Control method for cleaning device, and cleaning device

Abstract

A control method for a cleaning device, and a cleaning device. The cleaning device comprises a cleaning assembly (200), a processor (100), a memory (300) and at least one camera (400). The control method comprises: a processor (100) acquiring a comparison image of a position to be cleaned, and storing the comparison image in a memory (300) (S100); a camera (400) capturing an image of the position to be cleaned, so as to serve as a first image (S200); the processor (100) comparing the first image with the comparison image, so as to obtain a dirt mark (S300); and the processor (100) controlling a cleaning assembly (200) to clean dirt at the dirt mark (S400).

Description

Control method of cleaning equipment and cleaning equipment

[0001] This application claims priority to Chinese patent application No. 202311044410.1 filed on August 17, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning machines, and in particular to a control method for cleaning equipment and a cleaning equipment. Background Art

[0003] Current sweeping robots mainly use big data training to identify dirt in pictures and then perform subsequent dirt processing. The degree of matching of this method of identifying dirt depends on the effect of big data learning and training. Since it is difficult to collect multiple real dirt, grime and other data, it requires a high cost. Once the big data training is not comprehensive enough, it will make it difficult for the sweeping robot to accurately determine whether there is dirt in the picture, which is easy to cause misidentification. Technical issues

[0004] The main purpose of this application is to provide a control method for cleaning equipment. The technical solution of this application aims to identify dirt and other contaminants by comparing the image before cleaning taken by a camera at the same position to be cleaned with the image after previous cleaning, thereby controlling the cleaning equipment to clean the dirt, thereby ensuring the accuracy of the cleaning equipment in identifying dirt. Technical Solutions

[0005] To achieve the above objectives, an embodiment of the present application provides a control method for a cleaning device, the control method comprising:

[0006] The processor obtains a comparison image of the location to be cleaned and stores the comparison image in a memory;

[0007] The camera captures an image of the location to be cleaned as a first image;

[0008] The processor compares the first image with the comparison image to obtain a dirt mark; and

[0009] The processor controls the cleaning component to clean dirt at the dirt mark.

[0010] In one embodiment, the processor acquires a comparison image of the location to be cleaned and stores the comparison image in a memory, comprising:

[0011] The camera captures an image of the location to be cleaned after cleaning as a second image;

[0012] The processor compares a plurality of second images obtained within a period of time, retains the same image features possessed by the plurality of second images, and obtains the compared image;

[0013] The memory stores the comparison image.

[0014] In one embodiment, the processor acquires a comparison image of the location to be cleaned and stores the comparison image in a memory, comprising:

[0015] The camera captures an image of the location to be cleaned after being thoroughly cleaned, as a third image;

[0016] The processor uses the third image as the comparison image and stores the image in the memory.

[0017] In one embodiment, the step of capturing, by the camera, an image of the location to be cleaned after being thoroughly cleaned as the third image comprises:

[0018] The camera captures an image of the location to be cleaned after cleaning as a fourth image;

[0019] The processor compares the fourth images obtained twice in a time sequence and uses the fourth image with fewer image features as the third image.

[0020] In one embodiment, the control method of the cleaning device further comprises a step of the cleaning device obtaining a preset image, wherein the preset image is the first image or the comparison image;

[0021] The step of obtaining a preset image by the cleaning device includes:

[0022] The cleaning device moves along a predetermined route;

[0023] The camera captures a plurality of images at different locations along the predetermined route according to a preset interval as the fifth image;

[0024] The processor arranges the plurality of fifth images to obtain the preset image.

[0025] In one embodiment, the step of the processor arranging the plurality of fifth images to obtain the preset image includes:

[0026] The processor identifies a common portion of two adjacent fifth images as a positioning mark;

[0027] The processor adjusts the relative positions of the positioning marks of two adjacent fifth images so that the same parts of the two adjacent fifth images overlap;

[0028] The processor removes one of the same parts in two adjacent fifth images to obtain the preset image.

