CN115444327B

CN115444327B - Method, device, system and storage medium for processing cleaning image of cleaning device

Info

Publication number: CN115444327B
Application number: CN202210912375.XA
Authority: CN
Inventors: 黄靖文; 沈晓倩
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2023-09-29
Anticipated expiration: 2042-07-29
Also published as: CN115444327A; WO2024022223A1; CN117179656A

Abstract

The embodiment of the application provides a processing method, a device, a system and a storage medium for cleaning an image by cleaning equipment, wherein the method comprises the following steps: after cleaning equipment cleans a preset cleaning area for one time through a cleaning piece, acquiring the dirt degree corresponding to the preset cleaning area; and generating a cleaning image according to the dirt degree corresponding to one or at least two preset cleaning areas so as to realize the visualization of the cleaning workload of the cleaning equipment, thereby improving the use experience of a user on the cleaning equipment.

Description

Method, device, system and storage medium for processing cleaning image of cleaning device

Technical Field

The present application relates to the field of cleaning technologies, and in particular, to a method, an apparatus, a system, and a storage medium for processing a cleaning image by using a cleaning device.

Background

The cleaning device can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like. At present, when the cleaning equipment cleans the ground, the dirt degree of the cleaned ground cannot be detected, and the cleaning workload of the cleaning equipment cannot be reflected, so that the use experience of a user on the cleaning equipment is affected.

Disclosure of Invention

The application provides a processing method, a device, a system and a storage medium for cleaning images of cleaning equipment, and aims to solve the technical problems that the conventional cleaning equipment cannot detect the dirt degree of the cleaned ground and cannot reflect the cleaning workload of the cleaning equipment, so that the use experience of users on the cleaning equipment is affected, and the like.

In a first aspect, an embodiment of the present application provides a method for processing a cleaning image of a cleaning apparatus, for generating a cleaning image after the cleaning apparatus performs a cleaning task and completes cleaning of one or at least two preset cleaning areas by a cleaning member, including:

after cleaning equipment cleans a preset cleaning area for one time through a cleaning piece, acquiring the dirt degree corresponding to the preset cleaning area;

and generating a cleaning image according to the dirt degree corresponding to one or at least two preset cleaning areas.

In a second aspect, an embodiment of the present application provides a processing apparatus for cleaning an image by a cleaning device, the processing apparatus including a memory and a processor;

wherein the memory is used for storing a computer program;

the processor is used for executing the computer program and realizing the steps of the processing method for cleaning the image by the cleaning equipment when the computer program is executed.

In a third aspect, embodiments of the present application provide a cleaning apparatus system comprising:

a cleaning device including a movement mechanism for driving the cleaning device to move so that the cleaning member cleans a preset cleaning area;

a base station for cleaning at least a cleaning member of the cleaning apparatus; the method comprises the steps of,

the aforementioned processing device.

In a fourth aspect, embodiments of the present application provide a cleaning apparatus system comprising:

the cleaning device comprises a moving mechanism, a cleaning piece and a maintenance mechanism, wherein the moving mechanism is used for driving the cleaning device to move so as to enable the cleaning piece to clean a preset cleaning area, and the maintenance mechanism is used for cleaning the cleaning piece; the method comprises the steps of,

the aforementioned processing device.

In a fifth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, which when executed by a processor, causes the processor to implement the steps of the above-described processing method for cleaning an image by a cleaning device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a method for processing a cleaning image by a cleaning device according to an embodiment of the present application;

FIG. 2 is a schematic block diagram of a cleaning appliance system provided by an embodiment of the present application;

FIG. 3 is a schematic block diagram of a cleaning appliance system provided in accordance with another embodiment of the present application;

FIG. 4 is a schematic representation of the change in the degree of soiling of a mop in one embodiment;

FIG. 5 is a schematic diagram of a preset cleaning area and an image area according to an embodiment of the present application;

FIG. 6 is a schematic diagram of cleaning an image in one embodiment;

FIG. 7 is a schematic view of a cleaning image according to an embodiment;

FIG. 8 is a schematic view of yet another cleaning image according to an embodiment;

FIG. 9 is a schematic view of yet another cleaning image according to one embodiment;

FIG. 10 is a schematic diagram of cleaning an image in one embodiment;

FIG. 11 is a schematic view of a cleaning image according to an embodiment;

FIG. 12 is a schematic view of yet another cleaning image according to an embodiment;

FIG. 13 is a schematic view of yet another cleaning image according to an embodiment;

FIG. 14 is a schematic view of a cleaning image in one embodiment;

FIG. 15 is a schematic view of a cleaning image in one embodiment;

FIG. 16 is a schematic view of a cleaning image according to an embodiment;

FIG. 17 is a schematic view of yet another cleaning image according to an embodiment;

FIG. 18 is a schematic view of yet another cleaning image according to one embodiment;

FIG. 19 is a schematic view of a cleaning image in one embodiment;

FIG. 20 is a schematic view of a cleaning image in one embodiment;

FIG. 21 is a schematic view of a cleaning image according to one embodiment;

FIG. 22 is a schematic illustration of a room and room area provided by an embodiment of the present application;

FIG. 23 is a schematic view of a room cleaning image in one embodiment;

FIG. 24 is a schematic view of a track cleaning image in one embodiment;

FIG. 25 is a schematic view of a track cleaning image in one embodiment;

FIG. 26 is a cleaning image according to an embodiment of the present application;

fig. 27 is a schematic block diagram of a processing apparatus for cleaning an image by a cleaning device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a flowchart illustrating a processing method of a cleaning image of a cleaning apparatus according to an embodiment of the application. The processing method of the cleaning device cleaning image can be applied to a cleaning device system and used for generating and displaying the cleaning image of the cleaning device in the system so as to realize the visualization of the cleaning workload of the cleaning device.

The preset cleaning area may be any one of an area to be cleaned such as a home space, one room unit of the home space, a partial area of one room unit, a large-sized place, or a partial area of the large-sized place. From another perspective, the preset cleaning zone may refer to a larger area that is first cleaned, such as the entire room unit; but also to areas where a leak repairing cleaning is required after the first cleaning of a larger area, such as a wall-against area in a room unit, or an obstacle area.

As shown in fig. 2, the cleaning apparatus system includes one or more cleaning apparatuses 100, one or more base stations 200, and a processing device 300. Illustratively, the cleaning apparatus 100 includes a motion mechanism and a cleaning member. For example, the movement mechanism of the cleaning apparatus 100 is used to drive the cleaning apparatus 100 to move so that the cleaning member cleans the preset cleaning area. For example, when the movement mechanism drives the cleaning apparatus 100 to move, the cleaning member contacts the preset cleaning region to clean the preset cleaning region during the movement of the cleaning apparatus 100.

In some embodiments, the base station 200 is for use with the cleaning device 100, e.g., the base station 200 may charge the cleaning device 100, the base station 200 may provide a docking location for the cleaning device 100, etc. The base station 200 may also clean the cleaning members of the cleaning apparatus 100.

As shown in fig. 3, the cleaning apparatus system includes one or more cleaning apparatuses 100 and a processing device 300.

Illustratively, the cleaning apparatus 100 includes a motion mechanism, a cleaning member, and a maintenance mechanism. For example, the movement mechanism is used to drive the cleaning apparatus 100 to move so that the cleaning member cleans a predetermined cleaning area, and the maintenance mechanism is used to clean the cleaning member.

The processing apparatus 300 may be used to implement the steps of the processing method of the cleaning device cleaning image of the embodiment of the present application.

Alternatively, an apparatus controller for controlling the cleaning apparatus 100 is provided in the cleaning apparatus 100, and a base station controller for controlling the base station 200 is provided in the base station 200. In some embodiments, the device controller of the cleaning device 100 and/or the base station controller of the base station 200 may be used alone or in combination as the processing means 300 for implementing the steps of the processing method of the cleaning device cleaning image according to the embodiment of the present application; in other embodiments, the cleaning device system includes a separate processing apparatus 300 for implementing the steps of the method for processing a cleaning image of the cleaning device according to the embodiment of the present application, the processing apparatus 300 may be disposed on the cleaning device 100 or may be disposed on the base station 200; of course, the processing apparatus 300 is not limited thereto, and may be, for example, an apparatus other than the cleaning device 100 and the base station 200, such as a home intelligent terminal, a general control device, and the like.

The cleaning apparatus 100 may be used to automatically clean a preset cleaning area, and an application scenario of the cleaning apparatus 100 may be household indoor cleaning, large-scale place cleaning, and the like.

Illustratively, the cleaning elements of the cleaning apparatus 100 include at least one of a mop and a cleaning cleaner, although not limited thereto. In some embodiments, the cleaning apparatus 100 or the base station 200 further includes a contamination detection device for detecting a contamination level of the cleaning member. Illustratively, the soil detection device comprises at least one of: the visual sensor and the sewage detection sensor can be used for acquiring the image or color information of the cleaning member according to the visual sensor, and determining the dirt degree of the cleaning member according to the image or color information of the cleaning member, for example, the deeper the gray scale of the surface of the cleaning member such as the cleaning member is, the greater the dirt degree of the cleaning member is, for example, the closer the dirt inside the cleaning member such as the cleaning member is to the edge of the cleaning member is, and the greater the dirt degree of the cleaning member is. For example, the dirty water detection sensor may acquire detection information of dirty water obtained by washing a cleaning member such as a mop, and determine a degree of dirty of the mop of the cleaning member based on the acquired detection information; optionally, the sewage detection sensor includes at least one of: a visible light detection sensor, an infrared detection sensor, and a total soluble solid matter detection sensor; for example, an infrared detection sensor collects turbidity values of sewage, a visible light detection sensor collects chromaticity values of sewage, and a total-solubility solid substance detection sensor collects water conductivity values of sewage; the dirt degree of the mopping piece can be determined according to one or more of the turbidity value, the chromaticity value and the water conductivity value; for example, the greater the turbidity value of the wastewater, the greater the conductivity of the water and the greater the degree of soiling of the mop. Of course, the manner of determining the degree of soiling of the cleaning members of the cleaning device 100 is not limited thereto, and is not limited thereto.

