WO2022126884A1 - Cleaning control method and device, sweeping robot, and storage medium - Google Patents

Abstract

A cleaning control method and device, a sweeping robot, and a storage medium, applied to sweeping robots. The sweeping robot comprises a cleaning assembly (501) and a camera module (502). The method comprises: controlling the camera module (502) to acquire a first identification image of a region to be cleaned (101); identifying the first identification image by using an image identification model so as to a first stain level corresponding to the first identification image (102); determining a first vibration mode from at least two vibration modes of the cleaning assembly (501) on the basis of the first stain level (103); and controlling the cleaning assembly (501) to operate in the first vibration mode to clean the region to be cleaned (104). Thus, the stain level of the region to be cleaned is identified, the vibration mode of the cleaning assembly (501) is determined on the basis of the identified stain level, and the cleaning assembly (501) is controlled to operate in the vibration mode to deeply clean the region to be cleaned, so that the cleaning effect of the sweeping robot is improved.

Description

Translated fromChinese

一种清洁控制方法、装置、扫地机器人及存储介质A cleaning control method, device, sweeping robot and storage medium

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本申请基于申请号为202011474120.7，申请日为2020年12月14日，申请名称为“一种清洁控制方法、装置、扫地机器人及存储介质”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。This application is based on the Chinese patent application with the application number of 202011474120.7, the application date is December 14, 2020, and the application name is "a cleaning control method, device, sweeping robot and storage medium", and requests the priority of the Chinese patent application The entire content of this Chinese patent application is hereby incorporated by reference into this application.

技术领域technical field

本申请涉及电子技术，尤其涉及一种清洁控制方法、装置、扫地机器人及存储介质。The present application relates to electronic technology, and in particular, to a cleaning control method, device, cleaning robot, and storage medium.

背景技术Background technique

随着生活水平的提高，清洁类产品逐步进入每一个家庭，例如扫拖一体化机器人，人们通过手机应用程序设置扫拖一体化机器人自动清洁家里的地面卫生，解放双手，减少做清洁家务的时间。With the improvement of living standards, cleaning products have gradually entered every family, such as the integrated sweeping and mopping robot. People set up the integrated sweeping and mopping robot through the mobile phone application to automatically clean the ground at home, freeing hands and reducing the time for cleaning housework .

然而，现有的扫拖一体化机器人通常只能对灰尘、纸屑及较轻污渍等清洁干净，对于有顽固污渍的地面(例如厨房地面)，清洁效果不佳。However, the existing sweeping and mopping integrated robots can usually only clean dust, paper scraps, and light stains, etc., and the cleaning effect is not good for floors with stubborn stains (such as kitchen floors).

发明内容SUMMARY OF THE INVENTION

为解决上述技术问题，本申请实施例提供了一种清洁控制方法、装置、扫地机器人及存储介质。In order to solve the above technical problems, embodiments of the present application provide a cleaning control method, a device, a cleaning robot, and a storage medium.

第一方面，本申请实施例提供了一种清洁控制方法，应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；该方法包括：In a first aspect, an embodiment of the present application provides a cleaning control method, which is applied to a cleaning robot, where the cleaning robot includes a cleaning component and a camera module; the method includes:

控制所述摄像头模组采集待清洁区域的第一识别图像；controlling the camera module to collect the first identification image of the area to be cleaned;

利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；Recognizing the first recognition image by using an image recognition model to obtain a first stain level corresponding to the first recognition image;

基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；determining a first vibration mode from at least two vibration modes of the cleaning assembly based on the first soil level;

控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁。The cleaning assembly is controlled to operate in the first vibration mode to clean the area to be cleaned.

上述方案中，所述振动模式至少包括振动频率和振动强度；其中，不同振动模式对应不同的振动频率和/或不同的振动强度。In the above solution, the vibration modes include at least a vibration frequency and a vibration intensity; wherein, different vibration modes correspond to different vibration frequencies and/or different vibration intensities.

上述方案中，所述振动模式还包括移动间距；其中，不同振动模式对应不同的移动间距。In the above solution, the vibration mode further includes a movement distance; wherein, different vibration modes correspond to different movement distances.

上述方案中，所述清洁组件包括：清洁部件、振动驱动部件；所述控制所述清洁组件运行在所述第一振动模式，包括：基于所述第一振动模式，控制所述振动驱动部件工作，以驱动所述清洁部件运动对所述待清洁区域进行清洁。In the above solution, the cleaning component includes: a cleaning component and a vibration driving component; the controlling the cleaning component to operate in the first vibration mode includes: controlling the vibration driving component to work based on the first vibration mode , to drive the cleaning component to move to clean the area to be cleaned.

上述方案中，所述清洁组件还包括：水箱；所述控制所述清洁组件运行在所述第一振动模式，所述方法还包括：控制所述水箱以预设送水模式向所述清洁部件送水。In the above solution, the cleaning assembly further includes: a water tank; the controlling the cleaning assembly to operate in the first vibration mode, and the method further includes: controlling the water tank to supply water to the cleaning component in a preset water supply mode .

上述方案中，所述控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁之后，所述方法还包括：控制所述摄像头模组采集所述待清洁区域的第二识别图像；利用所述图像识别模型对所述第二识别图像进行识别，得到所述第二识别图像对应的第二污渍等级；基于所述第二污渍等级，确定所述清洁组件的第二振动模式，并控制所述清洁组件运行在所述第二振动模式，对所述待清洁区域进行清洁。In the above solution, after controlling the cleaning component to operate in the first vibration mode and cleaning the area to be cleaned, the method further includes: controlling the camera module to collect the first vibration of the area to be cleaned. Recognize the image; use the image recognition model to recognize the second recognition image to obtain a second stain level corresponding to the second recognition image; determine the second stain level of the cleaning component based on the second stain level vibration mode, and controlling the cleaning assembly to operate in the second vibration mode to clean the area to be cleaned.

上述方案中，所述方法还包括：若所述第二污渍等级低于预设等级，控制所述清洁组件停止工作。In the above solution, the method further includes: if the second stain level is lower than a preset level, controlling the cleaning component to stop working.

上述方案中，所述方法还包括：若所述第二污渍等级低于预设等级，将所述待清洁区域标记为干净区域并保存，以使所述待清洁区域不再重复清洁。In the above solution, the method further includes: if the second stain level is lower than a preset level, marking the to-be-cleaned area as a clean area and save it, so that the to-be-cleaned area is not repeatedly cleaned.

上述方案中，所述方法还包括：若所述第一污渍等级低于预设等级，控制所述清洁组件停止工作。In the above solution, the method further includes: if the first stain level is lower than a preset level, controlling the cleaning component to stop working.

上述方案中，所述控制所述摄像头模组采集待清洁区域图像之前，所述方法还包括：检测所述清洁组件的安装状态；若所述安装状态表征所述清洁组件未安装，输出提示信息。In the above solution, before the control of the camera module to collect the image of the area to be cleaned, the method further includes: detecting the installation state of the cleaning component; if the installation state indicates that the cleaning component is not installed, outputting a prompt message .

上述方案中，所述方法还包括：获取待清洁区域的训练图像样本集；其中，所述训练图像集包括多个训练子图像，每个训练子图像中设有预设标签，所述预设标签包括污渍等级；利用所述训练图像样本集对图像识别模型进行训练，得到训练完成的图像识别模型。In the above solution, the method further includes: acquiring a training image sample set of the area to be cleaned; wherein, the training image set includes a plurality of training sub-images, each training sub-image is provided with a preset label, the preset The label includes the stain level; the image recognition model is trained by using the training image sample set, and the trained image recognition model is obtained.