[0029] In one embodiment, after the processor controls the cleaning component to clean dirt at the dirt mark, the method further comprises:

[0030] The camera captures an image of the location to be cleaned after being cleaned by the cleaning component as a sixth image;

[0031] The processor compares the sixth image with the first image to determine whether the dirt mark has changed;

[0032] If so, the cleaning component repeatedly cleans the dirt at the dirt mark until the dirt is removed;

[0033] If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.

[0034] In one embodiment, before or simultaneously with the step of capturing an image of the location to be cleaned by the camera as the first image, the method further includes:

[0035] The laser scanning component emits a scanning laser toward the position to be cleaned, so that the processor obtains three-dimensional information of the object at the position to be cleaned as a height parameter;

[0036] The processor records the height parameter in the first image, so that the image feature corresponding to the first image has the height parameter.

[0037] In one embodiment, before the step of controlling the cleaning component to clean dirt at the dirt mark, the processor further comprises:

[0038] The processor determines whether the height of the dirt at the dirt mark is within a preset height according to the height parameter;

[0039] If so, the processor controls the cleaning component to clean the dirt at the dirt mark;

[0040] If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.

[0041] In one embodiment, the control method of the cleaning device further includes a step in which the cleaning device displays a preset image on a user terminal, wherein the preset image is the first image or the comparison image;

[0042] The step of displaying the preset image on the user terminal by the cleaning device includes:

[0043] The laser scanning component emits a scanning laser toward the position to be cleaned, so that the processor obtains the height parameter of the object at the position to be cleaned;

[0044] The processor records the height parameter in the preset image and sends a preset image signal to the user terminal;

[0045] The user terminal receives the preset image signal to display a preset image; wherein the preset image records at least one of a height parameter, a color parameter, and a grayscale parameter.

[0046] The present application also proposes a cleaning device, which includes a cleaning component, a processor, a memory and at least one camera. The memory stores a control program that can be run on the processor. When the processor executes the control program, the steps of the aforementioned control method are implemented.

[0047] The present application also proposes a computer-readable storage medium, on which a control program is stored. When the control program is executed by the processor, the steps of the aforementioned control method are implemented. Beneficial effects

[0048] In the technical solution of the present application, when the cleaning device is in the cleaning mode, the cleaning device will clean the position to be cleaned along a preset path. During the cleaning process of the cleaning device, the camera obtains a first image, and uses the processor to analyze and compare the difference between the first image and the comparison image stored in the memory. The processor obtains the difference between the two images and defines the difference as a dirt mark. Then, the processor issues a cleaning instruction to the cleaning component, and the cleaning component cleans the position to be cleaned defined as the dirt mark. In this way, the cleaning device can directly identify dirt without pre-training big data, reducing the pre-training cost, thereby completing the cleaning of dirt. At the same time, by comparing the difference between the first image and the comparison image, the dirt on the position to be cleaned can be cleaned in real time and accurately, avoiding missed cleaning or mistaken cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0050] FIG1 is a flow chart of an embodiment of a control method for a cleaning device of the present application;

[0051] FIG2 is a flow chart of another embodiment of a control method for a cleaning device of the present application;

[0052] FIG3 is a flow chart of another embodiment of a control method for a cleaning device of the present application;

[0053] FIG4 is a flow chart of another embodiment of a control method for a cleaning device of the present application;

[0054] FIG5 is a flow chart of another embodiment of a control method for a cleaning device of the present application;

[0055] FIG6 is a flow chart of another embodiment of a control method for a cleaning device according to the present application;

[0056] FIG7 is a flow chart of another embodiment of a control method for a cleaning device according to the present application;

[0057] FIG8 is a control logic diagram of the cleaning device of the present application.