As shown in fig. 1, a processing method of a cleaning device cleaning image according to an embodiment of the present application is used for generating a cleaning image after the cleaning device completes cleaning of one or at least two preset cleaning areas by a cleaning member, and includes steps S110 to S120.

Step S110, after the cleaning device cleans a preset cleaning area once through the cleaning piece, the dirt degree corresponding to the preset cleaning area is obtained.

In some embodiments, the preset cleaning region may be a region to be cleaned divided by the cleaning apparatus based on the task map. Optionally, the task map may be created by the cleaning device in response to a mapping instruction, or may be updated by the cleaning device according to obstacles, carpets, etc. identified during the cleaning process; alternatively, the task map may be a map of a user-specified cleaning area, such as, but not limited to, one or more rooms determined to be the task map in response to a cleaning area selected by the user on the map, such as one or more rooms, or a partial area of one or more rooms determined to be the task map in response to a cleaning area circled by the user on the map, such as a partial area of one or more rooms. For example, the preset cleaning zone may be determined from a room in the task map and/or a workload threshold of the cleaning device. For example, the workload of each preset cleaning area is smaller than or equal to the workload threshold, where the workload threshold is used to instruct the cleaning device to interrupt a current cleaning task and move to a base station for maintenance before completing the workload corresponding to the workload threshold, and the cleaning task refers to a task that the cleaning device performs cleaning on all preset cleaning areas corresponding to a task map in response to a cleaning instruction; for example, one room may be one preset cleaning area, or one room may have a plurality of preset cleaning areas; of course, also not limited thereto, for example, one preset cleaning zone includes one room and at least a partial area of another room. Optionally, the preset cleaning area may be determined by a user's division determination operation on the task map, or by a preset area division rule.

Optionally, acquiring the dirt level corresponding to the preset cleaning area includes: after the cleaning device finishes cleaning a preset cleaning area through the cleaning piece, acquiring the dirt degree of the cleaning piece; and determining the dirt degree corresponding to the preset cleaning area according to the dirt degree of the cleaning piece. Illustratively, the degree of soiling of the cleaning device is obtained after the cleaning device has completed cleaning of the predetermined cleaning area by the cleaning device.

Illustratively, the cleaning elements include a mop. For example, the capacity of the mop to collect dirt is limited, referring to fig. 4, the dirt value from the beginning of the mop to the mop reaches the maximum, and when the cleaning robot moves forward at a uniform speed and does not repeatedly pull a floor with uniform dirt distribution (the area is infinite), the dirt amount collected by the mop, that is, the relationship between the dirt value d of the mop and the cleaning time is shown in fig. 4. When the dirt value d of the mopping piece reaches the maximum dirt value d_max of the mopping piece, the mopping piece can not become dirty through mopping any more, the mopping cleaning effect on the ground is poor, and the fact that the dirt value d of the mopping piece reaches the workload threshold value can be determined, and mopping needs to be stopped; the cleaning device can be controlled to move to the base station for maintenance, such as cleaning the cleaning piece, or replacing the cleaned cleaning piece, or the maintenance mechanism of the cleaning device can be controlled for maintenance, such as cleaning the cleaning piece, or replacing the cleaned cleaning piece. Alternatively, the maximum dirt pick-up value d_max of the mop is an empirical value, which can be measured, for example, in a laboratory.

Illustratively, the cleaning member includes a cleaning member. For example, the dust collection piece is provided with a certain dirt accommodating space, when the sucked dirt amount of the dust collection piece reaches the maximum value of the dirt accommodating space, the dust collection piece cannot suck more dirt amount, the dust collection cleaning effect on the ground is poor, the accumulated work of the dust collection piece can be determined, namely, the sucked dirt amount reaches the working threshold value, and the dust collection on the ground is required to be stopped; the cleaning device can be controlled to move to the base station for maintenance, such as sucking the dirt amount contained in the dust collection piece, or replacing the dust collection piece, or the cleaning device can be controlled to maintain by a maintenance mechanism of the cleaning device, such as sucking the dirt amount contained in the dust collection piece, or replacing the dust collection piece. Alternatively, the maximum dirt pick-up of the cleaning member is an empirical value, which can be measured, for example, in a laboratory.

For example, when the dirt value of the cleaning member is smaller than the maximum dirt value d_max of the cleaning member, the dirt value corresponding to the preset cleaning region is positively correlated with the dirt value of the cleaning member, that is, the larger the dirt value of the cleaning member is, the more dirty the preset cleaning region is; when the dirt value of the cleaning member is equal to the maximum dirt value d_max of the cleaning member, it may be determined that the preset cleaning region is dirty, and after the cleaning of the preset cleaning region is completed in step S110, the dirt of the preset cleaning region remains unadsorbed by the cleaning member.

For example, when the dirt amount sucked by the dust collection member is smaller than the maximum dirt amount of the dust collection member, the dirt level corresponding to the preset cleaning area is positively related to the dirt level of the dust collection member, that is, the larger the dirt level of the dust collection member is, the more dirty the preset cleaning area is; when the dirt amount sucked by the dust suction member is equal to the maximum dirt amount of the dust suction member, it can be determined that the preset cleaning region is dirty, and it is highly likely that the dirt is not sucked by the dust suction member in the preset cleaning region after the cleaning of the preset cleaning region is completed, for example, after the dust suction of the preset cleaning region is completed.

In some embodiments, the degree of soiling of the predetermined cleaning area may be determined based on the degree of soiling of the cleaning element and/or the degree of soiling of the cleaning element.

In some embodiments, the dirt level of the cleaning member is obtained by a dirt detecting device on the base station or the cleaning apparatus, such as a visual sensor, and the deeper the color of the cleaning member is, the greater the dirt level of the cleaning member is, and the closer the dirt inside the dust collecting member is to the edge of the dust collecting member, and the greater the dirt level of the dust collecting member is; of course, the dirt level of the cleaning member of the cleaning apparatus may be determined by, for example, acquiring the dirt level of the cleaning member through a visual sensor mounted on the cleaning apparatus and facing the cleaning member, or acquiring the dirt level of the cleaning member through a visual sensor mounted on the cleaning apparatus and facing the inside of the cleaning member.

Illustratively, acquiring the degree of soiling of the cleaning member includes: when cleaning the mopping piece, acquiring detection information of sewage for cleaning the mopping piece; and determining the dirt degree of the mopping member according to the detection information. Optionally, the soil detecting device includes a soil detecting sensor for detecting the soil after cleaning the mop, for example, detecting one or more of turbidity information, chromaticity information, and water conductivity information of the soil. The amount of dirt washed from the mop may be determined by the turbidity value of the sewage, the chromaticity value of the sewage, or the water conductivity of the sewage. For example, when the turbidity, chromaticity or water conductivity of the sewage is larger, the dirty amount of the sewage cleaned by the cleaning piece is larger, that is, the dirty elution value used for representing the dirty amount cleaned by the cleaning piece is larger, the dirty amount adsorbed by the cleaning piece before cleaning can be determined, that is, the dirty degree of the cleaning piece is determined to be larger. It will be appreciated that the turbidity value of the wastewater, the chromaticity value of the wastewater, and the water conductivity of the wastewater may be used to characterize the amount of soil cleaned from the mop, i.e., the degree of soil in the mop, and may be positively correlated or otherwise associated with the soil elution value, the amount of soil, or the degree of soil. For example, if the turbidity value obtained by detecting the sewage from the first mop cleaning is 1NTU, the turbidity value is 1NTU, the dirt elution value or dirt amount is 100, the turbidity value obtained by detecting the sewage from the second mop cleaning is 2NTU, the dirt elution value or dirt amount is 200, the dirt amount of the first mop cleaning is smaller than the dirt amount of the second mop cleaning, i.e. the dirt degree of the first cleaning mop is smaller than the dirt degree of the second cleaning mop cleaning. The corresponding relationship between the chromaticity value of the sewage and the water conductivity of the sewage and the dirt elution value or dirt amount is the same, and will not be described here again. It will also be appreciated that the degree of fouling may be characterized by a value, such as by any one of a turbidity value of the wastewater, a chromaticity value of the wastewater, a water conductivity of the wastewater, an amount of fouling, an elution value of fouling, or the degree of fouling may be determined by any one of a turbidity value of the wastewater, a chromaticity value of the wastewater, a water conductivity of the wastewater, an amount of fouling, an elution value of fouling. For example, a turbidity value of 1NTU for the wastewater after cleaning the mop can be indicative of a degree of 1 for the mop; or the turbidity value of the sewage after cleaning the mopping piece is 100 corresponding to the sewage degree of 1NTU, and the sewage degree of the mopping piece is 100.

For example, when the cleaning member is cleaned, the detection value of the sewage detection sensor may be obtained at intervals, the dirt amount corresponding to the detection value may be accumulated according to the time and/or the water amount of cleaning the cleaning member, and the accumulation result of the dirt amount may be obtained, where the water amount may be determined according to the water amount of the cleaning water provided to the cleaning tank and/or the water amount of the discharged waste water.

In some embodiments, the mop cleaning operation performed between two floor cleaning operations may be referred to as a mop cleaning task. The cleaning task of the cleaning element includes, for example, a process of cleaning the cleaning element after cleaning one preset cleaning area and before cleaning another preset cleaning area, and may further include a process of cleaning the cleaning element after finishing the cleaning task, where the condition of finishing the cleaning task is that it is determined that the dirt values of all areas of the task map are respectively smaller than the corresponding dirt amount threshold.

The mop cleaning task includes one or more stage tasks. At each stage task, cleaning water is provided for cleaning the cleaning tank of the base station or directly cleaning the cleaning piece, and then the sewage after cleaning the cleaning piece is discharged out of the cleaning tank or recycled into a sewage tank, wherein the sewage tank can be a sewage tank arranged on the base station or a cleaning robot, and the process can be not circulated or can be circulated for a plurality of times; or the cleaning water is supplied to clean the cleaning member and the sewage after cleaning the cleaning member is discharged or recovered at the same time, but the invention is not limited to this, and the sewage after cleaning the cleaning member is intermittently discharged when the cleaning water is supplied to the cleaning tank.

