Washing method, device, equipment and readable storage medium based on adjustable nozzle

Abstract

The present invention provides a washing method, device, equipment and readable storage medium based on an adjustable nozzle. The method includes: detecting whether a target component needs to be cleaned; when the target component needs to be cleaned, determining a nozzle that can be used to clean the target component based on the corresponding relationship between the component and the nozzle; when there are multiple nozzles that can be used to clean the target component, selecting a target nozzle from multiple nozzles that can be used to clean the target component; selecting an optimal washing path from the washing path whose end point is the target nozzle; controlling the washing pump to which the washing pump outlet included in the optimal washing path belongs to rotate in the direction corresponding to the washing pump outlet, and connecting the multi-way joint outlet included in the optimal washing path. Through the present invention, it is automatically determined whether the target component needs to be cleaned, and when cleaning is required, the optimal nozzle and washing path are selected for the target component, making the washing control more intelligent and ensuring the washing effect.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a washing method, device, equipment and readable storage medium based on an adjustable nozzle. Background Art

[0002] The current washing system used in passenger cars generally uses three nozzles to wash the front windshield, rear windshield and front combination lamps respectively. As the number of parts that need to be washed on the vehicle gradually increases, it is necessary to configure corresponding washing passages for the newly added parts that need to be washed, which makes the washing passage system complicated and the cost is also high. In addition, the prior art generally pre-sets a washing passage corresponding to each part, and it is impossible to adaptively select the washing passage. In addition, the washing request is generally triggered by the user manually, and the washing control is not intelligent enough. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a washing method, device, equipment and readable storage medium based on an adjustable nozzle.

[0004] In a first aspect, the present invention provides a washing method based on an adjustable nozzle, the washing method based on the adjustable nozzle comprising:

[0005] Detect whether the target parts need to be cleaned;

[0006] When a target component needs to be cleaned, a nozzle that can be used to clean the target component is determined based on the corresponding relationship between the component and the nozzle;

[0007] When there are multiple nozzles that can be used to clean the target component, select a target nozzle from the multiple nozzles that can be used to clean the target component;

[0008] selecting an optimal washing path from the washing paths whose end points are the target nozzles;

[0009] The washing pump to which the washing pump outlet included in the optimal washing passage belongs is controlled to rotate in a direction corresponding to the washing pump outlet, thereby opening the multi-way joint outlet included in the optimal washing passage.

[0010] Optionally, the step of detecting whether the target component needs to be cleaned includes:

[0011] Photograph the target component to obtain an actual surface image of the target component;

[0012] Determine a difference image between an actual surface image of a target component and a standard surface image of the target component, wherein the standard surface image of the target component is obtained by photographing the target component when the target component is not dirty;

[0013] detecting whether the difference image is a dirt image;

[0014] If the difference image is a dirt image, it is determined that the target component needs to be cleaned.

[0015] Optionally, when the target component is a camera, the step of detecting whether the target component needs to be cleaned includes:

[0016] Acquire real-time images of target components;

[0017] Detecting whether the definition of the real-time image is less than a preset definition;

[0018] If the clarity of the real-time image is less than the preset clarity, it is determined that the target component needs to be cleaned.

[0019] Optionally, the step of selecting a target nozzle from a plurality of nozzles that can be used to clean the target component includes:

[0020] Determine the cleaning range corresponding to the target parts;

[0021] Determining a posture adjustment amount required to make the washing range of each nozzle that can be used to clean the target component cover the cleaning range;

[0022] The nozzle that requires the smallest amount of posture adjustment is selected as the target nozzle.

[0023] Optionally, after the step of selecting a target nozzle from a plurality of nozzles that can be used to clean the target component, the method further includes:

[0024] The posture of the target nozzle is adjusted by the posture adjustment amount required to make the washing range of the target nozzle cover the cleaning range.

[0025] Optionally, after the step of controlling the washing pump to which the washing pump outlet included in the optimal washing passage belongs to rotate in a direction corresponding to the washing pump outlet and connecting the multi-way joint outlet included in the optimal washing passage, the method further includes:

[0026] The number of the washing pump and the number of the multi-way connector outlet included in the optimal washing passage are taken as a record.