[0058] Description of Figure Numbers:

[0059] Label Name Label Name 100 Processor 200 Cleaning Component 300 Memory 400 Camera 500 Laser Scanner

[0060] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0061] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0062] The present application provides a control method for a cleaning device. In a first embodiment of the control method, referring to FIG1 , the control method for a cleaning device includes:

[0063] S100, the processor 100 obtains a comparison image of the location to be cleaned, and stores the comparison image in the memory 300;

[0064] S200 , the camera 400 captures an image of the location to be cleaned as a first image;

[0065] S300: The processor 100 compares the first image with the comparison image to obtain a dirt mark; and

[0066] S400: The processor 100 controls the cleaning component 200 to clean dirt at the dirt mark.

[0067] It should be noted that, in this embodiment, the memory 300 first stores a comparison image for comparison. The comparison image can be the first picture of the position to be cleaned obtained when the cleaning device cleans the position to be cleaned for the first time, or it can be a picture that can represent the position to be cleaned in a relatively clean state formed by continuous stacking and updating when the cleaning device cleans the position to be cleaned multiple times during subsequent use.

[0068] In the technical solution of the present application, when the cleaning device is in the cleaning mode, the cleaning device will clean the position to be cleaned along a preset path. During the cleaning process of the cleaning device, the camera 400 obtains a first image, and uses the processor 100 to analyze and compare the difference between the first image and the comparison image stored in the memory 300. The processor 100 obtains the difference between the two images and defines the difference as a dirt mark. Then, the processor 100 issues a cleaning instruction to the cleaning component 200, and the cleaning component 200 cleans the position to be cleaned defined as the dirt mark. In this way, the cleaning device can directly identify dirt without pre-training big data, reducing the pre-training cost, thereby completing the cleaning of the dirt. At the same time, by comparing the difference between the first image and the comparison image, the dirt on the position to be cleaned can be cleaned in real time and accurately, avoiding missed cleaning or mistaken cleaning.

[0069] The position to be cleaned can be the ground, but is not limited to floor tiles, wooden floors or carpets, etc. The camera 400 focuses on the position to be cleaned to make the first image clearer, so that when the processor 100 compares the comparison image with the first image, it can more easily distinguish the difference between the two images to improve the accuracy of the dirt marking.

[0070] Specifically, the first image may be an image of the cleaning device before cleaning the location to be cleaned at a certain section along a preset path. In this case, the processor 100 may control the cleaning component 200 to clean the dirt mark multiple times based on the degree of dirtiness of the dirt mark determined by comparing the first image with the comparison image, wherein the degree of dirtiness of the dirt mark is determined based on color and grayscale differences. Alternatively, the camera 400 may capture an image of the location to be cleaned again after it has been cleaned. The processor 100 may compare this image with the first image or the comparison image to determine whether the dirt mark has changed, thereby determining whether the dirt mark needs to be cleaned repeatedly. Of course, the first image may also be an image of the location to be cleaned after the initial cleaning of the location to be cleaned at a certain section along the preset path. In this case, the processor 100 may detect the presence of the dirt mark based on the comparison of the first image and the comparison image, and may clean the dirt mark. After cleaning the dirt mark, the camera 400 may capture an image of the dirt mark again. The processor 100 may compare this image with the first image or the comparison image to determine whether the dirt mark has changed, thereby determining whether the dirt mark needs to be cleaned repeatedly. If both of the above situations require repeated cleaning of the dirt mark, after the camera 400 obtains an image of cleaning to a certain point, the processor 100 determines that the degree of dirtiness of the dirt mark is lower than a certain threshold, and then controls the cleaning component 200 to stop cleaning the dirt mark, and controls the cleaning equipment to go to the next section of the preset path for cleaning.

[0071] In one embodiment, referring to FIG. 2 , step S100 specifically includes:

[0072] S110, the camera 400 captures an image of the cleaned location as a second image;

[0073] S120: The processor 100 compares the multiple second images obtained within a period of time, retains the same image features of the multiple second images, and obtains a compared image.

[0074] S130 , the memory 300 stores the comparison image.