第二方面，提供了一种清洁控制装置，应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；所述装置包括：In a second aspect, a cleaning control device is provided, which is applied to a sweeping robot, and the sweeping robot includes a cleaning component and a camera module; the device includes:

控制单元，用于控制所述摄像头模组采集待清洁区域的第一识别图像；a control unit, configured to control the camera module to collect the first identification image of the area to be cleaned;

识别单元，用于利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；an identification unit, configured to identify the first identification image by using an image identification model to obtain a first stain level corresponding to the first identification image;

确定单元，用于基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；a determining unit for determining a first vibration mode from at least two vibration modes of the cleaning assembly based on the first stain level;

所述控制单元，用于控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁。The control unit is configured to control the cleaning assembly to operate in the first vibration mode to clean the area to be cleaned.

第三方面，提供了一种扫地机器人，扫地机器人包括清洁组件和摄像头模组；其中，摄像头模组用于采集待清洁区域的图像；清洁组件用于对待清洁区域进行清洁；In a third aspect, a cleaning robot is provided, which includes a cleaning component and a camera module; wherein, the camera module is used to collect images of the area to be cleaned; the cleaning component is used to clean the area to be cleaned;

扫地机器人还包括：处理器和配置为存储能够在处理器上运行的计算 机程序的存储器，其中，所述处理器配置为运行所述计算机程序时，执行前述方法的步骤。The cleaning robot further comprises: a processor and a memory configured to store a computer program executable on the processor, wherein the processor is configured to execute the steps of the aforementioned method when running the computer program.

第四方面，提供了一种计算机可读存储介质，其上存储有计算机程序，其中，该计算机程序被处理器执行时实现前述方法的步骤。In a fourth aspect, there is provided a computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the aforementioned method.

本申请公开一种清洁控制方法、装置、扫地机器人及存储介质，该方法应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；该方法包括：控制摄像头模组采集待清洁区域的第一识别图像；利用图像识别模型对第一识别图像进行识别，得到第一识别图像对应的第一污渍等级；基于第一污渍等级，从清洁组件的至少两种振动模式中确定第一振动模式；控制清洁组件运行在所述第一振动模式，对待清洁区域进行清洁。如此，通过对待清洁区域进行污渍等级识别，基于识别的污渍等级确定清洁组件的振动模式，控制清洁组件运行振动模式对待清洁区域进行强力度的清洁，提高扫地机器人的清洁效果。The present application discloses a cleaning control method, device, sweeping robot and storage medium. The method is applied to a sweeping robot, wherein the sweeping robot includes a cleaning component and a camera module; the method includes: controlling the camera module to collect the first image of the area to be cleaned. a recognition image; using an image recognition model to recognize the first recognition image to obtain a first stain level corresponding to the first recognition image; determining a first vibration mode from at least two vibration modes of the cleaning component based on the first stain level; The cleaning assembly is controlled to operate in the first vibration mode to clean the area to be cleaned. In this way, by identifying the stain level of the area to be cleaned, the vibration mode of the cleaning component is determined based on the identified stain level, and the vibration mode of the cleaning component is controlled to clean the area to be cleaned vigorously, thereby improving the cleaning effect of the sweeping robot.

附图说明Description of drawings

图1为本申请实施例中清洁控制方法的第一流程示意图；Fig. 1 is the first schematic flow chart of the cleaning control method in the embodiment of the application;

图2为本申请实施例中清洁控制方法的第二流程示意图；Fig. 2 is the second schematic flow chart of the cleaning control method in the embodiment of the application;

图3为本申请实施例中清洁控制方法的第三流程示意图；Fig. 3 is the third schematic flow chart of the cleaning control method in the embodiment of the application;

图4为本申请实施例中清洁控制装置的组成结构示意图；4 is a schematic diagram of the composition and structure of the cleaning control device in the embodiment of the application;

图5为本申请实施例中扫地机器人的组成结构示意图。FIG. 5 is a schematic structural diagram of a cleaning robot in an embodiment of the present application.

具体实施方式Detailed ways

为了能够更加详尽地了解本申请实施例的特点与技术内容，下面结合附图对本申请实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本申请实施例。In order to have a more detailed understanding of the features and technical contents of the embodiments of the present application, the implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

本申请实施例提供了一种清洁控制方法，图1为本申请实施例中清洁 控制方法的第一流程示意图，如图1所示，该清洁控制方法应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；具体包括：An embodiment of the present application provides a cleaning control method. FIG. 1 is a first schematic flowchart of the cleaning control method in the embodiment of the present application. As shown in FIG. 1 , the cleaning control method is applied to a cleaning robot, and the cleaning robot includes a cleaning Components and camera modules; specifically:

步骤101：控制所述摄像头模组采集待清洁区域的第一识别图像；Step 101: control the camera module to collect a first identification image of the area to be cleaned;

需要说明的是，本申请为了解决现有的扫地机器人对顽固污渍清洁效果不佳的问题，提出一种清洁控制方法，即对待清洁区域清洁之前，检测待清洁区域的污渍等级，针对不同的污渍等级设置对应的清洁模式，提高扫地机器人的清洁效果，同时带给用户很好的体验。It should be noted that, in order to solve the problem that the existing cleaning robots have poor cleaning effect on stubborn stains, the present application proposes a cleaning control method, that is, before cleaning the area to be cleaned, the stain level of the area to be cleaned is detected, and for different stains The cleaning mode corresponding to the level setting improves the cleaning effect of the sweeping robot and brings a good experience to the user.

这里，由于对待清洁区域清洁之前，需要知晓待清洁区域的污渍等级，因此，本申请中的扫地机器人安装有摄像头模组，通过摄像头模组采集待清洁区域的第一识别图像，进而才能根据采集的第一识别图像检测待清洁区域的污渍等级。Here, before cleaning the area to be cleaned, it is necessary to know the stain level of the area to be cleaned. Therefore, the sweeping robot in this application is equipped with a camera module, and the camera module is used to collect the first identification image of the area to be cleaned, and then it can be collected according to the The first identification image of the Detects the stain level of the area to be cleaned.

这里，摄像头模组可安装于扫地机器人的前进方向上。另外，摄像头模组可为至少一个，这里不对摄像头模组的数量做限制。Here, the camera module can be installed in the forward direction of the cleaning robot. In addition, there may be at least one camera module, and the number of camera modules is not limited here.

在一些实施例中，所述控制所述摄像头模组采集待清洁区域图像之前，所述方法还包括：检测所述清洁组件的安装状态；若所述安装状态表征所述清洁组件未安装，输出提示信息。In some embodiments, before the controlling the camera module to capture the image of the area to be cleaned, the method further includes: detecting the installation state of the cleaning component; if the installation state indicates that the cleaning component is not installed, outputting prompt information.

需要说明的是，清洁组件用于对待清洁区域进行清洁。清洁组件一般安装于扫地机器人的后下端；另外，清洁组件是可拆卸的，便于用户对清洁组件进行清洁。It should be noted that the cleaning component is used to clean the area to be cleaned. The cleaning assembly is generally installed at the lower rear end of the sweeping robot; in addition, the cleaning assembly is detachable, which is convenient for the user to clean the cleaning assembly.

这里，提示信息可通过语音提示，或者指示灯闪烁提示，或者显示屏显示。Here, the prompt information can be prompted by voice, or the indicator light flashes, or displayed on the display screen.

