WO2022007590A1 - 清洁机构的脏污程度确定方法、装置及存储介质 - Google Patents

清洁机构的脏污程度确定方法、装置及存储介质 Download PDF

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Publication number
WO2022007590A1
WO2022007590A1 PCT/CN2021/099637 CN2021099637W WO2022007590A1 WO 2022007590 A1 WO2022007590 A1 WO 2022007590A1 CN 2021099637 W CN2021099637 W CN 2021099637W WO 2022007590 A1 WO2022007590 A1 WO 2022007590A1
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Prior art keywords
cleaning
degree
cleaning mechanism
contamination
target position
Prior art date
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PCT/CN2021/099637
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English (en)
French (fr)
Inventor
王生乐
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追觅创新科技(苏州)有限公司
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Publication date
Application filed by 追觅创新科技(苏州)有限公司 filed Critical 追觅创新科技(苏州)有限公司
Priority to KR1020227044074A priority Critical patent/KR20230011389A/ko
Priority to EP21838334.7A priority patent/EP4154789A4/en
Priority to CA3183550A priority patent/CA3183550A1/en
Priority to US17/634,228 priority patent/US20220296069A1/en
Priority to JP2022580030A priority patent/JP2023532015A/ja
Priority to AU2021304670A priority patent/AU2021304670A1/en
Publication of WO2022007590A1 publication Critical patent/WO2022007590A1/zh

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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
    • A47L11/24—Floor-sweeping 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
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present application relates to a method, device and storage medium for determining the degree of contamination of a cleaning mechanism, belonging to the technical field of computers.
  • Cleaning equipment (such as sweeping robots, mopping robots, etc.) is a kind of smart household appliances, which can automatically complete the ground cleaning work in the room with certain artificial intelligence.
  • the mopping function is realized by arranging a rag at the bottom of the equipment. When the rag is seriously dirty, it will cause secondary pollution to the ground in the subsequent ground cleaning process.
  • the degree of contamination of the cleaning mechanism may not be serious, and in this case, cleaning the cleaning mechanism will waste cleaning resources. Or, before the cleaning cycle, the degree of contamination of the cleaning mechanism may already cause secondary pollution to the ground. At this time, the cleaning effect of the cleaning equipment is not good.
  • the present application provides a method, device and storage medium for determining the degree of contamination of a cleaning mechanism, which can solve the problems of wasting cleaning resources or poor cleaning effect of cleaning equipment when cleaning the cleaning mechanism based on a fixed cleaning cycle.
  • This application provides the following technical solutions:
  • a method for determining the degree of contamination of a cleaning mechanism is provided, which is used in cleaning equipment, where the cleaning mechanism and a sensing component are installed on the cleaning equipment, and the sensing component is used to collect information within a sensing range.
  • the characteristic parameter is the parameter of the reflected signal of the designated signal collected after the sensing component transmits the designated signal, and the method includes:
  • the first characteristic parameter is the characteristic parameter collected by the sensing assembly before cleaning the target position; after controlling the cleaning mechanism After cleaning the target position, acquire the second characteristic parameter of the target position collected by the sensing component;
  • the soiling level of the cleaning mechanism is determined based on the soiling level of the target location.
  • the sensing component includes a reflective light sensor component
  • the characteristic parameter includes a light intensity parameter of a reflected light signal collected by the reflective light sensor component.
  • the determining the degree of contamination of the cleaning mechanism based on the degree of contamination of the target location includes:
  • the contamination degree of the target position determined at each working moment within a preset time period is accumulated to obtain the contamination degree of the cleaning mechanism.
  • the method further includes:
  • a first cleaning working mode is activated to clean the cleaning mechanism.
  • the first cleaning working mode includes:
  • a cleaning prompt is output to prompt the user to clean the cleaning mechanism.
  • the method further includes:
  • a second cleaning working mode is activated according to the degree of soiling, so as to clean the cleaning mechanism.
  • the starting of the second cleaning working mode according to the degree of soiling includes:
  • the output mode of the cleaning prompt is determined according to the degree of soiling; the cleaning prompt is output according to the output mode to prompt the user to clean the cleaning mechanism.
  • the sensing assembly includes a first sensor and a second sensor; in the traveling direction of the cleaning device, the first sensor is installed at the front end of the second sensor; the first sensor and the The mechanism with the cleaning function provided between the second sensors only includes the cleaning mechanism;
  • the first sensor is used to collect the first characteristic parameter
  • the second sensor is used to collect the second characteristic parameter
  • acquiring the second characteristic parameter of the target position includes:
  • the movement duration is determined based on the installation distance and the movement speed, and the movement duration means that for the same target position, the cleaning device starts from the target position where the vertical projection of the first sensor is the target position to the second The position of the vertical projection of the sensor is the predicted duration until the target position;
  • a device for determining the degree of contamination of a cleaning mechanism which is used in cleaning equipment, where the cleaning mechanism and a sensing assembly are installed on the cleaning equipment, and the sensing assembly is used to collect information within a sensing range.
  • the characteristic parameter is the parameter of the reflected signal of the designated signal collected after the sensing component transmits the designated signal, and the device includes:
  • an acquisition module configured to acquire the first characteristic parameter of the target position in the working area, where the first characteristic parameter is the characteristic parameter collected by the sensing component before cleaning the target position;
  • the obtaining module is further configured to obtain the second characteristic parameter of the target position after controlling the cleaning mechanism to clean the target position;
  • a determining module configured to determine the degree of contamination of the target location based on the difference between the first characteristic parameter and the second characteristic parameter
  • the determining module is further configured to determine the degree of contamination of the cleaning mechanism based on the degree of contamination of the target position.