[0075] After each cleaning of the position to be cleaned by the cleaning device, the camera 400 obtains a second image of the position to be cleaned after being cleaned. When the cleaning device completes the preset number of cleanings, the processor 100 compares and analyzes the multiple stored second images, extracts the common image features of the multiple second images, and splices or overlays these same image features to form a comparison image. It should be noted here that, in the process of the cleaning device completing the preset number of cleanings, the comparison image used by the cleaning device can be the image after the cleaning device cleans the position to be cleaned for the first time, or it can be the image obtained after the previous cleaning in two adjacent cleaning processes, or, before the cleaning device completes the preset number of cleanings, the cleaning device performs simple cleaning according to a predetermined cleaning path, without controlling the cleaning device to clean dirt by image comparison, and obtains a second image after each cleaning is completed; wherein, the preset number of times can be 100 times, 50 times or 150 times, etc. It should be noted that for the same position to be cleaned, according to the time sequence, the same features of multiple images recording the cleaning should belong to the clean part of the position to be cleaned or the part that cannot be cleaned by the cleaning equipment. In this way, the obtained comparison image can more accurately reflect the image information of the position to be cleaned in a relatively clean state.

[0076] In another embodiment, referring to FIG. 3 , step S100 specifically includes:

[0077] S140 , the camera 400 captures an image of the location to be cleaned after it has been thoroughly cleaned, as a third image;

[0078] S150 : The processor 100 uses the third image as a comparison image and stores it in the memory 300 .

[0079] It should be noted that the third image can represent the relatively clean state of the position to be cleaned before this cleaning. In this way, before each cleaning, the processor 100 compares the first image with the image of the relatively clean state of the position to be cleaned, and can more accurately determine the dirty position of the position to be cleaned before cleaning, so that the processor 100 can more accurately determine the dirty mark, so that the cleaning equipment can better ensure the cleanliness of the position to be cleaned.

[0080] Further, in this embodiment, referring to FIG. 3 , step S140 specifically includes:

[0081] S141, the camera 400 captures an image of the cleaned location as a fourth image;

[0082] S142: The processor 100 compares two adjacent fourth images obtained in chronological order, and uses the fourth image with fewer image features as the third image.

[0083] After each cleaning of the position to be cleaned by the cleaning device, the camera 400 obtains a fourth image of the position to be cleaned after being cleaned. During the use of the cleaning device, the fourth images obtained after previous cleanings will be stored in the memory 300. Moreover, after each fourth image is obtained, the processor 100 compares the newly obtained fourth image with the fourth image obtained after the previous cleaning stored in the memory 300, and uses the fourth image with fewer image features as representing a relatively clean state of the position to be cleaned. In this way, the obtained comparison image can more timely and accurately reflect the image information of the relatively clean state of the position to be cleaned. It should be noted that in the interval between two adjacent cleanings, the objects placed on the position to be cleaned change little, so that the fourth image with fewer image features in the fourth images of the two times will be an image of the position to be cleaned in a more thorough state, avoiding the situation where the cleaning device misses cleaning. Of course, in other embodiments, the processor 100 can compare the currently obtained fourth image with all the fourth images stored in the memory 300 to use the fourth image with fewer image features as the third image. It should be noted that the camera 400 mainly obtains image information of the ground. The number of image features referred to in this embodiment is based on the floor surface in the image. The number of objects on the floor surface is the number of image features.

[0084] In another embodiment, referring to FIG. 4 , the control method of the cleaning device further includes a step of the cleaning device obtaining a preset image, where the preset image is a first image or a comparison image. The step of the cleaning device obtaining the preset image specifically includes:

[0085] S500, the cleaning device moves along a predetermined route;

[0086] S600 , the camera 400 captures a plurality of images at different locations along the predetermined route according to a preset interval as the fifth image;

[0087] S700: The processor 100 arranges multiple fifth images to obtain a preset image.