具体的，当用户通过终端的应用程序或者直接在扫地机器人上打开控制清洁组件的清洁按键后，检测到清洁组件未安装于扫地机器人时，控制扫地机器人上的语音提示装置发出提示信息，如“请安装清洁组件”；或者，控制扫地机器人上的指示灯发出特定颜色的光并闪烁提示，如红光0.5s闪 烁，用于表示清洁组件未安装；或者，将提示信息发送至终端上的应用程序，由终端的显示屏显示提示信息，如“您的扫地机器人未安装清洁组件”。检测到清洁组件已安装于扫地机器人时，清洁组件进入工作状态，这时清洁组件运行在静止模式对待清洁区域进行清洁，即在检测待清洁区域的污渍等级之前清洁组件的振动模式是关闭的，像现有的扫地机器人行走过程中清洁待清洁区域。Specifically, after the user opens the cleaning button that controls the cleaning component through the terminal application program or directly on the cleaning robot, when it is detected that the cleaning component is not installed on the cleaning robot, the voice prompting device on the cleaning robot is controlled to issue a prompt message, such as " Please install the cleaning component"; or, control the indicator light on the cleaning robot to emit light of a specific color and flash a prompt, for example, the red light flashes for 0.5s to indicate that the cleaning component is not installed; or, send the prompt information to the application on the terminal program, the display screen of the terminal will display a prompt message, such as "Your robot vacuum cleaner is not installed with cleaning components". When it is detected that the cleaning component has been installed on the sweeping robot, the cleaning component enters the working state. At this time, the cleaning component runs in the static mode to clean the area to be cleaned, that is, the vibration mode of the cleaning component is turned off before detecting the stain level of the area to be cleaned. It cleans the area to be cleaned while walking like the existing robot vacuum cleaner.

步骤102：利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；Step 102: using an image recognition model to identify the first identification image, to obtain a first stain level corresponding to the first identification image;

需要说明的是，图像识别模型为训练完成的图像识别模型，用于识别图像中的污渍等级。It should be noted that the image recognition model is an image recognition model that has been trained, and is used to recognize the level of stains in the image.

这里，扫地机器人预先存储训练完成的图像识别模型，待摄像头模组采集到第一识别图像后，获取第一识别图像并对其进行识别。或者，服务器预先存储训练完成的图像识别模型，待摄像头模组采集到第一识别图像后上传至服务器，由服务器对第一识别图像进行识别后再将识别的污渍等级传送回扫地机器人。Here, the cleaning robot pre-stores the trained image recognition model, and after the camera module collects the first recognition image, obtains the first recognition image and recognizes it. Alternatively, the server pre-stores the trained image recognition model, and after the camera module collects the first recognition image, uploads it to the server, and the server recognizes the first recognition image and then transmits the recognized stain level back to the cleaning robot.

这里，污渍等级一般与污渍的颜色深浅、污渍区域的面积大小相关联。如，污渍区域的面积相同时，污渍颜色越深，污渍程度越重；污渍颜色深度相同时，污渍区域的面积越大，污渍程度越重。其中，污渍等级可根据实际情况进行设置。Here, the stain level is generally related to the color shade of the stain and the size of the stained area. For example, when the area of the stained area is the same, the darker the stain, the heavier the stain; when the color depth of the stain is the same, the larger the area of the stained area, the heavier the stain. Among them, the stain level can be set according to the actual situation.

示例性地，污渍等级可通过数字或者字符进行标识。如，污渍等级可以包括轻度污染、中度污染和重度污染三个等级，分别用字符A、B、C，或者数字1、2、3表示。其中，污渍等级也可以包括更多或更少的等级，不再赘述。Illustratively, the soiling level may be identified by numbers or characters. For example, the stain level may include three levels of light pollution, moderate pollution and heavy pollution, which are represented by characters A, B, C, or numbers 1, 2, and 3, respectively. Wherein, the stain grade may also include more or less grades, which will not be repeated here.

在一些实施例中，所述方法还包括：获取待清洁区域的训练图像样本集；其中，所述训练图像集包括多个训练子图像，每个训练子图像中设有 预设标签，所述预设标签包括污渍等级；利用所述训练图像样本集对图像识别模型进行训练，得到训练完成的图像识别模型。In some embodiments, the method further includes: acquiring a training image sample set of the area to be cleaned; wherein, the training image set includes a plurality of training sub-images, each training sub-image is provided with a preset label, the The preset label includes the stain level; the image recognition model is trained by using the training image sample set, and the trained image recognition model is obtained.

需要说明的是，训练子图像可理解为待清洁区域的样本图像。训练时，可通过人工对训练子图像中污渍区域关联该训练子图像的污渍等级，以作为该训练子图像的预设标签。It should be noted that the training sub-image can be understood as a sample image of the area to be cleaned. During training, the stain level of the training sub-image can be manually associated with the stained area in the training sub-image, as a preset label of the training sub-image.

具体的，将训练图像样本集输入到训练完成前的图像识别模型中，输出训练图像样本集对应的预测污渍等级；根据预测污渍等级与预设标签中污渍等级，计算训练图像样本集的损失函数值；根据损失函数值调整图像识别模型的参数直至满足收敛条件，得到训练完成的图像识别模型。Specifically, the training image sample set is input into the image recognition model before the training is completed, and the predicted stain level corresponding to the training image sample set is output; according to the predicted stain level and the stain level in the preset label, the loss function of the training image sample set is calculated value; adjust the parameters of the image recognition model according to the loss function value until the convergence conditions are met, and the trained image recognition model is obtained.

这里，若第一污渍等级低于预设等级，控制清洁组件停止工作。这里，预设等级可以理解为最低污渍等级，即第一污渍等级低于最低污渍等级时，说明待清洁区域是干净的，不需要开启清洁组件的振动模式，这样也会延长清洁组件的使用寿命。若第二污渍等级不低于预设等级，执行步骤103。Here, if the first stain level is lower than the preset level, the cleaning assembly is controlled to stop working. Here, the preset level can be understood as the minimum stain level, that is, when the first stain level is lower than the minimum stain level, it means that the area to be cleaned is clean, and there is no need to turn on the vibration mode of the cleaning component, which will also prolong the service life of the cleaning component . If the second stain level is not lower than the preset level,step 103 is executed.

步骤103：基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；Step 103: determining a first vibration mode from at least two vibration modes of the cleaning assembly based on the first stain level;

这里，不同的污渍等级对应不同的振动模式。Here, different levels of soiling correspond to different vibration modes.

步骤104：控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁。Step 104: Control the cleaning component to operate in the first vibration mode to clean the area to be cleaned.

需要说明的是，振动模式至少包括振动频率和振动强度。其中，不同振动模式对应不同的振动频率和/或不同的振动强度。It should be noted that the vibration mode includes at least the vibration frequency and the vibration intensity. Wherein, different vibration modes correspond to different vibration frequencies and/or different vibration intensities.

需要说明的是，振动模式还包括移动间距。其中，不同振动模式对应不同的移动间距。It should be noted that the vibration mode also includes the movement pitch. Among them, different vibration modes correspond to different moving distances.

在一些实施例中，所述清洁组件包括：清洁部件、振动驱动部件；所述控制所述清洁组件运行在所述第一振动模式，包括：基于所述第一振动模式，控制所述振动驱动部件工作，以驱动所述清洁部件运动对所述待清 洁区域进行清洁。In some embodiments, the cleaning assembly includes: a cleaning component and a vibration driving component; the controlling the cleaning component to operate in the first vibration mode includes: controlling the vibration driving based on the first vibration mode The component works to drive the cleaning component to move to clean the area to be cleaned.