The time and/or water quantity corresponding to the cleaning of the cleaning piece of different stages of tasks can be the same or different, and the dirt quantity corresponding to the detection value obtained when the tasks of each stage are executed is accumulated according to the time and/or water quantity corresponding to one or more stages of tasks in the cleaning piece of the cleaning piece, so that the accumulation result of the dirt quantity is obtained.

Determining a degree of soiling of the mop according to the detection information, comprising: and accumulating the dirt amount corresponding to the detection information according to the time and/or water amount for cleaning the cleaning piece, wherein the water amount can be determined according to the water amount for providing cleaning water for the cleaning tank and/or the water amount of discharged wastewater. Alternatively, the detection information, such as the turbidity of the sewage, can be directly used as the dirt quantity, namely, the turbidity value is 1NTU, and the dirt quantity is 1; and determining the dirt degree of the mopping piece according to the accumulated dirt quantity. For example, the accumulated result d of the dirt amount may be obtained by integrating the sewage turbidity T according to the amount of water i for cleaning the mop, which is expressed as follows:

d＝∫Tdl

when the sewage detection sensor has the limitation of the detection water capacity and the limitation of the detection frequency, the accumulated result d of the dirt amount can be determined according to the detection information of one or more samples and the water amount in the sampling interval, and is expressed as follows:

d＝∑T _i ×l _i

Wherein T is _i Represents the turbidity T, l of the sewage sampled at the ith time _i The water quantity between two samples is represented by i being any one of 1, 2, … … and n, and n is the total sampling number.

For example, determining the degree of soiling of the mop according to the detection information includes: and predicting the dirt degree of the mopping piece according to the single detection information. For example, after stopping supplying cleaning water to the cleaning tank, discharging sewage, and detecting a sewage turbidity once during the sewage discharge, and obtaining the amount of water of the discharged sewage, the product of the sewage turbidity and the amount of water may be determined as the accumulated result d of the amount of sewage. Of course, the present invention is not limited thereto, and for example, the turbidity of the sewage may be detected a plurality of times during the sewage discharge, and the average value, the maximum value, or the product of the minimum value of the plurality of detected turbidity of the sewage and the amount of water may be determined as the accumulated result d of the amount of sewage.

In some embodiments, the dirt amount corresponding to the detection information is accumulated according to the time and/or the water amount for cleaning the cleaning member, and the accumulated dirt amount indicates the dirt amount cleaned from the cleaning member, which may be referred to as a dirt elution value.

In some embodiments, the dirty elution value of the mop cleaning task may be determined according to the dirty elution values of one or more stage tasks of the mop cleaning task; for example, the dirt elution values of all the stage tasks in the cleaning task of the cleaning piece are accumulated to obtain the dirt elution values of the cleaning task of the cleaning piece.

In each stage task, the detection information of the sewage can be obtained only once, or can be obtained multiple times, the dirt elution value of the stage task is determined according to one or multiple detection information, for example, the dirt elution value of the stage task is determined according to the product of the average value of multiple detection information and the water quantity of the stage of the task.

For example, the degree of soiling of the mop may be determined based on the soiling elution value of one or more stage tasks, or the soiling elution value of the mop cleaning task. Determining the dirt degree of the cleaning member according to the dirt elution value of the first stage task in the cleaning task of the cleaning member, for example, wherein the dirt elution value of the first stage task is larger, and the dirt value of the cleaning member is larger; or determining the dirt degree of the cleaning piece according to the maximum value or the average value of dirt elution values of the tasks in a plurality of stages, wherein the larger the maximum value or the average value is, the larger the dirt value of the cleaning piece is.

In some embodiments, after the cleaning device completes the cleaning of the preset cleaning area, for example, by the cleaning element, a cleaning task of the cleaning element is executed, and the dirt elution values of all the stage tasks in the cleaning task of the cleaning element are accumulated to obtain the dirt elution value of the cleaning task of the cleaning element, and the dirt elution value of the cleaning task of the cleaning element is determined as the dirt degree corresponding to the preset cleaning area.

Step S120, generating a cleaning image according to the dirt degree corresponding to one or at least two preset cleaning areas.

In some embodiments, the step of generating the cleaning image according to the degree of dirt corresponding to the preset cleaning area further includes: determining a preset cleaning area with a soil level greater than or equal to a preset soil level threshold; and generating a cleaning image according to the preset cleaning area with the dirt degree larger than or equal to the preset dirt degree threshold value. For example, if after the cleaning device cleans the plurality of preset cleaning areas, at least one preset cleaning area has a dirt degree smaller than the preset dirt degree threshold, the preset cleaning area having the dirt degree smaller than the preset dirt degree threshold may not be displayed in the cleaning image, so that the cleaning effect of the cleaning device on the preset cleaning area is more intuitively reflected.

Alternatively, the cleaning image may be generated after the cleaning device completes cleaning all the preset cleaning areas in the task map, or may be generated after the cleaning device completes one cleaning of at least one preset cleaning area in the task map, which is not limited herein. Illustratively, the cleaning image includes an image area corresponding to a preset cleaning area.

For example, generating the cleaning image according to the dirt degree corresponding to the preset cleaning area includes: determining a target filling diagram of an image area according to a range of a value range of a dirt degree corresponding to a preset cleaning area; and marking the image area according to the target filling diagram, wherein the target filling diagrams corresponding to different value range ranges are different.

Alternatively, the target fill graphic may include at least one of a color, line, shade, pattern, value, or other fill graphic. For example, the target filling icon may be preset, or may be set by the user, which is not limited herein. It will be appreciated that the target fill graphic can be correspondingly extended.

In some embodiments, judging a range of a value range of a dirt degree corresponding to a preset cleaning area, and determining a target filling diagram of the image area according to the range of the value range of the dirt degree corresponding to the preset cleaning area, for example, the higher the dirt degree corresponding to the preset cleaning area is, the darker the color in the target filling diagram is; the higher the dirt degree corresponding to the preset cleaning area is, the denser the lines in the target filling diagram are; the higher the dirt degree corresponding to the preset cleaning area is, the darker the shadow in the target filling diagram is; the higher the dirt degree corresponding to the preset cleaning area is, the denser the patterns in the target filling graphic representation are; the higher the corresponding degree of soiling of the preset cleaning area, the greater the number in the target fill map. And so on, other filling diagrams, such as characters, can be expanded, and the filling diagrams are not limited herein.

In some embodiments, determining the target filling graphic of the image area according to a range of values of a corresponding degree of soiling of the preset cleaning area includes: and when the number of times that the preset cleaning area is cleaned is greater than 1, determining a target filling diagram of the image area corresponding to the preset area according to a value range of at least one dirt degree corresponding to the preset cleaning area.

For example, after the cleaning robot cleans the preset cleaning area once, the dirt level corresponding to the preset cleaning area can be obtained, and when the number of times that the preset cleaning area is cleaned is more than 1, the corresponding dirt level can be obtained after each time that the preset cleaning area is cleaned. For example, the preset cleaning area is cleaned 5 times, and one contamination level is obtained after each cleaning, namely 5 contamination levels are obtained, and the target filling diagram of the image area corresponding to the preset area is determined by any one of the 5 contamination levels or at least 2 accumulated values in the 5 contamination levels. Of course, the preset cleaning area may be cleaned 5 times, and the contamination level is obtained only after 2 times of cleaning, for example, 2 contamination levels are obtained, and the target filling pattern of the image area corresponding to the preset area is determined by any one of the 2 contamination levels or by an accumulated value of the 2 contamination levels. For example, when the degree of contamination is obtained after the first cleaning, the number of remaining cleaning times of the preset cleaning area may be predicted according to the degree of contamination corresponding to the preset cleaning area, for example, the number of remaining cleaning times is 4, and when the number of remaining cleaning times predicted by the cleaning area is greater than 1, the degree of contamination of the preset cleaning area may be obtained only after several times of cleaning, thereby generating the cleaning image.

For example, the dirt degree of the preset cleaning area corresponding to each cleaning may be obtained according to the actual cleaning times, and the cleaning image may be generated according to the dirt degree of the preset cleaning area corresponding to each cleaning.

In some embodiments, generating the cleaning image according to the degree of soiling corresponding to the preset cleaning area includes: generating a first cleaning image according to the dirt degree corresponding to a first target preset cleaning area, wherein the first target preset cleaning area is one preset cleaning area in at least two preset cleaning areas, the first cleaning image comprises all image areas corresponding to the preset areas, at least the image areas corresponding to the first target preset cleaning area are marked with target filling diagrams, and the target filling diagrams are determined according to the dirt degree corresponding to the first target preset cleaning area acquired last time.

Optionally, the processing method further includes: the image areas corresponding to the non-first target preset cleaning areas do not identify target filling illustrations; the image area corresponding to the non-first target preset cleaning area identifies a preset target filling graphic; the target filling graphic of the image area corresponding to the non-first target preset cleaning area is determined according to the pollution degree corresponding to the non-first target preset cleaning area acquired last time; wherein the non-first target preset cleaning region is a preset cleaning region other than the first target preset cleaning region.