[0088] It should be noted that the location to be cleaned can be an indoor or outdoor environment such as a room, a living room, a lobby, a terrace, or a combination thereof. Since the camera 400 is shooting at the ground, the range of the picture taken by the camera 400 in a single shot is small, while the area of ​​the location to be cleaned is relatively large. In addition, if the single shooting area of ​​the camera 400 is increased, it is easy to cause the captured image to be deformed relative to the location to be cleaned, thereby affecting the judgment of the processor 100. In this way, multiple fifth images of different floors of the location to be cleaned taken by the camera 400 are processed by the processor 100 to splice a first image that can fully record the location to be cleaned, thereby ensuring the clarity of the image features recorded in the first image. Of course, in other embodiments, the cleaning device can use a camera 400 with higher pixels, and the camera 400 can directly and clearly cover all the ground features of the location to be cleaned to form a first image.

[0089] Among them, the preset interval time is based on the walking speed of the cleaning equipment, the image size of the fifth image obtained by the camera 400 each time, and the shooting speed of the camera 400, so as to reduce the number of repeated image information in two adjacent fifth images as much as possible. Specifically, the cleaning equipment has a relatively accurate positioning capability, such as using light reflection or image information reference to obtain positioning information, so that the cleaning equipment can move stably along the preset route. Through accurate positioning, the processor 100 can associate the fifth image with the coordinates of the cleaning equipment, so that when the fifth images of different positions are combined, a complete first image reflecting the position to be cleaned can be spliced ​​together. It can be understood that the first image and the comparison image are both spliced ​​together in the above manner to ensure the clarity of the comparison image and the first image, which is convenient for the judgment of the processor 100. Alternatively, in this technical solution, any image that needs to fully cover the position to be cleaned obtained by the cleaning equipment through the camera 400 can be mapped with reference to the ideas of steps S500 to S700 above.

[0090] Further, in this embodiment, referring to FIG. 4 , step S700 specifically includes:

[0091] S710: The processor 100 identifies a common portion of two adjacent fifth images as a positioning marker.

[0092] S720: The processor 100 adjusts the relative positions of the positioning marks of two adjacent fifth images so that the same parts of the two adjacent fifth images overlap.

[0093] S730: The processor 100 removes one of the same parts in two adjacent fifth images to obtain a preset image.

[0094] It should be noted that, since the cleaning device moves at a slow speed, while the camera 400 shoots at a high speed, in the actual movement process, the error in the movement speed will inevitably cause overlapping portions between adjacent fifth images. Considering that there will be a certain deviation in the positioning of the cleaning device, the processor 100 first identifies the same portion of two adjacent fifth images to determine the positioning mark, and then, with the positioning marks of the two adjacent fifth images as a reference, superimposes the same portion of the two adjacent fifth images. Then, the processor removes the redundant overlapping portion and stitches the multiple fifth images into a first image. In this way, the positioning mark can provide a stitching reference for the processor 100, reducing the amount of computation of the processor 100. In addition, considering that image stitching does not require the complete recognition of the fifth image, when the processor 100 identifies the same portion of two adjacent fifth images, it can use the positioning mark as a reference to adjust the positions of the two adjacent fifth images, and then stack and stitch the two fifth images.

[0095] In another embodiment, referring to FIG. 5 , after step S400, the following steps are further included:

[0096] S800 , the camera 400 captures an image of the location to be cleaned after being cleaned by the cleaning component 200 as a sixth image;

[0097] S900: The processor 100 compares the sixth image with the first image to determine whether the dirt mark has changed;

[0098] If yes, step S901 is executed, the cleaning component 200 repeatedly cleans the dirt at the dirt mark until the dirt is completely removed;

[0099] If not, step S902 is executed, and the processor 100 determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.