  • a device for determining the degree of soiling of a cleaning mechanism includes a processor and a memory; the memory stores a program, and the program is loaded and executed by the processor to realize the first aspect. The method for determining the degree of soiling of the cleaning mechanism described above.
  • a computer-readable storage medium is provided, and a program is stored in the storage medium, and the program is loaded and executed by the processor to implement the method for determining the degree of contamination of the cleaning mechanism according to the first aspect.
  • the beneficial effects of the present application are: acquiring the first characteristic parameter of the target position in the working area collected by the sensing assembly before cleaning; after controlling the cleaning mechanism to clean the target position, acquiring the second characteristic of the target position collected by the sensing assembly parameter; based on the difference between the first characteristic parameter and the second characteristic parameter, determine the degree of contamination of the target position; determine the degree of contamination of the cleaning mechanism based on the degree of contamination of the target position; can solve the problem of cleaning the cleaning mechanism based on a fixed cleaning cycle When cleaning, there is a waste of cleaning resources or the cleaning effect of the cleaning equipment is not good; since the degree of contamination of the cleaning mechanism can be determined, so as to determine whether the cleaning mechanism needs to be cleaned according to the degree of contamination, the cleaning timing of the cleaning mechanism can be determined. accuracy.
  • FIG. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • FIG. 2 is a flowchart of a method for determining a degree of contamination of a cleaning mechanism provided by an embodiment of the present application
  • FIG. 3 is a block diagram of a device for determining a degree of contamination of a cleaning mechanism provided by an embodiment of the present application
  • FIG. 4 is a block diagram of a device for determining the degree of contamination of a cleaning mechanism provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • the cleaning device is a device with a cleaning function and a self-moving function, such as a sweeping robot, a mopping robot, etc., and the device type of the cleaning device is not limited in this embodiment.
  • the cleaning device at least includes: a cleaning structure 110 , a sensing assembly 120 and a control assembly 130 .
  • the cleaning mechanism 110 is used to clean the work area under the control of the cleaning device.
  • the cleaning mechanism 110 may be a brush, a rag, or the like, and the type of the cleaning mechanism 110 is not limited in this embodiment.
  • the cleaning mechanism 110 is connected in communication with the control assembly 130 , and performs cleaning work under the control of the control assembly 130 .
  • the sensing component 120 is used to collect characteristic parameters within the sensing range.
  • the characteristic parameter is the parameter of the reflected signal of the designated signal collected after the sensor component 120 transmits the designated signal.
  • the designated signal includes a light signal.
  • the sensing component 120 may be a reflective light sensing component, and the characteristic parameter includes a light intensity parameter of the reflected light signal collected by the reflective light sensor component; and/or, the designated signal
  • the signal includes electromagnetic waves.
  • the sensing component 120 may be a radar sensor, and the characteristic parameter includes the frequency of reflected electromagnetic waves collected by the radar sensor. After the electromagnetic waves of the same frequency are reflected by different media, the frequencies of the reflected electromagnetic waves are different.
  • the sensing assembly 120 includes a first sensor 121 and a second sensor 122 .
  • the first sensor 121 is installed at the front end of the second sensor 122 , and the cleaning mechanism provided between the first sensor 121 and the second sensor 122 includes only the cleaning mechanism 110 .
  • the first sensor 121 is used to collect the first characteristic parameter of the target position in the working area before cleaning; the second sensor 122 is used to collect the second characteristic parameter of the target position after cleaning.
  • the first sensor 121 and the second sensor 122 include multiple groups, and each group of the first sensor 121 and the second sensor 122 corresponds to a cleaning mechanism.
  • the cleaning mechanism on the left corresponds to a group of first sensors 121 and second sensors 122
  • the cleaning mechanism on the right corresponds to another group of first sensors 121 and second sensors 122 .
  • the sensing component 120 is connected in communication with the control component 130 . Under the control of the control component 130 , the sensing component 120 starts or stops collecting characteristic parameters, and sends the collected characteristic parameters to the control component 130 .
  • the control component 120 is used to control the operation of the cleaning device, such as: controlling the time when the cleaning device starts to work, the time when the cleaning device ends, and the cleaning mechanism is controlled to be cleaned.
  • control component 130 is used to: acquire the first characteristic parameter of the target position in the working area collected by the sensing component 120, where the first characteristic parameter is the characteristic parameter collected by the sensing component before cleaning the target position; After the cleaning mechanism cleans the target position, the second characteristic parameter of the target position collected by the sensing component 120 is acquired; based on the difference between the first characteristic parameter and the second characteristic parameter, the degree of contamination of the target position is determined; based on the contamination of the target position The degree determines the degree of soiling of the cleaning mechanism.
  • control assembly 130 is installed on the cleaning device as an example for description. In actual implementation, the control assembly 130 may also be installed in other devices independent of the cleaning device.
  • the cleaning device may also include more components, such as: a moving component (such as a wheel) for driving the cleaning device to move, a driving component (such as a motor) for driving the moving component, and a power supply component (such as a battery) package), the components included in the cleaning device are not listed one by one in this embodiment.
  • a moving component such as a wheel
  • a driving component such as a motor
  • a power supply component such as a battery
  • FIG. 2 is a flowchart of a method for determining the degree of contamination of a cleaning mechanism provided by an embodiment of the present application.
  • the method is applied to the cleaning device shown in FIG. 1 , and the execution subject of each step is the control component 130 . example to illustrate.