For example, when the cleaning apparatus is performing a cleaning task, the cleaning apparatus cleans each of the preset cleaning areas A1, A2, A3, A4 in the cleaning order of A1-A2-A3-A4, but the cleaning order of each of the preset cleaning areas is not limited thereto, and is described below in the cleaning order of A1-A2-A3-A4. Referring to fig. 5, each preset cleaning area corresponds to an image area in the cleaning image one by one, for example, the preset cleaning area A1 corresponds to the image area A1, the preset cleaning area A2 corresponds to the image area A2, and so on. Referring to fig. 6, when the cleaning device first cleans the preset cleaning area A1 once, a first cleaning image a may be generated according to the dirt degree corresponding to the preset cleaning area A1, as shown in fig. 6 (a), where the first target cleaning area is the preset cleaning area A1, the first cleaning image a includes image areas A1-A4 corresponding to all preset cleaning areas A1-A4, the image area A1 corresponding to the preset cleaning area A1 is filled with color, the color filled in the image area A1 is determined by the dirt degree corresponding to the preset cleaning area A1, and the image areas A2-A4 corresponding to non-first target cleaning areas A2-A4 except the preset cleaning area A1 do not identify the target filling graphic; if the cleaning device continues to clean the preset cleaning area A2 once after the cleaning of the preset cleaning area A1 is completed, a first cleaning image b may be generated according to the dirt degree corresponding to the preset cleaning area A2, as shown in fig. 6 (b), where the first target cleaning area is the preset cleaning area A2, the first cleaning image b includes all image areas A1-A4 corresponding to the preset cleaning areas A1-A4, the image area A1 corresponding to the preset cleaning area A1 is filled with color, the image area A2 corresponding to the preset cleaning area A2 is filled with color, the color filled in the image area A1 is determined by the dirt degree corresponding to the preset cleaning area A1 acquired last time, that is, the color filled in the image area A1 in the first cleaning image b is the same as the color filled in the image area A1 in the first cleaning image a, the color filled in the image area A2 is determined by the dirt degree corresponding to the preset cleaning area A2, and the image areas A3 and A4 corresponding to the target filling patterns are not marked. Of course, the image areas corresponding to the non-first target areas in the first cleaning image a and the first cleaning image b may not identify any target filling icon, may also identify a preset target filling icon, and are not limited herein. In the example of fig. 6, the target filling pattern identified by the image area A1 corresponding to the preset cleaning area A1 in the first cleaning image a is reserved in the first cleaning image b, the preset cleaning area A1 and the preset cleaning area A2 are different preset cleaning areas in the task map, and the dirt degree corresponding to the preset cleaning area A2 does not affect the dirt degree corresponding to the preset cleaning area A1, so in the first cleaning image b, the target filling pattern identified by the image area A2 does not affect the target filling pattern identified by the image area A1, and the target filling pattern identified by the image area A1 in the first cleaning image b is the same as the target filling pattern identified by the image area A1 in the first cleaning image a. By analogy, if the cleaning apparatus continues to clean the preset cleaning area A3 once, a first cleaning image c may be generated according to the contamination level corresponding to the preset cleaning area A3, as shown in fig. 6 (c), and if the cleaning apparatus continues to clean the preset cleaning area A4 once, a first cleaning image d may be generated according to the contamination level corresponding to the preset cleaning area A4, as shown in fig. 6 (d).

In some embodiments, the first cleaning image is generated when the dirt level corresponding to the first target preset cleaning area is obtained, that is, one first cleaning image is displayed each time cleaning of one preset cleaning area is completed (that is, each time dirt detection is completed), for example, the first cleaning image a, the first cleaning image b, the first cleaning image c, and the first cleaning image d are displayed after each time cleaning of the preset cleaning areas A1, A2, A3, and A4 is completed; in some embodiments, one first cleaning image is generated after the cleaning task is completed, for example, only one first cleaning image is displayed after the cleaning task is completed, such as selectively displaying the corresponding first cleaning image by clicking a tab in a screen, as shown in fig. 7, and the user may select to display any one of the first cleaning images a-d by clicking any one tab in the screen, as shown by numerals 1 to 5 in fig. 7; in some embodiments, at least two first cleaning images are generated sequentially or simultaneously after the cleaning task is completed, for example, at least two first cleaning images are displayed sequentially or simultaneously after the cleaning task is completed, and after the cleaning task is completed, the user may selectively display the corresponding first cleaning images by clicking at least two tabs in the screen, as shown by numerals 1 to 5 in fig. 7, or the user may sequentially display a plurality of first cleaning images by clicking an icon "cleaning image" in the screen, as shown in fig. 8, or the plurality of first cleaning images may be displayed in the screen by clicking an icon in the screen, as shown in fig. 9. Thus, the cleaning process of the cleaning device can be embodied according to at least one first cleaning image, for example, the actual cleaning sequence of the cleaning device on each preset cleaning area and the dirt degree corresponding to each preset cleaning area can be embodied, for example, the first cleaning image a in fig. 6 shows that the cleaning device starts to clean the preset cleaning area A1 first, the target filling diagram identified by the image area A1 shows the dirt degree of the preset cleaning area A1 before cleaning, and the dirt amount of the cleaning device on the preset cleaning area A1 at the present time.

For example, when the cleaning apparatus is performing a cleaning task, the cleaning apparatus cleans each of the preset cleaning areas A1, A2, A3, A4 in the cleaning order of A1-A2-A3-A4, but the cleaning order of each of the preset cleaning areas is not limited thereto, and is described below in the cleaning order of A1-A2-A3-A4. Referring to fig. 10, the cleaning apparatus first cleans the preset cleaning area A1 once, and then generates a first cleaning image a according to the obtained dirt level corresponding to the preset cleaning area A1 after the cleaning apparatus cleans the preset cleaning area A1, where the preset cleaning area A1 is a first target cleaning area, the first cleaning image a includes image areas A1-A4 corresponding to all preset cleaning areas A1-A4, and the image area A1 corresponding to the preset cleaning area A1 is filled with color, and the color of the filling of the image area A1 is determined by the dirt level corresponding to the preset cleaning area A1; if the cleaning device further needs to continue to clean the preset cleaning area A1 for the second time after completing the present cleaning of the preset cleaning area A1, and the preset cleaning area A1 is still the first target cleaning area at this time, a first cleaning image b may be generated according to the dirt degree corresponding to the preset cleaning area A1 after the second cleaning, as shown in fig. 10 (b), where the first cleaning image b includes all image areas A1-A4 corresponding to the preset cleaning areas A1-A4, and the color of the filling of the image area A1 corresponding to the preset cleaning area A1 is determined by the dirt degree corresponding to the preset cleaning area A1 acquired for the second time. And so on, if the cleaning device needs to continue cleaning the preset cleaning area A1 for the third time after completing the second cleaning of the preset cleaning area A1, generating a first cleaning image c according to the dirt degree corresponding to the preset cleaning area A1 acquired for the third time, as shown in fig. 10 (c), until the dirt degree corresponding to the preset cleaning area A1 is lower than the preset dirt degree threshold, and then cleaning other preset cleaning areas and generating other first cleaning images. In this manner, the cleaning process of the cleaning device on one preset cleaning area, for example, the number of times the cleaning device cleans the preset cleaning area and the change of the cleaning effect of the preset cleaning area after the preset cleaning area is cleaned for a plurality of times, for example, the first cleaning image a and the first cleaning image b in fig. 10, can be represented according to at least one first cleaning image, the preset cleaning area A1 is cleaned for 2 times, and the change of the cleaning effect of the preset cleaning area A1 is represented by the change of the target filling pattern of the identification of the image cleaning area A1. In some embodiments, if the cleaning device completes cleaning of one preset cleaning area, that is, after the dirt level corresponding to the preset cleaning area is lower than the preset dirt level threshold, the cleaning device continues cleaning of other preset cleaning areas, and generates at least one first cleaning image according to the dirt level corresponding to the other preset cleaning areas. For example, after the cleaning device completes three times of cleaning the preset cleaning area A1, the dirt degree corresponding to the preset cleaning area A1 is lower than the preset dirt degree threshold value, the cleaning device continues to clean the preset cleaning area A2, at this time, the preset cleaning area A2 is a first target cleaning area, a first cleaning image d can be generated according to the dirt degree of the preset cleaning area A2, as shown in fig. 10 (d), and so on, at least one first cleaning image is generated according to the dirt degree of the cleaning device on the preset cleaning area A3 and the dirt degree of the preset cleaning area A4 respectively, so that the cleaning process of the cleaning device can be embodied according to at least one first cleaning image, for example, the cleaning times of the cleaning device on each preset cleaning area, the change of the corresponding dirt degree after each preset cleaning area and the cleaning sequence of the cleaning device on the preset cleaning area. Illustratively, when the first cleaning image a-c is generated, the preset cleaning area A2-A4 is a non-first target area, and the image area A2-A4 corresponding to the preset cleaning area A2-A4 does not identify the target filling icon to indicate that the preset cleaning area A2-A4 is not cleaned; when the first cleaning image d is generated, the preset cleaning area A1 is a non-first target area, and the target filling diagram of filling of the image area A1 corresponding to the preset cleaning area A1 is the same as the target filling diagram of filling of the image area A1 in the first cleaning image c, so as to indicate that the preset cleaning area A1 is not cleaned any more. Of course, the image areas A2-A4 in the first cleaning image a-c may also identify a preset target filling icon to indicate that the preset cleaning areas A2-A4 are not cleaned, and the image area A1 in the first cleaning image d may not identify the target filling icon or identify the preset target filling icon to indicate that the preset cleaning area A1 is not cleaned again, which will not be described herein.

In some embodiments, the first cleaning image is generated when the dirt degree corresponding to the first target preset cleaning area is obtained, that is, one first cleaning image is displayed each time cleaning of one preset cleaning area is completed (that is, each time dirt detection is completed), for example, the first cleaning image a, the first cleaning image b, the first cleaning image c and the first cleaning image d are respectively displayed after each time cleaning of the preset cleaning areas A1 and A2 is completed; in some embodiments, at least two first cleaning images may also be generated sequentially or simultaneously after the cleaning task is completed, that is, a plurality of first cleaning images may be displayed sequentially or simultaneously after the cleaning task is completed, for example, as shown in fig. 11, after the cleaning task is completed, the user may selectively display the corresponding first cleaning images by clicking a tab in the screen, such as numerals 1 to 5 in fig. 11, or as shown in fig. 12, the user may sequentially display the plurality of first cleaning images by clicking an icon "cleaning image" in the screen, or as shown in fig. 13, display the plurality of first cleaning images in the screen by clicking an icon in the screen.

Optionally, an animation or short video is generated from the at least one first cleaning image. For example, at least one first cleaning image is dynamically displayed along with the playing of the animation or the short video, or the changing process of the preset cleaning area corresponding to the plurality of first cleaning images is displayed through the animation or the short video.

Illustratively, the plurality of first cleaning images a-d may be presented in sequence by animation or short video; the target filling patterns marked by the image area A1, the image area A2, the image area A3 and the image area A4 can be displayed in a manner of animation or short video with the lapse of time, wherein the target filling patterns marked by the image areas are determined according to the corresponding dirt degree of each preset cleaning area, so that the cleaning process of the cleaning device can be displayed through the animation or short video, for example, the actual cleaning sequence of the cleaning device on each preset cleaning area and the corresponding dirt degree after each preset cleaning area is cleaned by the cleaning device, for example, the sequential display of the first cleaning images a-d, the fact that the cleaning sequence of the cleaning device cleans each preset cleaning area A1, A2, A3 and A4 according to the sequence of A1-A2-A3-A4 is reflected, and the change of the target filling patterns marked by each image area A1-A4 in the first cleaning images a-d can reflect the change of the cleaning effect of the preset cleaning area A1-A4, thereby being beneficial to the user to know the cleaning process of the cleaning device and the dirt degree of the preset cleaning area in the cleaning process.