[0100] It is understood that after the first image is compared with the comparison image, it will be stored in the memory 300. When the cleaning component 200 cleans the dirt mark, the processor 100 compares the sixth image captured by the camera 400 with the first image just stored in the memory 300. If the comparison analysis shows that the dirt mark has changed, the processor 100 determines that the dirt at the dirt mark can be cleaned by the cleaning component 200, and thus controls the cleaning component 200 to repeatedly clean the dirt at the dirt mark; if the comparison analysis shows that the dirt mark has not changed, the processor 100 determines that the cleaning component 200 cannot clean the dirt at the dirt mark, and changes the dirt mark to a normal image feature and records it in the comparison image to avoid the subsequent cleaning process from repeatedly cleaning the uncleanable position. In this way, the cleaning device can better judge the dirt at the dirt mark and avoid the situation of missed cleaning or mistaken cleaning. Here, it should be noted that before the camera 400 obtains the sixth image, the cleaning component 200 may obtain the sixth image after cleaning the dirt at the dirt mark for the first time, or may obtain the sixth image after repeatedly cleaning the dirt at the dirt mark for multiple times.

[0101] In addition, after the processor 100 determines that the dirt at the dirt mark can be cleaned by the cleaning component 200, and after the cleaning component 200 repeatedly cleans a predetermined number of times, the camera 400 will again acquire an image of the dirt mark and compare it with the sixth image and the first image to determine whether the dirt at the dirt mark has been thoroughly cleaned. If the degree of dirtiness of the dirt mark is lower than a preset threshold, the processor 100 will determine that the dirt mark has been cleaned. If the degree of dirtiness of the dirt mark is still higher than the preset threshold, the processor 100 controls the cleaning component 200 to continue cleaning the dirt at the dirt mark until the degree of dirtiness is lower than the preset threshold. It should be noted that the processor 100 can use the color and grayscale of the image features as a reference to determine changes in the image features.

[0102] In another embodiment, referring to FIG. 6 , before or simultaneously with step S200 , the following steps are further included:

[0103] S201, the laser scanner 500 emits a scanning laser to the position to be cleaned, so that the processor 100 obtains three-dimensional information of the object at the position to be cleaned as a height parameter;

[0104] S202: The processor 100 records the height parameter in the first image, so that the image feature corresponding to the first image has the height parameter.

[0105] Specifically, the scanning laser emitted by the laser scanner 500 is straight and perpendicular to the emission direction of the laser scanner 500. The processor 100 analyzes the angle and time of the outgoing light and the reflected light after being reflected at the location to be cleaned to determine the distance between the location at the location to be cleaned that can reflect the light and the current cleaning device, thereby converting and calculating the height of the location. In this embodiment, the laser scanner 500 is configured as a distance measurement sensor for obtaining height information, such as a line laser sensor, an array laser sensor, or a TOF (Time of Flight) sensor. Specifically, if there is a table leg in front of the camera 400, the scanning laser will be obstructed by the table corner. The processor 100 first analyzes the distance between the location of the reflected light on the table leg and the cleaning device, and then calculates the height of the table leg above the ground based on the angle and time difference between the outgoing light and the reflected light and the ground. This allows the image features of the first image to have height parameters, which facilitates subsequent judgment and analysis by the processor or transmission to the user terminal for user viewing.

[0106] Please continue to refer to FIG. 6 , before step S400 , the following steps are also included:

[0107] S410: The processor 100 determines whether the height of the dirt at the dirt mark is within a preset height based on the height parameter;

[0108] If yes, step S411 is executed, the processor 100 controls the cleaning component 200 to clean the dirt at the dirt mark;

[0109] If not, step S902 is executed, and the processor 100 determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.