  • the method includes at least the following steps:
  • Step 201 Acquire a first characteristic parameter of a target position in the working area collected by the sensing assembly, where the first characteristic parameter is a characteristic parameter collected by the sensing assembly before cleaning the target position.
  • the work area is the area where the cleaning equipment is currently located.
  • the floor area of the room For example: the floor area of the room.
  • the target position refers to the position within the current acquisition range of the sensing component. As the cleaning equipment moves, so does the target location.
  • Step 202 after controlling the cleaning mechanism to clean the target position, acquire the second characteristic parameter of the target position collected by the sensing component.
  • the sensing assembly includes a first sensor and a second sensor, the first sensor is installed at the front end of the second sensor in the traveling direction of the cleaning device, and a cleaning function is provided between the first sensor and the second sensor
  • the mechanism includes only the cleaning mechanism; the first sensor is used to collect the first characteristic parameter, and the second sensor is used to collect the second characteristic parameter.
  • acquiring the first characteristic parameter of the target position in the working area includes: controlling the first sensor to collect the first characteristic parameter in real time.
  • obtaining the second characteristic parameter of the target position includes: obtaining the installation distance between the first sensor and the second sensor; obtaining the moving speed of the cleaning device; The speed determines the duration of movement; the duration after the acquisition of the first characteristic parameter is the second characteristic parameter collected by the second sensor during the movement duration.
  • the moving duration refers to the predicted duration of the cleaning device from the position of the vertical projection of the first sensor as the target position to the position of the vertical projection of the second sensor as the target position for the same target position.
  • the cleaning device acquires the current position, and establishes a correspondence between the current position and the first characteristic parameter; when the cleaning device moves to the current position again, The second characteristic parameter of the current position is collected by the sensing component.
  • the cleaning device may also collect the first characteristic parameter and the second characteristic parameter in other ways, and the present embodiment does not limit the collection method of the first characteristic parameter and the second characteristic parameter.
  • Step 203 based on the difference between the first characteristic parameter and the second characteristic parameter, determine the degree of contamination of the target position.
  • the difference between the first characteristic parameter and the second characteristic parameter is input into the preset formula to obtain the degree of contamination of the target position.
  • the degree of contamination at the target location is determined to be expressed by the following formula:
  • sensor1_1 is the first characteristic parameter collected by the first group of first sensors
  • sensor1_2 is the second characteristic parameter collected by the first group of second sensors
  • sensor2_1 is the first characteristic parameter collected by the second group of first sensors
  • sensor2_2 is the first characteristic parameter collected by the second group of first sensors
  • f(x) represents the contamination degree of the positions corresponding to each group of the first sensor and the second sensor
  • g(x) is the contamination degree of the target position.
  • Step 204 determining the degree of contamination of the cleaning mechanism based on the degree of contamination of the target location.
  • the contamination degree of the target position determined at each working moment within the preset time period is accumulated to obtain the contamination degree of the cleaning mechanism.
  • the target positions corresponding to different working moments are different.
  • the preset duration may be the moving duration; or, the working duration of the cleaning device in the cleaning state.
  • determining the degree of soiling of the cleaning mechanism based on the degree of soiling at the target location is represented by the following formula:
  • g(x) is the soiling degree of the target position; a represents the preset coefficient; F(x) is the soiling degree of the cleaning structure.
  • the first cleaning working mode is started to clean the cleaning mechanism.
  • the first cleaning working mode includes: moving to a cleaning position, and starting the cleaning mechanism at the cleaning position to clean the cleaning mechanism; or, outputting a cleaning prompt to prompt the user to clean the cleaning mechanism.
  • the cleaning mechanism includes: a water tank, a water pump, a spray head and a squeezing device, wherein the water tank is used to store water, and the water pump is used to pump out the water in the water tank to spray the cleaning mechanism from the spray head; the squeezing device is used to squeeze the cleaning mechanism. , to wring out the cleaning mechanism.
  • the cleaning mechanism may also be of other types, for example, including a water circulation structure, and the present embodiment does not limit the type of the cleaning mechanism.
  • the cleaning prompt includes but is not limited to: voice prompt, light prompt, image prompt, prompt sent to the mobile terminal, etc. This embodiment does not limit the type of the cleaning prompt.
  • the first cleaning working mode is to start the cleaning mechanism to clean the cleaning mechanism; when the cleaning equipment does not have the function of automatic cleaning and cleaning mechanism, the first cleaning working mode is output cleaning hint.
  • the second cleaning working mode is activated according to the degree of soiling, so as to clean the cleaning mechanism.
  • the preset working time may be half an hour, 1 hour, etc. This embodiment does not limit the value of the preset working time.
  • starting the second cleaning working mode according to the degree of soiling includes: determining the cleaning duration according to the degree of soiling; moving to a cleaning position; starting the cleaning mechanism at the cleaning position to clean the cleaning mechanism; wherein the cleaning duration is related to the soiling. degree is positively correlated.
  • the output mode of the cleaning prompt is determined according to the degree of soiling; the cleaning prompt is output according to the output mode to prompt the user to clean the cleaning mechanism.
  • the output method when the degree of contamination is within the first contamination range, the output method is a sound prompt of the first volume; when the degree of contamination is within the second contamination range, the output method is a sound prompt of the second volume plus a light prompt .
  • the second dirty range is greater than the first dirty range
  • the second volume is greater than the first volume.
  • the output modes corresponding to different contamination degrees may also be set in other ways, and this embodiment does not limit the setting modes of the output modes corresponding to different contamination degrees.
