WO2022247109A1 - 清洁设备及脏污检测方法 - Google Patents

清洁设备及脏污检测方法 Download PDF

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Publication number
WO2022247109A1
WO2022247109A1 PCT/CN2021/124754 CN2021124754W WO2022247109A1 WO 2022247109 A1 WO2022247109 A1 WO 2022247109A1 CN 2021124754 W CN2021124754 W CN 2021124754W WO 2022247109 A1 WO2022247109 A1 WO 2022247109A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
cleaned
property value
cleaning part
dirt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/124754
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English (en)
French (fr)
Inventor
颜承志
雷鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Priority to US18/564,455 priority Critical patent/US20240252012A1/en
Priority to JP2023569994A priority patent/JP7804699B2/ja
Priority to EP21942673.1A priority patent/EP4349236A4/en
Priority to CA3219505A priority patent/CA3219505A1/en
Priority to AU2021447852A priority patent/AU2021447852B2/en
Priority to KR1020237041778A priority patent/KR20240004934A/ko
Publication of WO2022247109A1 publication Critical patent/WO2022247109A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
    • G01N27/22—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating capacitance

Definitions

  • the present disclosure relates to the technical field of smart devices, in particular to a cleaning device and a method for detecting contamination of the cleaning device.
  • Cleaning equipment usually has the function of cleaning the ground. For example, it can spray clean cleaning liquid and then recover the dirty liquid on the ground.
  • the cleaning of the ground may result in a more dirty work. Incomplete, for some relatively clean ground, it may easily cause waste of resources, which in turn affects the user experience.
  • the present disclosure is proposed to provide a cleaning device and a method for detecting contamination of cleaning devices that overcome the above problems or at least partially solve the above problems.
  • a cleaning device comprising:
  • the cleaning part is used to clean the surface to be cleaned
  • a detection device for detecting the physical property value of the cleaning part
  • a processor configured to obtain the physical property value detected by the detection device, and use a comparison result between the physical property value and a dynamically set standard property value to determine the degree of dirtiness of the surface to be cleaned, based on the The degree of dirt adjusts the cleaning mode of the cleaning device.
  • the detection device is arranged on the cleaning part, or arranged opposite to the cleaning part.
  • the detection device includes an optical detection device for detecting the optical property value of the cleaning part.
  • the detection device includes a light emitter and a light receiver
  • the light emitter is used to emit a light signal to the cleaning part
  • the light receiver is configured to receive a light reflection signal formed after being reflected by the cleaning part, and convert the light reflection signal into a first electrical signal representing an optical property value of the cleaning part, and convert the light reflection signal into a first electrical signal representing an optical property value of the cleaning part outputting the first electrical signal to the processor;
  • the processor is configured to use the optical property value to calculate the degree of dirt on the surface to be cleaned.
  • the first electrical signal includes a voltage
  • the processor is configured to compare the voltage with a standard voltage, and determine the degree of dirt on the surface to be cleaned according to the comparison result
  • the standard voltage is a predetermined The detected voltage of the cleaning part when it is in a clean state; or, the detected voltage of the cleaning part before the cleaning device performs cleaning work.
  • the optical receiver is disposed on the same side as the receiver.
  • the detection device includes an electrical detection device for detecting the electrical property value of the cleaning part.
  • the cleaning part is provided with electrodes
  • the detection device is connected to the electrodes on the cleaning part, and is used to detect a second electrical signal representing the electrical property value of the cleaning part, and output the second electrical signal to the processor;
  • the processor is configured to use the electrical property value to calculate the degree of dirt on the surface to be cleaned.
  • the detection device is a capacitance sensor, configured to detect the capacitance of the cleaning part, and output it to the processor as the second electrical signal;
  • the detection device is used to detect the conductivity of the cleaning part and output it to the processor as the second electrical signal;
  • the processor is configured to calculate a conductivity change parameter of the cleaning part according to the conductivity and a standard conductivity, and determine the degree of dirt on the surface to be cleaned according to the conductivity change parameter.
  • the cleaning equipment further includes: a fluid output device and a fluid recovery device, wherein the fluid output device is used to spray liquid onto the cleaning part or the surface to be cleaned, and the fluid recovery A device for making the dirty liquid on the surface to be cleaned or the cleaning part flow into the fluid recovery device through the dirty liquid sewage pipe.
  • a fluid output device is used to spray liquid onto the cleaning part or the surface to be cleaned
  • the fluid recovery A device for making the dirty liquid on the surface to be cleaned or the cleaning part flow into the fluid recovery device through the dirty liquid sewage pipe.
  • the fluid output device includes: a first container, used to store the liquid; a fluid output pipeline, communicated with the first container, and used to deliver the liquid in the first container to The cleaning part or the surface to be cleaned; and at least one nozzle, communicated with the fluid output pipeline, and used to spray the liquid to the cleaning part or the surface to be cleaned.
  • the fluid recovery device includes: a second container for storing dirty liquid; a second sensor arranged in the second container for detecting the fluid level in the second container; at least one a suction nozzle for sucking the dirty liquid of the cleaning portion or the surface to be cleaned; and a suction duct connecting the at least one suction nozzle with the second container and for pumping the liquid from the suction nozzle Dirty liquid is pumped into said second container.
  • a dirt detection method for cleaning equipment including:
  • the cleaning part is used to clean the surface to be cleaned
  • a cleaning mode of the cleaning device is adjusted based on the degree of soiling.
  • the physical property values include optical property values
  • the detection of the physical attribute value of the cleaning part of the cleaning device includes: using a light transmitter to emit a light signal, using a light receiver to receive a light reflection signal formed after being reflected by the cleaning part, and converting the light reflection signal into a signal used to represent the cleaning part A first electrical signal of an optical property value of ;
  • the determining the degree of dirtiness of the surface to be cleaned by using the comparison result of the physical property value and the dynamically set standard property value includes: calculating the dirtiness of the surface to be cleaned by using the difference between the optical property value and the standard optical property value degree of pollution;
  • the standard optical property value includes a pre-detected optical property value when the cleaning part is in a clean state, or an optical property value of the cleaning part detected when the cleaning device is powered on.
  • the physical property value includes an electrical property value
  • the detection of the physical attribute value of the cleaning part of the cleaning device includes: detecting a second electrical signal used to represent the electrical attribute value of the cleaning part; the second electrical signal includes: at least one of conductivity, capacitance, and resistance;
  • the determining the degree of dirt on the surface to be cleaned by using the comparison result between the physical property value and the dynamically set standard electrical property value includes: calculating the electrical signal change parameter of the cleaning part according to the electrical property value and the standard electrical property value , calculating the degree of dirtiness of the surface to be cleaned by using the change parameter of the electric signal;
  • the standard electrical property value includes a pre-detected electrical property value when the cleaning part is in a clean state, or an electrical property value of the cleaning part detected when the cleaning device is powered on.
  • the adjusting the cleaning mode of the cleaning device based on the degree of dirt includes:
  • the cleaning mode of the cleaning device that matches the target dirt level, and control the operation of the cleaning device according to the cleaning parameters corresponding to the cleaning mode; the cleaning parameters include the working power of the fan and/or the motor driving the cleaning part.
  • the present disclosure provides a cleaning device and a method for detecting contamination of the cleaning device. Based on the cleaning device provided by the present disclosure, the detection device detects the physical attribute value of the cleaning part of the cleaning device, and the processor detects the The physical property values of the data can be used to judge the degree of dirt on the surface to be cleaned, which can provide information on the surface to be cleaned for the cleaning work of the cleaning equipment, and then intelligently clean the surface to be cleaned in a targeted manner.
  • Fig. 1 shows a schematic diagram of a partial structure of a cleaning device according to an embodiment of the present disclosure
  • Fig. 2 shows a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure
  • Fig. 3 shows a schematic structural diagram of a cleaning device according to another embodiment of the present disclosure
  • Fig. 4 shows a schematic diagram of a partial structure of a cleaning device according to another embodiment of the present disclosure
  • Fig. 5 shows a schematic diagram of the voltage of the cleaning part changing with the color of the cleaning part according to an embodiment of the present disclosure
  • Fig. 6 shows a schematic structural diagram of a cleaning device according to another embodiment of the present disclosure
  • Fig. 7 shows a schematic flowchart of a method for detecting contamination of a cleaning device according to another embodiment of the present disclosure.
  • An embodiment of the present disclosure provides a cleaning device.
  • the cleaning part 10 is used for cleaning the surface to be cleaned.
  • the detection device 20 is used to detect the physical property value of the cleaning part 10.
  • the detection device 20 can be arranged on the cleaning part 10 (as shown in FIG. 2 ), or set opposite to the cleaning part 10 (as shown in FIG. 3 ).
  • the processor 30 is electrically connected to the detection device 20, and is used to obtain the physical property value detected by the detection device 20, and use the comparison result of the physical property value and the dynamically set standard property value to determine the degree of dirt on the surface to be cleaned; Adjust the cleaning mode of the cleaning device to a certain degree.
  • the cleaning part can be, for example, one or more roller brushes, usually a roller brush refers to a brush with a substantially horizontal axis of rotation, or one or more disc brushes, a disc brush usually refers to a brush that rotates
  • the shaft is a roughly vertical brush, and of course, it can also be other various parts that can realize the cleaning function.
  • the cleaning equipment provided by the embodiments of the present disclosure detects the physical property value of the cleaning unit 10 of the cleaning equipment by setting the detection device 20 on the cleaning equipment, and the processor 30 can be used to intelligently determine the surface to be cleaned according to the physical property value without manual judgment.
  • the degree of dirt can provide information on the surface to be cleaned for the cleaning work of the cleaning equipment, thereby improving the user experience while improving the intelligence of the cleaning equipment.
  • the cleaning device may be a sweeping robot, a mopping robot, a floor polishing robot, a weeding robot or a hand-held cleaning device for cleaning floors, walls, tabletops, carpets, walls or glass, but is not limited thereto.
  • the cleaning part 10 in the cleaning device can be provided with cleaning parts such as a mopping rag, a mopping sponge or a roller brush to clean the surface to be cleaned.
  • the processor 30 can use various application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), Realized by micro central control components, microprocessors or other electronic components.
  • ASICs application-specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • the processor 30 can use the physical attribute value and dynamic setting A comparison of the standard property values of , determines how dirty the surface to be cleaned is. That is to say, the standard attribute value is changeable.
  • the standard attribute value can be the default standard attribute value set by the factory. Therefore, the standard property value corresponding to the cleaning unit 10 can be adjusted at any time, for example, the physical property value detected when the cleaning equipment is powered on can be used as the standard property value.
  • the physical attribute value when the cleaning unit 10 is in a clean state detected after completing the self-cleaning can also be recorded as the standard attribute value.
  • the degree of dirtiness of the surface to be cleaned can be accurately determined by using the comparison result of the physical attribute value and the dynamically set standard attribute value, thereby improving the cleaning efficiency.
  • the processor 30 in the cleaning device can intelligently adjust the cleaning mode of the cleaning device based on the acquired degree of dirtiness of the surface to be cleaned, which can rationally utilize cleaning resources while ensuring effective cleaning of the surface to be cleaned.
  • the cleaning device may be provided with multiple cleaning modes, and different cleaning modes may correspond to different working parameters of the cleaning device. For example, in the deep cleaning mode, the working power of the fan and/or the motor driving the cleaning part will be relatively large, and the water output and water output frequency will be relatively high, while in the simple cleaning mode, the fan and/or the motor driving the cleaning part The working power of the motor will be relatively small, and the water output and water output frequency will be relatively low.
  • cleaning resources can be rationally utilized while completing cleaning work by adjusting the cleaning mode of the cleaning equipment.
  • the types of cleaning modes of the cleaning device and the working parameters of the cleaning device corresponding to each cleaning mode may be set according to different requirements, which is not determined in the embodiments of the present disclosure.
  • the detection device 20 may be an optical detection device or an electrical detection device.
  • the physical property values of the cleaning part 10 in the cleaning equipment obtained by detection are also different.
  • different types of detection devices 20 will be described in detail below.
  • FIG. 4 shows a partial structural diagram of a cleaning device according to another embodiment of the present disclosure.
  • the detection device 20 may be an optical detection device 20 for detecting optical property values of the cleaning part 10 .
  • the detection device 20 may include a light emitter 21 and a light receiver 22 ; the light receiver 22 is disposed on the same side as the receiver.
  • FIG. 4 only schematically shows the relative positions of the light transmitter 21 and the light receiver 22. In practical applications, the setting positions of the light transmitter 21 and the light receiver 22 can be adjusted according to different requirements, which is not limited in this embodiment. .
  • the light transmitter 21 is used to transmit light signals to the cleaning part 10;
  • the light receiver 22 is used to form the light reflection signal after being reflected by the cleaning part 10, and convert the light reflection signal into an optical property used to represent the cleaning part 10 value of the first electrical signal, and output the first electrical signal to the processor 30;
  • the processor 30 is used to calculate the degree of dirt on the surface to be cleaned by using the optical property value.
  • the detection device 20 in this embodiment may include a pair of infrared tubes, one of which is used as a light transmitter 21, and the other light receiver 22, that is, the light transmitter 21 is an infrared receiver, and the light receiver 22 for the infrared receiver.