需要说明的是，清洁部件可以为抹布、湿巾纸、棉花等。振动驱动部件可以包括振动电机和振动拖。It should be noted that the cleaning member may be a rag, wet tissue paper, cotton, or the like. Vibration drive components may include vibration motors and vibration drags.

具体的，控制振动驱动部件以第一振动模式对应的振动频率和/或振动强度和/或移动间距工作，驱动清洁部件运动对待清洁区域进行清洁。Specifically, the vibration driving component is controlled to work at the vibration frequency and/or vibration intensity and/or movement interval corresponding to the first vibration mode, and the cleaning component is driven to move to clean the area to be cleaned.

这里，污渍等级越高，设置的振动模式的振动频率越高，振动强度越高，移动间距越小。相反的，污渍等级越低，设置的振动模式的振动频率越低，振动强度越低，移动间距越大。Here, the higher the stain level, the higher the vibration frequency of the set vibration mode, the higher the vibration intensity, and the smaller the moving distance. Conversely, the lower the stain level, the lower the vibration frequency of the set vibration mode, the lower the vibration intensity, and the larger the moving distance.

在一些实施例中，所述清洁组件还包括：水箱；所述控制所述清洁组件运行在所述第一振动模式，所述方法还包括：控制所述水箱以预设送水模式向所述清洁部件送水。In some embodiments, the cleaning assembly further includes: a water tank; the controlling the cleaning assembly to operate in the first vibration mode, and the method further includes: controlling the water tank to supply the cleaning water to the cleaning device in a preset water supply mode Parts are supplied with water.

需要说明的是，预设送水模式可以为滴水或者喷水。It should be noted that the preset water supply mode can be dripping water or water spraying.

这里，水箱通过滴水或者喷水向清洁部件(如抹布)送水。若污渍等级越高，水箱滴水或者喷水的速度越快。相反的，污渍等级越低，水箱滴水或者喷水的速度越慢。Here, the water tank delivers water to the cleaning member (eg, a rag) by dripping or spraying water. The higher the stain level, the faster the water tank will drip or spray. Conversely, the lower the stain level, the slower the water tank will drip or spray.

另外，还需要说明的是，清洁组件可包括水箱、清洁部件及振动驱动部件，清洁部件采用一体化设计，且可拆卸，便于用户对清洁部件进行清洁。In addition, it should also be noted that the cleaning assembly may include a water tank, a cleaning component and a vibration driving component, and the cleaning component adopts an integrated design and is detachable, which is convenient for the user to clean the cleaning component.

还需要说明的是，扫地机器人清洁完待清洁区域后，会再次通过摄像头模组采集清洁后的清洁区域，若仍然存在污渍，设置对应的振动模式继续清洁，清洁完毕后再次重复上述步骤继续采集图像等，直至待清洁区域清洁干净，清洁组件停止工作，另外，将待清洁区域标记为干净区域并保存，以使待清洁区域不再重复清洁，提高清洁效率。It should also be noted that after cleaning the area to be cleaned, the cleaning robot will collect the cleaned area through the camera module again. If there are still stains, set the corresponding vibration mode to continue cleaning. After cleaning, repeat the above steps to continue collecting. Images, etc., until the area to be cleaned is clean, and the cleaning component stops working. In addition, the area to be cleaned is marked as a clean area and saved, so that the area to be cleaned is no longer cleaned repeatedly and the cleaning efficiency is improved.

这里，步骤101至步骤104的执行主体可以为清洁控制装置的处理器。Here, the execution subject ofsteps 101 to 104 may be a processor of the cleaning control device.

如此，通过对待清洁区域进行污渍等级识别，基于识别的污渍等级确 定清洁组件的振动模式，控制清洁组件运行振动模式对待清洁区域进行强力度的清洁，提高扫地机器人的清洁效果。In this way, by identifying the stain level of the area to be cleaned, the vibration mode of the cleaning component is determined based on the identified stain level, and the vibration mode of the cleaning component is controlled to clean the area to be cleaned vigorously, thereby improving the cleaning effect of the sweeping robot.

为了能更加体现本申请的目的，在上述实施例的基础上，进行进一步的举例说明，图2为本申请实施例中清洁控制方法的第二流程示意图，如图2所示，该清洁控制方法应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；具体包括：In order to better reflect the purpose of the present application, on the basis of the above embodiment, further examples are given. FIG. 2 is a second schematic flow chart of the cleaning control method in the embodiment of the present application. As shown in FIG. 2 , the cleaning control method Applied to a sweeping robot, the sweeping robot includes a cleaning component and a camera module; specifically:

步骤201：控制所述摄像头模组采集待清洁区域的第一识别图像；Step 201: controlling the camera module to collect a first identification image of the area to be cleaned;

这里，若摄像头模组为一个，摄像头模组可安装于扫地机器人的前进方向上。该摄像头模组可用于对清洁完毕的清洁区域再次拍照，即再次采集图像。再次采集图像的目的在于检测是否清洁干净。Here, if there is one camera module, the camera module can be installed in the forward direction of the sweeping robot. The camera module can be used to take pictures of the cleaned area again, that is, to capture images again. The purpose of taking another image is to check for cleanliness.

若摄像头模组为两个，其中一个安装于扫地机器人的前进方向上，另一个安装于扫地机器人前进的相反方向上，用于对清洁完毕的清洁区域再次拍照。If there are two camera modules, one of them is installed in the forward direction of the sweeping robot, and the other is installed in the opposite direction of the sweeping robot to take pictures of the cleaned area again.

这里，对摄像头模组的数量不做限制。Here, the number of camera modules is not limited.

在一些实施例中，所述控制所述摄像头模组采集待清洁区域图像之前，所述方法还包括：检测所述清洁组件的安装状态；若所述安装状态表征所述清洁组件未安装，输出提示信息。In some embodiments, before the controlling the camera module to capture the image of the area to be cleaned, the method further includes: detecting the installation state of the cleaning component; if the installation state indicates that the cleaning component is not installed, outputting prompt information.

这里，清洁组件一般安装于扫地机器人的后下端。Here, the cleaning assembly is generally installed at the lower rear end of the cleaning robot.

这里，提示信息可通过语音提示，或者指示灯闪烁提示，或者显示屏显示。Here, the prompt information can be prompted by voice, or the indicator light flashes, or displayed on the display screen.

控制扫地机器人上的语音提示装置发出提示信息，如“请安装清洁组件”。或者，控制扫地机器人上的指示灯发出特定颜色的光并闪烁提示，如红光0.5s闪烁，用于表示清洁组件未安装。Control the voice prompting device on the cleaning robot to send out prompt information, such as "please install cleaning components". Or, control the indicator light on the cleaning robot to emit light of a specific color and flash as a reminder, such as the red light flashing for 0.5s, to indicate that the cleaning component is not installed.

或者，将提示信息发送至终端上的应用程序，由终端的显示屏显示提示信息，如“您的扫地机器人未安装清洁组件”。Or, send the prompt information to the application on the terminal, and the display screen of the terminal will display the prompt information, such as "Your robot vacuum has no cleaning components installed".

步骤202：利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；Step 202: Recognize the first recognition image by using an image recognition model to obtain a first stain level corresponding to the first recognition image;

这里，图像识别模型为训练完成的图像识别模型，用于识别图像中的污渍等级。Here, the image recognition model is a trained image recognition model for recognizing the level of stains in the image.

