Granted Patent B2

US 12,642,412 · App. 18/526,448 · Granted Jun 2, 2026

Inventor: Zhouxiong Lin (Shenzhen, CN)

Assignee: ROBOTIN (SHENZHEN) CO., LTD.

A47L11/4011G06T7/0002G06T7/74A47L2201/06

Abstract

Claims (45)

1 . A control method for a cleaning device, comprising:

obtaining, via a processor, a contrast image of a position to be cleaned and storing the contrast image in a memory;

capturing, via a camera, an image of the position to be cleaned, as a first image;

comparing, via the processor, the first image with the contrast image to obtain a dirt mark; and

controlling, via the processor, a cleaning component to clean dirt at the dirt mark;

wherein before or at the same time as the capturing, via the camera, the image of the position to be cleaned as the first image, the method further comprises:

emitting, via a laser scanner, a scanning laser to the position to be cleaned, so that the processor obtains three-dimensional information of an object at the position to be cleaned as a height parameter; and

recording, via the processor, the height parameter in the first image so that an image feature corresponding to the first image has the height parameter.

2 . The control method for the cleaning device of claim 1 , wherein the obtaining, via the processor, the contrast image of the position to be cleaned and storing the contrast image in the memory comprises:

capturing, via the camera, an image of the position to be cleaned after being cleaned, as a second image;

comparing, via the processor, multiple second images obtained within a period of time, retaining image features common to the multiple second images, and obtaining the contrast image; and

storing, via the memory, the contrast image.

3 . The control method for the cleaning device of claim 1 , wherein the obtaining, via the processor, the contrast image of the position to be cleaned and storing the contrast image in the memory comprises:

capturing, via the camera, an image of the position to be cleaned that has been thoroughly cleaned, as a third image; and

configuring, via the processor, the third image as the contrast image and storing the contrast image in the memory.

4 . The control method for the cleaning device of claim 3 , wherein the capturing, via the camera, the image of the position to be cleaned that has been thoroughly cleaned, as the third image comprises:

capturing, via the camera, an image of the position to be cleaned after being cleaned, as a fourth image; and

comparing, via the processor, the fourth images obtained from two adjacent times according to time sequence, and configuring the fourth image with fewer image features as the third image.

5 . The control method for the cleaning device of claim 1 , further comprising:

obtaining, via the cleaning device, a preset image, wherein the preset image is the first image or the contrast image;

wherein the obtaining, via the cleaning device, the preset image comprises:

moving the cleaning device along a predetermined route;

capturing, via the camera, multiple images at different positions on the predetermined route according to a preset interval, as a fifth image; and

sorting, via the processor, the multiple fifth images to obtain the preset image.

6 . The control method for the cleaning device of claim 5 , wherein the sorting, via the processor, the multiple fifth images to obtain the preset image comprises:

identifying, via the processor, a same part of two adjacent fifth images, as a positioning identifier;

adjusting, via the processor, a relative position of the positioning identifiers of two adjacent fifth images, to allow the same part of the two adjacent fifth images to overlap; and

removing, via the processor, one of the same part in the two adjacent fifth images, to obtain the preset image.

7 . The control method for the cleaning device of claim 1 , wherein after controlling, via the processor, the cleaning component to clean dirt at the dirt mark, the method further comprises:

capturing, via the camera, an image of the position to be cleaned after being cleaned by the cleaning component, as a sixth image;

comparing, via the processor, the sixth image with the first image to determine whether the dirt mark changes;

in response to that the dirt mark changes, repeatedly cleaning, via the cleaning component, the dirt at the dirt mark until the dirt is removed; and

in response to that the dirt mark does not change, determining, via the processor, that the dirt at the dirt mark cannot be cleaned, and updating the contrast image according to the dirt mark.

8 . The control method for the cleaning device of claim 1 , wherein before the controlling, via the processor, the cleaning component to clean dirt at the dirt mark, the method further comprises:

determining, via the processor, whether a height of the dirt at the dirt mark is within a preset height according to the height parameter;

in response to that the height of the dirt at the dirt mark is within the preset height, controlling, via the processor, the cleaning component to clean the dirt at the dirt mark; and

in response to that the height of the dirt at the dirt mark is not within the preset height, determining, via the processor, that the dirt at the dirt mark cannot be cleaned, and updating the contrast image according to the dirt mark.

9 . The control method for the cleaning device of claim 1 , further comprising:

displaying, via the cleaning device, a preset image to a user terminal, wherein the preset image is the first image or the contrast image;

wherein the displaying, via the cleaning device, the preset image to the user terminal comprises:

emitting, via a laser scanner, a scanning laser to the position to be cleaned, so that the processor obtains a height parameter of an object at the position to be cleaned;

recording, via the processor, the height parameter in the preset image and sending a preset image signal to the user terminal; and

receiving, via the user terminal, the preset image signal to display the preset image; wherein the preset image is configured to record at least one of the height parameter, a color parameter and a grayscale parameter.

10 . A cleaning device, comprising a cleaning component, a processor, a memory and at least one camera, wherein a control program executable on the processor is stored in the memory, and the steps of the control method of claim 1 are implemented when the control program is executed by the processor.

11 . A non-transitory computer-readable storage medium, wherein a control program is stored on the non-transitory computer-readable storage medium, and the steps of the control method of claim 1 are implemented when the control program is executed by a processor.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (31)