For example, a plurality of first cleaning images may be sequentially presented by animation or short video; the change of the target filling graphic marked by the image area a1 and the change of the target filling graphic marked by the image area a2 can be displayed through animation or short video, wherein the target filling graphic marked by each image area is determined according to the corresponding dirt degree of each preset cleaning area, so that the cleaning process of each preset cleaning area can be displayed through animation or short video, such as the cleaning times of the cleaning equipment on the preset cleaning area, the change of the corresponding dirt degree after each preset cleaning area and the cleaning sequence of the cleaning equipment on the preset cleaning area, thereby being beneficial to the user to know the cleaning process of the cleaning equipment and the gradual cleaning process of the preset cleaning area after the cleaning equipment is cleaned for a plurality of times.

In some embodiments, the animation or short video may be generated and displayed in real time during the cleaning process of the cleaning apparatus, or may be generated and displayed after the cleaning process of the cleaning apparatus is completed, so as to reproduce the cleaning process of the cleaning apparatus, without limitation.

Optionally, generating the cleaning image according to the dirt degree corresponding to the preset cleaning area includes: determining at least one second target preset cleaning area, wherein the second target preset cleaning area is the preset cleaning area which is cleaned for i times, and i is an integer greater than or equal to 1; generating an ith second cleaning image according to at least one target dirt degree, wherein the target dirt degree is the dirt degree corresponding to a second target preset cleaning region obtained after the ith cleaning of the second target preset cleaning region, the ith second cleaning image comprises all image regions corresponding to the preset regions, target filling diagrams are respectively marked in the image regions corresponding to each second target preset cleaning region, and the target filling diagrams marked in the image regions corresponding to each second target preset cleaning region are respectively determined according to the target dirt degree corresponding to each second target preset cleaning region obtained in the ith time.

Optionally, the processing method further includes: the image areas corresponding to the non-second target preset cleaning areas do not identify target filling illustrations; an image area identifier corresponding to a non-second target preset cleaning area identifies a preset target filling graphic; the target filling graphic of the image area identifier corresponding to the non-second target preset cleaning area is determined according to the pollution degree corresponding to the non-second target preset cleaning area acquired last time; wherein the non-second target preset cleaning zone is a preset cleaning zone other than the second target preset cleaning zone.

For example, referring to fig. 14 and 15, when the cleaning device completes the cleaning task, if the cleaning device performs cleaning on the preset cleaning area A1 for 3 times, performs cleaning on the preset cleaning area A2 for 3 times, performs cleaning on the preset cleaning area A3 for 1 time, and performs cleaning on the preset cleaning area A4 for 2 times, the first second cleaning image is generated according to the respective target contamination levels of all the preset cleaning areas that have been cleaned for 1 time, for example, the respective target contamination levels obtained after the preset cleaning areas A1-A4 are cleaned for 1 time, and as shown in fig. 14 (a) or fig. 15 (a), the second cleaning image a includes all the image areas A1-A4 corresponding to the preset areas A1-A4, and each of the image areas A1-A4 is marked with a target filling graphic, and the target filling graphic marked by each of the image areas A1-A4 is respectively determined according to the respective target contamination levels corresponding to the preset cleaning areas A1-A4, so as to indicate the respective target contamination levels before the preset cleaning areas A1-A4 are cleaned for 1-A4; similarly, a second cleaning image of the 2 nd sheet may be generated according to the target contamination levels corresponding to all the preset cleaning areas that have been cleaned 2 times, such as the respective contamination levels obtained after the preset cleaning areas A1, A2, and A4 are cleaned 2 nd times, as shown in fig. 14 (b) or fig. 15 (b), the second cleaning image b includes all the image areas A1-A4 corresponding to the preset cleaning areas A1-A4, and the target filling patterns identified by each of the image areas A1, A2, and A4 are respectively determined according to the respective target contamination levels to indicate the contamination levels after the preset cleaning areas A1, A2, and A4 are cleaned 2 nd times, because the preset cleaning area A3 is not cleaned 2 nd times, the target filling patterns identified by the image area A3 do not belong to the second target preset cleaning area determined when the second cleaning image b of the 2 nd sheet is generated, and the target filling patterns identified by the image area A3 are determined according to the respective contamination levels obtained after the preset cleaning area A3 1 st time, so as to indicate the preset cleaning area A3 is not shown in fig. 14 (the preset cleaning area a is not shown) is changed); or, the target filling pattern may not be identified or the preset target filling pattern may be identified, so as to indicate that the preset cleaning area A3 is not cleaned for the 2 nd time, as shown in fig. 15 (b), which is not described herein. By analogy, a second cleaning image c is generated according to the degree of contamination of the cleaning apparatus obtained after the 3 rd cleaning of the preset cleaning area A1 and the preset cleaning area A2 is completed, as shown in fig. 14 (c) or 15 (c), to indicate the degree of contamination after the preset cleaning areas A1, A2 are cleaned 3 times, respectively. Thus, the workload of the cleaning device can be represented according to one second cleaning image, for example, the dirt amount cleaned by the cleaning device from each preset cleaning area, and the working process of the cleaning device can be represented according to at least two second cleaning images, for example, the corresponding dirt degree change of each preset cleaning area after multiple cleaning.

In some embodiments, a second cleaning image is generated after the cleaning task is completed, i.e., only one second cleaning image is displayed after the cleaning task is completed, for example, by clicking a tab in a screen, for example, "1 st", "2 nd", "3 rd" in fig. 16, and selectively displaying the corresponding second cleaning image, as shown in fig. 16, any one of the second cleaning images a-c may be selectively displayed.

In some embodiments, at least two second cleaning images are generated sequentially or simultaneously after the cleaning task is completed, i.e., at least two second cleaning images are displayed sequentially or simultaneously after the cleaning task is completed, e.g., after the cleaning task is completed, the user may click on an icon in the screen, such as "cleaning image" in fig. 17, so that a plurality of second cleaning images may be displayed sequentially, as shown in fig. 17; or simultaneously displaying at least two second cleaning images in the screen, as shown in fig. 18, and sequentially displaying or simultaneously displaying the second cleaning images a-c.

In some embodiments, after determining that all the second target preset cleaning areas complete the ith cleaning, generating an ith second cleaning image according to at least one target smudge degree. For example, referring to fig. 14, if the cleaning apparatus cleans each preset cleaning area A1, A2, A3, A4 for 1 time according to a predetermined cleaning sequence, then cleans the preset cleaning area of each preset cleaning area A1, A2, A3, A4 that needs to be cleaned for 2 nd time, and so on until the corresponding dirt degree of each preset cleaning area A1, A2, A3, A4 is less than the dirt degree threshold; then, after the cleaning device cleans the preset cleaning areas A1, A2, A3 and A4 for 1 time, A1 st second cleaning image, such as a second cleaning image a, is generated, after the cleaning device cleans the preset cleaning areas A1, A2 and A4 for 2 nd time, a second cleaning image, such as a second cleaning image b, is generated, and so on, a plurality of second cleaning images are sequentially generated, so as to display the corresponding dirt degree of each preset cleaning area in a stepwise manner, and reflect the dirt degree of each preset cleaning area and the change of the dirt degree of each preset cleaning area.

Optionally, an animation or short video is generated from the at least one second cleaning image. For example, at least one second cleaning image is dynamically displayed along with the playing of the animation or the short video, or the changing process of the preset cleaning area corresponding to the plurality of second cleaning images is displayed through the animation or the short video.

The second cleaning image a, the second cleaning image b, and the second cleaning image c may be displayed sequentially through an animation or a short video, so as to display and display the change of the corresponding dirt degree of the preset cleaning areas A1, A2, A3, and A4 after at least one cleaning, thereby being beneficial to the user to understand the cleaning process of the cleaning device and the gradual cleaning process of the preset cleaning areas.

In some embodiments, the animation or the short video may be generated in real time during the cleaning process of the cleaning device on each preset cleaning area, or may be generated after the cleaning device completes the cleaning process of each preset cleaning area, so as to reproduce the cleaning process of the cleaning device, which is not limited herein.

In some embodiments, generating the cleaning image according to the degree of soiling corresponding to the preset cleaning area includes: and generating a third cleaning image according to the acquired accumulated dirt degree quantity corresponding to the preset cleaning area. For example, each pair of preset cleaning areas completes one cleaning, namely a third cleaning image is generated, each cleaning image comprises image areas corresponding to all preset cleaning areas, and target filling patterns of filling of the image areas corresponding to the preset cleaning areas are respectively determined by accumulated values of dirt degrees corresponding to the preset cleaning areas.