需要说明的是，若第一污渍等级低于预设等级，控制清洁组件停止工作。这里，预设等级可以理解为最低污渍等级，即第一污渍等级低于最低污渍等级时，说明待清洁区域是干净的，不需要开启清洁组件的振动模式，这样也会延长清洁组件的使用寿命。It should be noted that, if the first stain level is lower than the preset level, the cleaning component is controlled to stop working. Here, the preset level can be understood as the minimum stain level, that is, when the first stain level is lower than the minimum stain level, it means that the area to be cleaned is clean, and there is no need to turn on the vibration mode of the cleaning component, which will also prolong the service life of the cleaning component .

在一些实施例中，所述方法还包括：获取待清洁区域的训练图像样本集；其中，所述训练图像集包括多个训练子图像，每个训练子图像中设有预设标签，所述预设标签包括污渍等级；利用所述训练图像样本集对图像识别模型进行训练，得到训练完成的图像识别模型。In some embodiments, the method further includes: acquiring a training image sample set of the area to be cleaned; wherein, the training image set includes a plurality of training sub-images, each training sub-image is provided with a preset label, the The preset label includes the stain level; the image recognition model is trained by using the training image sample set, and the trained image recognition model is obtained.

步骤203：基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；Step 203: determining a first vibration mode from at least two vibration modes of the cleaning assembly based on the first stain level;

这里，不同的污渍等级对应不同的振动模式。Here, different levels of soiling correspond to different vibration modes.

步骤204：控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁；Step 204: controlling the cleaning component to operate in the first vibration mode to clean the area to be cleaned;

需要说明的是，振动模式至少包括振动频率和振动强度。其中，不同振动模式对应不同的振动频率和/或不同的振动强度。It should be noted that the vibration mode includes at least the vibration frequency and the vibration intensity. Wherein, different vibration modes correspond to different vibration frequencies and/or different vibration intensities.

需要说明的是，振动模式还包括移动间距。其中，不同振动模式对应不同的移动间距。It should be noted that the vibration mode also includes the movement pitch. Among them, different vibration modes correspond to different moving distances.

在一些实施例中，所述清洁组件包括：清洁部件、振动驱动部件；所述控制所述清洁组件运行在所述第一振动模式，包括：基于所述第一振动模式，控制所述振动驱动部件工作，以驱动所述清洁部件运动对所述待清洁区域进行清洁。In some embodiments, the cleaning assembly includes: a cleaning component and a vibration driving component; the controlling the cleaning component to operate in the first vibration mode includes: controlling the vibration driving based on the first vibration mode The component works to drive the cleaning component to move to clean the area to be cleaned.

需要说明的是，清洁部件可以为抹布、湿巾纸、棉花等。振动驱动部件可以包括振动电机和振动拖。It should be noted that the cleaning member may be a rag, wet tissue paper, cotton, or the like. Vibration drive components may include vibration motors and vibration drags.

在一些实施例中，所述清洁组件还包括：水箱；所述控制所述清洁组件运行在所述第一振动模式，所述方法还包括：控制所述水箱以预设送水模式向所述清洁部件送水。In some embodiments, the cleaning assembly further includes: a water tank; the controlling the cleaning assembly to operate in the first vibration mode, and the method further includes: controlling the water tank to supply the cleaning water to the cleaning device in a preset water supply mode Parts are supplied with water.

需要说明的是，预设送水模式可以为滴水或者喷水。It should be noted that the preset water supply mode can be dripping water or water spraying.

另外，还需要说明的是，清洁组件可包括水箱、清洁部件及振动驱动部件，清洁部件采用一体化设计，且可拆卸，便于用户对清洁部件进行清洁。In addition, it should also be noted that the cleaning assembly may include a water tank, a cleaning component and a vibration driving component, and the cleaning component adopts an integrated design and is detachable, which is convenient for the user to clean the cleaning component.

步骤205：控制所述摄像头模组采集所述待清洁区域的第二识别图像；Step 205: controlling the camera module to collect the second identification image of the area to be cleaned;

步骤206：利用所述图像识别模型对所述第二识别图像进行识别，得到所述第二识别图像对应的第二污渍等级；Step 206 : using the image recognition model to recognize the second recognition image to obtain a second stain level corresponding to the second recognition image;

这里，第二污渍等级低于第一污渍等级。Here, the second soiling level is lower than the first soiling level.

这里，若第二污渍等级低于预设等级，控制清洁组件停止工作。这里，预设等级可以理解为最低污渍等级，即第二污渍等级低于最低污渍等级时，说明待清洁区域是干净的，不需要开启清洁组件的振动模式，这样也会延长清洁组件的使用寿命。Here, if the second stain level is lower than the preset level, the cleaning assembly is controlled to stop working. Here, the preset level can be understood as the minimum stain level, that is, when the second stain level is lower than the minimum stain level, it means that the area to be cleaned is clean, and the vibration mode of the cleaning component does not need to be turned on, which will also prolong the service life of the cleaning component .

若第二污渍等级不低于预设等级，执行步骤207。If the second stain level is not lower than the preset level,step 207 is executed.

步骤207：基于所述第二污渍等级，确定所述清洁组件的第二振动模式，并控制所述清洁组件运行在所述第二振动模式，对所述待清洁区域进行清洁。Step 207: Determine a second vibration mode of the cleaning assembly based on the second stain level, and control the cleaning assembly to operate in the second vibration mode to clean the area to be cleaned.

这里，待清洁区域清洁完毕后，会再次执行步骤205，即通过摄像头模组采集清洁后的清洁区域，若仍然存在污渍，继续执行步骤206和207，直至待清洁区域污渍等级低于预设等级，即待清洁区域清洁干净，清洁组件停止工作，进而对下一个待清洁区域清洁。若对所有的待清洁区域清洁完 毕后，自行回到充电位置进行充电。另外，将待清洁区域标记为干净区域并保存，以使待清洁区域不再重复清洁，提高清洁效率。Here, after the area to be cleaned is cleaned,step 205 will be performed again, that is, the cleaned area will be collected by the camera module. If there are still stains, steps 206 and 207 will continue to be performed until the stain level of the area to be cleaned is lower than the preset level. , that is, the area to be cleaned is cleaned, the cleaning component stops working, and the next area to be cleaned is cleaned. After cleaning all the areas to be cleaned, return to the charging position for charging. In addition, the area to be cleaned is marked as a clean area and saved, so that the area to be cleaned is no longer cleaned repeatedly and the cleaning efficiency is improved.

如此，通过对待清洁区域进行污渍等级识别，基于识别的污渍等级确定清洁组件的振动模式，控制清洁组件运行振动模式对待清洁区域进行强力度的清洁，提高扫地机器人的清洁效果。In this way, by identifying the stain level of the area to be cleaned, the vibration mode of the cleaning component is determined based on the identified stain level, and the vibration mode of the cleaning component is controlled to clean the area to be cleaned vigorously, thereby improving the cleaning effect of the sweeping robot.

图3为本申请实施例中清洁控制方法的第三流程示意图，如图3所示，该清洁控制方法应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；具体包括：FIG. 3 is a third schematic flow chart of the cleaning control method in the embodiment of the application. As shown in FIG. 3 , the cleaning control method is applied to a sweeping robot, and the sweeping robot includes a cleaning component and a camera module; specifically, it includes:

步骤301：扫地机器人静止状态按清洁按键；Step 301: Press the cleaning button when the cleaning robot is stationary;

这里，静止状态指的是扫地机器人非工作状态。Here, the stationary state refers to the non-working state of the cleaning robot.