  • the light emitter 21 can emit infrared rays to the cleaning unit 10
  • the light receiver 22 is used to receive the infrared rays (reflection signal) reflected by the cleaning unit 10 .
  • the infrared pair tube needs to be arranged on the same side, that is, the setting position of the infrared pair tube is set on the same side relative to the cleaning part 10, and is set opposite to the cleaning part 10, so as to ensure the infrared rays reflected by the cleaning part 10 can be received by the optical receiver 22. Further, after receiving the reflected signal reflected by the cleaning unit 10 , the light receiver 22 may convert it into a first electrical signal and output it to the processor 30 .
  • the light receiver 22 can convert the received reflected signals with different intensities into different voltages, and then transmit the different voltages to the processor 30 as the first electrical signal. As shown in FIG. 5 , the lighter the cleaning part 10 is, the stronger the light intensity reflected by the cleaning part 10 is, and the higher the voltage is; the darker the cleaning part 10 is, the weaker the light intensity is, and the voltage is relatively low.
  • the first electrical signal may comprise a voltage representing the value of the optical property, which may be directly detected by the detection means 20 and transmitted to the processor 30. Further, after the processor 30 receives the voltage transmitted by the light reflector, it compares the voltage with the standard voltage, and determines the degree of dirt on the surface to be cleaned according to the comparison result.
  • the standard electrical property value is a pre-detected electrical signal when the cleaning part is in a clean state.
  • the standard voltage may be a voltage detected when the cleaning part 10 is not in use and is in a clean state. In practical applications, the cleaning parts on the cleaning part 10 may change in color with the number of times of use or the length of use.
  • the standard voltage can also be set as the cleaning value detected when the cleaning device is powered on.
  • the voltage of the part can solve the problem of the difference between the cleaning part of different colors and materials, so that the detection result of the degree of dirt on the surface to be cleaned is more accurate. That is to say, when the cleaning device is used this time, the electrical signal of the cleaning unit 10 can be detected as a standard voltage when the cleaning device is powered on for subsequent judgment and comparison.
  • the standard voltage can be initialized, and the standard voltage of the cleaning unit 10 in a clean state will be detected when it is turned on next time.
  • the first electrical signal is compared with the standard voltage, and when the degree of dirt on the surface to be cleaned is determined according to the comparison result, the degree of dirt on the surface to be cleaned can be determined according to the difference between the first electrical signal and the standard voltage, when the difference The smaller the value is, the lower the degree of dirt is, and the surface to be cleaned is relatively clean; on the contrary, the higher the degree of dirt is, the surface to be cleaned is relatively dirty.
  • the standard voltage of a certain light-colored cleaning part 10 when the processor 30 receives a higher voltage transmitted by the light reflector, it means that the color of the cleaning part 10 is lighter.
  • the voltage and a The closer, the smaller the difference, which means the lower the degree of dirt on the surface to be cleaned (that is, the surface to be cleaned is relatively clean), when the voltage is lower, it means that the color of the cleaning part 10 is darker, and the difference between the voltage and the standard voltage a
  • the color depth in this embodiment can refer to the depth of the same color. For example, when the cleaning element used in the cleaning part 10 is blue, it can be determined by the dark blue, light blue and intermediate transition colors of the cleaning element.
  • the optical transmitter 21 can also emit light of other wavelengths, and correspondingly, the optical receiver 22 is a receiver capable of receiving light waves of corresponding lengths, which is not limited in this embodiment of the present disclosure.
  • the processor 30 can also automatically calculate the color of the cleaning part 10 in combination with the reflectance curve data, and then use the detected color of the cleaning part 10 to correspond to The voltage value is compared with the standard color voltage value of the cleaning unit 10 to determine the degree of dirt on the surface to be cleaned.
  • different dirt levels can also be set in advance for different levels of dirt on the surface to be cleaned.
  • four levels of level 1, level 2, level 3, and level 4 can be set respectively.
  • the difference between the voltage received by the processor and the standard voltage corresponds to the threshold range 1
  • the corresponding dirt level of the surface to be cleaned is level 1
  • the difference between the voltage and the standard voltage corresponds to the threshold range 2, which corresponds to the dirt level 2 , and so on.
  • the processor 30 calculates the physical attribute value (such as voltage) of the cleaning part 10, it can further determine the target threshold range where the physical attribute value is located, and then determine the dirt level corresponding to the target threshold range as the Dirt level of the cleaned surface.
  • the processor 30 calculates the physical attribute value (such as voltage) of the cleaning part 10.
  • it can further determine the target threshold range where the physical attribute value is located, and then determine the dirt level corresponding to the target threshold range as the Dirt level of the cleaned surface.
  • different materials or different types of cleaning parts may have different cleaning capabilities. Therefore, for different types of cleaning parts, different threshold ranges and threshold values corresponding to each threshold range can be divided and set.
  • the dirt level can be specifically set according to different requirements, which is not limited in this embodiment of the present disclosure.
  • multiple sets of standard attribute values and multiple sets of threshold ranges of dirt levels may be stored on the cleaning device side or in the cloud.
  • the cleaning device when the cleaning device is powered on, it may first be based on the type of cleaning parts on the cleaning part, etc.
  • the characteristic parameters determine the corresponding standard attribute value and the threshold range of the matching dirt level, which provide a basis for subsequent judgment of the dirtiness of the surface to be cleaned.
  • the detection device 20 can also be used to detect the first physical property value of the cleaning unit 10 when the light emitter 21 is in the off state, and the first physical property value of the cleaning unit 10 when the light emitter 21 emits white light.
  • the processor 30 is configured to determine the color of the cleaning part 10 according to the first physical property value and the second physical property value.
  • the first physical property value and the second physical property value may respectively represent RGB signals of the cleaning unit 10 in a natural environment and a white light environment.
  • the processor 30 can use the difference between the first physical property value and the second physical property value as the RGB signal value of the cleaning part 10, and determine the color of the cleaning part 10 after performing white balance correction, thereby using the color of the cleaning part 10 to determine the color of the cleaning part 10. The degree of dirtiness of the cleaning surface.
  • the detection device 20 may be an electrical detection device 20 for detecting the electrical property value of the cleaning part 10 .
  • the cleaning part 10 is provided with electrodes; the detection device 20 is connected to the electrodes on the cleaning part 10, and is used to detect the second electrical signal used to represent the electrical property value of the cleaning part 10, and output the second electrical signal to the processor 30; the processor 30 is configured to determine the degree of dirt on the surface to be cleaned according to the electrical property value.
  • a group of electrodes may be provided on the cleaning part 10 as a positive electrode and a negative electrode, respectively.
  • the electrodes may be arranged on the cleaning part 10 in the form of patches.
  • the detection device 20 is a capacitive sensor, which can be connected to two electrodes on the cleaning part 10 for detecting the capacitance of the cleaning part 10, and the detected capacitance of the cleaning part 10 is output to the processor 30 as a second electrical signal.
  • the processor 30 is configured to calculate the capacitance change parameter of the cleaning unit 10 according to the capacitance and the standard capacitance, and determine the degree of dirt on the surface to be cleaned according to the capacitance change parameter.
  • the standard capacitance may be the capacitance detected in advance when the cleaning unit 10 is in a clean state, or the capacitance of the cleaning unit 10 detected when the cleaning device is powered on.
  • the medium carried on the cleaning part 10 of the cleaning equipment will be less than the case where the surface to be cleaned is dirty, and for the capacitive sensor, its The magnitude of the detected capacitance is related to the area of the electrodes, the distance between the electrodes and the medium between the electrodes.
  • the size of the electrodes and the distance between the electrodes are guaranteed to be constant, so the only factor affecting the detection result of the capacitive sensor is the medium between the electrodes.
  • the capacitive sensor detects the capacitance of the cleaning unit 10, and uses the processor 30 to calculate the capacitance change parameters of the cleaning unit 10 before and after the cleaning operation, which can effectively and quickly determine the degree of dirt on the surface to be cleaned.
  • the capacitance change parameter in this embodiment may be the difference between the capacitance value currently detected by the capacitance sensor and the capacitance value detected in advance when the cleaning unit 10 is in a clean state. It can also be the difference between the capacitance value currently detected by the capacitance sensor and the initial capacitance value of the cleaning unit 10 when the cleaning device is powered on, which can be set according to different requirements.
  • the capacitance detected by the cleaning unit 10 when performing the cleaning action is used as the first capacitance
  • the capacitance detected after performing the cleaning action is used as the second capacitance
  • the first capacitance difference is subtracted from the second capacitance
  • the magnitude of is used as the capacitance change parameter of the cleaning unit 10, and then the degree of dirt on the surface to be cleaned is determined based on the capacitance change parameter.
  • the medium between the two electrodes may also be different, so the dielectric constant of the medium will change accordingly. Therefore, based on the cleaning environment of the cleaning equipment and the cleaning parts used
  • the type adaptation sets and adjusts the degree of dirt on the surface to be cleaned corresponding to different capacitance change parameters, and then calculates the degree of dirt on the surface to be cleaned.
  • the setting method of the degree of dirt is similar to the setting logic of the optical detection device.
  • the electrode is a conductive electrode; the detection device 20 is used to detect the conductivity of the cleaning part 10 as a second electrical signal; the processor 30 is used to calculate the conductivity of the cleaning part 10 according to the conductivity and the standard conductivity Conductivity change parameters, and determine the degree of dirt on the surface to be cleaned according to the conductivity change parameters.
  • the conductivity change parameter in this embodiment may be a change value, a change range, a change rule of the conductivity, and the like.
  • the standard conductivity may be the capacitance detected in advance when the cleaning unit 10 is in a clean state, or the standard conductivity of the cleaning unit 10 detected when the cleaning device is powered on.
  • the conductivity may be different.
  • the more impurities attached to the cleaning part 10 the difference between the real-time detected conductivity and the standard conductivity may become larger and larger. That is to say, when the difference between the real-time detected conductivity and the standard conductivity is larger, the surface to be cleaned may be dirtier, and the smaller the difference between the real-time detected conductivity and the standard conductivity, the surface to be cleaned may be relatively clean . Therefore, the embodiment of the present disclosure is based on adapting to the cleaning environment of the cleaning equipment and the type of cleaning parts used to set and adjust the dirt level of the surface to be cleaned corresponding to different conductivity change parameters, and then determine the dirtiness of the surface to be cleaned degree.
  • the previous section introduced the scheme of transmitting the capacitance or conductivity of the cleaning part 10 as a second signal to the processor 30, and the processor 30 calculates the electrical property value and determines the degree of dirt on the surface to be cleaned.
  • the resistance of the cleaning unit 10 is transmitted 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 rule of the resistance signal, and can intelligently detect the degree of dirt on the surface to be cleaned without manual judgment.
  • the detection device 20 may include both an optical detection device and an electrical detection device, that is, The detection device 20 can also be used to detect the optical property value and the electrical property value of the cleaning part 10, and the processor 30 can use the combination of the optical property value and the electrical property value to determine the degree of dirt on the surface to be cleaned. For example, different weights can be assigned to the optical property value and the electrical property value.
  • the optical property value and the electrical property value are combined with their respective weights to calculate the final physical property value, and then use the physical property value to determine how dirty the surface to be cleaned is.
  • the assignment may be based on characteristics such as material and color of the cleaning parts on the cleaning part 10 .
  • the degree of dirt on the surface to be cleaned is determined by using the reflection signal of the cleaning part and the resistance change parameter as a combination.
  • 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 any cleaning liquid such as clean water, cleaning agent, or a mixture of clean water and cleaning agent.
  • the fluid output device 40 can spray the liquid onto the surface to be cleaned, and then use the cleaning piece for cleaning.
  • the fluid recovery device 50 is used to flow the dirty liquid on the surface to be cleaned or the cleaning part into the fluid recovery device 50 through the dirty liquid sewage pipeline by means of the suction of the fan, so as to realize the function of dirty liquid recovery, that is, the surface to be cleaned is cleaned.
  • the resulting foul liquid is then recycled.
  • the fluid recovery device 50 can specifically recover the dirty liquid by using a fan to drive the suction nozzle to suck the dirty liquid.
  • the fluid output device 40 may include a first container 41 and a fluid output pipeline 42, wherein the first container 41 is used to store fluid, and the fluid may be any one of clean water, cleaning agent, and a mixture of clean water and cleaning agent.
  • the surface to be cleaned can be cleaned by spraying fluid on the surface to be cleaned.
  • the fluid output pipeline 42 can communicate with the first container 41, and the fluid in the first container 41 can be transported to the cleaning part or the surface to be cleaned through the fluid delivery pipeline.
  • the fluid output pipeline 42 can be according to The hard pipe whose path extends, or the flexible pipe which can change the path, can be selected according to the type of cleaning equipment and the structural design of the cleaning equipment.
  • the fluid output device 40 may also include at least one nozzle 43, the fluid output device 40 communicates with the nozzle 43 through the fluid output pipeline 42, so as to deliver the fluid in the first container 41 to the nozzle through the fluid output pipeline, and then Fluid is sprayed onto the cleaning portion 10 and/or the surface to be cleaned.
  • the processor 30 can be used to control the amount of cleaning liquid sprayed by the fluid output device 40 once, the frequency of spraying the cleaning liquid, the frequency of recycling the dirty liquid, and the like.