  • the method for determining the degree of contamination of the cleaning mechanism is to obtain the first characteristic parameter of the target position in the working area collected by the sensing component before cleaning; after controlling the cleaning mechanism to clean the target position, acquiring the second characteristic parameter of the target position collected by the sensing component; determining the contamination degree of the target position based on the difference between the first characteristic parameter and the second characteristic parameter; determining the contamination degree of the cleaning mechanism based on the contamination degree of the target position; It can solve the problem of waste of cleaning resources or poor cleaning effect of cleaning equipment when cleaning the cleaning mechanism based on a fixed cleaning cycle; since the degree of contamination of the cleaning mechanism can be determined, it can be determined whether it needs to be cleaned according to the degree of contamination.
  • the cleaning mechanism can improve the accuracy of determining the cleaning timing of the cleaning mechanism.
  • FIG. 3 is a block diagram of a device for determining the degree of contamination of a cleaning mechanism provided by an embodiment of the present application. This embodiment is described by taking the device applied to the cleaning device shown in FIG. 1 as an example.
  • the apparatus includes at least the following modules: an acquisition module 310 and a determination module 320 .
  • an acquisition module 310 configured to acquire a first characteristic parameter of a target position in the working area, where the first characteristic parameter is a characteristic parameter collected by the sensing component before cleaning the target position;
  • the obtaining module 310 is further configured to obtain the second characteristic parameter of the target position after controlling the cleaning mechanism to clean the target position;
  • a determination module 320 configured to determine the degree of contamination of the target location based on the difference between the first characteristic parameter and the second characteristic parameter;
  • the determining module 320 is further configured to determine the degree of contamination of the cleaning mechanism based on the degree of contamination of the target location.
  • the device for determining the degree of contamination of the cleaning mechanism determines the degree of contamination of the cleaning mechanism
  • only the division of the above-mentioned functional modules is used as an example for illustration.
  • the above-mentioned function distribution is completed by different functional modules, that is, the internal structure of the device for determining the degree of contamination of the cleaning mechanism is divided into different functional modules, so as to complete all or part of the functions described above.
  • the device for determining the degree of contamination of the cleaning mechanism provided in the above embodiments and the embodiment of the method for determining the degree of contamination of the cleaning mechanism belong to the same concept.