用户通过终端的应用程序或者直接在扫地机器人上打开控制清洁组件的清洁按键。The user opens the cleaning button that controls the cleaning component through the terminal application or directly on the cleaning robot.

步骤302：是否安装清洁组件；若是，执行步骤303；若否，执行步骤308；Step 302: Whether to install the cleaning component; if yes, go toStep 303; if not, go toStep 308;

步骤303：定位建图，开始区域分割，得到多个待清洁区域；Step 303: locate and build a map, start area segmentation, and obtain a plurality of areas to be cleaned;

步骤304：对第一待清洁区域拍照，并识别出对应的污渍等级；Step 304: take a picture of the first area to be cleaned, and identify the corresponding stain level;

步骤305：判断污渍等级是否低于预设等级；若是，执行步骤309；若否，执行步骤306；Step 305: determine whether the stain level is lower than the preset level; if yes, go to step 309; if not, go to step 306;

这里，预设等级可以理解为最低污渍等级。污渍等级低于最低污渍等级时，说明待清洁区域是干净的，不需要开启清洁组件的振动模式，这样也会延长清洁组件的使用寿命。Here, the preset level can be understood as the minimum stain level. When the stain level is lower than the minimum stain level, it means that the area to be cleaned is clean, and there is no need to turn on the vibration mode of the cleaning component, which will also prolong the service life of the cleaning component.

步骤306：以污渍等级对应的振动模式进行清洁；Step 306: Clean with the vibration mode corresponding to the stain level;

具体是控制清洁组件运行对应的振动模式对待清洁区域进行清洁。Specifically, the vibration mode corresponding to the operation of the cleaning component is controlled to clean the area to be cleaned.

这里，振动模式至少包括振动频率和振动强度。其中，不同振动模式对应不同的振动频率和/或不同的振动强度。Here, the vibration mode includes at least the vibration frequency and the vibration intensity. Wherein, different vibration modes correspond to different vibration frequencies and/or different vibration intensities.

振动模式还包括移动间距。其中，不同振动模式对应不同的移动间距。The vibration mode also includes moving pitch. Among them, different vibration modes correspond to different moving distances.

这里，清洁组件包括水箱、清洁部件(如抹布)及振动驱动部件(包括振动拖和振动电机)。Here, the cleaning assembly includes a water tank, cleaning components (such as a rag), and vibration driving components (including a vibration mop and a vibration motor).

具体的，控制振动驱动部件以振动模式对应的振动频率和/或振动强度和/或移动间距工作，控制水箱以滴水或喷水方式向清洁部件送水，驱动清洁部件运动对待清洁区域进行清洁。Specifically, the vibration driving components are controlled to work at the vibration frequency and/or vibration intensity and/or movement distance corresponding to the vibration mode, the water tank is controlled to send water to the cleaning components in a dripping or spraying manner, and the cleaning components are driven to move to clean the area to be cleaned.

这里，污渍等级越高，设置的振动模式的振动频率越高，振动强度越高，移动间距越小。相反的，污渍等级越低，设置的振动模式的振动频率越低，振动强度越低，移动间距越大。Here, the higher the stain level, the higher the vibration frequency of the set vibration mode, the higher the vibration intensity, and the smaller the moving distance. Conversely, the lower the stain level, the lower the vibration frequency of the set vibration mode, the lower the vibration intensity, and the larger the moving distance.

步骤307：清洁完毕，对第一待清洁区域再次拍照，并识别出对应的污渍等级；Step 307: After cleaning, take a picture of the first area to be cleaned again, and identify the corresponding stain level;

步骤308：机器报警或者终端显示提示信息；Step 308: the machine alarms or the terminal displays prompt information;

机器报警，即可控制扫地机器人上的指示灯发出特定颜色的光并闪烁提示，如红光0.5s闪烁，用于表示清洁组件未安装。或者，控制扫地机器人上的语音提示装置发出提示信息，如“请安装清洁组件”。When the machine alarms, you can control the indicator light on the sweeping robot to emit light of a specific color and flash as a reminder, for example, the red light flashes for 0.5s to indicate that the cleaning component is not installed. Or, control the voice prompt device on the cleaning robot to send out prompt information, such as "please install the cleaning component".

或者，将提示信息发送至终端上的应用程序，由终端的显示屏显示提示信息，如“您的扫地机器人未安装清洁组件”。Or, send the prompt information to the application on the terminal, and the display screen of the terminal will display the prompt information, such as "Your robot vacuum has no cleaning components installed".

步骤309：对下一个待清洁区域进行清洁，直至分割区域清洁完毕。Step 309: Clean the next area to be cleaned until the divided area is cleaned.

如此，通过对待清洁区域进行污渍识别，基于识别的污渍等级确定清洁组件的振动模式，控制清洁组件运行振动模式对待清洁区域进行强力度的清洁，提高扫地机器人的清洁效果。In this way, through the identification of stains in the area to be cleaned, the vibration mode of the cleaning component is determined based on the identified stain level, and the vibration mode of the cleaning component is controlled to clean the area to be cleaned vigorously, thereby improving the cleaning effect of the sweeping robot.

为实现本申请实施例的方法，基于同一发明构思本申请实施例还提供了一种清洁控制装置，图4为本申请实施例中清洁控制装置的组成结构示意图，如图4所示，该清洁控制装置应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；具体包括：In order to realize the method of the embodiment of the present application, based on the same inventive concept, the embodiment of the present application also provides a cleaning control device. FIG. 4 is a schematic diagram of the composition of the cleaning control device in the embodiment of the present application. The control device is applied to a sweeping robot, and the sweeping robot includes a cleaning component and a camera module; specifically, it includes:

控制单元401，用于控制所述摄像头模组采集待清洁区域的第一识别图像；a control unit 401, configured to control the camera module to collect a first identification image of the area to be cleaned;

识别单元402，用于利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；An identification unit 402, configured to identify the first identification image by using an image identification model to obtain a first stain level corresponding to the first identification image;

确定单元403，用于基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；a determining unit 403, configured to determine a first vibration mode from at least two vibration modes of the cleaning assembly based on the first stain level;

所述控制单元401，用于控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁。The control unit 401 is configured to control the cleaning assembly to operate in the first vibration mode to clean the area to be cleaned.

在一些实施例中，所述振动模式至少包括振动频率和振动强度；其中，不同振动模式对应不同的振动频率和/或不同的振动强度。In some embodiments, the vibration modes include at least a vibration frequency and a vibration intensity; wherein different vibration modes correspond to different vibration frequencies and/or different vibration intensities.

在一些实施例中，所述振动模式还包括移动间距；其中，不同振动模式对应不同的移动间距。In some embodiments, the vibration modes further include movement intervals; wherein different vibration modes correspond to different movement intervals.

在一些实施例中，所述清洁组件包括：清洁部件、振动驱动部件；所述装置包括：所述控制单元401，具体用于基于所述第一振动模式，控制所述振动驱动部件工作，以驱动所述清洁部件运动对所述待清洁区域进行清洁。In some embodiments, the cleaning assembly includes: a cleaning part and a vibration driving part; the device includes: the control unit 401, which is specifically configured to control the vibration driving part to work based on the first vibration mode, so as to The cleaning member is driven to move to clean the area to be cleaned.