  • the cleaning device can also be provided with a fan and a motor for the cleaning part to perform cleaning work.
  • the processor 30 in the cleaning device provided by the embodiment of the present disclosure can also adjust the cleaning speed based on the degree of dirt on the surface to be cleaned.
  • the operating power of the blower and/or the motor driving the cleaning section can also adaptively adjust the working power of the fan in the cleaning device and/or the motor driving the cleaning part according to the degree of dirt on the surface to be cleaned.
  • the processor 30 determines the degree of dirt on the surface to be cleaned
  • it can also adaptively adjust the working power of the fan in the cleaning device and/or the motor driving the cleaning part according to the degree of dirt on the surface to be cleaned.
  • For example for a relatively clean floor, normal cleaning of the equipment is sufficient, or adaptation to reduce the power of the fan and/or motor.
  • different dirt levels can be set corresponding to different dirt levels.
  • the processor 30 adjusts the working power of the fan and/or the motor driving the cleaning part, it can first obtain the pre-divided corresponding Multiple dirt levels with different dirt levels; then determine the target dirt level corresponding to the surface to be cleaned based on the dirt level of the surface to be cleaned; finally obtain the work of the fan and/or the motor driving the cleaning part that matches the target dirt level Power, the operation of the cleaning equipment is controlled by the working power of the fan and/or the motor driving the cleaning part.
  • level 1 corresponds to x1 fan power and y1 motor power
  • level 2 corresponds to x2 fan power and y2 motor power
  • level 3 corresponds to x3 fan power and y3 motor power
  • level 4 corresponds to The working power of the fan is x4, and the working power of the motor is y4.
  • the preset working power of the fan and the working power of the motor that match the target dirt level can be obtained as the target fan working power required by the current cleaning equipment and the target motor working power, and then use the obtained fan working power and/or motor working power to control the cleaning equipment to perform cleaning work, which can ensure effective cleaning of the surface to be cleaned and rational use of cleaning resources.
  • the cleaning device can also include a device body 60, the device body 60 can be a slender column with a cavity as a whole, and the processor 30, the fluid output device 40 and the fluid recovery device 50 can all be set In the cavity of the device body 60, the space of the cleaning device is rationally utilized and the overall volume of the cleaning device is reduced.
  • One end of the device body 60 can be connected to the cleaning part 10.
  • the cleaning device is a hand-held cleaning device
  • the other end of the device body 60 is provided with a hand-held part 61.
  • the whole body formed by the hand-held part 61 and the device body 60 It is inclined relative to the cleaning part 10, so that the downward force generated by the gravity of the equipment body 60 is used to make the cleaning piece more closely attached to the surface to be cleaned, and it is convenient for the user to use the hand-held part 61 to push the cleaning part 10, which is more labor-saving;
  • the entirety of the handheld part 61 and the device body 60 is perpendicular to the cleaning part 10, thereby reducing the occupied space of the handheld floor scrubbing device.
  • a first sensor can also be set in the liquid output device 40, which The first container 41 of the output device 40 is used to detect the fluid level of the first container 41 .
  • the first sensor is disposed in the fluid output pipeline 42 of the fluid output device 40 for detecting whether there is fluid in the fluid output pipeline 42 .
  • the first sensor can be connected with the processor 30, and the processor 30 can judge whether to control the spraying fluid of the cleaning equipment according to the detection result of the first sensor, or whether to control the cleaning equipment to perform cleaning work, or whether to spray fluid to the fluid.
  • the output device 40 is replenished with clean fluid.
  • the processor 30 judges according to the detection result of the first sensor that the fluid level of the first container is lower than the first set level, or when there is no fluid in the fluid output pipeline, it can be determined that the liquid needs to be injected into the fluid output device 40. Add fluid additionally.
  • the fluid recovery device 50 may include a second container 51 for storing dirty liquid, and the specific shape is not strictly limited.
  • a second sensor may be disposed in the second container 51 for detecting the fluid level in the second container.
  • the second sensor can be connected with the processor 30, and the processor 30 can determine whether the recovered dirty liquid stored in the fluid recovery device 50 needs to be cleaned up in time according to the detection result of the second sensor (such as the fluid level in the second container), In order to ensure that the cleaning work of the cleaning equipment is carried out smoothly.
  • the processor 30 determines that the fluid level in the second container 51 is higher than the second set liquid level according to the detection result of the second sensor, it determines that the dirty liquid in the second container needs to be cleaned up in time.
  • the first sensor and the second sensor in this embodiment may be non-contact sensors or contact sensors, and the non-contact sensors are capacitive sensors.
  • the fluid recovery device 50 can also include at least one suction nozzle 52, and a suction pipe 53 connecting the suction nozzle 52 and the second container, wherein the suction nozzle 52 can be arranged on the cleaning part 10 for suction cleaning 10 and/or the dirty liquid on the surface to be cleaned, the sucked dirty liquid is transported into the second container via the suction pipe 53 .
  • the suction pipe 53 can be a hard pipe extending along a path, or a flexible pipe whose path can be changed, which can be selected according to the type of cleaning equipment and the structural design of the cleaning equipment.
  • the fluid recovery device 50 may also include a fan to drive the suction nozzle 52 to suck the dirty liquid.
  • the cleaning device may also have a voice prompt device connected to the processor 30 for sending out voice prompt information.
  • the processor 30 may determine whether to add liquid to the first container or to clean up the dirty liquid in the second container according to the detection result of the first sensor or the second sensor.
  • the voice prompt device can also be used to determine that the processor 30 needs to add fluid to the fluid output device 40 according to the detection result of the first sensor, and/or needs to clean up the recovered dirty liquid stored in the fluid recovery device 50 in time.
  • the corresponding voice prompt information can be issued to remind the user to maintain the cleaning equipment in time.
  • the voice prompt module may also issue other prompt information related to cleaning equipment, which is not limited in this embodiment of the present disclosure.
  • the cleaning equipment in this embodiment can also be provided with a display device (such as a display screen), connected to the processor, and can be used to display the degree of dirt on the surface to be cleaned, the power level of the fan, etc. parameter.
  • the processor 30 after the processor 30 has determined the degree of dirt on the surface to be cleaned and judged whether it is necessary to add liquid to the first container, or whether to clean up the dirty liquid in the second container, first pass
  • the voice prompt device and/or the display device display the prompt information of voice, text, picture and/or animation, and recommend the current executable operation to the user at the same time, for example, remind the user to replenish clean water, replenish detergent, clean up dirty liquid, replace Operations such as cleaning parts and switching cleaning modes can be performed, and then the user can execute according to the prompt information or trigger different operation instructions to further complete the cleaning work, so as to increase the function of human-computer interaction, combined with the actual degree of dirt and the user's cleaning needs Complete the cleaning work to further enhance the user experience.
  • embodiments of the present disclosure also provide a method for detecting contamination of cleaning equipment.
  • the method for detecting contamination of cleaning equipment provided by embodiments of the present disclosure may at least include the following steps S701-S703.
  • the cleaning device provided in this embodiment may include a detection device 20 , specifically, the detection device 20 may be used to detect the physical property value of the cleaning part 10 .
  • the cleaning equipment may be a sweeping robot, mopping robot, floor polishing robot, weeding robot or hand-held cleaning equipment for cleaning floors, walls, tabletops, carpets, walls or glass, but is not limited thereto.
  • the cleaning part 10 in the cleaning device can be provided with cleaning parts such as a mopping rag, a mopping sponge or a roller brush to clean the surface to be cleaned.
  • the detection device 20 may be an optical detection device 20 or an electrical detection device 20 .
  • the physical property values of the cleaning part 10 in the cleaning equipment detected by them are also different.
  • the physical property value can be used to determine the degree of dirt on the surface to be cleaned.
  • the physical property value detected in the above step S701 of the cleaning part 10 of the cleaning device corresponds to the optical property value.
  • the optical transmitter 21 can be used to transmit an optical signal
  • the optical receiver 22 can be used to receive the optical reflection signal formed after being reflected by the cleaning part 10, and convert the optical reflection signal into an optical property used to represent the cleaning part 10.
  • the difference between the optical property value and the standard optical property value can be used to calculate the degree of dirt on the surface to be cleaned.
  • the standard optical property value includes a pre-detected optical property value when the cleaning part is in a clean state, or an optical property value of the cleaning part detected when the cleaning device is powered on.
  • the light receiver 22 can convert the received reflection signals with different intensities into different voltages, and then transmit the different voltages to the processor 30 as the first point signal.
  • the processor 30 receives the first electrical signal (such as voltage) transmitted by the light reflector, by comparing the comparison result (such as the difference between the two) with the standard electrical property value, it can be based on the received The voltage of determines the degree of soiling of the cleaning section 10 .
  • the processor 30 receives a higher first electrical signal transmitted by the light reflector, it means that the color of the cleaning part 10 is lighter, and at this time , the closer the first electrical signal is to a, the smaller the difference, indicating that the degree of dirt on the surface to be cleaned is lower (that is, the surface to be cleaned is relatively clean), and when the first electrical signal is lower, it indicates the color of the cleaning part 10
  • the processor 30 receives a higher first electrical signal transmitted by the light reflector, it means that the color of the cleaning part 10 is lighter, and at this time , the closer the first electrical signal is to a, the smaller the difference, indicating that the degree of dirt on the surface to be cleaned is lower (that is, the surface to be cleaned is relatively clean), and when the first electrical signal is lower, it indicates the color of the cleaning part 10
  • the physical property value detected in the above step S701 of the cleaning unit 10 of the cleaning equipment corresponds to the electrical property value.
  • the second electrical signal used to represent the electrical property value of the cleaning unit 10 is detected, and then the degree of dirt on the surface to be cleaned is determined according to the electrical property value.
  • the second electrical signal may be parameters such as conductivity, capacitance, and resistance.
  • the capacitance change parameter, conductivity change parameter, and resistance change parameter of the cleaning unit 10 may be further calculated based on the second electrical signal. Parameters, etc., and then calculate the electrical signal change parameters of the cleaning part 10 according to the electrical property value and the standard electrical property value, and use the electrical signal change parameters to calculate the degree of dirt on the surface to be cleaned.
  • the standard electrical property value includes a pre-detected electrical property value of the cleaning part when it is in a clean state, or an electrical property value of the cleaning part detected when the cleaning device is powered on and running.
  • the degree of dirtiness of the surface to be cleaned can be determined according to the difference between the real-time detection capacitance of the cleaning part and the standard capacitance, and the dirtiness of the surface to be cleaned can be determined according to the difference between the real-time detection conductivity of the cleaning part and the standard conductivity.
  • Contamination Degree The method provided by the embodiments of the present disclosure quickly and efficiently determines the degree of dirtiness of the surface to be cleaned according to different physical states of the cleaning unit 10 during cleaning without manual judgment.
  • Step S703 adjusting the cleaning mode of the cleaning device based on the degree of dirt.
  • the corresponding working parameters of the cleaning equipment are also different.
  • the equipment can be cleaned normally, but for dirty ground, it may be necessary to spray more clean liquid. Therefore, in the method provided by the embodiments of the present disclosure, the working power of the blower and/or the motor driving the cleaning part can be adjusted based on the degree of dirt on the surface to be cleaned. In practical applications, the difference between the working power of the blower and the working power of the motor.
  • relevant operating parameters of the cleaning equipment such as the fluid output volume and the fluid output frequency of the fluid output device in the cleaning equipment can also be adjusted at the same time, which is not limited in this embodiment of the present disclosure.
  • the working power of the fan and/or the motor can be increased or decreased.
  • the degree of dirt on the surface to be cleaned is higher, it can be adapted to increase the fluid output of the fluid output device, increase the motor power of the cleaning part, increase the fluid output frequency of the fluid output device, and/or increase the fluid output.
  • the fan power of the recovery unit that is, during the use of the cleaning equipment, if the surface to be cleaned is relatively dirty, the output clean water volume and output frequency of the fluid output device will be increased, the motor power of the cleaning part will be increased, and the fluid recovery can also be increased.
  • the fan power of the device is, during the use of the cleaning equipment, if the surface to be cleaned is relatively dirty, the output clean water volume and output frequency of the fluid output device will be increased, the motor power of the cleaning part will be increased, and the fluid recovery can also be increased. The fan power of the device.
  • the degree of dirt on the surface to be cleaned is lower, it will adapt to reduce the fluid output of the fluid output device, reduce the motor power of the cleaning part, reduce the fluid output frequency of the fluid output device and/or reduce the fan of the fluid recovery device power. That is to say, during the use of the cleaning equipment, if the surface to be cleaned is relatively clean ground, the output net water volume and output frequency of the fluid output device can be reduced, the motor power of the cleaning part can be reduced, and the fluid output can also be reduced. The fan power of the recovery unit.
  • the working parameters of the cleaning equipment such as the working power of the motor and fan can be adjusted at any time according to the change of the degree of dirt on the surface to be cleaned in real time, so as to ensure the working efficiency of the cleaning equipment and reduce the Energy consumption.
  • adjusting the working power of the fan and/or the motor driving the cleaning part based on the degree of dirt may include:
  • S2 Determine a target dirt level corresponding to the surface to be cleaned based on the dirtiness of the surface to be cleaned.