[0110] Without loss of generality, the preset height matches the processing capability of the processor 100 and the cleaning capability of the cleaning device. In this embodiment, the preset height is set to 1 cm, 2 cm, or 1.5 cm, etc. In this way, the processor 100 identifies the dirt mark in a certain image feature of the first image and associates the height parameter of the image feature with the dirt mark, thereby determining the height of the dirt at the dirt mark. The processor 100 then determines whether the height of the dirt at the dirt mark is within the preset height. If the processor 100 compares and analyzes that the height of the dirt at the dirt mark is within the preset height, the dirt at the dirt mark can be cleaned by the cleaning component 200, and the processor 100 controls the cleaning component 200 to clean the dirt at the dirt mark. If the processor 100 compares and analyzes that the height of the dirt at the dirt mark exceeds the preset height, the processor 100 determines that the dirt mark cannot be cleaned, defines the dirt mark as a normal image feature, and records it in the comparison image. This prevents the subsequent cleaning process from repeatedly cleaning the uncleanable location. At the same time, it also prevents the cleaning device from being damaged by cleaning dirt that exceeds the preset height, thereby ensuring the continuous cleaning capability of the cleaning device.

[0111] In one embodiment, referring to FIG. 7 , the control method of the cleaning device further includes a step in which the cleaning device displays a preset image on the user terminal, where the preset image is the first image or the comparison image;

[0112] The step of displaying the preset image on the user terminal by the cleaning device includes:

[0113] S10, the laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains the height parameter of the object at the position to be cleaned;

[0114] S20: The processor records the height parameter in a preset image and sends a preset image signal to the user terminal;

[0115] S30. The user terminal receives a preset image signal to display a preset image; wherein the preset image records at least one of a height parameter, a color parameter, and a grayscale parameter.

[0116] It should be noted that the user terminal can be an APP on a mobile phone, tablet or computer, or a display specifically serving the cleaning device. In this way, the preset image obtained by the cleaning device can be displayed on the user terminal, so that the user can intuitively understand the environmental conditions of the current location to be cleaned, giving the user a more intuitive experience. Specifically, in this embodiment, the user terminal can display at least one of the first image and the comparison image. When the user terminal displays the comparison image, the user can understand the cleanliness status of the current location to be cleaned through the user terminal. When the user terminal displays the first image, the user can understand the dirtiness of the current location to be cleaned through the user terminal.

[0117] Referring to Figures 1 to 8, it can be seen that the control method described in this embodiment is applied to a cleaning device. The present application also proposes a cleaning device, which includes a cleaning component 200, a processor 100, a memory 300, and at least one camera 400. The camera 400 captures an image, and the processor 100 analyzes the image. The memory 300 stores the image captured by the camera 400 and the image formed after the processor 100 organizes the image. The image stored in the memory 300 can be called by the processor 100. After receiving the instruction from the processor 100, the cleaning component 200 cleans the location to be cleaned. It can be understood that the functions of each program module of the cleaning device of this embodiment can be specifically embodied according to the method in the above-mentioned control method embodiment. The specific implementation process can refer to the relevant description of the above-mentioned control method embodiment, and will not be repeated here. In this embodiment, the cleaning device is configured as a floor cleaning robot, a sweeping robot, or a carpet cleaning robot. When the cleaning device is configured as a carpet cleaning robot, the cleaning device has the ability to flush and clean the carpet.

[0118] The present application also proposes a computer-readable storage medium. The above-mentioned computer program product includes a non-transitory computer-readable program medium storing a computer program. The above-mentioned computer program is operable to enable a computer to execute part or all of the steps of any method recorded in the above-mentioned control method. That is, the specific implementation method of the computer-readable storage medium of the present application is basically the same as the various embodiments of the above-mentioned node positioning method, and will not be repeated here.

[0119] As a computer-readable storage medium, any combination of one or more computer-readable media may be used. A computer-readable storage medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory 300 (RAM), a read-only memory 300 (ROM), an erasable programmable read-only memory 300 (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory 300 (CDROM), an optical storage device 300, a magnetic storage device 300, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0120] Program code embodied on a computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0121] In the above description, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module," "component," or "unit" may be used interchangeably.

[0122] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method.

[0124] The above are merely optional embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling a cleaning device, wherein: The control method comprises: The processor obtains a comparison image of the position to be cleaned and stores the comparison image in a memory; The camera captures an image of the location to be cleaned as a first image; The processor compares the first image with the comparison image to obtain a dirt mark; and The processor controls the cleaning component to clean dirt at the dirt mark.