[0027] Optionally, after the step of taking the number of the washing pump and the number of the multi-way joint outlet included in the optimal washing passage as a record, the method further includes:

[0028] When it is detected that the target component does not need to be cleaned, the number of the washing pump and the numbers of the outlets of each multi-way connector are used as search targets to detect whether there are other records containing the search targets;

[0029] When the search target is the serial number of the washing pump, if there are other records containing the search target, the washing pump is not turned off; if there are no other records containing the search target, the washing pump is turned off;

[0030] When the search target is the number of a multi-way connector outlet, if there are other records containing the search target, the multi-way connector outlet is not closed; if there are no other records containing the search target, the multi-way connector outlet is closed;

[0031] Clear the record consisting of the number of the washing pump and the number of the multi-way joint outlet included in the optimal washing passage.

[0032] In a second aspect, the present invention further provides a washing device based on an adjustable nozzle, the washing device based on the adjustable nozzle comprising:

[0033] A detection module, used to detect whether the target component needs to be cleaned;

[0034] A determination module, used for determining a nozzle that can be used to clean the target component based on the corresponding relationship between the component and the nozzle when the target component needs to be cleaned;

[0035] A first selection module, configured to select a target nozzle from among the plurality of nozzles that can be used to clean the target component when there are a plurality of nozzles that can be used to clean the target component;

[0036] A second selection module, configured to select an optimal washing path from the washing paths whose end points are the target nozzles;

[0037] The control module is used to control the washing pump belonging to the washing pump outlet included in the optimal washing passage to rotate in a direction corresponding to the washing pump outlet, and to connect the multi-way joint outlet included in the optimal washing passage.

[0038] In the third aspect, the present invention also provides a washing device based on an adjustable nozzle, wherein the washing device based on the adjustable nozzle comprises a processor, a memory, and an adjustable nozzle-based washing program stored in the memory and executable by the processor, wherein when the adjustable nozzle-based washing program is executed by the processor, the steps of the adjustable nozzle-based washing method as described above are implemented.

[0039] In a fourth aspect, the present invention further provides a readable storage medium, on which a washing program based on an adjustable nozzle is stored, wherein when the washing program based on the adjustable nozzle is executed by a processor, the steps of the washing method based on the adjustable nozzle as described above are implemented.

[0040] In the present invention, it is detected whether the target component needs to be cleaned; when the target component needs to be cleaned, based on the corresponding relationship between the component and the nozzle, the nozzle that can be used to clean the target component is determined; when there are multiple nozzles that can be used to clean the target component, the target nozzle is selected from the multiple nozzles that can be used to clean the target component; the optimal washing path is selected from the washing path whose end point is the target nozzle; the washing pump belonging to the washing pump outlet included in the optimal washing path is controlled to rotate in the direction corresponding to the washing pump outlet, and the multi-way joint outlet included in the optimal washing path is turned on. Through the present invention, it is automatically determined whether the target component needs to be cleaned, and when cleaning is required, the optimal nozzle and washing path are selected for the target component, making the washing control more intelligent and ensuring the washing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the hardware structure of a washing device based on an adjustable nozzle involved in an embodiment of the present invention;

[0042] Figure 2 It is a schematic flow chart of an embodiment of a washing method based on an adjustable nozzle of the present invention;

[0043] Figure 3 A schematic diagram of a washing passage system in an embodiment of a washing method based on an adjustable nozzle according to the present invention;

[0044] Figure 4 It is a structural schematic diagram of a multi-way joint in an embodiment of a washing method based on an adjustable nozzle of the present invention;

[0045] Figure 5 It is a schematic diagram of the functional modules of an embodiment of a washing device based on an adjustable nozzle of the present invention.

[0046] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0048] In a first aspect, an embodiment of the present invention provides a washing device based on an adjustable nozzle.

[0049] Reference Figure 1 , Figure 1The figure is a schematic diagram of the hardware structure of the washing device based on the adjustable nozzle involved in the embodiment of the present invention. In the embodiment of the present invention, the washing device based on the adjustable nozzle may include a processor 1001 (such as a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0050] Continue to refer to Figure 1 , Figure 1 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a washing program based on an adjustable nozzle. The processor 1001 may call the washing program based on an adjustable nozzle stored in the memory 1005 and execute the washing method based on an adjustable nozzle provided in an embodiment of the present invention.

[0051] In a second aspect, an embodiment of the present invention provides a washing method based on an adjustable nozzle.

[0052] In one embodiment, referring to Figure 2 , Figure 2 FIG. 1 is a flow chart of an embodiment of a washing method based on an adjustable nozzle according to the present invention. Figure 2 As shown, the washing method based on the adjustable nozzle includes:

[0053] Step S10, detecting whether the target component needs to be cleaned;

[0054] In this embodiment, by detecting the dirtiness of the target component, when the dirtiness of the target component is relatively high, it is determined that the target component needs to be cleaned. The target component can be any one of a vehicle window, a radar, a camera, and a vehicle lamp.