  • identification and determination may be performed according to the determined physical property values of the surface to be cleaned. For example, four grades of level 1, level 2, level 3 and level 4, which are successively increased in degree of dirt, can be set respectively.
  • different threshold ranges can also be divided according to different physical property values of the cleaning part 10, such as the threshold range 1. Threshold value range 2, threshold value range 3, threshold value range 4, establish a corresponding relationship between each threshold value range and the dirt level.
  • the cleaning mode and corresponding working parameters of the corresponding cleaning equipment can be preset. For example, you can preset Set cleaning mode 1, cleaning mode 2, cleaning mode 3 and cleaning mode 4 corresponding to level 1, level 2, level 3 and level 4 in step S2 above. Further, in different cleaning modes, the cleaning parameters corresponding to the cleaning equipment are also different. Taking the working power of the fan and/or the motor driving the cleaning part as an example, level 1 corresponds to the working power of the fan being x1, and the working power of the motor is x1.
  • level 2 corresponds to x2 fan power and y2 motor power
  • level 3 corresponds to x3 fan power and y3 motor power
  • level 4 corresponds to x4 fan power and y4 motor power.
  • the corresponding cleaning mode and the working parameters of the cleaning equipment corresponding to the cleaning mode can be set for different dirt levels through machine learning or other methods.
  • a suitable cleaning mode can be selected to control the cleaning equipment to perform cleaning work by using the working parameters of the cleaning equipment corresponding to the selected cleaning mode. For example, assuming that the dirt level of the surface to be cleaned is higher, which means that the surface to be cleaned is more dirty, the corresponding working power of the fan and/or the working power of the motor increases, and at the same time, the amount of cleaning liquid increases, the frequency of cleaning liquid spraying increases, and the dirty Liquid recovery frequency increased.
  • the corresponding fan working power and/or motor working power increases and decreases, the amount of cleaning liquid decreases, the frequency of cleaning liquid spraying decreases, and the dirty liquid Recycling frequency decreased.
  • the linear operating curve of the cleaning device can also be preset, wherein the degree of dirt is used as an independent variable, and the working parameters of the cleaning device are used as a dependent variable.
  • the operation curve controls the operation of the cleaning equipment to adaptively adjust the working parameters of the cleaning equipment based on the detected degree of dirt on the surface to be cleaned.
  • the working parameters may include the working power of the fan and/or the motor driving the cleaning part, cleaning frequency, One or more of parameters such as cleaning strength and water output.
  • the embodiment of the present disclosure provides a dirt detection method for cleaning equipment. Based on the method provided by the embodiment of the present disclosure, the physical attribute value of the cleaning part 10 in the cleaning equipment can be detected through the cleaning equipment itself, without manual judgment. The degree of dirt on the surface to be cleaned can be intelligently determined according to the physical attribute value, which can provide a certain reference for the cleaning work of cleaning equipment.
  • the method provided by the embodiments of the present disclosure can intelligently clean the surface to be cleaned according to the degree of dirtiness of the surface to be cleaned, flexibly adjust the working parameters of the cleaning equipment, and then rationally use the cleaning equipment while improving the intelligence of the cleaning equipment. Clean resources to improve user experience.
  • An embodiment of the present disclosure provides a handheld cleaning device, which may include a cleaning part, a detection device, a processor, and a device body. Wherein, one end of the device body can be connected with the cleaning part, and the detection device is arranged on the cleaning part, or is arranged on the device body opposite to the cleaning part; wherein, the device body has a cavity, and the processor is arranged in the cavity of the device body .
  • the cleaning part is used to clean the surface to be cleaned;
  • the detection device is used to detect the physical property value of the cleaning part;
  • the processor is electrically connected to the detection device to obtain the physical property value detected by the detection device, and determines the The degree of dirtiness of the surface to be cleaned; based on the degree of dirtiness, the operating power of the fan and/or the motor driving the cleaning section is adjusted.
  • the whole body of the device may be an elongated column with a cavity, and the processor is disposed in the cavity of the body of the device.
  • the other end of the device body is provided with a hand-held part.
  • the whole formed by the hand-held part and the device body is inclined relative to the cleaning part.
  • the cleaning device includes a fluid output device for storing fluid.
  • the fluid can be any cleaning liquid of clear water, cleaning agent, or a mixture of clear water and cleaning agent.
  • the fluid output device includes: a first container and a fluid output pipeline, the first container is used to store fluid; the fluid output pipeline communicates with the first container, and the fluid in the first container is transported to the cleaning part or the waiting area through the fluid delivery pipeline. Clean the surface.
  • the fluid output pipeline can be a hard pipe extending along the path, or a flexible pipe that can change the path, which can be selected according to the type of cleaning equipment and the structural design of the cleaning equipment.
  • the fluid output device may also include at least one nozzle, and the fluid storage device communicates with the nozzle through a fluid output pipeline, so as to deliver the fluid in the fluid storage device to the nozzle through the fluid output pipeline, and then to the cleaning part and/or the surface to be cleaned Spray fluid.
  • the fluid output device is provided with a first sensor and is connected with the processor.
  • the first sensor is arranged in the first container of the fluid output device, and is used to detect the fluid level of the first container.
  • the first sensor is arranged in the fluid output pipeline of the fluid output device, and is used to detect whether there is fluid in the fluid output pipeline.
  • the processor is also used for whether it is necessary to replenish clean fluid into the fluid output device according to the detection result of the first sensor.
  • the hand-held cleaning device may further include: a fluid recovery device for recovering dirty liquid on the surface to be cleaned.
  • the fluid recovery device includes a second container for storing dirty liquid.
  • the fluid recovery device also includes at least one suction nozzle, and a suction pipe connecting the suction nozzle and the second container, wherein the suction nozzle can be arranged on the cleaning part for sucking the dirty liquid of the cleaning part and/or the surface to be cleaned, The sucked dirty liquid is conveyed into the second container via the suction pipe.
  • the fluid recovery device also includes a second sensor, which is arranged in the second container and connected with the processor, for detecting the fluid level in the second container.
  • the processor is further configured to determine whether to clean up the dirty liquid in the second container according to the detection result of the second sensor.
  • An embodiment of the present disclosure provides a cleaning device, which may include a cleaning unit, a detection device, a processor, a fluid output device, and a fluid recovery device.
  • the cleaning part is used to clean the surface to be cleaned;
  • the detection device is used to detect the physical property value of the cleaning part;
  • the processor is electrically connected to the detection device to obtain the physical property value detected by the detection device, and determines the The degree of dirtiness of the surface to be cleaned; based on the degree of dirtiness, the operating power of the fan and/or the motor driving the cleaning section is adjusted.
  • the cleaning unit the detection device and the processor, reference may be made to the descriptions in the above embodiments, and details will not be repeated here.
  • the fluid output device is used for storing fluid.
  • the fluid can be any cleaning liquid of clear water, cleaning agent, or a mixture of clear water and cleaning agent.
  • Fluid recovery unit for recovering dirty fluids from the surface to be cleaned.
  • the fluid output device includes a first container and a fluid output pipeline.
  • the first container is used to store fluid; the fluid output pipeline communicates with the first container, and the fluid in the first container is transported to the cleaning part or to be cleaned through the fluid delivery pipeline.
  • the fluid output pipeline can be a hard pipe extending along a path, or a flexible pipe that can change the path, which can be selected according to the type of cleaning equipment and the structural design of the cleaning equipment.
  • the fluid output device may also include at least one nozzle, and the fluid storage device communicates with the nozzle through a fluid output pipeline, so as to deliver the fluid in the fluid storage device to the nozzle through the fluid output pipeline, and then to the cleaning part and/or Or spray the fluid on the surface to be cleaned.
  • the fluid output device is provided with a first sensor connected to the processor.
  • the first sensor is arranged in the first container of the fluid output device, and is used to detect the fluid level of the first container.
  • the first sensor is arranged in the fluid output pipeline of the fluid output device, and is used to detect whether there is fluid in the fluid output pipeline.
  • the processor is also used for whether it is necessary to replenish clean fluid into the fluid output device according to the detection result of the first sensor.
  • the cleaning equipment may further include: a fluid recovery device, configured to recover dirty liquid on the surface to be cleaned.
  • a fluid recovery device configured to recover dirty liquid on the surface to be cleaned.
  • the fluid recovery device includes a second container for storing dirty liquid.
  • the fluid recovery device also includes at least one suction nozzle, and a suction pipe connecting the suction nozzle and the second container, wherein the suction nozzle can be arranged on the cleaning part for sucking the dirty liquid of the cleaning part and/or the surface to be cleaned, The sucked dirty liquid is conveyed into the second container via the suction pipe.
  • the fluid recovery device also includes a second sensor, which is arranged in the second container and connected with the processor, for detecting the fluid level in the second container.
  • the processor is further configured to determine whether to clean up the dirty liquid in the second container according to the detection result of the second sensor.
  • the cleaning device may also include a voice prompt device connected to the processor for sending out voice prompt information.
  • the voice prompting device can be used to issue corresponding voices when the processor determines according to the detection result of the first sensor that it is necessary to add fluid to the fluid output device, and/or when it is necessary to clean up the recovered dirty liquid stored in the fluid recovery device Prompt information.
  • the cleaning device may also include a display device connected to the processor for displaying the degree of dirt on the surface to be cleaned, the detection result of the first sensor and/or the detection result of the second sensor.
  • the display device may also Displays operating parameters such as the power of the fan when the cleaning device is running, which is not limited in the present disclosure.
  • the cleaning device may further include a device body, one end of the device body may be connected to the cleaning part, and the detection device may be disposed on the cleaning part, or disposed on the device body opposite to the cleaning part.
  • the device body has a cavity, and the processor, fluid output device and fluid recovery device are arranged in the cavity of the device body.
  • a computer-readable storage medium is also provided.
  • Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by a processor, the above-mentioned cleaning equipment for cleaning equipment is realized. Detection method.
  • each functional unit in each embodiment of the present disclosure may be physically independent of each other, or two or more functional units may be integrated together, or all functional units may be integrated into one processing unit.
  • the above-mentioned integrated functional units can be implemented not only in the form of hardware, but also in the form of software or firmware.
  • the integrated functional unit is implemented in the form of software and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the essence of the technical solution of the present disclosure or all or part of the technical solution can be embodied in the form of software products, and the computer software products are stored in a storage medium, which includes several instructions to make a A computing device (such as a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods described in the embodiments of the present disclosure when executing the instructions.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various media capable of storing program codes.
  • all or part of the steps for realizing the aforementioned method embodiments may be implemented by program instruction-related hardware (such as a personal computer, server, or computing device such as a network device), and the program instructions may be stored in a computer-readable memory
  • program instruction-related hardware such as a personal computer, server, or computing device such as a network device
  • the program instructions may be stored in a computer-readable memory
  • the computing device executes all or part of the steps of the methods described in the embodiments of the present disclosure.