2. The control method of the cleaning device according to claim 1, wherein: The processor acquires a comparison image of the position to be cleaned, and stores the comparison image in a memory, comprising: The camera captures an image of the location to be cleaned after being cleaned as a second image; The processor compares a plurality of second images obtained within a period of time, retains the same image features possessed by the plurality of second images, and obtains the comparison image; The memory stores the comparison image.

3. The control method of the cleaning device according to claim 1, wherein: The processor acquires a comparison image of the position to be cleaned, and stores the comparison image in a memory, comprising: The camera captures an image of the location to be cleaned after being thoroughly cleaned, as a third image; The processor uses the third image as the comparison image and stores the image in the memory.

4. The control method of the cleaning device according to claim 3, wherein: The step of capturing, by the camera, an image of the location to be cleaned after being thoroughly cleaned as a third image comprises: The camera captures an image of the location to be cleaned after being cleaned as a fourth image; The processor compares the fourth images obtained twice in a time sequence, and uses the fourth image with fewer image features as the third image.

5. The control method of the cleaning device according to claim 1, wherein: The control method of the cleaning device further comprises a step of the cleaning device obtaining a preset image, wherein the preset image is the first image or the comparison image; Wherein, the step of obtaining a preset image by the cleaning device comprises: The cleaning device moves along a predetermined route; The camera captures a plurality of images at different positions of the predetermined route according to a preset interval time as the fifth image; The processor arranges the plurality of fifth images to obtain the preset image.

6. The control method of the cleaning device according to claim 5, wherein: The processor collates a plurality of the fifth images to obtain the preset image, comprising: The processor identifies a common portion of two adjacent fifth images as a positioning mark; The processor adjusts the relative positions of the positioning marks of two adjacent fifth images so that the same parts of the two adjacent fifth images overlap; The processor removes one of the same parts in two adjacent fifth images to obtain the preset image.

7. The control method of the cleaning device according to claim 1, wherein: After the processor controls the cleaning component to clean dirt at the dirt mark, the method further includes: The camera captures an image of the location to be cleaned after being cleaned by the cleaning component as a sixth image; The processor compares the sixth image with the first image to determine whether the dirt mark changes; If yes, the cleaning component repeatedly cleans the dirt at the dirt mark until the dirt is removed; If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.

8. The control method of the cleaning device according to claim 1, wherein: Before or at the same time as the step of taking the image of the location to be cleaned by the camera as the first image, the step further includes: The laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains three-dimensional information of the object at the position to be cleaned as a height parameter; The processor records the height parameter in the first image so that the image feature corresponding to the first image has the height parameter.

9. The control method of the cleaning device according to claim 8, wherein: Before the step of the processor controlling the cleaning component to clean dirt at the dirt mark, the step further includes: The processor determines, based on the height parameter, whether the height of the dirt at the dirt mark is within a preset height; If so, the processor controls the cleaning component to clean the dirt at the dirt mark; If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.

10. The control method of the cleaning device according to claim 1, wherein: The control method of the cleaning device further comprises a step in which the cleaning device displays a preset image on a user terminal, wherein the preset image is the first image or the comparison image; The step of displaying the preset image on the user terminal by the cleaning device includes: The laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains the height parameter of the object at the position to be cleaned; The processor records the height parameter in the preset image and sends a preset image signal to the user terminal; The user terminal receives the preset image signal to display a preset image; wherein the preset image records at least one of a height parameter, a color parameter, and a grayscale parameter.

11. A cleaning device, wherein: The cleaning device includes a cleaning component, a processor, a memory and at least one camera, wherein the memory stores a control program that can be run on the processor, and when the processor executes the control program, the steps of the control method as described in any one of claims 1 to 10 are implemented.

12. A computer-readable storage medium, wherein: The computer-readable storage medium stores a control program, and when the control program is executed by the processor, the steps of the control method according to any one of claims 1 to 10 are implemented.

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