[0055] Furthermore, in one embodiment, step S10 includes:

[0056] The target component is photographed to obtain an actual surface image of the target component; a difference image between the actual surface image of the target component and a standard surface image of the target component is determined, wherein the standard surface image of the target component is obtained by photographing the target component when the target component is free of dirt; it is detected whether the difference image is a dirt image; if the difference image is a dirt image, it is determined that the target component needs to be cleaned.

[0057] In this embodiment, the target component is photographed to obtain an actual surface image of the target component, and the actual surface image of the target component is compared with the standard surface image of the target component to obtain a difference image. The target component is photographed when the standard surface image of the target component is that the target component is not dirty. Detecting whether the difference image is a dirt image can be achieved through image recognition technology, for example, inputting the difference image into a neural network for identifying dirt, and determining whether the difference image is a dirt image based on the output result of the neural network. If the difference image is a dirt image, it is determined that the target component needs to be cleaned.

[0058] Furthermore, in one embodiment, when the target component is a camera, step S10 includes:

[0059] Acquire a real-time image captured by the target component; detect whether the clarity of the real-time image is less than a preset clarity; if the clarity of the real-time image is less than the preset clarity, determine that the target component needs to be cleaned.

[0060] In this embodiment, when the target component is a camera, a real-time image captured by the target component is obtained, and then the clarity of the real-time image is compared with the preset clarity. If the clarity of the real-time image is less than the preset clarity, it is determined that the target component needs to be cleaned. If there is dirt on the camera, it will cause inaccurate focusing, resulting in low clarity of the captured image.

[0061] Step S20, when the target component needs to be cleaned, based on the corresponding relationship between the component and the nozzle, determining a nozzle that can be used to clean the target component;

[0062] In this embodiment, the correspondence between each component and the nozzle can be pre-stored, for example, the component number and the corresponding nozzle number are stored in a table. After determining that the target component needs to be cleaned, the nozzle used to clean the target component can be determined based on the pre-stored correspondence between the component and the nozzle.

[0063] Step S30, when there are multiple nozzles that can be used to clean the target component, select a target nozzle from the multiple nozzles that can be used to clean the target component;

[0064] In this embodiment, when there are multiple nozzles that can be used to clean the target component, the target nozzle can be selected from the multiple nozzles by random selection.

[0065] Furthermore, in one embodiment, step S30 includes:

[0066] Determine the cleaning range corresponding to the target component; determine the posture adjustment amount required to make the washing range of each nozzle that can be used to clean the target component cover the cleaning range; and use the nozzle with the smallest required posture adjustment amount as the target nozzle.

[0067] In this embodiment, the correspondence between each component and the cleaning range can be stored in advance, and the cleaning range corresponding to the target component can be determined based on the correspondence. Then, the basic coordinates of each nozzle on the whole vehicle and its own displacement, horizontal angle and pitch angle parameter values ​​are obtained respectively, so as to determine the direction in which the nozzle can adjust its own posture parameters. Based on this direction, the displacement, horizontal angle and pitch angle are nested and iterated with the minimum iteration amount. When a step occurs in the iteration process to ensure that the fan (i.e., the washing range) of the nozzle spraying washing liquid covers the cleaning range, the cumulative iteration amount of the nozzle posture parameter and the nozzle number are formed into an object model and put into the object model group. If the posture parameters are iterated to the limit value, the washing range still cannot cover the cleaning range or the spray angle does not meet the requirements, then the nozzle iteration algorithm is terminated, and the iterative calculation of the next nozzle is directly entered. When all the nozzles to be iterated have completed the iteration, all the object models in the object model array are extracted and the sum of the cumulative iteration amount of the three parameters is calculated. The minimum iteration amount is obtained by the comparison algorithm, and the nozzle with the minimum iteration amount is used as the target nozzle.

[0068] Furthermore, in one embodiment, after step S30, the method further includes:

[0069] The posture of the target nozzle is adjusted by the posture adjustment amount required to make the washing range of the target nozzle cover the cleaning range.

[0070] In this embodiment, after the target nozzle is determined, the posture of the target nozzle can be adjusted by the posture adjustment amount required to make the washing range of the target nozzle cover the cleaning range.