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Abstract

一种清洁设备及用于清洁设备的脏污检测方法，清洁设备包括：清洁部（10），用于对待清洁表面进行清洁；检测装置（20），用于检测清洁部（10）的物理属性值；处理器（30），与检测装置（20）电连接，用于获取检测装置（20）检测到的物理属性值，并根据物理属性值确定待清洁表面的脏污程度，基于脏污程度调整清洁设备的清洁模式。通过检测装置（20）对清洁设备的清洁部（10）的物理属性值进行检测，并由处理器（30）根据检测到的物理属性值判断待清洁表面的脏污程度，可以为清洁设备的清洁工作提供待清洁表面的信息，进而可以对待清洁表面进行智能清洁。

Description

清洁设备及脏污检测方法
相关申请的交叉引用
本申请要求2021年5月27日提交的中国专利申请号202110586184.4的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本公开涉及智能设备技术领域，特别是一种清洁设备及用于清洁设备的脏污检测方法。
背景技术
清洁设备中通常具有对地面进行清洗的功能，例如，其可以通过喷洒干净的清洁液体，然后回收地面的污液。而实际使用过程中，由于待清洁面的赃污程度不一样，若对脏污程度不一样的待清洁面采用相同的运行功率进行清洁工作，针对比较赃污的地面，可能会导致地面清洁工作不彻底，对于一些较为干净的地面，可能容易造成资源浪费，进而影响用户的使用体验。
发明内容
鉴于上述问题，提出了本公开以便提供一种克服上述问题或者至少部分地解决上述问题的一种清洁设备及用于清洁设备的脏污检测方法。
根据本公开的第一方面，提供了一种清洁设备，包括：
清洁部，用于对待清洁表面进行清洁；
检测装置，用于检测所述清洁部的物理属性值；
处理器，用于获取所述检测装置检测到的所述物理属性值，并利用所述物理属性值与动态设置的标准属性值的比较结果确定所述待清洁表面的脏污程度，基于所述脏污程度调整清洁设备的清洁模式。
可选地，所述检测装置设置于所述清洁部上，或与所述清洁部相对地设置。
可选地，所述检测装置包括光学检测装置，用于检测所述清洁部的光学属性值。
可选地，所述检测装置包括光发射器和光接收器；
所述光发射器，用于向所述清洁部发射光信号；
所述光接收器，用于接收经由所述清洁部反射后形成的光反射信号，并将所述光反射信号转换为用于表示所述清洁部的光学属性值的第一电信号，将所述第一电信号输出至所述处理器；
所述处理器，用于利用所述光学属性值计算所述待清洁表面的脏污程度。
可选地，所述第一电信号包括电压；所述处理器，用于将所述电压与标准电压进行比较，根据比较结果确定所述待清洁表面的脏污程度；所述标准电压为预先检测的所述清洁部处于洁净状态时的电压；或，所述清洁设备在执行清洁工作前检测的所述清洁部的电压。
可选地，所述光接收器与所述接收器同侧设置。
可选地，所述检测装置包括电学检测装置，用于检测所述清洁部的电学属性值。
可选地，所述清洁部设置有电极；
所述检测装置，与所述清洁部上的电极连接，用于检测用于表示所述清洁部的电学属性值的第二电信号，并将所述第二电信号输出至所述处理器；
所述处理器，用于利用所述电学属性值计算所述待清洁表面的脏污程度。
可选地，所述检测装置为电容传感器，用于检测所述清洁部的电容，作为所述第二电信号输出至所述处理器；
用于根据所述电容和标准电容计算所述清洁部的电容变化参数，并利用电容变化参数确定所述待清洁表面的脏污程度。
可选地，所述检测装置用于检测所述清洁部的导电率，作为所述第二电信号输出至所述处理器；
所述处理器，用于根据所述导电率和标准导电率计算所述清洁部的导电率变化参数，并根据导电率变化参数确定所述待清洁表面的脏污程度。
可选地，所述清洁设备，还包括：流体输出装置和流体回收装置，其中，所述流体输出装置，用于将液体喷洒至所述清洁部或所述待清洁表面，并且所述流体回收装置，用于使所述待清洁表面或所述清洁部上的污浊液体通过污浊液体污水管道流入所述流体回收装置。
可选地，所述流体输出装置包括：第一容器，用于存储所述液体；流体输出管路，与所述第一容器相连通，并且用于将所述第一容器中的液体输送到所述清洁部或所述待清洁表面；以及至少一个喷嘴，与所述流体输出管路连通，并且用于向所述清洁部或所述待清洁表面喷洒所述液体。
可选地，所述流体回收装置包括：第二容器，用于存储污浊液体；设置在所述第二容器中的第二传感器，用于检测所述第二容器中的流体液位；至少一个吸嘴，用于抽吸所述清洁部或所述待清洁表面的污浊液体；以及抽吸管道，连接所述至少一个吸嘴与所述第二容器， 并且用于将来自所述吸嘴的污浊液体抽吸到所述第二容器内。
根据本公开的第二方面，提供了一种用于清洁设备的脏污检测方法，包括：
检测清洁设备的清洁部的物理属性值；所述清洁部用于对所述待清洁表面进行清洁；
利用所述物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度；
基于所述脏污程度调整清洁设备的清洁模式。
可选地，所述物理属性值包括光学属性值；
所述检测清洁设备的清洁部的物理属性值包括：利用光发射器发射光信号，利用光接收器接收经由清洁部反射后形成的光反射信号，并将光反射信号转换为用于表示清洁部的光学属性值的第一电信号；
所述利用所述物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度包括：利用所述光学属性值与标准光学属性值的差值计算所述待清洁表面的脏污程度；
其中，所述标准光学属性值包括预先检测的所述清洁部处于洁净状态时的光学属性值，或，所述清洁设备在上电运行时检测的所述清洁部的光学属性值。
可选地，所述物理属性值包括电学属性值；
所述检测清洁设备的清洁部的物理属性值包括：检测用于表示清洁部的电学属性值的第二电信号；所述第二电信号包括：导电率、电容、电阻中至少之一；
所述利用所述物理属性值与动态设置的标准电学属性值的比较结果确定待清洁表面的脏污程度包括：根据所述电学属性值和标准电学属性值计算所述清洁部的电信号变化参数，利用所述电信号变化参数计算所述待清洁表面的脏污程度；
其中，所述标准电学属性值包括预先检测的所述清洁部处于洁净状态时的电学属性值，或，所述清洁设备在上电运行时检测的所述清洁部的电学属性值。
可选地，所述基于所述脏污程度调整清洁设备的清洁模式包括：
获取预先划分的对应不同脏污程度的多个脏污等级；
基于所述待清洁表面的脏污程度确定所述待清洁表面对应的目标脏污等级；
获取所述目标脏污等级匹配的清洁设备的清洁模式，根据所述清洁模式对应的清洁参数控制所述清洁设备运行；所述清洁参数包括风机和/或驱动清洁部的电机的工作功率。
本公开提供了一种清洁设备及用于清洁设备的脏污检测方法，基于本公开提供的清洁设备，通过检测装置对清洁设备的清洁部的物理属性值进行检测，并由处理器根据检测到的物理属性值判断待清洁表面的脏污程度，可以为清洁设备的清洁工作提供待清洁表面的信息，进而可以有针对性地对待清洁表面进行智能清洁。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依 照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
根据下文结合附图对本公开具体实施例的详细描述，本领域技术人员将会更加明了本公开的上述以及其他目的、优点和特征。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本公开的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1示出了根据本公开一实施例的清洁设备部分结构示意图；
图2示出了根据本公开一实施例的清洁设备结构示意图；
图3示出了根据本公开另一实施例的清洁设备结构示意图；
图4示出了根据本公开另一实施例的清洁设备部分结构示意图；
图5示出了根据本公开实施例的清洁部的电压随清洁部颜色变化示意图；
图6示出了根据本公开另一实施例的清洁设备结构示意图；
图7示出了根据本公开另一实施例的用于清洁设备的脏污检测方法流程示意图。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本公开发生混淆，对于本领域公知的一些技术特征未进行描述。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本公开的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本公开的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本公开的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
本公开实施例提供了一种清洁设备，参见图1可知，本公开实施例提供的清洁设备可以 包括清洁部10、检测装置20以及处理器30。其中，清洁部10用于对待清洁表面进行清洁。检测装置20用于检测清洁部10的物理属性值，可选地，检测装置20可以设置于清洁部10上(如图2所示)，或与清洁部10相对地设置(如图3所示)。处理器30与检测装置20电连接，用于获取检测装置20检测到的物理属性值，并利用物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度；基于脏污程度调整清洁设备的清洁模式。
在一些优选的实施例中，清洁部可以是例如一个或多个滚刷，通常滚刷是指旋转轴是大致水平方向的刷子，也可以是一个或多个盘刷，盘刷通常是指旋转轴是大致为竖直方向的刷子，当然，也可以是其他各种能够实现清洁功能的各种部件。
本公开实施例提供的清洁设备，通过在清洁设备上设置检测装置20对清洁设备清洁部10的物理属性值进行检测，无需人工判断即可利用处理器30根据物理属性值智能确定出待清洁表面的脏污程度，可以为清洁设备的清洁工作提供待清洁表面的信息，进而在提升清洁设备智能性的同时提升用户的使用体验。
在具体应用中，清洁设备可以为清洗地面、墙面、桌面、地毯、墙壁或玻璃等区域的扫地机器人、拖地机器人、地面抛光机器人、除草机器人或手持清洁设备，但不限于此。清洁设备中的清洁部10可以设置有如擦地抹布、擦地海绵或擦地滚刷等清洁件，以对待清洁表面进行清洁。其中，处理器30可以使用各种应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、微中控元件、微处理器或其他电子元件实现。
另外，随着清洁设备的使用次数以及使用时间的增加，清洁部10上的清洁件处于洁净状态时的会发生变化，因此，在本实施例中，处理器30可以利用物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度。也就是说，该标准属性值是可变化的，当清洁设备上的清洁部10为初次使用时，标准属性值可以为出厂设置的默认标准属性值，随着清洁部10的使用次数以及使用时间的增多，清洁部10表面可能会发生变色等，因此，可以随时调整清洁部10对应的标准属性值，例如，可以是清洁设备在上电运行时检测的物理属性值作为标准属性值。另外，还可以记录清洁部10在完成自清洁后所检测到的处于洁净状态时的物理属性值作为标准属性值。本实施例中，通过利用物理属性值与动态设置的标准属性值的比较结果可以准确地确定出待清洁表面的脏污程度，从而提升清洁效率。
进一步地，清洁设备中的处理器30可以基于获取到的待清洁表面的脏污程度智能调整清洁设备的清洁模式，可以在保证对待清洁表面进行有效清洁的同时，合理利用清洁资源。可选地，清洁设备可对应设置有多种清洁模式，不同的清洁模式，其对应的清洁设备的工作参数可能也不相同。例如，在深度清洁模式下，风机和/或驱动清洁部的电机的工作功率会 相对较大、出水量以及出水频率也相对较高，而在简易清洁模式下，风机和/或驱动清洁部的电机的工作功率会相对较小、出水量以及出水频率也相对较低。因此，对于不同脏污程度的待清洁表面，通过调整适应的清洁设备的清洁模式可以在完成清洁工作的同时，合理利用清洁资源。实际应用中，清洁设备的清洁模式的类型，以及对应各清洁模式的清洁设备的工作参数可以根据不同的需求进行设置，本公开实施例对此不做确定。
本公开实施例中，检测装置20可以为光学检测装置，也可以为电学检测装置，对于不同类型的检测装置20来讲，其所检测获得的清洁设备中清洁部10的物理属性值也不尽相同，下面分别对不同类型的检测装置20进行详细说明。
图4示出了根据本公开另一实施例的清洁设备部分结构示意图，在图4所示清洁设备中，检测装置20可以为光学检测装置20，用于检测清洁部10的光学属性值。参见图4可知，检测装置20可以包括光发射器21和光接收器22；光接收器22与接收器同侧设置。图4仅示意性示出了光发射器21和光接收器22的相对位置，实际应用中，可根据不同的需求调整光发射器21和光接收器22的设置位置，本实施例对此不做限定。
其中，光发射器21用于向清洁部10发射光信号；光接收器22用于经由清洁部10反射后形成的光反射信号，并将光反射信号转换为用于表示清洁部10的光学属性值的第一电信号，将第一电信号输出至处理器30；处理器30，用于利用光学属性值计算待清洁表面的脏污程度。