For example, referring to fig. 19 in conjunction with the foregoing embodiment, when the cleaning apparatus is performing a cleaning task, the cleaning apparatus cleans each preset cleaning area A1, A2, A3, A4 in the cleaning sequence of A1-A2-A3-A4, although the cleaning sequence of each preset cleaning area is not limited thereto, and the cleaning sequence of A1-A2-A3-A4 is described below. If the cleaning device performs the cleaning on the preset cleaning area A1 for 3 times, performs the cleaning on the preset cleaning area A2 for 3 times, performs the cleaning on the preset cleaning area A3 for 1 time, and performs the cleaning on the preset cleaning area A4 for 2 times, a third cleaning image a may be generated according to the obtained dirt degree corresponding to the preset cleaning area A1 after the cleaning device performs the first cleaning on the preset cleaning area A1, as shown in fig. 19 (a), where the third cleaning image a includes all image areas A1-A4 corresponding to the preset cleaning areas A1-A4, and the image area A1 corresponding to the preset cleaning area A1 is filled with a value 500, and the value filled in the image area A1 is determined by the dirt degree corresponding to the first cleaning of the preset cleaning area A1; if the cleaning device further needs to perform the second cleaning on the preset cleaning area A1 after the current cleaning on the preset cleaning area A1 is completed, a third cleaning image b may be generated according to the accumulated values of the two dirt levels corresponding to the preset cleaning area A1 after the second cleaning, as shown in fig. 19 (b), where the third cleaning image b includes all the image areas A1-A4 corresponding to the preset cleaning area A1-A4, the value 800 of the filling of the image area A1 corresponding to the preset cleaning area A1 is determined by the accumulated value of the dirt level corresponding to the preset cleaning area A1 obtained for the second time and the accumulated value of the dirt level corresponding to the preset cleaning area A1 obtained for the first time, and it may be understood that after the third cleaning is completed on the preset cleaning area A1, a third cleaning image c is generated according to the accumulated values of the three dirt levels corresponding to the preset cleaning area A1, as shown in fig. 19 (c). It will be understood that the cleaning apparatus continues to clean the preset cleaning area A2 after cleaning the preset cleaning area A1 is completed, and after cleaning the preset cleaning area A2 is completed for the first time, a third cleaning image d is generated according to the accumulated values of the three dirt levels corresponding to the preset cleaning area A1 and the accumulated value of the dirt level corresponding to the preset cleaning area A2, as shown in fig. 19 (d), the third cleaning image d includes all the image areas A1-A4 corresponding to the preset cleaning areas A1-A4, the value 900 of the filling of the image area A1 corresponding to the preset cleaning area A1 is determined by the accumulated values of the three dirt levels corresponding to the preset cleaning area A2, and the value 500 of the filling of the image area A2 corresponding to the preset cleaning area A2 is determined by the corresponding one dirt level. For the image areas corresponding to the preset cleaning areas which are not cleaned, the target filling graphic is not identified or the preset target filling graphic is identified, for example, the image areas a2-a4 in the third cleaning images a-c are not identified, and of course, the preset target filling graphic can also be identified, which is not limited herein. And so on, generating a plurality of third cleaning images, so that the cleaning process of the cleaning device on one preset cleaning area can be embodied according to at least two third cleaning images, such as the cleaning times of the cleaning device on the preset cleaning area and the change of the cleaning dirt amount in the cleaning process of the cleaning device on the preset cleaning area. The degree of dirt before each preset cleaning area is cleaned and the accumulated cleaning amount of the cleaning device on the preset cleaning areas can be displayed according to the last third cleaning image. As shown in fig. 20, the filling value 900 of the image area A1 corresponding to the preset cleaning area A1 is determined according to the accumulated dirt level after the preset cleaning area A1 is cleaned for 3 times, the filling value 900 of the image area A2 corresponding to the preset cleaning area A2 is determined according to the accumulated dirt level after the preset cleaning area A2 is cleaned for 3 times, the filling value 100 of the image area A3 corresponding to the preset cleaning area A3 is determined according to the accumulated dirt level after the preset cleaning area A3 is cleaned for 1 time, the filling value 400 of the image area A4 corresponding to the preset cleaning area A4 is determined according to the accumulated dirt level after the preset cleaning area A4 is cleaned for 2 times, so that the difference of the dirt amount of accumulated cleaning of each preset area by the cleaning device can be seen, and convenience is brought to the user to improve the perception of different dirt levels of each preset area and the perception of the cleaning capability of the cleaning device.

Of course, alternatively, the target fill graphic may be filled with a numerical value, or may be filled with a color, the higher the smudge level, the darker the color filling. For example, after the cleaning device performs the first cleaning on the preset cleaning area A1, the obtained dirt degree corresponding to the preset cleaning area A1 may generate a third cleaning image a, where the third cleaning image a includes all image areas A1-A4 corresponding to the preset cleaning areas A1-A4, and the image area A1 corresponding to the preset cleaning area A1 is filled with a color, and the color filled in the image area A1 is determined by the dirt degree corresponding to the first cleaning of the preset cleaning area A1. For another example, as shown in fig. 21, the filling chart may display the degree of dirt before each preset cleaning region is cleaned and the accumulated cleaning amount of the preset cleaning region by the cleaning device in a color filling manner.

Optionally, an animation or short video is generated from the third cleaning image. For example, the process that the target filling graphic of the image area corresponding to the preset cleaning area included in the third cleaning image is gradually changed is dynamically displayed along with the playing of the animation or the short video, so as to embody the process that the dirt amount of the preset cleaning area is cleaned, and also embody the accumulation process of dirt elution values in the process that the cleaning piece cleans the preset cleaning area.

By way of example, the plurality of third cleaning images may be sequentially displayed in the order of generating the third cleaning images by animation or short video, so that the cleaning process of the cleaning device may be displayed by animation or short video, for example, after the cleaning device cleans a preset cleaning area at least 1 time, the cleaning device cleans the preset cleaning area in a dirt accumulation process, which is beneficial for the user to understand the cleaning process of the cleaning device and the accumulated cleaning amount of the dirt degree of each preset cleaning area after at least 1 time of cleaning of the preset cleaning area by the cleaning device.

In some embodiments, the animation or short video may be generated in real time during the cleaning process of the cleaning device on each preset cleaning region, or may be generated after the cleaning process of the cleaning device on each preset cleaning region is completed, so as to reproduce the cleaning process of the cleaning device, which is not limited herein.

Illustratively, the cleaning image includes a room area corresponding to one or at least two preset cleaning areas. In some embodiments, generating the cleaning image according to the degree of soiling corresponding to the preset cleaning area includes: and determining a target filling diagram of the room area according to the dirt degree corresponding to one or at least two preset cleaning areas corresponding to the room area.

For example, referring to fig. 22, a cleaning device cleans at least one room according to a task map, where a room R includes one or more preset cleaning areas B, a cleaning image may be generated after the cleaning device cleans the room R, where the cleaning image includes a room area R corresponding to the room R, it may be understood that the room area R corresponds to the preset cleaning area B, and a target filling map of the room area R is determined according to a degree of contamination corresponding to the preset cleaning area B. Referring to fig. 23, a room R1 includes a preset cleaning area B1, a preset cleaning area B2, and a preset cleaning area B3, a cleaning device cleans the room R1 to generate a cleaning image, where the cleaning image includes a room area R1 corresponding to the room R1, it can be understood that the room area R1 corresponds to the preset cleaning area B1, the preset cleaning area B2, and the preset cleaning area B3, and a target filling diagram of the room area R1 is determined according to the preset cleaning area B1, the preset cleaning area B2, and the pollution degree corresponding to the preset cleaning area B3.

In some embodiments, determining a target fill map for a room area based on a degree of soiling for one or at least two preset cleaning areas corresponding to the room area includes: and determining a target filling diagram of the room area according to any one of the average pollution degree, the total pollution degree, the maximum pollution degree and the pollution degree of any one preset cleaning area of the pollution degrees of at least two preset cleaning areas corresponding to the room area.

For example, after the cleaning device cleans all the preset cleaning areas in the room, the target filling graphic of the room area may be determined according to any one of the average dirt level, the total dirt level, the maximum dirt level, and the dirt level of any one of the preset cleaning areas corresponding to each preset cleaning area in the room. For example, referring to fig. 23, when the cleaning apparatus is performing the cleaning task, if the cleaning apparatus performs cleaning on the preset cleaning area B1, the preset cleaning area B2, and the preset cleaning area B3 included in the room R1, for example, the dirt degree corresponding to the preset cleaning area B1, the dirt degree corresponding to the preset cleaning area B2, and the dirt degree corresponding to the preset cleaning area B3 may be accumulated and divided by the number of the corresponding preset cleaning areas in the cleaning to determine the target filling map of the room area R1 corresponding to the room R1 according to the average dirt degree of the preset cleaning areas in the room R1; for example, the dirt level corresponding to the preset cleaning B1, the dirt level corresponding to the preset cleaning area B2, and the dirt level corresponding to the preset cleaning area B3 may be accumulated, so as to determine the target filling diagram of the room area R1 corresponding to the room R1 according to the total dirt level of all the preset cleaning areas in the room R1; for example, the degree of contamination corresponding to the preset cleaning region B1, the degree of contamination corresponding to the preset cleaning region B2, and the degree of contamination corresponding to the preset cleaning region B3 may be compared, so as to determine the target filling diagram of the room region R1 corresponding to the room R1 according to the maximum value of the degree of contamination corresponding to the preset cleaning region in the room R1; for example, the dirt degree corresponding to the preset cleaning region B1, the dirt degree corresponding to the preset cleaning region B2, and the dirt degree corresponding to the preset cleaning region B3 may be randomly selected, so as to determine the target filling diagram of the room region R1 corresponding to the room R1 according to the dirt degree corresponding to any preset cleaning region in the randomly selected room R1.

For example, when the number of times that at least one preset cleaning area of at least two preset cleaning areas corresponding to a room area is cleaned is greater than 1, the target filling graphic of the room area may be determined according to any one value of an average dirt level, a total dirt level, a maximum dirt level, and a dirt level of any preset cleaning area of all dirt levels corresponding to the i-th cleaned preset cleaning areas corresponding to the room area, so as to generate an i-th cleaning image including the room area. For example, if the cleaning apparatus cleans the preset cleaning region B1 included in the room R1 2 times, cleans the preset cleaning region B2 times, and cleans the preset cleaning region B3 1 time, for example, the preset cleaning region B1, the preset cleaning region B2, and the preset cleaning region B3 respectively correspond to the respective soil levels of 500, 600, 100, 500, 600, 100 after the 1 st cleaning, respectively, have an average value of 400, an addition value of 1200, and a maximum value of 600, respectively, and then the target filling map of the room region R1 corresponding to the room R1 may be determined according to any one of the five values 600, 500, and 100 of the average value of 400, the addition value of 1200, and the soil level value of each of the preset cleaning regions B1-B3, respectively, to generate the 1 st cleaning image including the room region R1; the average value of the two values of 100, 200, 100 and 200 is 150, the sum value is 300 and the maximum value is 200, respectively, of the corresponding dirt degree of the preset cleaning area B1 and the preset cleaning area B2 after the 2 nd cleaning is performed, and then the target filling diagram of the room area R1 corresponding to the room R1 can be determined according to any one value of 150, 300, 200 and 100, so as to generate the 2 nd cleaning image containing the room area R1. In some embodiments, a plurality of room cleaning images corresponding to the number of the contamination levels corresponding to the room area may be generated from the plurality of the contamination levels corresponding to the room area. It will be appreciated that the determination of any one of the average degree of soiling, the total degree of soiling, the maximum degree of soiling, and the first degree of soiling of any predetermined cleaning area may be referred to above and will not be described in detail herein.