  • FIG. 4 is a block diagram of a device for determining the degree of contamination of a cleaning mechanism provided by an embodiment of the present application, and the device may be the cleaning device shown in FIG. 1 .
  • the apparatus includes at least a processor 401 and a memory 402 .
  • the processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
  • the processor 401 can use at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array).
  • the processor 401 may also include a main processor and a co-processor.
  • the main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the co-processor is A low-power processor for processing data in a standby state.
  • the processor 401 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 401 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory, as well as non-volatile memory, such as one or more disk storage devices, flash storage devices. In some embodiments, a non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to implement the cleaning mechanism provided by the method embodiments of the present application method for determining the degree of contamination.
  • the device for determining the degree of soiling of the cleaning mechanism may optionally further include: a peripheral device interface and at least one peripheral device.
  • the processor 401, the memory 402 and the peripheral device interface can be connected through a bus or a signal line.
  • Each peripheral device can be connected to the peripheral device interface through bus, signal line or circuit board.
  • peripheral devices include, but are not limited to, radio frequency circuits, audio circuits, and power supplies.
  • the device for determining the degree of contamination of the cleaning mechanism may further include fewer or more components, which is not limited in this embodiment.
  • the present application further provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to realize the degree of contamination of the cleaning mechanism in the above method embodiment. Determine the method.
  • the present application further provides a computer product, the computer product includes a computer-readable storage medium, and a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the above method embodiments The method of determining the degree of soiling of the cleaning mechanism.

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Abstract

本申请涉及一种清洁机构的脏污程度确定方法、装置及存储介质，属于计算机技术领域，该方法包括：获取传感组件采集的工作区域内目标位置在清洁前的第一特征参数；在控制清洁机构对目标位置清洁后，获取传感组件采集的目标位置的第二特征参数；基于第一特征参数与第二特征参数的差异，确定目标位置的脏污程度；基于目标位置的脏污程度确定清洁机构的脏污程度；可以解决基于固定的清洗周期对清洁机构进行清洗时，存在浪费清洗资源或清洁设备的清洁效果不佳的问题；由于可以确定出清洁机构的脏污程度，从而根据脏污程度确定是否需要对清洁机构进行清洗，可以提高确定清洁机构的清洗时机的准确性。

Description

清洁机构的脏污程度确定方法、装置及存储介质 技术领域
本申请涉及一种清洁机构的脏污程度确定方法、装置及存储介质，属于计算机技术领域。
背景技术
清洁设备(如扫地机器人、拖地机人等)是智能家用电器的一种，能凭借一定的人工智能，自动在房间内完成地面清理工作。现有的清洁设备中，通过在设备底部设置抹布实现拖地功能。当抹布脏污程度严重时，在之后的地面清理过程中会对地面造成二次污染。
为了防止对地面造成二次污染，传统的清洁设备每隔固定的清洗周期对清洁机构进行清洗。
然而，在固定的清洗周期内，清洁机构的脏污程度可能并不严重，此时，对清洁机构进行清洗会浪费清洗资源。或者，还未到清洗周期时，清洁机构的脏污程度可能已经会对地面造成二次污染，此时，清洁设备的清洁效果不佳。
发明内容
本申请提供了一种清洁机构的脏污程度确定方法、装置及存储介质，可以解决基于固定的清洗周期对清洁机构进行清洗时，存在浪费清洗资源或清洁设备的清洁效果不佳的问题。本申请提供如下技术方案：
第一方面，提供了一种清洁机构的脏污程度确定方法，用于清洁设备中，所述清洁设备上安装有所述清洁机构和传感组件，所述传感组件用于采集感应范围内的特征参数，所述特征参数为所述传感组件发射指定信号后，采集到的所述指定信号的反射信号的参数，所述方法包括：