举例来讲，本实施例中的检测装置20可以包括一对红外对管，其中一个作为光发射器21，另一个光接收器22，即，光发射器21为红外接收器，光接收器22为红外接收器。结合图4可知，光发射器21可以向清洁部10发射红外线，光接收器22则用于接收经由清洁部10反射的红外线(反射信号)。如图4所示，红外对管需同侧设置，即红外对管的设置位置相对于清洁部10同侧设置，且均与清洁部10相对地设置，从而保证对经由清洁部10反射的红外线可被光接收器22所接收。进一步地，光接收器22接收到经由清洁部10反射的反射信号后，可将其转换为第一电信号并输出至处理器30。
例如，若清洁部10的表面为覆盖浅色的绒状织物，在清洁部10处于干净的状态下，颜色较浅，所以相对而言，由清洁部10反射的反射信号的光强较强，而在刷头较脏的情况下，刷头颜色变深，由清洁部10反射的反射信号的光强较弱。进一步地，光接收器22对于所接收到的不同强度的反射信号可以转换为不同的电压，进而将不同的电压作为第一电信号传输至处理器30。如图5所示，清洁部10颜色越浅，清洁部10反射的光强越强，电压越高；清洁部10颜色越深，光强越弱，电压相对低。
如上所述，第一电信号可以包括用于表示光学属性值的电压，其可以直接利用检测装置 20检测并传输至处理器30。进一步地，当处理器30接收到光反射器传输的电压之后，将该电压与标准电压进行比较，根据比较结果确定待清洁表面的脏污程度。本公开实施例中，标准电学属性值为预先检测的清洁部处于洁净状态时的电信号，例如，标准电压可以是针对清洁部10未使用处于干净状态时所检测到的电压。实际应用中，清洁部10上的清洁件可能会随着使用次数或是使用时长而发生颜色的改变，本公开实施例中，还可以将标准电压设置为清洁设备在上电运行时检测的清洁部的电压，可以解决不同颜色不同材质清洁部的差异问题，从而使得待清洁表面的脏污程度检测结果更加准确。也就是说，可以在本次使用清洁设备时，可以在清洁设备上电运行时先检测清洁部10的电信号作为标准电压，以供后续的判断比较。可选地，在清洁设备使用完成之后，可以将标准电压初始化，并在下次开启时，先检测处于干净状态下的清洁部10的标准电压。其中，第一电信号与标准电压进行比较，根据比较结果确定待清洁表面的脏污程度时，可以根据第一电信号和标准电压的差值确定待清洁表面的脏污程度，当该差值越小时，则表示脏污程度越低，待清洁表面相对干净，反之，脏污程度越高，待清洁表面相对较脏。
举例来讲，假设某浅色清洁部10的标准电压设置为a，当处理器30接收到光反射器传输的电压较高时，则表示清洁部10的颜色越浅，此时，电压与a越接近，差值越小，表示待清洁表面的脏污程度越低(即待清洁表面相对干净)，当电压较低时，则表示清洁部10的颜色越深，电压与标准电压a的差值越大，此时待清洁表面的脏污程度越高(即待清洁表面相对较脏)。本实施例中的颜色深浅可针对与同一颜色的深浅程度，例如当清洁部10所使用清洁件为蓝色时，则可以通过清洁件的深蓝、浅蓝以及中间过渡色以进行判断确定。
当然，光发射器21还可以发射其他波长的光，相对应地，光接收器22为可接收相应长度光波的接收器，本公开实施例对此不做限定。另外，当清洁部10的颜色不同时，对应反射率也不相同，因此，处理器30还可以结合反射率曲线数据自动计算清洁部10的颜色，进而通过检测到的清洁部10的颜色对应的电压值与清洁部10的标准颜色电压值进行比较，以确定待清洁表面的脏污程度。
本公开实施例中，还可以预先对待清洁表面不同的脏污程度设置不同的脏污等级，例如，可以分别设置脏污程度依次递增的等级1、等级2、等级3以及等级4共四个等级，此外，还可以依据清洁部10不同的物理属性值的划分不同的阈值范围，如阈值范围1、阈值范围2、阈值范围3、阈值范围4，各阈值范围与脏污等级之间建立对应关系，例如，处理器接收到的电压与标准电压的差值对应阈值范围1，则对应的待清洁表面的脏污等级为等级1，电压与标准电压的差值对应阈值范围2对应脏污等级2，以此类推。那么，当处理器30计算出清洁部10的物理属性值(如电压)之后，可进一步确定该物理属性值所处的目标阈值范围， 进而将与该目标阈值范围对应的脏污等级确定为待清洁表面的脏污等级。实际应用中，由于不同材质或是不同类型的清洁件来讲，其清洁能力可能也不同，因此，对于不同类型的清洁件来讲，可以划分并设置不同的阈值范围以及与各阈值范围对应的脏污等级，具体可以根据不同的需求进行设置，本公开实施例对此不做限定。实际应用中，可能会在清洁设备端或是云端存储多组标准属性值以及多组脏污等级的阈值范围，可选地，可以清洁设备上电时刻，先根据清洁部上清洁件的类型等特征参数确定对应的标准属性值，以及匹配的脏污等级的阈值范围，以供后续判断待清洁表面的脏污程度提供判断依据。
在本公开可选实施例中，检测装置20还可以用于检测清洁部10在光发射器21处于关闭状态下的第一物理属性值，以及清洁部10在光发射器21发射白光环境时的第二物理属性值。处理器30，用于根据第一物理属性值和第二物理属性值确定清洁部10的颜色。具体地，第一物理属性值和第二物理属性值可以分别表示清洁部10在自然环境以及白光环境的RGB信号。处理器30可以利用第一物理属性值和第二物理属性值的差值作为清洁部10的RGB信号值，并且进行白平衡校正之后确定清洁部10的颜色，从而利用清洁部10的颜色确定待清洁表面的脏污程度。
在本公开另一可选实施例中，检测装置20可以为电学检测装置20，用于检测清洁部10的电学属性值。可选地，清洁部10设置有电极；检测装置20，与清洁部10上的电极连接，用于检测用于表示清洁部10的电学属性值的第二电信号，并将第二电信号输出至处理器30；处理器30，用于根据电学属性值确定待清洁表面的脏污程度。
在本公开实施例中，可以在清洁部10上设置有一组电极，分别作为正电极和负电极。实际应用中，电极可以以贴片形式设置在清洁部10上。检测装置20为电容传感器，电容传感器可以与清洁部10上的两个电极相连，用于检测清洁部10的电容，并检测到的清洁部10的电容作为第二电信号输出至处理器30。处理器30，用于根据电容和标准电容计算清洁部10的电容变化参数，并根据电容变化参数确定待清洁表面的脏污程度。其中，标准电容可以为预先检测的清洁部10处于洁净状态时的电容，或，清洁设备在上电运行时检测的清洁部10的电容。
实际应用中，在清洁设备的使用过程中，假设待清洁表面干净，则清洁设备的清洁部10上所携带的介质会少于待清洁面脏污的情况，而对于电容传感器来讲，其所检测到的电容的大小与电极的面积、电极之间的距离以及电极之间的介质相关。在本公开实施例中，保证电极的大小以及电极之间的距离不变，那么影响电容传感器的检测结果的影响因素仅为电极之间的介质，因此，本公开实施例提供的方案，通过利用电容传感器检测清洁部10的电容，并利用处理器30计算清洁部10在清洁工作前后的电容变化参数，可以有效且快速判断 出待清洁表面的脏污程度。本实施例中的电容变化参数，可以是电容传感器当前检测到的电容值与预先检测的清洁部10处于干净状态时的电容值之间的差值。也可以是电容传感器当前检测到的电容值与清洁设备上电刚工作时的清洁部10的初始电容值之间的差值，具体可以根据不同的需求进行设定。以房屋中的地面作为待清洁表面为例，清洁部10执行清洁动作检测到的电容作为第一电容，执行清洁动作后检测的电容作为第二电容，利用第二电容减去第一电容差值的大小作为清洁部10的电容变化参数，进而基于电容变化参数确定待清洁表面的脏污程度。
对于不同的清洁环境以及清洁件类型来讲，两个电极之间的介质也可能不同，因此介质的介电常数就会随之变化，因此，基于清洁设备的清洁环境以及所使用的清洁件的类型适应设定并调整在不同电容变化参数对应的待清洁表面的脏污等级，进而计算待清洁表面的脏污程度。本实施例中，脏污程度的设定方式与光学检测装置的设定逻辑相类似。
在本公开可选实施例中，电极为导电电极；检测装置20用于检测清洁部10的导电率，作为第二电信号；处理器30，用于根据导电率和标准导电率计算清洁部10的导电率变化参数，并根据导电率变化参数确定待清洁表面的脏污程度。本实施例的导电率变化参数可以为导电率的变化值、变化幅度以及导电率的变化规律等等。其中，标准导电率可以为预先检测的清洁部10处于洁净状态时的电容，或，清洁设备在上电运行时检测的清洁部10的标准导电率。
对于不同的清洁环境以及清洁件类型来讲，导电率可能也不相同，例如，清洁部10上附着的杂质越多，实时检测的导电率与标准导电率的差值可能会越来越大，也就是说，当实时检测的导电率与标准导电率的差值越大，则可能待清洁表面越脏，实时检测的导电率与标准导电率的差值越小，待清洁表面可能相对较为干净。因此，本公开实施例基于根据清洁设备的清洁环境以及所使用的清洁件的类型适应设定并调整在不同导电率变化参数对应的待清洁表面的脏污等级，进而确定待清洁表面的脏污程度。
前文介绍了将清洁部10的电容或导电率作为第二信号传输至处理器30由处理器30据此计算电学属性值并确定待清洁表面的脏污程度的方案，实际应用中，还可以将清洁部10的电阻作为第二电信号传输至处理器30，由处理器30根据电阻信号的变化规律确定待清洁表面的脏污程度，无需人工判断即可智能检测待清洁表面的脏污程度。
前文分别介绍了光学检测装置和电学检测装置分别检测光学属性值和电学属性值的具体实现方式，在本公开可选实施例中，检测装置20可以同时包括光学检测装置和电学检测装置，即，检测装置20还可以用于检测清洁部10的光学属性值和电学属性值，处理器30可以利用光学属性值和电学属性值结合确定待清洁表面的脏污程度。举例来讲，可以为光学 属性值和电学属性值分配不同的权重，在检测装置20检测到光学属性值和电学属性值之后，利用光学属性值和电学属性值结合各自的权重计算最终的物理属性值，进而利用物理属性值确定待清洁表面的脏污程度。其中，为光学属性值和电学属性值分配权重时，可以依据清洁部10上的清洁件的材质、颜色等特征为依据进行分配。
更具体而言，以清洁部的反射信号和电阻变化参数作为组合来确定待清洁表面的脏污程度。
在本公开可选实施例中，清洁设备还可以包括流体输出装置40和流体回收装置50。流体输出装置40是可以控制如清水、清洗剂、清水与清洗剂的混合液的任一种的清洁液体的装置。流体输出装置40可以将液体喷洒至待清洁表面，进而利用清洁件进行清洁。流体回收装置50，用于将待清洁表面或者清洁部上的污浊液体借助于风机的吸力通过污浊液体污水管道流入流体回收装置50，实现了污浊液体回收的功能，即，待清洁表面进行清洁工作之后所产生的污浊液体进行回收。流体回收装置50具体可以为采用风机驱动吸嘴抽吸污浊液体的方式实现污浊液体的回收。
可选地，流体输出装置40可以包括第一容器41以及流体输出管路42，其中，第一容器41用于存储流体，流体可以为清水、清洗剂、清水与清洗剂的混合液的任一种，在清洁设备使用过程中，可以通过向待清洁表面喷洒流体，进而对待清洁表面进行清洁工作。另外，流体输出管路42可以与第一容器41相连通，第一容器41内的流体通过流体输送管路，输送到清洁部或者待清洁表面，可选地，流体输出管路42可以为按照路径延伸的硬管，或者可以改变路径的软管，具体可根据清洁设备的类型以及清洁设备的结构设计而选择。
进一步地，流体输出装置40还可以包括至少一个喷嘴43，流体输出装置40通过流体输出管路42与喷嘴43连通，以将第一容器41内的流体通过流体输出管路输送给喷嘴处，进而向清洁部10和/或待清洁表面喷洒流体。在清洁设备的使用过程中处理器30可以用于控制流体输出装置40单次喷洒的清洁液体量、清洁液体喷洒频率和污浊液体回收频率等。
如上述所述，清洁设备中还可以设置有风机以及清洁部执行清洁工作的电机，可选地，本公开实施例提供的清洁设备中的处理器30还可以基于待清洁表面的脏污程度调整风机和/或驱动清洁部的电机的工作功率。也就是说，在处理器30确定出待清洁表面的脏污程度之后，还可以根据待清洁表面的脏污程度自适应调整清洁设备中的风机和/或驱动清洁部的电机的工作功率。例如，对于相对干净的地面，设备正常清洁即可，或是适应减少风机和/或电机的功率。然而针对比较赃污的地面，可能需要喷洒更多的干净液体，这样的话，也就需要增加风机和/或电机的工作功率，以及时回收地面上的污浊液体，在实现智能清洁的同时，有效提升用户的使用体验。
上述实施例提及，对应于不同的脏污程度可以设置不同的脏污等级，可选地，处理器30调整风机和/或驱动清洁部的电机的工作功率时，可以先获取预先划分的对应不同脏污程度的多个脏污等级；进而基于待清洁表面的脏污程度确定待清洁表面对应的目标脏污等级；最后获取目标脏污等级匹配的风机和/或驱动清洁部的电机的工作功率，以风机和/或驱动清洁部的电机的工作功率控制清洁设备运行。
举例来讲，假设有脏污等级1、脏污等级2、脏污等级3以及脏污等级4，共四个脏污等级。那么，可以预先设置与脏污等级1、脏污等级2、脏污等级3以及脏污等级4分别对应的风机和/或驱动清洁部的电机的工作功率。例如，等级1对应风机工作功率为x1，电机工作功率为y1；等级2对应风机工作功率为x2，电机工作功率为y2；等级3对应风机工作功率为x3，电机工作功率为y3；等级4对应风机工作功率为x4，电机工作功率为y4。当确定待清洁表面在多个脏污等级中对应的目标脏污等级时，可以获取预先设置的与目标脏污等级匹配的风机工作功率和电机工作功率作为当前清洁设备所需的目标风机工作功率和目标电机工作功率，进而以所获取的风机工作功率和/或电机工作功率控制清洁设备进行清洁工作，可以在保证对待清洁表面进行有效清洁的同时，合理利用清洁资源。