在一些实施例中，所述清洁组件包括：水箱；所述装置包括：所述控制单元401，具体用于控制所述水箱以预设送水模式向所述清洁部件送水。In some embodiments, the cleaning assembly includes: a water tank; the apparatus includes: the control unit 401, which is specifically configured to control the water tank to supply water to the cleaning component in a preset water supply mode.

在一些实施例中，所述控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁之后，控制所述摄像头模组采集所述待清洁区域的第二识别图像；利用所述图像识别模型对所述第二识别图像进行识别，得到所述第二识别图像对应的第二污渍等级；基于所述第二污渍等级，确定所述清洁组件的第二振动模式，并控制所述清洁组件运行在所述第二振动模式，对所述待清洁区域进行清洁。In some embodiments, the controlling the cleaning component to operate in the first vibration mode, and after cleaning the area to be cleaned, the camera module is controlled to collect a second identification image of the area to be cleaned; Recognize the second recognition image by using the image recognition model to obtain a second stain level corresponding to the second recognition image; determine a second vibration mode of the cleaning component based on the second stain level, and The cleaning assembly is controlled to operate in the second vibration mode to clean the area to be cleaned.

在一些实施例中，若所述第二污渍等级低于预设等级，控制所述清洁 组件停止工作。In some embodiments, if the second stain level is lower than a preset level, the cleaning assembly is controlled to stop working.

在一些实施例中，若所述第二污渍等级低于预设等级，将所述待清洁区域标记为干净区域并保存，以使所述待清洁区域不再重复清洁。In some embodiments, if the second stain level is lower than a preset level, the area to be cleaned is marked as a clean area and saved, so that the area to be cleaned is not cleaned repeatedly.

在一些实施例中，若所述第一污渍等级低于预设等级，控制所述清洁组件停止工作。In some embodiments, if the first stain level is lower than a preset level, the cleaning component is controlled to stop working.

在一些实施例中，所述控制所述摄像头模组采集待清洁区域图像之前，检测所述清洁组件的安装状态；若所述安装状态表征所述清洁组件未安装，输出提示信息。In some embodiments, before the controlling the camera module to capture the image of the area to be cleaned, the installation state of the cleaning component is detected; if the installation state indicates that the cleaning component is not installed, a prompt message is output.

在一些实施例中，获取待清洁区域的训练图像样本集；其中，所述训练图像集包括多个训练子图像，每个训练子图像中设有预设标签，所述预设标签包括污渍等级；利用所述训练图像样本集对图像识别模型进行训练，得到训练完成的图像识别模型。In some embodiments, a training image sample set of the area to be cleaned is obtained; wherein the training image set includes a plurality of training sub-images, each training sub-image is provided with a preset label, and the preset label includes a stain level ; Use the training image sample set to train the image recognition model to obtain the trained image recognition model.

如此，通过对待清洁区域进行污渍等级识别，基于识别的污渍等级确定清洁组件的振动模式，控制清洁组件运行振动模式对待清洁区域进行强力度的清洁，提高扫地机器人的清洁效果。In this way, by identifying the stain level of the area to be cleaned, the vibration mode of the cleaning component is determined based on the identified stain level, and the vibration mode of the cleaning component is controlled to clean the area to be cleaned vigorously, thereby improving the cleaning effect of the sweeping robot.

基于上述清洁控制装置中各单元的硬件实现，本申请实施例还提供了另一种扫地机器人，图5为本申请实施例中扫地机器人的组成结构示意图，如图5所示，该扫地机器人包括：清洁组件501和摄像头模组502；其中，所述摄像头模组用于采集待清洁区域的图像；所述清洁组件用于对待清洁区域进行清洁；Based on the hardware implementation of each unit in the above cleaning control device, the embodiment of the present application further provides another cleaning robot. FIG. 5 is a schematic structural diagram of the cleaning robot in the embodiment of the application. As shown in FIG. 5 , the cleaning robot includes : a cleaning component 501 and a camera module 502; wherein, the camera module is used to collect images of the area to be cleaned; the cleaning component is used to clean the area to be cleaned;

该扫地机器人还包括：处理器503和配置为存储能够在处理器上运行的计算机程序的存储器504；The cleaning robot further includes: a processor 503 and a memory 504 configured to store a computer program that can be executed on the processor;

其中，处理器501配置为运行计算机程序时，执行前述实施例中的方法步骤。Wherein, the processor 501 is configured to execute the method steps in the foregoing embodiments when running a computer program.

当然，实际应用时，如图5所示，该扫地机器人中的各个组件通过总 线系统503耦合在一起。可理解，总线系统503用于实现这些组件之间的连接通信。总线系统503除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图5中将各种总线都标为总线系统503。Of course, in practical application, as shown in FIG. 5 , the various components in the cleaning robot are coupled together through a bus system 503. It can be understood that the bus system 503 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 503 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the various buses are labeled as bus system 503 in FIG. 5 .

本申请实施例提供的一种计算机存储介质，所述计算机存储介质存储有计算机可执行指令，所述计算机可执行指令被执行时实施前述实施例的方法步骤。An embodiment of the present application provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, the method steps of the foregoing embodiments are implemented.

本申请实施例上述装置如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也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，本申请实施例的技术方案本质上或者说对现有技术做出贡献的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，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本申请各个实施例所述方法的全部或部分。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read Only Memory)、磁碟或者光盘等各种可以存储程序代码的介质。这样，本申请实施例不限制于任何特定的硬件和软件结合。If the above device in the embodiment of the present application is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of software products in essence or in the parts that make contributions to the prior art. The computer software products are stored in a storage medium and include several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) is caused to execute all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read Only Memory (ROM, Read Only Memory), magnetic disk or optical disk and other media that can store program codes. As such, the embodiments of the present application are not limited to any specific combination of hardware and software.

本申请所提供的几个方法实施例中所揭露的方法，在不冲突的情况下可以任意组合，得到新的方法实施例。The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined under the condition of no conflict to obtain new method embodiments.

本申请所提供的几个产品实施例中所揭露的特征，在不冲突的情况下可以任意组合，得到新的产品实施例。The features disclosed in the several product embodiments provided in this application can be combined arbitrarily without conflict to obtain a new product embodiment.

本申请所提供的几个方法或设备实施例中所揭露的特征，在不冲突的情况下可以任意组合，得到新的方法实施例或设备实施例。The features disclosed in several method or device embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments or device embodiments.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请 的保护范围应以所述权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

工业实用性Industrial Applicability

本申请提供一种清洁控制方法、装置、扫地机器人及存储介质，应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；该方法包括：控制摄像头模组采集待清洁区域的第一识别图像；利用图像识别模型对第一识别图像进行识别，得到第一识别图像对应的第一污渍等级；基于第一污渍等级，从清洁组件的至少两种振动模式中确定第一振动模式；控制清洁组件运行在所述第一振动模式，对待清洁区域进行清洁。如此，通过对待清洁区域进行污渍等级识别，基于识别的污渍等级确定清洁组件的振动模式，控制清洁组件运行振动模式对待清洁区域进行强力度的清洁，提高扫地机器人的清洁效果。The present application provides a cleaning control method, a device, a cleaning robot and a storage medium, which are applied to a cleaning robot, wherein the cleaning robot includes a cleaning component and a camera module; the method includes: controlling the camera module to collect a first identification of an area to be cleaned image; using an image recognition model to recognize the first recognition image to obtain a first stain level corresponding to the first recognition image; determining a first vibration mode from at least two vibration modes of the cleaning component based on the first stain level; controlling cleaning The assembly operates in the first vibration mode, cleaning the area to be cleaned. In this way, by identifying the stain level of the area to be cleaned, the vibration mode of the cleaning component is determined based on the identified stain level, and the vibration mode of the cleaning component is controlled to clean the area to be cleaned vigorously, thereby improving the cleaning effect of the sweeping robot.