获取所述传感组件采集的工作区域内目标位置的第一特征参数，所述第一特征参数为对所述目标位置进行清洁前所述传感组件采集的特征参数；在控制所述清洁机构对所述目标位置清洁后，获取所述传感组件采集的所述目标位置的第二特征参数；
基于所述第一特征参数与所述第二特征参数的差异，确定所述目标位置的脏污程度；
基于所述目标位置的脏污程度确定所述清洁机构的脏污程度。
可选地，所述传感组件包括反射式光传感组件，所述特征参数包括所述反射式光传感器组件采集到的反射光信号的光强参数。
所述基于所述目标位置的脏污程度确定所述清洁机构的脏污程度，包括：
对预设时长内各个工作时刻确定出的所述目标位置的脏污程度进行累加，得到所述清洁机构的脏污程度。
可选地，所述基于所述目标位置的脏污程度确定所述清洁机构的脏污程度之后，还包括：
在所述清洁机构的脏污程度达到脏污阈值时启动第一清洗工作模式，以对所述清洁机构进行清洁。
可选地，所述第一清洗工作模式包括：
移动至清洗位置，在所述清洗位置启动清洗机构对所述清洁机构进行清洗；或者，
输出清洗提示，以提示用户对所述清洁机构进行清洗。
可选地，所述基于所述目标位置的脏污程度确定所述清洁机构的脏污程度之后，还包括：
在当前工作时长达到预设工作时长时，根据所述脏污程度启动第二清洗工作模式，以对所述清洁机构进行清洁。
可选地，所述根据所述脏污程度启动第二清洗工作模式，包括：
根据所述脏污程度确定清洗时长；移动至清洗位置；在所述清洗位置启动清洗机构对所述清洁机构进行清洗；其中，所述清洗时长与所述脏污程度呈正相关关系；
或者，
根据所述脏污程度确定清洗提示的输出方式；按照所述输出方式输出清洗提示，以提示用户对所述清洁机构进行清洗。
可选地，所述传感组件包括第一传感器和第二传感器；在所述清洁设备的行进方向上，所述第一传感器安装在所述第二传感器的前端；所述第一传感器和所述第二传感器之间设置的具有清洁功能的机构仅包括所述清洁机构；
所述第一传感器用于采集所述第一特征参数，所述第二传感器用于采集所述第二特征参数。
可选地，所述在控制所述清洁机构对所述目标位置清洁后，获取所述目标位置的第二特征参数，包括：
获取所述第一传感器和所述第二传感器之间的安装距离；
获取所述清洁设备的移动速度；
基于所述安装距离和所述移动速度确定移动时长，所述移动时长是指对于同一目标位置，所述清洁设备从所述第一传感器垂直投影的位置为所述目标位置开始至所述第二传感器垂直投影的位置为所述目标位置为止的预测时长；
获取采集所述第一特征参数之后的时长为所述移动时长时，所述第二传感器采集到的所述第二特征参数。
第二方面，提供了一种清洁机构的脏污程度确定装置，用于清洁设备中，所述清洁设备上安装有所述清洁机构和传感组件，所述传感组件用于采集感应范围内的特征参数；所述特征参数为所述传感组件发射指定信号后，采集到的所述指定信号的反射信号的参数，所述装置包括：
获取模块，用于获取工作区域内目标位置的第一特征参数，所述第一特征参数为对所述目标位置进行清洁前所述传感组件采集的特征参数；
所述获取模块，还用于在控制所述清洁机构对所述目标位置清洁后，获取所述目标位置的第二特征参数；
确定模块，用于基于所述第一特征参数与所述第二特征参数的差异，确定所述目标位置的脏污程度；
所述确定模块，还用于基于所述目标位置的脏污程度确定所述清洁机构的脏污程度。
第三方面，提供一种清洁机构的脏污程度确定装置，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现第一方面所述的清洁机构的脏污程度确定方法。
第四方面，提供一种计算机可读存储介质，所述存储介质中存储有程序，所述程序由所述处理器加载并执行以实现第一方面所述的清洁机构的脏污程度确定方法。
本申请的有益效果在于：通过获取传感组件采集的工作区域内目标位置在清洁前的第一特征参数；在控制清洁机构对目标位置清洁后，获取传感组件采集的目标位置的第二特征参数；基于第一特征参数与第二特征参数的差异，确定目标位置的脏污程度；基于目标位置的脏污程度确定清洁机构的脏污程度；可以解决基于固定的清洗周期对清洁机构进行清洗时，存在浪费清洗资源或清洁设备的清洁效果不佳的问题；由于可以确定出清洁机构的脏污程度，从而根据脏污程度确定是否需要对清洁机构进行清洗，可以提高确定清洁机构的清洗时机的准确性。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，并可依照说明书的内容予以实施，以下以本申请的较佳实施例并配合附图详细说明如后。
附图说明
图1是本申请一个实施例提供的清洁设备的结构示意图；
图2是本申请一个实施例提供的清洁机构的脏污程度确定方法的流程图；
图3是本申请一个实施例提供的清洁机构的脏污程度确定装置的框图；
图4是本申请一个实施例提供的清洁机构的脏污程度确定装置的框图。
具体实施方式
下面结合附图和实施例，对本申请的具体实施方式作进一步详细描述。以 下实施例用于说明本申请，但不用来限制本申请的范围。
图1是本申请一个实施例提供的清洁设备的结构示意图。清洁设备为具有清洁功能和自移动功能的设备，如：扫地机器人、拖地机器人等，本实施例不对清洁设备的设备类型作限定。如图1所示，清洁设备至少包括：清洁结构110、传感组件120和控制组件130。
清洁机构110用于在清洁设备的控制下对工作区域进行清洁。可选地，清洁机构110可以为毛刷、抹布等，本实施例不对清洁结构110的类型作限定。
清洁机构110与控制组件130通信连接，在控制组件130的控制下进行清洁工作。
传感组件120用于采集感应范围内的特征参数。特征参数为传感组件120发射指定信号后，采集到的指定信号的反射信号的参数。可选地，指定信号包括光信号，此时，传感组件120可以为反射式光传感组件，特征参数包括反射式光传感器组件采集到的反射光信号的光强参数；和/或，指定信号包括电磁波，此时，传感组件120可以为雷达传感器，特征参数包括雷达传感器采集到的反射电磁波的频率。不同介质对同一频率的电磁波进行反射后，得到的反射电磁波的频率不同。
在一个示例中，传感组件120包括第一传感器121和第二传感器122。在清洁设备的行进方向上，第一传感器121安装在第二传感器122的前端，第一传感器121和第二传感器122之间设置的具有清洁功能的机构仅包括清洁机构110。第一传感器121用于采集工作区域内目标位置在清洁前的第一特征参数；第二传感器122用于采集目标位置在清洁后的第二特征参数。
可选地，第一传感器121和第二传感器122包括多组，每组第一传感器121和第二传感器122对应一个清洁机构。比如：在图1中，左侧的清洁机构对应一组第一传感器121和第二传感器122，右侧的清洁机构对应另一组第一传感器121和第二传感器122。
传感组件120与控制组件130通信连接，在控制组件130的控制下传感组件120开始或停止采集特征参数，并将采集到的特征参数发送至控制组件130。 控制组件120用于控制清洁设备工作，比如：控制清洁设备开始工作的时间、结束工作的时间、控制对清洁机构进行清洗等。
本实施例中，控制组件130用于：获取传感组件120采集的工作区域内目标位置的第一特征参数，第一特征参数为对目标位置进行清洁前传感组件采集的特征参数；在控制清洁机构对目标位置清洁后，获取传感组件120采集的目标位置的第二特征参数；基于第一特征参数与第二特征参数的差异，确定目标位置的脏污程度；基于目标位置的脏污程度确定清洁机构的脏污程度。