实际应用中，如图6所示，清洁设备还可以包括设备本体60，设备本体60整体可呈具有空腔的细长柱体，处理器30、流体输出装置40和流体回收装置50均可以设置在设备本体60的空腔内，从而合理利用清洁设备的空间，并减小清洁设备的整体体积。设备本体60的一端可以与清洁部10连接，当清洁设备为手持清洁设备时，设备本体60的另一端设有手持部61，在使用清洁设备时，手持部61与设备本体60所构成的整体相对于清洁部10倾斜，这样利用设备本体60的重力所产生的下压力，使清洁件与待清洁表面更加贴合，并且方便用户利用手持部61推动清洁部10，更加省力；在清洁设备放置在充电桩上时，手持部61与设备本体60所构成的整体相对于清洁部10垂直，从而使减小手持洗地设备的占用空间。
在清洁设备的使用过程中，流体输出装置40中的流体可能会随着使用时长的增加而减少，因此，本公开实施例中，还可以在液体输出装置40中设置第一传感器，设置于流体输出装置40的第一容器41中，用于检测第一容器41的流体液位。亦或是，第一传感器设置于流体输出装置40的流体输出管路42中，用于检测流体输出管路42内是否有流体。其中，第一传感器可与处理器30连接，处理器30，则可以根据第一传感器的检测结果判断是否控制清洁设备的喷洒流体，或是是否控制清洁设备执行清洁工作，或是是否需要向流体输出装置40中补充干净流体。例如，当处理器30根据第一传感器的检测结果判断第一容器的流体液位低于第一设定液位，或是流体输出管路内没有流体时，可确定需要向流体输出装置40内补充添加流体。
可选地，流体回收装置50可以包括用于存储污浊液体的第二容器51，具体形状不做严格限定。第二容器51中可设置第二传感器，用于检测第二容器中的流体液位。其中，第二传感器可与处理器30连接，处理器30可根据第二传感器的检测结果(如第二容器中的流体液位)确定是否需要及时清理流体回收装置50存储的回收的污浊液体，从而保证清洁设备的清洁工作顺利进行。例如，当处理器30根据第二传感器的检测结果判断第二容器51的流体液位高于第二设定液位时，确定需要及时清理第二容器中的污浊液体。本实施例中的第一传感器和第二传感器可以为非接触式传感器或接触式传感器，非接触式传感器为电容式传感器。
可选地，流体回收装置50还可以包括至少一个吸嘴52，以及连接吸嘴52和第二容器的抽吸管道53，其中，吸嘴52可设置在清洁部10上，用于抽吸清洁部10和/或待清洁表面的污浊液体，抽吸到的污浊液体经由抽吸管道53输送至第二容器内。抽吸管道53可以为按照路径延伸的硬管，或者可以改变路径的软管，具体可根据清洁设备的类型以及清洁设备的结构设计而选择。当然，除上述介绍的之外，流体回收装置50还可以包括风机，以驱动吸嘴52抽吸污浊液体。
在本公开实施例中，清洁设备还可以有语音提示装置，与处理器30连接，用于发出语音提示信息。举例来讲，如上文所述，处理器30可以根据第一传感器或是第二传感器的检测结果判断是否需要向第一容器中补充液体，或是是否需要清理第二容器中的污浊液体。可选地，语音提示装置还可以用于在处理器30根据第一传感器的检测结果确定需要向流体输出装置40内补充添加流体，和/或需要及时清理流体回收装置50存储的回收的污浊液体，可发出对应的语音提示信息，以提示用户及时对清洁设备进行维护。当然。语音提示模块还可以对发出其他与清洁设备相关的提示信息，本公开实施例对此不做限定。除了进行语音提示之外，本实施例中的清洁设备还可以设置显示装置(如显示屏)，与处理器连接，可用于显示待清洁表面的脏污程度，风机的功率等级等清洁设备的相关参数。
在本公开可选实施例中，在处理器30确定出待清洁表面的脏污程度以及判断是否需要向第一容器中补充液体，或是是否需要清理第二容器中的污浊液体之后，先通过语音提示装置和/或显示装置展示语音、文字、图片和/或动画的提示信息，同时向用户推荐当前的可执行操作，例如，向用户提示补充净水、补充洗涤剂、清理污浊液体、更换清洁件以及切换清洁模式等可执行操作，进而由用户根据提示信息执行或是触发不同的操作指令后进一步完成清洁工作，以通过增加人机交互的功能，结合实际脏污程度以及用户的清洁需求完成清洁工作，以进一步提升用户的使用体验。
基于同一构思，本公开实施例还提供了用于清洁设备的脏污检测方法，参见图7可知， 本公开实施例提供的用于清洁设备的脏污检测方法至少可以包括以下步骤S701～S703。
S701，检测清洁设备的清洁部10的物理属性值。
如图6所示，本实施例提供的清洁设备可以包括检测装置20，具体可以利用该检测装置20检测清洁部10的物理属性值。清洁设备可以为清洗地面、墙面、桌面、地毯、墙壁或玻璃等区域的扫地机器人、拖地机器人、地面抛光机器人、除草机器人或手持清洁设备，但不限于此。清洁设备中的清洁部10可以设置有如擦地抹布、擦地海绵或擦地滚刷等清洁件，以对待清洁表面进行清洁。
检测装置20可以为光学检测装置20，也可以为电学检测装置20，对于不同类型的检测装置20来讲，其所检测获得的清洁设备中清洁部10的物理属性值也不相同。
S702，利用物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度。
在检测装置20检测到清洁部10的物理属性值之后，即可利用物理属性值确定待清洁表面的脏污程度。
以检测装置20为光学检测装置20为例，上述步骤S701检测清洁设备的清洁部10的物理属性值对应为光学属性值。具体在检测时，可以先利用光发射器21发射光信号，利用光接收器22接收经由清洁部10反射后形成的光反射信号，并将光反射信号转换为用于表示清洁部10的光学属性值的第一电信号，进一步地，上步骤S702可以利用光学属性值与标准光学属性值的差值计算待清洁表面的脏污程度。其中，标准光学属性值包括预先检测的清洁部处于洁净状态时的光学属性值，或，清洁设备在上电运行时检测的清洁部的光学属性值。
例如，若清洁部10的表面为覆盖浅色的绒状织物，在清洁部10处于干净的状态下，颜色较浅，所以相对而言，由清洁部10反射的反射信号的光强较强，而在刷头较脏的情况下，刷头颜色变深，由清洁部10反射的反射信号的光强较弱。进一步地，光接收器22对于所接收到的不同强度的反射信号可以转换为不同的电压，进而将不同的电压作为第一点信号传输至处理器30。
对应地，清洁部10颜色越浅，清洁部10反射的光强越强，电压越高；清洁部10颜色越深，光强越弱，电压相对低。进一步地，当处理器30接收到光反射器传输的第一电信号(例如电压)之后，通过与标准电学属性值进行比较后的比较结果(如二者的差值)，即可基于接收到的电压确定清洁部10的脏污程度。具体地，假设某浅色清洁部10的标准电学属性值设置为a，当处理器30接收到光反射器传输的第一电信号较高时，则表示清洁部10的颜色越浅，此时，第一电信号与a越接近，差值越小，表示待清洁表面的脏污程度越低(即待清洁表面相对干净)，当第一电信号较低时，则表示清洁部10的颜色越深，第一电信号与 a的差值越大，此时待清洁表面的脏污程度越高(即待清洁表面相对较脏)。
以检测装置20为电学检测装置20为例，上述步骤S701检测清洁设备的清洁部10的物理属性值对应为电学属性值。具体在检测时，检测用于表示清洁部10的电学属性值的第二电信号，进而根据电学属性值确定待清洁表面的脏污程度。
可选地，第二电信号可以为导电率、电容、电阻等参数，获取到第二电信号之后，可进一步基于第二电信号计算清洁部10的电容变化参数、导电率变化参数、电阻变化参数等等，进而根据电学属性值和标准电学属性值计算清洁部10的电信号变化参数，利用电信号变化参数计算待清洁表面的脏污程度。其中，标准电学属性值包括预先检测的清洁部处于洁净状态时的电学属性值，或，清洁设备在上电运行时检测的清洁部的电学属性值。例如，可以根据清洁部的实时检测电容与标准电容的差值的大小确定待清洁表面的脏污程度，根据清洁部的实时检测导电率与标准导电率的差值的大小确定待清洁表面的脏污程度本公开实施例提供的方法，根据清洁部10在清洁时的不同物理状态，在无需人工判断的前提下快速且高效确定待清洁表面的脏污程度。
步骤S703，基于脏污程度，调整清洁设备的清洁模式。
如前文所述，待清洁表面的脏污程度不同，清洁设备对应的工作参数也不同，例如，对于相对干净的地面，设备正常清洁即可，然而针对比较赃污的地面，可能需要喷洒更多的干净液体。因此，本公开实施例提供的方法中，可以基于待清洁表面的脏污程度适应调整风机和/或驱动清洁部的电机的工作功率、实际应用中，除风机的工作功率和电机的工作功率之外，还可以同时调节清洁设备中流体输出装置的流体输出量、流体输出频率等清洁设备的相关运行参数，本公开实施例对此不做限定。
可选地，调整风机和/或电机的工作功率时，可以增大或减小风机和/或电机的工作功率。
也就是说，若待清洁表面的脏污程度越高，则可以适应增加流体输出装置的流体输出量、增大清洁部的电机功率、增大流体输出装置的流体输出频率和/或增大流体回收装置的风机功率。即，在清洁设备的使用过程中，如果待清洁表面为较为脏污地面，则会提高流体输出装置的输出净水量和输出频率、增大清洁部的电机功率，同时还可以加大流体回收装置的风机功率。
反之，若待清洁表面的脏污程度越低，则会适应减小流体输出装置的流体输出量、降低清洁部的电机功率、降低流体输出装置的流体输出频率和/或降低流体回收装置的风机功率。也就是说，在清洁设备的使用过程中，如果待清洁表面为较为干净的地面，则可以减小流体输出装置的输出净水量和输出频率、降低清洁部的电机功率，同时还可以降低流体回收装置的风机功率。在清洁设备的整个工作过程中，可随实时检测的待清洁表面的脏污程度的变化 随时调整清洁设备的如电机、风机的工作功率等工作参数，以保证清洁设备的工作效率的同时，减少能源消耗。
结合上述实施例可知，待清洁表面的脏污程度可以分为不同的脏污等级，本公开实施例中，基于脏污程度调整风机和/或驱动清洁部的电机的工作功率可以包括：
S1，获取预先划分的对应不同脏污程度的多个脏污等级。实际应用中，脏污等级的数量可根据不同的需求进行设置，或者是根据待清洁表面的类型或是待清洁表面所处环境进行预先划分。本公开实施例对此不做限定。
S2，基于待清洁表面的脏污程度确定待清洁表面对应的目标脏污等级。参见上述实施例，确定待清洁表面的脏污程度确定待清洁表面对应的目标脏污等级时，可以根据确定的待清洁表面的物理属性值进行识别确定。例如，可以分别设置脏污程度依次递增的等级1、等级2、等级3以及等级4共四个等级，此外，还可以依据清洁部10不同的物理属性值的划分不同的阈值范围，如阈值范围1、阈值范围2、阈值范围3、阈值范围4，各阈值范围与脏污等级之间建立对应关系。
S3，获取目标脏污等级匹配的清洁设备的清洁模式，根据清洁模式对应的清洁参数控制所述清洁设备运行。
换言之，判断待清洁表面的脏污程度时，可以判断待清洁表面对应的脏污等级，对于不同的脏污等级，可预先设置相应的清洁设备的清洁模式以及对应的工作参数，例如，可以预先设置对应上述步骤S2中等级1、等级2、等级3以及等级4各自对应的清洁模式1、清洁模式2、清洁模式3和清洁模式4。进一步地，在不同的清洁模式下，清洁设备对应的清洁参数也不相同，以风机和/或驱动清洁部的电机的工作功率为例来讲，等级1对应风机工作功率为x1，电机工作功率为y1；等级2对应风机工作功率为x2，电机工作功率为y2；等级3对应风机工作功率为x3，电机工作功率为y3；等级4对应风机工作功率为x4，电机工作功率为y4。当确定待清洁表面在多个脏污等级中对应的目标脏污等级时，可以获取预先设置的与目标脏污等级匹配的风机工作功率和电机工作功率作为当前清洁设备所需的目标风机工作功率和目标电机工作功率，进而以所获取的风机工作功率和/或电机工作功率控制清洁设备进行清洁工作。
在本公开可选实施例中，可以通过机器学习生成或是其他方式为不同脏污等级设定对应的清洁模式及对应该清洁模式的清洁设备的工作参数，当确定出待清洁表面的脏污程度之后，即可选取与之适配的清洁模式，以利用所选取的清洁模式对应的清洁设备的工作参数控制清洁设备进行清洁工作。例如，假设待清洁表面的脏污等级较高，表示待清洁表面脏污较多，则对应的风机工作功率和/或电机工作功率增大，同时清洁液体量增加、清洁液体喷洒 频率增加、污浊液体回收频率增加。反之，假设待清洁表面的脏污等级较低，表示待清洁表面较为干净，则对应的风机工作功率和/或电机工作功率增大减少，清洁液体量减小、清洁液体喷洒频率降低、污浊液体回收频率降低。本公开实施例提供的方案，通过根据待清洁表面的脏污程度智能调整清洁设备的清洁模式，可以在保证对待清洁表面进行有效清洁的同时，合理分配并节约清洁资源。
在本公开可选实施例中，还可以预先设置清洁设备的线性运行曲线，其中，脏污程度作为自变量，清洁设备的工作参数作为因变量，在清洁设备执行清洁工作的过程中，可以利用运行曲线控制清洁设备的运行，以基于检测到的待清洁表面的脏污程度自适应调整清洁设备的工作参数，该工作参数可以包括风机和/或驱动清洁部的电机的工作功率、清洁频率、清洁力度、出水量等参数中的一种或多种。
本公开实施例提供了一种用于清洁设备的脏污检测方法，基于本公开实施例提供的方法中，通过清洁设备自身即可检测清洁设备中清洁部10的物理属性值，无需人工判断即可根据物理属性值智能确定出待清洁表面的脏污程度，可以为清洁设备的清洁工作提供一定的参考依据。
进一步地，本公开实施例提供的方法还可以根据待清洁表面的脏污程度有针对性地对待清洁表面进行智能清洁，灵活调整清洁设备的工作参数，进而在提升清洁设备智能性的同时合理利用清洁资源，进而提升用户的使用体验。
本公开实施例提供了一种手持清洁设备，该清洁设备可以包括清洁部、检测装置、处理器以及设备本体。其中，设备本体的一端可以与清洁部连接，检测装置设置于清洁部上，或与清洁部相对地设置于设备本体上；其中，设备本体具有空腔，处理器设置于设备本体的空腔内。