[0071] Step S40, selecting the best washing path from the washing paths whose end points are the target nozzles;

[0072] In this embodiment, refer to Figure 3 , Figure 3 Schematic diagram of a washing passage system in an embodiment of a washing method based on an adjustable nozzle according to the present invention. Figure 3As shown, from left to right, the nozzles are sequentially recorded as nozzles 1 to 8; the multi-way joints are sequentially recorded as multi-way joints 1 to 3. Taking a four-way joint as an example, the multi-way joint has one inlet and three outlets. The outlets of multi-way joint 1 are respectively recorded as 11, 12, and 13, the outlets of multi-way joint 2 are respectively recorded as 21, 22, and 23, and the outlets of multi-way joint 3 are respectively recorded as 31, 32, and 33; 11 is connected to nozzle 1, 12 is connected to nozzle 2, 13 is connected to nozzle 3, 21 is connected to nozzle 4, 22 is connected to nozzle 5, 23 is connected to nozzle 6, 31 is connected to nozzle 6, 32 is connected to nozzle 7, and 33 is connected to nozzle 8. It should be noted that this is only a schematic description of the washing passage system and does not constitute a limitation thereto.

[0073] like Figure 3 The washing passage system shown in the figure, in which the connection relationship between the washing pump, the multi-way connector and the nozzle can be stored in the form of a table, and the washing pump, the multi-way connector and the nozzle are replaced by numbers.

[0074] When the target nozzle is nozzle 6, based on the connection relationship between the washing pump, the multi-way connector and the nozzle, the washing path whose end point is the target nozzle can be determined to include:

[0075] Washing passage 1: washing pump outlet 2 - inlet of multi-way connector 2 - outlet 23 of multi-way connector 2 - nozzle 6;

[0076] Washing passage 2: washing pump outlet 2 - inlet of multi-way joint 2 - outlet 23 of multi-way joint 2 - inlet of multi-way joint 3 - outlet 31 of multi-way joint 3 - nozzle 6 .

[0077] The washing path whose end point is the target nozzle is determined. When there is only one washing path whose end point is the target nozzle, it is taken as the optimal washing path. When there are multiple washing paths whose end point is the target nozzle, a preferential selection is performed to select the optimal washing path from among the multiple washing paths whose end points are the target nozzle.

[0078] For example, when it is necessary to select the optimal washing path from washing path 1 and washing path 2, the lengths of the two washing paths are compared, and the washing path with the shortest length is selected as the optimal washing path.

[0079] For another example, when it is necessary to select the best washing path from washing path 1 and washing path 2, the number of multi-way connector outlets included in the two washing paths is compared, and the reference Figure 3 , the number of multi-way joint outlets included in washing passage 1 is 1, and the number of multi-way joint outlets included in washing passage 2 is 2, then washing passage 1 is selected as the optimal washing passage.

[0080] Step S50, controlling the washing pump belonging to the washing pump outlet included in the optimal washing passage to rotate in a direction corresponding to the washing pump outlet, and connecting the multi-way joint outlet included in the optimal washing passage.

[0081] In this embodiment, after determining the optimal washing path, the washing pump to which the washing pump outlet belongs contained in the optimal washing path is controlled to rotate in the direction corresponding to the washing pump outlet. For example, when the washing pump rotates forward, washing liquid is sent out from outlet 2; when the washing pump rotates reversely, washing liquid is sent out from outlet 1. If the optimal washing path is washing path 1: washing pump outlet 2-inlet of multi-way connector 2-outlet 23 of multi-way connector 2-washing nozzle 6, the washing pump is controlled to rotate forward and outlet 23 of multi-way connector 2 is connected.

[0082] Reference Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the structure of a multi-way joint in an embodiment of a washing method based on an adjustable nozzle according to the present invention. Figure 4 As shown in the figure, a multi-way joint takes a four-way joint as an example, which contains one inlet and three outlets. At each outlet, there is a coil fixed on the joint housing. When the coil is energized, a magnetic field can be generated. At the same time, the push rod with a sealant plug at the corresponding position is magnetic. The end is fixed to the joint housing through a spring. The coil, push rod and spring simply form an electromagnetic valve. That is, when the coil is not energized, the push rod blocks the outlet under the action of the spring force; when the coil is energized, magnetism is generated to resist the spring force and push the push rod upward, and the outlet passage is opened. If there is detergent entering from the inlet, it can be discharged from this passage.