Claims (14)

Translated fromChinese

一种清洁控制方法，其中，应用于扫地机器人，所述扫地机器人包括清洁组件和摄像头模组；所述方法包括：A cleaning control method, which is applied to a sweeping robot, the sweeping robot comprising a cleaning component and a camera module; the method includes:控制所述摄像头模组采集待清洁区域的第一识别图像；controlling the camera module to collect the first identification image of the area to be cleaned;利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；Recognizing the first recognition image by using an image recognition model to obtain a first stain level corresponding to the first recognition image;基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；determining a first vibration mode from at least two vibration modes of the cleaning assembly based on the first soil level;控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁。The cleaning assembly is controlled to operate in the first vibration mode to clean the area to be cleaned.根据权利要求1所述的方法，其中，The method of claim 1, wherein,所述振动模式至少包括振动频率和振动强度；其中，不同振动模式对应不同的振动频率和/或不同的振动强度。The vibration modes include at least a vibration frequency and a vibration intensity; wherein, different vibration modes correspond to different vibration frequencies and/or different vibration intensities.根据权利要求2所述的方法，其中，The method of claim 2, wherein,所述振动模式还包括移动间距；其中，不同振动模式对应不同的移动间距。The vibration modes further include movement intervals; wherein, different vibration modes correspond to different movement intervals.根据权利要求1所述的方法，其中，The method of claim 1, wherein,所述清洁组件包括：清洁部件、振动驱动部件；The cleaning assembly includes: a cleaning part, a vibration driving part;所述控制所述清洁组件运行在所述第一振动模式，包括：The controlling the cleaning assembly to operate in the first vibration mode includes:基于所述第一振动模式，控制所述振动驱动部件工作，以驱动所述清洁部件运动对所述待清洁区域进行清洁。Based on the first vibration mode, the vibration driving part is controlled to work, so as to drive the cleaning part to move to clean the area to be cleaned.根据权利要求4所述的方法，其中，The method of claim 4, wherein,所述清洁组件还包括：水箱；The cleaning assembly further includes: a water tank;所述控制所述清洁组件运行在所述第一振动模式，所述方法还包括：控制所述水箱以预设送水模式向所述清洁部件送水。The controlling the cleaning assembly to operate in the first vibration mode, the method further includes: controlling the water tank to supply water to the cleaning component in a preset water supply mode.根据权利要求1所述的方法，其中，所述控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁之后，所述方法还包括：The method of claim 1, wherein the controlling the cleaning assembly to operate in the first vibration mode, after cleaning the area to be cleaned, the method further comprising:控制所述摄像头模组采集所述待清洁区域的第二识别图像；controlling the camera module to collect the second identification image of the area to be cleaned;利用所述图像识别模型对所述第二识别图像进行识别，得到所述第二识别图像对应的第二污渍等级；Recognize the second recognition image by using the image recognition model to obtain a second stain level corresponding to the second recognition image;基于所述第二污渍等级，确定所述清洁组件的第二振动模式，并控制所述清洁组件运行在所述第二振动模式，对所述待清洁区域进行清洁。Based on the second stain level, a second vibration mode of the cleaning assembly is determined, and the cleaning assembly is controlled to operate in the second vibration mode to clean the area to be cleaned.根据权利要求6所述的方法，其中，所述方法还包括：The method of claim 6, wherein the method further comprises:若所述第二污渍等级低于预设等级，控制所述清洁组件停止工作。If the second stain level is lower than a preset level, the cleaning component is controlled to stop working.根据权利要求6所述的方法，其中，所述方法还包括：The method of claim 6, wherein the method further comprises:若所述第二污渍等级低于预设等级，将所述待清洁区域标记为干净区域并保存，以使所述待清洁区域不再重复清洁。If the second stain level is lower than a preset level, the area to be cleaned is marked as a clean area and saved, so that the area to be cleaned is not cleaned repeatedly.根据权利要求1所述的方法，其中，所述方法还包括：The method of claim 1, wherein the method further comprises:若所述第一污渍等级低于预设等级，控制所述清洁组件停止工作。If the first stain level is lower than a preset level, the cleaning component is controlled to stop working.根据权利要求1所述的方法，其中，所述控制所述摄像头模组采集待清洁区域图像之前，所述方法还包括：The method according to claim 1, wherein, before the controlling the camera module to capture the image of the area to be cleaned, the method further comprises:检测所述清洁组件的安装状态；detecting the installation state of the cleaning component;若所述安装状态表征所述清洁组件未安装，输出提示信息。If the installation state indicates that the cleaning component is not installed, a prompt message is output.根据权利要求1所述的方法，其中，所述方法还包括：The method of claim 1, wherein the method further comprises:获取待清洁区域的训练图像样本集；其中，所述训练图像集包括多个训练子图像，每个训练子图像中设有预设标签，所述预设标签包括污渍等级；Obtaining a training image sample set of the area to be cleaned; wherein, the training image set includes a plurality of training sub-images, each training sub-image is provided with a preset label, and the preset label includes a stain level;利用所述训练图像样本集对图像识别模型进行训练，得到训练完成的图像识别模型。The image recognition model is trained by using the training image sample set, and the trained image recognition model is obtained.一种清洁控制装置，其中，应用于扫地机器人，所述扫地机器人 包括清洁组件和摄像头模组；所述装置包括：A cleaning control device, wherein, applied to a sweeping robot, the sweeping robot includes a cleaning assembly and a camera module; the device includes:控制单元，配置为控制所述摄像头模组采集待清洁区域的第一识别图像；a control unit, configured to control the camera module to collect the first identification image of the area to be cleaned;识别单元，配置为利用图像识别模型对所述第一识别图像进行识别，得到所述第一识别图像对应的第一污渍等级；an identification unit, configured to identify the first identification image by using an image identification model to obtain a first stain level corresponding to the first identification image;确定单元，配置为基于所述第一污渍等级，从所述清洁组件的至少两种振动模式中确定第一振动模式；a determining unit configured to determine a first vibration mode from at least two vibration modes of the cleaning assembly based on the first soiling level;所述控制单元，配置为控制所述清洁组件运行在所述第一振动模式，对所述待清洁区域进行清洁。The control unit is configured to control the cleaning assembly to operate in the first vibration mode to clean the area to be cleaned.一种扫地机器人，其中，所述扫地机器人包括清洁组件和摄像头模组；其中，所述摄像头模组用于采集待清洁区域的图像；所述清洁组件用于对待清洁区域进行清洁；A sweeping robot, wherein the sweeping robot includes a cleaning component and a camera module; wherein, the camera module is used to collect images of an area to be cleaned; the cleaning component is used to clean the area to be cleaned;所述扫地机器人还包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，The cleaning robot further includes: a processor and a memory configured to store a computer program executable on the processor,其中，所述处理器配置为运行所述计算机程序时，执行权利要求1至11任一项所述方法的步骤。Wherein, the processor is configured to execute the steps of the method of any one of claims 1 to 11 when running the computer program.一种计算机可读存储介质，其上存储有计算机程序，其中，该计算机程序被处理器执行时实现权利要求1至11任一项所述的方法的步骤。A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 11.

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