其中，清洁部用于对待清洁表面进行清洁；检测装置用于检测清洁部的物理属性值；处理器，与检测装置电连接用于获取检测装置检测到的物理属性值，并根据物理属性值确定待清洁表面的脏污程度；基于脏污程度，调整风机和/或驱动清洁部的电机的工作功率。另外，对于清洁部、检测装置以及处理器的相对位置以及连接关系及功能，可参见上述实施例的记载，此处不再赘述。
可选地，设备本体整体可呈具有空腔的细长柱体，处理器设置于设备本体的空腔中。设备本体的另一端设有手持部，在使用清洁设备时，手持部与设备本体所构成的整体相对于清洁部倾斜。
可选地，清洁设备包括流体输出装置，流体输出装置用于存储流体。该流体可以为清水、清洗剂、清水与清洗剂的混合液的任一种的清洁液体。
流体输出装置包括：第一容器以及流体输出管路，第一容器用于存储流体；流体输出管路与第一容器连通，第一容器内的流体通过流体输送管路，输送到清洁部或者待清洁表面，可选地，流体输出管路可以为按照路径延伸的硬管，或者可以改变路径的软管，具体可根据清洁设备的类型以及清洁设备的结构设计而选择。
流体输出装置还可以包括至少一个喷嘴，流体储存装置通过流体输出管路与喷嘴连通，以将流体储存装置内的流体通过流体输出管路输送给喷嘴处，进而向清洁部和/或待清洁表面喷洒流体。
流体输出装置设置有第一传感器，与处理器连接。
可选地，第一传感器设置于流体输出装置的第一容器中，用于检测第一容器的流体液位。或，第一传感器设置于流体输出装置的流体输出管路中，用于检测流体输出管路内是否有流体。处理器，还用于根据第一传感器的检测结果是否需要向流体输出装置中补充干净流体。
可选地，手持清洁设备还可以包括：流体回收装置，用于回收待清洁表面上的污浊液体。
其中，流体回收装置包括第二容器，用于存储污浊液体。
流体回收装置还包括至少一个吸嘴，以及连接吸嘴和第二容器的抽吸管道，其中，吸嘴可设置在清洁部上，用于抽吸清洁部和/或待清洁表面的污浊液体，抽吸到的污浊液体经由抽吸管道输送至第二容器内。
流体回收装置还包括第二传感器，设置于第二容器中，与处理器连接，用于检测第二容器中的流体液位。处理器，还用于根据第二传感器的检测结果确定是否需要清理第二容器中的污浊液体。
本公开实施例提供了一种清洁设备，该清洁设备可以包括清洁部、检测装置、处理器、流体输出装置以及流体回收装置。其中，清洁部用于对待清洁表面进行清洁；检测装置用于检测清洁部的物理属性值；处理器，与检测装置电连接用于获取检测装置检测到的物理属性值，并根据物理属性值确定待清洁表面的脏污程度；基于脏污程度，调整风机和/或驱动清洁部的电机的工作功率。另外，对于清洁部、检测装置以及处理器的相对位置以及连接关系及功能，可参见上述实施例的记载，此处不再赘述。
其中，流体输出装置用于存储流体。该流体可以为清水、清洗剂、清水与清洗剂的混合液的任一种的清洁液体。流体回收装置，用于回收待清洁表面上的污浊液体。
流体输出装置包括第一容器以及流体输出管路，第一容器用于存储流体；流体输出管路与第一容器连通，第一容器内的流体通过流体输送管路，输送到清洁部或者待清洁表面，可选地，流体输出管路可以为按照路径延伸的硬管，或者可以改变路径的软管，具体可根据清 洁设备的类型以及清洁设备的结构设计而选择。
可选地，流体输出装置还可以包括至少一个喷嘴，流体储存装置通过流体输出管路与喷嘴连通，以将流体储存装置内的流体通过流体输出管路输送给喷嘴处，进而向清洁部和/或待清洁表面喷洒流体。
可选地，流体输出装置设置有第一传感器，与处理器连接。
可选地，第一传感器设置于流体输出装置的第一容器中，用于检测第一容器的流体液位。或，第一传感器设置于流体输出装置的流体输出管路中，用于检测流体输出管路内是否有流体。处理器，还用于根据第一传感器的检测结果是否需要向流体输出装置中补充干净流体。
可选地，清洁设备还可以包括：流体回收装置，用于回收待清洁表面上的污浊液体。
其中，流体回收装置包括第二容器，用于存储污浊液体。
流体回收装置还包括至少一个吸嘴，以及连接吸嘴和第二容器的抽吸管道，其中，吸嘴可设置在清洁部上，用于抽吸清洁部和/或待清洁表面的污浊液体，抽吸到的污浊液体经由抽吸管道输送至第二容器内。
流体回收装置还包括第二传感器，设置于第二容器中，与处理器连接，用于检测第二容器中的流体液位。处理器，还用于根据第二传感器的检测结果确定是否需要清理第二容器中的污浊液体。
可选地，清洁设备还可以包括语音提示装置，与处理器连接，用于发出语音提示信息。具体地，语音提示装置可以用于在处理器根据第一传感器的检测结果确定需要向流体输出装置内补充添加流体，和/或需要清理流体回收装置存储的回收的污浊液体时，发出对应的语音提示信息。
可选地，清洁设备还可以包括显示装置，与处理器连接，用于显示待清洁表面的脏污程度、第一传感器的检测结果和/或第二传感器的检测结果，当然，显示装置还可以显示清洁设备在运行时的风机的功率等运行参数，本公开对此不做限定。
可选地，清洁设备还可以包括设备本体，设备本体的一端可以与清洁部连接，检测装置设置于清洁部上，或与清洁部相对地设置于设备本体上。
设备本体具有空腔，处理器、流体输出装置以及流体回收装置设置于设备本体的空腔内。
所属领域的技术人员可以清楚地了解到，本实施例中所提及的用于清洁设备的脏污检测方法可参见上述实施例中对于清洁设备的对应的工作过程，为简洁起见，在此不另赘述。
在本公开可选实施例中，还提供了一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序指令；计算机程序指令被处理器执行时实现上述的用于洁设备的脏污检测方法。
所属领域的技术人员可以清楚地了解到，上述描述的系统、装置、模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，为简洁起见，在此不另赘述。
另外，在本公开各个实施例中的各功能单元可以物理上相互独立，也可以两个或两个以上功能单元集成在一起，还可以全部功能单元都集成在一个处理单元中。上述集成的功能单元既可以采用硬件的形式实现，也可以采用软件或者固件的形式实现。
本领域普通技术人员可以理解：所述集成的功能单元如果以软件的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，其包括若干指令，用以使得一台计算设备(例如个人计算机，服务器，或者网络设备等)在运行所述指令时执行本公开各实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM)、随机存取存储器(RAM)，磁碟或者光盘等各种可以存储程序代码的介质。
或者，实现前述方法实施例的全部或部分步骤可以通过程序指令相关的硬件(诸如个人计算机，服务器，或者网络设备等的计算设备)来完成，所述程序指令可以存储于一计算机可读取存储介质中，当所述程序指令被计算设备的处理器执行时，所述计算设备执行本公开各实施例所述方法的全部或部分步骤。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：在本公开的精神和原则之内，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案脱离本公开的保护范围。

Claims (17)

  1. 一种清洁设备，包括：
    清洁部，用于对待清洁表面进行清洁；
    检测装置，用于检测所述清洁部的物理属性值；
    处理器，用于获取所述检测装置检测到的所述物理属性值，并利用所述物理属性值与动态设置的标准属性值的比较结果确定所述待清洁表面的脏污程度，基于所述脏污程度调整清洁设备的清洁模式。
  2. 根据权利要求1所述的清洁设备，其中，所述检测装置设置于所述清洁部上，或与所述清洁部相对地设置。
  3. 根据权利要求1所述的清洁设备，其中，所述检测装置包括光学检测装置，用于检测所述清洁部的光学属性值。
  4. 根据权利要求3所述的清洁设备，其中，所述检测装置包括光发射器和光接收器；
    所述光发射器，用于向所述清洁部发射光信号；
    所述光接收器，用于接收经由所述清洁部反射后形成的光反射信号，并将所述光反射信号转换为用于表示所述清洁部的光学属性值的第一电信号，将所述第一电信号输出至所述处理器；
    所述处理器，用于利用所述光学属性值计算所述待清洁表面的脏污程度。
  5. 根据权利要求4所述的清洁设备，其中，所述第一电信号包括用于表示所述光学属性值的电压；
    所述处理器，用于将所述电压与标准电压进行比较，根据比较结果确定所述待清洁表面的脏污程度；所述标准电压为预先检测的所述清洁部处于洁净状态时的电压，或，所述清洁设备在上电运行时检测的所述清洁部的电压。
  6. 根据权利要求4所述的清洁设备，其中，所述光接收器与所述接收器同侧设置。
  7. 根据权利要求1所述的清洁设备，其中，所述检测装置包括电学检测装置，用于检测所述清洁部的电学属性值。
  8. 根据权利要求7所述的清洁设备，其中，所述清洁部设置有电极；
    所述检测装置，与所述清洁部上的电极连接，用于检测用于表示所述清洁部的电学属性值的第二电信号，并将所述第二电信号输出至所述处理器；
    所述处理器，用于利用所述电学属性值计算所述待清洁表面的脏污程度。
  9. 根据权利要求8所述的清洁设备，其中，所述检测装置为电容传感器，用于检测所述清洁部的电容，作为所述第二电信号输出至所述处理器；
    所述处理器，用于根据所述电容和标准电容计算所述清洁部的电容变化参数，并利用电容变化参数计算所述待清洁表面的脏污程度。
  10. 根据权利要求8所述的清洁设备，其中，
    所述检测装置用于检测所述清洁部的导电率，作为所述第二电信号输出至所述处理器；
    所述处理器，用于根据所述导电率和标准导电率计算所述清洁部的导电率变化参数，并利用导电率变化参数计算所述待清洁表面的脏污程度。
  11. 根据权利要求1所述的清洁设备，还包括：流体输出装置和流体回收装置，其中，
    所述流体输出装置，用于将液体喷洒至所述清洁部或所述待清洁表面，并且
    所述流体回收装置，用于使所述待清洁表面或所述清洁部上的污浊液体通过污浊液体污水管道流入所述流体回收装置。
  12. 根据权利要求11所述的清洁设备，其中，所述流体输出装置包括：
    第一容器，用于存储所述液体；
    流体输出管路，与所述第一容器相连通，并且用于将所述第一容器中的液体输送到所述清洁部或所述待清洁表面；以及
    至少一个喷嘴，与所述流体输出管路连通，并且用于向所述清洁部或所述待清洁表面喷洒所述液体。
  13. 根据权利要求11所述的清洁设备，其中，所述流体回收装置包括：
    第二容器，用于存储污浊液体；
    设置在所述第二容器中的第二传感器，用于检测所述第二容器中的流体液位；
    至少一个吸嘴，用于抽吸所述清洁部或所述待清洁表面的污浊液体；以及
    抽吸管道，连接所述至少一个吸嘴与所述第二容器，并且用于将来自所述吸嘴的污浊液体抽吸到所述第二容器内。
  14. 一种用于清洁设备的脏污检测方法，包括：
    检测清洁设备的清洁部的物理属性值；
    利用所述物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度；
    基于所述脏污程度调整清洁设备的清洁模式；
    所述清洁部用于对所述待清洁表面进行清洁。
  15. 根据权利要求14所述的方法，其中，所述物理属性值包括光学属性值；
    所述检测清洁设备的清洁部的物理属性值包括：利用光发射器发射光信号，利用光接收 器接收经由清洁部反射后形成的光反射信号，并将光反射信号转换为用于表示清洁部的光学属性值的第一电信号；
    所述利用所述物理属性值与动态设置的标准属性值的比较结果确定待清洁表面的脏污程度包括：利用所述光学属性值与标准光学属性值的差值计算所述待清洁表面的脏污程度；
    其中，所述标准光学属性值包括预先检测的所述清洁部处于洁净状态时的光学属性值，或，所述清洁设备在上电运行时检测的所述清洁部的光学属性值。
  16. 根据权利要求14所述的方法，其中，所述物理属性值包括电学属性值；
    所述检测清洁设备的清洁部的物理属性值包括：检测用于表示清洁部的电学属性值的第二电信号；所述第二电信号包括：导电率、电容、电阻中至少之一；
    所述利用所述物理属性值与动态设置的标准电学属性值的比较结果确定待清洁表面的脏污程度包括：根据所述电学属性值和标准电学属性值计算所述清洁部的电信号变化参数，利用所述电信号变化参数计算所述待清洁表面的脏污程度；
    其中，所述标准电学属性值包括预先检测的所述清洁部处于洁净状态时的电学属性值，或，所述清洁设备在上电运行时检测的所述清洁部的电学属性值。
  17. 根据权利要求14-16任一项所述的方法，其中，所述基于所述脏污程度调整清洁设备的清洁模式包括：
    获取预先划分的对应不同脏污程度的多个脏污等级；
    基于所述待清洁表面的脏污程度确定所述待清洁表面对应的目标脏污等级；
    获取所述目标脏污等级匹配的清洁设备的清洁模式，根据所述清洁模式对应的清洁参数控制所述清洁设备运行；所述清洁参数包括风机和/或驱动清洁部的电机的工作功率。
PCT/CN2021/124754 2021-05-27 2021-10-19 清洁设备及脏污检测方法 Ceased WO2022247109A1 (zh)

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