另外，本实施例中以控制组件130安装于清洁设备上为例进行说明，在实际实现时，控制组件130也可以安装于与清洁设备相独立的其它设备中。
另外，清洁设备还可以包括更多的组件，比如：用于带动清洁设备移动的移动组件(比如：车轮)、用于带动移动组件运动的驱动组件(比如：电机)、供电组件(比如：电池包)，本实施例在此不对清洁设备包括的组件一一列举。
图2是本申请一个实施例提供的清洁机构的脏污程度确定方法的流程图，本实施例以该方法应用于图1所示的清洁设备中，且各个步骤的执行主体为控制组件130为例进行说明。该方法至少包括以下几个步骤：
步骤201，获取传感组件采集的工作区域内目标位置的第一特征参数，该第一特征参数为对目标位置进行清洁前传感组件采集的特征参数。
工作区域是指清洁设备当前所在的区域。比如：房间的地面区域。
目标位置是指传感组件当前采集范围内的位置。随着清洁设备的移动，目标位置也随之变化。
步骤202，在控制清洁机构对目标位置清洁后，获取传感组件采集的目标位置的第二特征参数。
在一个示例中，传感组件包括第一传感器和第二传感器，在清洁设备的行进方向上，第一传感器安装在第二传感器的前端，第一传感器和第二传感器之间设置的具有清洁功能的机构仅包括该清洁机构；第一传感器用于采集第一特征参数，第二传感器用于采集第二特征参数。此时，获取工作区域内目标位置 的第一特征参数，包括：控制第一传感器实时采集第一特征参数。相应地，在控制清洁机构对目标位置清洁后，获取目标位置的第二特征参数，包括：获取第一传感器和第二传感器之间的安装距离；获取清洁设备的移动速度；基于安装距离和移动速度确定移动时长；获取采集第一特征参数之后的时长为移动时长时第二传感器采集到的第二特征参数。
其中，移动时长是指对于同一目标位置，清洁设备从第一传感器垂直投影的位置为目标位置开始至第二传感器垂直投影的位置为目标位置为止的预测时长。
在另一个示例中，传感组件每获取到的一个第一特征参数，清洁设备获取当前位置，建立当前位置与第一特征参数之间的对应关系；在清洁设备再次移动至该当前位置时，通过传感组件采集该当前位置的第二特征参数。
当然，清洁设备也可以通过其它方式采集第一特征参数和第二特征参数，本实施例不对第一特征参数和第二特征参数的采集方式作限定。
步骤203，基于第一特征参数与第二特征参数的差异，确定目标位置的脏污程度。
将第一特征参数与第二特征参数之间的差值输入预设公式，得到目标位置的脏污程度。
示意性地，基于第一特征参数与第二特征参数的差异，确定目标位置的脏污程度通过下式表示：
g(x)＝f(sensor1_1-sensor1_2)+f(sensor2_1-sensor2_2)
其中，sensor1_1为第一组第一传感器采集的第一特征参数；sensor1_2为第一组第二传感器采集的第二特征参数；sensor2_1为第二组第一传感器采集的第一特征参数；sensor2_2为第二组第二传感器采集的第二特征参数；f(x)表示每组第一传感器和第二传感器对应的位置的脏污程度的；g(x)为目标位置的脏污程度。
步骤204，基于目标位置的脏污程度确定清洁机构的脏污程度。
对预设时长内各个工作时刻确定出的目标位置的脏污程度进行累加，得到清洁机构的脏污程度。可选地，不同工作时刻对应的目标位置不同。
可选地，预设时长可以为移动时长；或者，为清洁设备在清洁状态下的工作时长。
示意性地，基于目标位置的脏污程度确定清洁机构的脏污程度通过下式表示：
F(x)＝∫ag(x)dt
g(x)为目标位置的脏污程度；a表示预设系数；F(x)为清洁结构的脏污程度。
可选地，在步骤204之后，在清洁机构的脏污程度达到脏污阈值时启动第一清洗工作模式，以对清洁机构进行清洁。
在一个示例中，第一清洗工作模式包括：移动至清洗位置，在清洗位置启动清洗机构对清洁机构进行清洗；或者，输出清洗提示，以提示用户对清洁机构进行清洗。
清洗机构包括：水箱、水泵、喷头和挤压装置，其中，水箱用于存储水，水泵用于将水箱中的水抽出以从喷头向清洁机构喷洒；挤压装置用于对清洁机构进行挤压，以拧干清洁机构。当然，清洗机构还可以为其它类型，比如：包括水循环结构等，本实施例不对清洗机构的类型作限定。
清洗提示包括但不限于：语音提示、灯光提示、图像提示、发送至移动终端提示等，本实施例不对清洗提示的类型作限定。
比如：在清洁设备具有自动清洗清洁机构的功能时，第一清洗工作模式为启动清洗机构对清洁机构进行清洗；在清洁设备不具有自动清洗清洁机构的功能时，第一清洗工作模式为输出清洗提示。
可选地，在步骤204之后，在当前工作时长达到预设工作时长时，根据脏污程度启动第二清洗工作模式，以对清洁机构进行清洁。
其中，预设工作时长可以为半小时、1小时等，本实施例不对预设工作时长的取值作限定。
在一个示例中，根据脏污程度启动第二清洗工作模式，包括：根据脏污程度确定清洗时长；移动至清洗位置；在清洗位置启动清洗机构对清洁机构进行清洗；其中，清洗时长与脏污程度呈正相关关系。
在又一个示例中，根据脏污程度确定清洗提示的输出方式；按照输出方式输出清洗提示，以提示用户对清洁机构进行清洗。
比如：在脏污程度在第一脏污范围内时，输出方式为第一音量的声音提示；在脏污程度在第二脏污范围内时，输出方式为第二音量的声音提示加灯光提示。其中，第二脏污范围大于第一脏污范围，第二音量大于第一音量。当然，不同脏污程度对应的输出方式也可以按照其它方式设置，本实施例不对不同脏污程度对应的输出方式的设置方式作限定。
综上所述，本实施例提供的清洁机构的脏污程度确定方法，通过获取传感组件采集的工作区域内目标位置在清洁前的第一特征参数；在控制清洁机构对目标位置清洁后，获取传感组件采集的目标位置的第二特征参数；基于第一特征参数与第二特征参数的差异，确定目标位置的脏污程度；基于目标位置的脏污程度确定清洁机构的脏污程度；可以解决基于固定的清洗周期对清洁机构进行清洗时，存在浪费清洗资源或清洁设备的清洁效果不佳的问题；由于可以确定出清洁机构的脏污程度，从而根据脏污程度确定是否需要对清洁机构进行清洗，可以提高确定清洁机构的清洗时机的准确性。
图3是本申请一个实施例提供的清洁机构的脏污程度确定装置的框图，本实施例以该装置应用于图1所示的清洁设备中为例进行说明。该装置至少包括以下几个模块：获取模块310和确定模块320。
获取模块310，用于获取工作区域内目标位置的第一特征参数，所述第一特征参数为对所述目标位置进行清洁前所述传感组件采集的特征参数；
所述获取模块310，还用于在控制所述清洁机构对所述目标位置清洁后，获取所述目标位置的第二特征参数；
确定模块320，用于基于所述第一特征参数与所述第二特征参数的差异，确定所述目标位置的脏污程度；
所述确定模块320，还用于基于所述目标位置的脏污程度确定所述清洁机构的脏污程度。
相关细节参考上述方法实施例。
需要说明的是：上述实施例中提供的清洁机构的脏污程度确定装置在进行清洁机构的脏污程度确定时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将清洁机构的脏污程度确定装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的清洁机构的脏污程度确定装置与清洁机构的脏污程度确定方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图4是本申请一个实施例提供的清洁机构的脏污程度确定装置的框图，该装置可以是图1所示的清洁设备。该装置至少包括处理器401和存储器402。
