to calculate a capacity change parameter of the cleaning unit based on the capacity and a standard capacity, and to calculate a degree of contamination of the surface to be cleaned using the capacity change parameter.

10. the detection device is configured to detect the conductivity of the cleaning part and output the second electrical signal to the processor; The cleaning device according to claim 8 , wherein the processor is configured to calculate a conductivity change parameter of the cleaning unit based on the conductivity and the standard conductivity, and to calculate a degree of contamination of the surface to be cleaned using the conductivity change parameter.

11. further comprising a fluid output device and a fluid return device; the fluid output device is configured to spray a liquid onto the cleaning unit or the surface to be cleaned; The cleaning device according to claim 1 , wherein the fluid recovery device is configured to allow dirty liquid on the surface to be cleaned or on the cleaning unit to flow into the fluid recovery device via a dirty liquid conduit.

12. the fluid output device, a first container for storing the liquid; a fluid output line communicating with the first container for delivering the liquid in the first container to the cleaning unit or the surface to be cleaned; 12. The cleaning device of claim 11, further comprising: at least one nozzle in communication with the fluid output line for dispensing the liquid onto the cleaning portion or the surface to be cleaned.

13. The fluid recovery device is a second container for storing soiled liquid; a second sensor disposed in the second container for detecting a fluid level in the second container; At least one suction nozzle for sucking dirty liquid from the cleaning unit or the surface to be cleaned; 12. The cleaning device of claim 11, further comprising a suction line connecting the at least one suction nozzle to the second container for sucking soiled liquid from the suction nozzle into the second container.

14. a detecting device of the cleaning device detecting a physical attribute value of a cleaning unit of the cleaning device for cleaning a surface to be cleaned; a processor of the cleaning device acquiring the physical attribute value detected by the detection device, and determining the degree of dirtiness of the surface to be cleaned using a comparison result between the physical attribute value and a standard attribute value dynamically set according to the number of times the cleaning unit has been used; the processor adjusting a cleaning mode of the cleaning device based on the degree of soiling; and cleaning the surface to be cleaned with the cleaning unit.

15. the physical attribute values ​​include optical attribute values; The step of detecting the physical attribute value of the cleaning unit of the cleaning device by the detection device includes the detection device emitting an optical signal from an optical emitter, receiving an optical reflection signal formed by reflection by the cleaning unit using an optical receiver, and converting the optical reflection signal into a first electrical signal representing the optical attribute value of the cleaning unit; the step of the processor determining the degree of contamination of the surface to be cleaned using a comparison result between the physical attribute value and a dynamically set standard attribute value includes the processor calculating the degree of contamination of the surface to be cleaned using a difference between the optical attribute value and a standard optical attribute value; The method of claim 14 , wherein the standard optical attribute values ​​include optical attribute values ​​of the cleaning unit in a previously detected clean state, or optical attribute values ​​of the cleaning unit detected when the cleaning device is powered on.

16. the physical attribute values ​​include electrical attribute values; the step of detecting a physical attribute value of the cleaning unit of the cleaning device by the detection device includes detecting a second electrical signal representing an electrical attribute value of the cleaning unit by the detection device, the second electrical signal including at least one of conductivity, capacitance, and resistance; The step of determining the degree of dirtiness of the surface to be cleaned by the processor using the comparison result between the physical attribute value and the dynamically set standard electrical attribute value includes the processor calculating an electrical signal change parameter of the cleaning unit using the electrical attribute value and the standard electrical attribute value, and calculating the degree of dirtiness of the surface to be cleaned by using the electrical signal change parameter; The method of claim 14 , wherein the standard electrical attribute values ​​include electrical attribute values ​​of the cleaning unit in a previously detected clean state or electrical attribute values ​​of the cleaning unit detected when the cleaning device is powered on.

17. The step of the processor adjusting the cleaning mode of the cleaning device based on the degree of soiling includes: the processor obtains a plurality of pre-divided soiling levels corresponding to different degrees of soiling; the processor determines a target soiling level corresponding to the surface to be cleaned based on the degree of soiling of the surface to be cleaned; the processor obtaining a cleaning mode for the cleaning device that matches the target soiling level and controlling operation of the cleaning device according to cleaning parameters corresponding to the cleaning mode; The method according to any one of claims 14 to 16, wherein the cleaning parameters include the operating power of a motor that drives an exhaust fan and / or a cleaning unit.