For example, when the number of times of cleaning of at least two preset cleaning areas corresponding to the room area is greater than 1, the target filling graphic of the room area may be determined according to any one value of an average soil level, a total soil level, a maximum soil level, and a sum of soil levels of any one preset cleaning area corresponding to the room area, so as to generate a cleaning image including the room area. Illustratively, if the cleaning apparatus cleans the preset cleaning region B1 included in the room R1 2 times, cleans the preset cleaning region B2 times, and cleans the preset cleaning region B3 once, for example, the corresponding degree of soiling of the preset cleaning region B1 after 2 times is 500 and 100, respectively, the sum of the corresponding degrees of soiling of the 2 times is 600, the corresponding degree of soiling of the preset cleaning region B2 after 2 times is 600 and 200, respectively, the sum of the corresponding degrees of soiling of the 2 times is 800, the corresponding degree of soiling of the preset cleaning region B3 after 1 time is 100, the average value of the 3 values of the soil degree sum 600 corresponding to the preset cleaning area B1, the soil degree sum 800 corresponding to the preset cleaning area B2, and the soil degree 100 corresponding to the preset cleaning area B3 is 500, the sum value is 1500, and the maximum value is 800, and then the target filling diagram of the room area R1 corresponding to the room R1 can be determined according to any one value of the average value 500, the sum value 1500, and the sum of the soil degree values 600, 800, and 100 corresponding to the preset cleaning areas B1-B3, so as to generate the cleaning image including the room area R1.

Optionally, the processing method further includes: acquiring sequential node positions of the cleaning device for executing cleaning tasks, wherein the node positions comprise at least one of a starting position, an interrupting position and an ending position; and determining the area covered by the cleaning tracks connecting the two adjacent node positions in the cleaning sequence as one preset cleaning area.

In some embodiments, when the cleaning device executes a cleaning task on a room according to a task map, the cleaning device interrupts the cleaning task to perform maintenance according to a workload threshold, where the workload threshold includes a cleaning area threshold, a power consumption threshold, a water consumption threshold, a dirt storage upper limit threshold of a cleaning member, a low water level threshold of a cleaning water tank, a high water level threshold of a sewage tank, and the like, the cleaning device can continue to execute the cleaning task from a position where the cleaning task was interrupted last time after the maintenance is completed, an area covered by a cleaning track connecting the current interrupt position and the next interrupt position can be determined as a preset cleaning area, a cleaning image can be generated according to a dirt degree corresponding to the area covered by the cleaning track, and a target filling graphic of an image area corresponding to the area covered by the cleaning track in the cleaning image is determined according to the dirt degree corresponding to the area covered by the cleaning track. As shown in fig. 24, the cleaning device cleans the room R1, the cleaning device starts cleaning from the room R1, the start position O1 is in the room R1, when the cleaning device cleans to the O2 position along the cleaning path, the cleaning task is required to be interrupted according to the workload threshold, the O2 position is the interruption position O2, the dirt degree corresponding to the area covered by the cleaning track S1 connecting the start position O1 and the interruption position O2 is obtained, and a first cleaning image is generated, the image area S1 in the cleaning image corresponds to the area covered by the cleaning track S1, and the target filling graphic identified by the image area S1 is determined according to the dirt degree corresponding to the area covered by the cleaning track S1. And by analogy, the 2 nd and 3 rd cleaning images can be generated according to the dirt degree corresponding to the area covered by the cleaning tracks S2 and S3, and if the cleaning equipment also cleans the area covered by the cleaning track for the 2 nd time, the target filling graphic of the image area corresponding to the area covered by the cleaning track can be determined according to the dirt degree corresponding to the area covered by the cleaning track, which is acquired after the 2 nd time, so as to generate one cleaning image. It will be appreciated that the working process of the cleaning device, such as highlighting the cleaning track of the cleaning device, the degree of soiling corresponding to the area covered by the different cleaning track, and at least one of the changes in the degree of soiling corresponding to the area covered by the different cleaning track after multiple cleaning, may be embodied by at least one cleaning image generated according to the degree of soiling corresponding to the area covered by the cleaning track.

For example, the target filling map of the image area corresponding to the area covered by the cleaning track after the i-th cleaning may be determined according to any one value of the average dirt degree, the total dirt degree, the maximum dirt degree, and the dirt degree of any preset cleaning area of the dirt degree corresponding to the area covered by each cleaning track after the i-th cleaning, so as to generate the i-th cleaning image. As shown in fig. 25, the cleaning device cleans the room R1 and the room R2, and the cleaning of the room R1 is completed by forming 3 sections of cleaning tracks, that is, cleaning tracks S1-S3, wherein the area covered by the cleaning tracks S1 and S2 is cleaned 2 times, the area covered by the cleaning track S3 is cleaned 1 time, and each time the area covered by the cleaning tracks S1-S3 is cleaned, the respective dirt levels are obtained, for example, the dirt levels obtained after the area covered by the cleaning tracks S1-S3 is cleaned 1 st time are respectively 500, 600 and 100, the average value of the three dirt levels is 400, and the sum value is 1200, then the target filling graphic of the graphic area S1-S3 corresponding to the area covered by the cleaning tracks S1-S3 can be determined according to any one of the dirt levels 500, 600 and 100 corresponding to the area covered by the cleaning tracks S1-S3, which has the average value is 400, the sum value is 1200, and the graphics area S1-S3 is shown in fig. 25 a; the dirt degree obtained after the region covered by the cleaning tracks S1 and S2 is cleaned for the 2 nd time is 100 and 200 respectively, the average value of the two dirt degrees is 150, the sum value is 300, and then the target filling graphic of the graphic region S1 and S2 corresponding to the region covered by the cleaning tracks S1 and S2 can be determined according to any one of the four values of the dirt degree 100 and 200 corresponding to the region covered by the cleaning tracks S1 and S2, wherein the average value is 150, the sum value is 300, and the dirt degree of the whole dirt degree of the preset cleaning region passing through different cleaning frequencies on the 1 st and 2 nd cleaning images is determined so as to generate the 2 nd cleaning image, as shown in fig. 25 (b), so that the working process of the cleaning equipment can be highlighted. By way of example, the cleaning area covered by the cleaning track can be properly inflated according to a preset rule, so that the cleaning area covered by the cleaning track is more obvious and is convenient for a user to observe, and thus the use experience of the user is improved.

Alternatively, the cleaning image may be referred to as a soil map; optionally, the processing method further includes: an animation or short video is generated from the generated cleaning image.

In some embodiments, an animation or short video may be generated based on the plurality of cleaning images generated as described above, for example, the cleaning images may be played frame by frame.

Of course, the method is not limited to the method, and various visual modes can be used for expanding, so that a user can know the cleaning effect of the cleaning device conveniently, and the use experience of the user on the cleaning device is improved.

For example, referring to fig. 26, fig. 26 is a cleaning image according to an embodiment of the present application.

As shown in fig. 26, a cleaning image is displayed according to a selection operation by the user. In some embodiments, the user may determine the cleaning image to be output by selecting different cleaning times, and output and display the cleaning image corresponding to the cleaning times in response to the cleaning times selected by the user. Of course, the method is not limited thereto, and the user may be prompted to select the generated cleaning image in various manners, so that the user can know the cleaning effect of the cleaning device on the floor in different cleaning stages.

Optionally, according to the cleaning times selected by the user, a cleaning image picture corresponding to the cleaning times is displayed, so that the user can know the cleaning effect of the cleaning device on the floor in different cleaning stages.

In some embodiments, as shown in fig. 26, the output cleaning image further includes cleaning information corresponding to the cleaning task executed by the cleaning device, for example, a cleaning area, time consumed for cleaning, and the like, so that a user can know the working process of the cleaning device, and thus the use experience of the user on the cleaning device is improved.

The processing method for cleaning the image by the cleaning equipment provided by the embodiment of the application comprises the following steps: after cleaning equipment cleans a preset cleaning area for one time through a cleaning piece, acquiring the dirt degree corresponding to the preset cleaning area; and generating a cleaning image according to the dirt degree corresponding to one or at least two preset cleaning areas so as to realize the visualization of the cleaning workload of the cleaning equipment, thereby improving the use experience of a user on the cleaning equipment.

Referring to fig. 27 in combination with the above embodiments, fig. 27 is a schematic block diagram of a processing apparatus 300 for cleaning an image with a cleaning device according to an embodiment of the present application. The processing device 300 comprises a processor 301 and a memory 302.

The processor 301 and the memory 302 are illustratively connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus, for example.

Specifically, the processor 301 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 301 is configured to execute a computer program stored in the memory 302 and to implement the steps of the aforementioned method for processing a cleaning image by the cleaning device when the computer program is executed.

The processor 301 is for example configured to run a computer program stored in the memory 302 and to implement the following steps when executing the computer program:

The specific principle and implementation of the processing apparatus 300 provided in the embodiment of the present application are similar to those of the foregoing embodiment, and are not repeated herein.

Referring to fig. 2 in combination with the above embodiments, fig. 2 is a schematic diagram of a cleaning apparatus system according to an embodiment of the application.

As shown in fig. 2, the cleaning apparatus system includes:

a cleaning apparatus 100, the cleaning apparatus 100 including a moving mechanism for driving the cleaning apparatus 100 to move so that the cleaning member cleans a preset cleaning area;

A base station 200, the base station 200 being at least for cleaning the cleaning members of the cleaning apparatus 100; the method comprises the steps of,

a processing device 300.

Referring to fig. 3 in combination with the above embodiments, fig. 3 is a schematic view of a cleaning apparatus system according to an embodiment of the application.

As shown in fig. 3, the cleaning apparatus system includes:

a cleaning apparatus 100, the cleaning apparatus 100 including a moving mechanism for driving the cleaning apparatus 100 to move so that the cleaning member cleans a preset cleaning area, a cleaning member, and a maintenance mechanism for cleaning the cleaning member; the method comprises the steps of,

a processing device 300.