处理器401可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器401可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器401也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器401可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器401还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器402可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器402还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器402中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器401所执行以实现本申请中方法实施例提供的清洁机构的脏污程度确定方法。
在一些实施例中，清洁机构的脏污程度确定装置还可选包括有：***设备接口和至少一个***设备。处理器401、存储器402和***设备接口之间可以通过总线或信号线相连。各个***设备可以通过总线、信号线或电路板与***设备接口相连。示意性地，***设备包括但不限于：射频电路、音频电路、和电源等。
当然，清洁机构的脏污程度确定装置还可以包括更少或更多的组件，本实施例对此不作限定。
可选地，本申请还提供有一种计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的清洁机构的脏污程度确定方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的清洁机构的脏污程度确定方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (13)

  1. 一种清洁机构的脏污程度确定方法，其特征在于，用于清洁设备中，所述清洁设备上安装有所述清洁机构和传感组件，所述传感组件用于采集感应范围内的特征参数；所述特征参数为所述传感组件发射指定信号后，采集到的所述指定信号的反射信号的参数，所述方法包括：
    获取所述传感组件采集的工作区域内目标位置的第一特征参数，所述第一特征参数为对所述目标位置进行清洁前所述传感组件采集的特征参数；
    在控制所述清洁机构对所述目标位置清洁后，获取所述传感组件采集的所述目标位置的第二特征参数；
    基于所述第一特征参数与所述第二特征参数的差异，确定所述目标位置的脏污程度；
    基于所述目标位置的脏污程度确定所述清洁机构的脏污程度。
  2. 根据权利要求1所述的方法，其特征在于，所述传感组件包括反射式光传感组件，所述特征参数包括所述反射式光传感器组件采集到的反射光信号的光强参数。
  3. 根据权利要求1所述的方法，其特征在于，所述基于所述目标位置的脏污程度确定所述清洁机构的脏污程度，包括：
    对预设时长内各个工作时刻确定出的所述目标位置的脏污程度进行累加，得到所述清洁机构的脏污程度。
  4. 根据权利要求1所述的方法，其特征在于，所述基于所述目标位置的脏污程度确定清洁机构的脏污程度通过下式表示：
    F(x)＝∫ag(x)dt
    g(x)为目标位置的脏污程度；a表示预设系数；F(x)为清洁结构的脏污程度。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，所述基于所述目标位置的脏污程度确定所述清洁机构的脏污程度之后，还包括：
    在所述清洁机构的脏污程度达到脏污阈值时启动第一清洗工作模式，以对所述清洁机构进行清洁。
  6. 根据权利要求5所述的方法，其特征在于，所述第一清洗工作模式包括：
    移动至清洗位置，在所述清洗位置启动清洗机构对所述清洁机构进行清洗；或者，
    输出清洗提示，以提示用户对所述清洁机构进行清洗。
  7. 根据权利要求11-4中任一项所述的方法，其特征在于，所述基于所述目标位置的脏污程度确定所述清洁机构的脏污程度之后，还包括：
    在当前工作时长达到预设工作时长时，根据所述脏污程度启动第二清洗工作模式，以对所述清洁机构进行清洁。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述脏污程度启动第二清洗工作模式，包括：
    根据所述脏污程度确定清洗时长；移动至清洗位置；在所述清洗位置启动清洗机构对所述清洁机构进行清洗；其中，所述清洗时长与所述脏污程度呈正相关关系；
    或者，
    根据所述脏污程度确定清洗提示的输出方式；按照所述输出方式输出清洗提示，以提示用户对所述清洁机构进行清洗。
  9. 根据权利要求11-4中任一项所述的方法，其特征在于，所述传感组件包括第一传感器和第二传感器；在所述清洁设备的行进方向上，所述第一传感器安装在所述第二传感器的前端；所述第一传感器和所述第二传感器之间设置的具有清洁功能的机构仅包括所述清洁机构；
    所述第一传感器用于采集所述第一特征参数，所述第二传感器用于采集所述第二特征参数。
  10. 根据权利要求9所述的方法，其特征在于，所述在控制所述清洁机构对所述目标位置清洁后，获取所述目标位置的第二特征参数，包括：
    获取所述第一传感器和所述第二传感器之间的安装距离；
    获取所述清洁设备的移动速度；
    基于所述安装距离和所述移动速度确定移动时长，所述移动时长是指对于同一目标位置，所述清洁设备从所述第一传感器垂直投影的位置为所述目标位置开始至所述第二传感器垂直投影的位置为所述目标位置为止的预测时长；
    获取采集所述第一特征参数之后的时长为所述移动时长时，所述第二传感器采集到的所述第二特征参数。
  11. 一种清洁机构的脏污程度确定装置，其特征在于，用于清洁设备中，所述清洁设备上安装有所述清洁机构和传感组件，所述传感组件用于采集感应范围内的特征参数；所述特征参数为所述传感组件发射指定信号后，采集到的所述指定信号的反射信号的参数，所述装置包括：
    获取模块，用于获取工作区域内目标位置的第一特征参数，所述第一特征参数为对所述目标位置进行清洁前所述传感组件采集的特征参数；
    所述获取模块，还用于在控制所述清洁机构对所述目标位置清洁后，获取所述目标位置的第二特征参数；
    确定模块，用于基于所述第一特征参数与所述第二特征参数的差异，确定所述目标位置的脏污程度；
    所述确定模块，还用于基于所述目标位置的脏污程度确定所述清洁机构的脏污程度。
  12. 一种清洁机构的脏污程度确定装置，其特征在于，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现如权利要求1至10任一项所述的清洁机构的脏污程度确定方法。
  13. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求1至10任一项所述的清洁机构的脏污程度确定方法。
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CN111789538A (zh) * 2020-07-07 2020-10-20 追创科技(苏州)有限公司 清洁机构的脏污程度确定方法、装置及存储介质

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