Illustratively, the cleaning device 100 includes at least one of a cleaning robot, a handheld cleaning device, and other cleaning devices.

Alternatively, the cleaning device 100 may, for example, clean the cleaning elements on its own, e.g., the cleaning device 100 includes a maintenance mechanism.

Optionally, the cleaning device 100 may not be capable of cleaning the cleaning element by itself, for example, the cleaning device system may further comprise a base station 200, wherein the base station 200 is at least used for cleaning an actuator of the cleaning device.

In some embodiments, for example, a device controller is provided in the cleaning device 100, and for example, a base station controller is provided in the base station 200, and the device controller and/or the base station controller of the base station 200 may be used alone or in combination as the processing device 300 for implementing the steps of the method of the embodiment of the present application; in other embodiments, the cleaning system comprises a separate processing device 300 for carrying out the steps of the method of the embodiments of the application, which processing device 300 may be provided on the cleaning apparatus 100 or may be provided on the base station 200; of course, the processing apparatus 300 is not limited thereto, and may be, for example, an apparatus other than the cleaning device 100 and the base station 200, such as a home intelligent terminal, a general control device, and the like.

The specific principle and implementation manner of the cleaning device system provided in the embodiment of the present application are similar to those of the cleaning device image processing method in the foregoing embodiment, and are not repeated here.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the above-described method.

The computer readable storage medium may be an internal storage unit of the processing device according to any one of the foregoing embodiments, for example, a hard disk or a memory of the processing device. The computer readable storage medium may also be an external storage device of the processing apparatus, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the processing apparatus.

In some embodiments, the processing apparatus 300 may be used to implement the steps of the processing method of cleaning an image by the cleaning device of the embodiment of the present application.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A method for processing a cleaning image of a cleaning apparatus for generating a cleaning image after the cleaning apparatus performs a cleaning task and completes cleaning of one or at least two preset cleaning areas by a cleaning member,

comprising the following steps:

Generating a cleaning image according to the dirt degree corresponding to one or at least two preset cleaning areas;

the cleaning image comprises room areas, and the room areas correspond to one or at least two preset cleaning areas;

generating a cleaning image according to the dirt degree corresponding to the preset cleaning area comprises the following steps:

determining a target filling diagram of the room area according to the dirt degree corresponding to one or at least two preset cleaning areas corresponding to the room area;

the determining the target filling diagram of the room area according to the dirt degree corresponding to one or at least two preset cleaning areas corresponding to the room area comprises the following steps:

and determining a target filling diagram of the room area according to any one of the average pollution degree, the total pollution degree, the maximum pollution degree and the pollution degree of at least two preset cleaning areas corresponding to the room area.

2. A process according to claim 1, wherein,

the cleaning image comprises an image area corresponding to the preset cleaning area;

Determining a target filling diagram of the image area according to a value range of the dirt degree corresponding to the preset cleaning area;

and marking the image area according to the target filling diagram, wherein the target filling diagrams corresponding to different value range are different.

3. A process according to claim 2, wherein,

the determining the target filling diagram of the image area according to the range of the value range of the dirt degree corresponding to the preset cleaning area comprises the following steps:

and when the number of times that the preset cleaning area is cleaned is greater than 1, determining a target filling diagram of the image area corresponding to the preset cleaning area according to a value range of at least one dirt degree corresponding to the preset cleaning area.

4. A process according to claim 1, wherein,

generating a first cleaning image according to the dirt degree corresponding to a first target preset cleaning area, wherein the first target preset cleaning area is one preset cleaning area in the at least two preset cleaning areas, the first cleaning image comprises all image areas corresponding to the preset cleaning areas, at least the image areas corresponding to the first target preset cleaning area are marked with target filling diagrams, and the target filling diagrams are determined according to the dirt degree corresponding to the first target preset cleaning area acquired last time.

5. A process according to claim 4, wherein,

the processing method further comprises the following steps:

the image areas corresponding to the non-first target preset cleaning areas do not identify target filling illustrations; or (b)

The image area corresponding to the non-first target preset cleaning area identifies a preset target filling diagram; or (b)

The target filling graphic of the image area identifier corresponding to the non-first target preset cleaning area is determined according to the pollution degree corresponding to the non-first target preset cleaning area acquired last time;

wherein the non-first target preset cleaning region is a preset cleaning region other than the first target preset cleaning region.

6. A process according to claim 4 or 5, wherein,

the processing method further comprises the following steps:

the first cleaning image is generated after the dirt degree corresponding to the first target preset cleaning area is obtained; or alternatively

Generating a first cleaning image after completing a cleaning task; or alternatively

And generating at least two first cleaning images sequentially or simultaneously after the cleaning task is completed.

7. A process according to claim 1, wherein,

Determining at least one second target preset cleaning area, wherein the second target preset cleaning area is the preset cleaning area which is cleaned for i times, and i is an integer greater than or equal to 1;

generating an ith second cleaning image according to at least one target dirt degree, wherein the target dirt degree is the dirt degree corresponding to a second target preset cleaning region obtained after the ith cleaning of the second target preset cleaning region, the ith second cleaning image comprises all image regions corresponding to the preset cleaning region, each image region corresponding to the second target preset cleaning region is respectively marked with a target filling diagram, and each target filling diagram of the image region mark corresponding to the second target preset cleaning region is respectively determined according to the target dirt degree corresponding to each second target preset cleaning region obtained in the ith time.

8. The process of claim 7, wherein the method comprises,

the processing method further comprises the following steps:

the image areas corresponding to the non-second target preset cleaning areas do not identify target filling illustrations; or (b)

The image area corresponding to the non-second target preset cleaning area identifies a preset target filling diagram; or (b)

The target filling graphic of the image area identifier corresponding to the non-second target preset cleaning area is determined according to the pollution degree corresponding to the non-second target preset cleaning area acquired last time;

wherein the non-second target preset cleaning zone is a preset cleaning zone other than the second target preset cleaning zone.

9. A process according to claim 7 or 8, wherein,

the processing method further comprises the following steps:

generating a second cleaning image after completing the cleaning task; or alternatively

Generating at least two second cleaning images sequentially or simultaneously after the cleaning task is completed; or alternatively

And after the ith cleaning is completed in all the second target preset cleaning areas, generating an ith second cleaning image according to at least one target dirt degree.

10. A process according to claim 1, wherein,

and generating a third cleaning image according to the acquired accumulated dirt degree quantity corresponding to the preset cleaning area.

11. A process according to claim 1, wherein,

at least one preset cleaning area of at least two preset cleaning areas corresponding to the room area is cleaned for more than 1 time;

The determining, according to any one of the average pollution level, the total pollution level, the maximum pollution level, and the pollution level corresponding to any one preset cleaning area, of the pollution levels corresponding to at least two preset cleaning areas, the target filling diagram of the room area includes:

and determining a target filling diagram of the room area according to any one value of the average dirt degree, the total dirt degree, the maximum dirt degree and the dirt degree corresponding to any one preset cleaning area of the dirt degrees corresponding to all the preset cleaning areas after being cleaned for the ith time, so as to generate an ith cleaning image comprising the room area, wherein i is an integer greater than or equal to 1.

12. A process according to claim 1, wherein,

And determining a target filling diagram of the room area according to any one value of the average dirt degree, the total dirt degree, the maximum dirt degree and the sum of the dirt degrees corresponding to the preset cleaning areas and the random cleaning areas so as to generate a cleaning image containing the room area.

13. A process according to claim 1, wherein,

the processing method further comprises the following steps:

acquiring sequential node positions of the cleaning device for executing cleaning tasks, wherein the node positions comprise at least one of a starting position, an interrupting position and an ending position;

and determining the area covered by the cleaning tracks connecting the two adjacent node positions in the cleaning sequence as one preset cleaning area.

14. A process according to claim 13, wherein,

at least one area covered by the cleaning track is cleaned more than 1 time; generating a cleaning image according to the dirt degree corresponding to the preset cleaning area, wherein i is an integer greater than or equal to 1;

and determining target filling graphics of all image areas corresponding to the areas covered by the cleaning tracks after the ith cleaning according to any one value of the average dirt degree, the total dirt degree, the maximum dirt degree and the dirt degree of the dirt degree corresponding to the areas covered by the cleaning tracks after the ith cleaning, so as to generate an ith cleaning image.

15. A process according to claim 1, wherein,

further comprises:

generating an animation or a short video according to the generated cleaning image;

or alternatively, the process may be performed,

and displaying the cleaning image according to the selection operation of the user.

16. A process according to claim 1, wherein,

determining a preset cleaning area with a soil level greater than or equal to a preset soil level threshold;

and generating a cleaning image according to the preset cleaning area with the dirt degree larger than or equal to the preset dirt degree threshold value.

17. A process according to claim 1, wherein,

after the cleaning device cleans a preset cleaning area once through the cleaning piece, the method for acquiring the dirt degree corresponding to the preset cleaning area comprises the following steps:

and acquiring the dirt degree of the mopping piece after the cleaning equipment finishes cleaning the preset cleaning area through the mopping piece.

18. A processing apparatus for cleaning an image by a cleaning device, characterized in that,

the processing device includes a memory and a processor;

Wherein the memory is used for storing a computer program;

the processor for executing the computer program and for carrying out the steps of the method for processing a cleaning image of a cleaning device according to any one of claims 1 to 17 when the computer program is executed.

19. A cleaning equipment system, characterized in that,

comprising the following steps:

a base station for cleaning at least a cleaning member of the cleaning apparatus;

the method comprises the steps of,

the processing apparatus of claim 18.

20. A cleaning equipment system, characterized in that,

comprising the following steps:

the cleaning device comprises a moving mechanism, a cleaning piece and a maintenance mechanism, wherein the moving mechanism is used for driving the cleaning device to move so as to enable the cleaning piece to clean a preset cleaning area, and the maintenance mechanism is used for cleaning the cleaning piece;

the method comprises the steps of,

the processing apparatus of claim 18.

21. A computer-readable storage medium comprising,

The computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the steps of the cleaning apparatus cleaning image processing method as claimed in any one of claims 1 to 17.