[0083] In this embodiment, it is detected whether the target component needs to be cleaned; when the target component needs to be cleaned, based on the correspondence between the component and the nozzle, a nozzle that can be used to clean the target component is determined; when there are multiple nozzles that can be used to clean the target component, a target nozzle is selected from multiple nozzles that can be used to clean the target component; an optimal washing path is selected from the washing paths whose end point is the target nozzle; the washing pump to which the washing pump outlet included in the optimal washing path belongs is controlled to rotate in the direction corresponding to the washing pump outlet, and the multi-way joint outlet included in the optimal washing path is turned on. Through this embodiment, it is automatically determined whether the target component needs to be cleaned, and when cleaning is required, the optimal nozzle and washing path are selected for the target component, making the washing control more intelligent and ensuring the washing effect.

[0084] Furthermore, in one embodiment, after step S50, the method further includes:

[0085] Step S60: taking the number of the washing pump and the number of the multi-way connector outlet included in the optimal washing passage as a record.

[0086] In this embodiment, when the optimal washing path is washing path 1: washing pump outlet 2-inlet of multi-way connector 2-outlet 23 of multi-way connector 2-washing nozzle 6. Among them, washing pump outlet 2 belongs to washing pump 1, the number of washing pump 1 (for example, x1) and the number of outlet 23 of multi-way connector 2 (for example, t23) are stored as a record. It should be noted that after each path from the washing pump to the washing nozzle is connected, a corresponding record is generated and stored.

[0087] Furthermore, in one embodiment, after step S60, the method further includes:

[0088] When it is detected that the target component does not need to be cleaned, the number of the washing pump and the numbers of the outlets of each multi-way connector are used as search targets to detect whether there are other records containing the search targets;

[0089] When the search target is the serial number of the washing pump, if there are other records containing the search target, the washing pump is not turned off; if there are no other records containing the search target, the washing pump is turned off;

[0090] When the search target is the number of a multi-way connector outlet, if there are other records containing the search target, the multi-way connector outlet is not closed; if there are no other records containing the search target, the multi-way connector outlet is closed;

[0091] Clear the record consisting of the number of the washing pump and the number of the multi-way joint outlet included in the optimal washing passage.

[0092] In this embodiment, when an instruction to stop cleaning the component to be cleaned is received, the number x1 of the washing pump and the number of each multi-way connector outlet (taking t23 as an example) are used as search targets to detect whether there are other records containing the search targets.

[0093] When the search target is the washing pump number x1, if there are other records containing the search target x1, it means that other washing needs require the washing pump, and the washing pump is not turned off; if there are no other records containing the search target x1, the washing pump is turned off.

[0094] When the search target is the number of a multi-way connector outlet t23, if there are other records containing the search target t23, it means that other washing needs require the multi-way connector outlet, and the multi-way connector outlet will not be closed. If there are no other records containing the search target t23, the multi-way connector outlet will be closed.

[0095] Finally, clear the record consisting of the number of the wash pump and the number of the multi-way connector outlet included in the optimal wash path.

[0096] This embodiment ensures that other opened washing passages are not affected.

[0097] In a third aspect, an embodiment of the present invention further provides a washing device based on an adjustable nozzle.

[0098] In one embodiment, referring to Figure 5 , Figure 5 Schematic diagram of functional modules of an embodiment of a washing device based on an adjustable nozzle according to the present invention. Figure 5 As shown, the washing device based on the adjustable nozzle comprises:

[0099] A detection module 10 is used to detect whether the target component needs to be cleaned;

[0100] A determination module 20, for determining a nozzle that can be used to clean a target component based on a correspondence between the component and the nozzle when the target component needs to be cleaned;

[0101] A first selection module 30, configured to select a target nozzle from among the plurality of nozzles that can be used to clean the target component when there are a plurality of nozzles that can be used to clean the target component;

[0102] A second selection module 40 is used to select an optimal washing path from the washing paths whose end points are the target nozzles;

[0103] The control module 50 is used to control the washing pump belonging to the washing pump outlet included in the optimal washing passage to rotate in a direction corresponding to the washing pump outlet, and to connect the multi-way connector outlet included in the optimal washing passage.

[0104] Furthermore, in one embodiment, the detection module 10 is used to:

[0105] Photograph the target component to obtain an actual surface image of the target component;

[0106] Determine a difference image between an actual surface image of a target component and a standard surface image of the target component, wherein the standard surface image of the target component is obtained by photographing the target component when the target component is not dirty;

[0107] detecting whether the difference image is a dirt image;

[0108] If the difference image is a dirt image, it is determined that the target component needs to be cleaned.

[0109] Furthermore, in one embodiment, when the target component is a camera, the detection module 10 is used to:

[0110] Acquire real-time images of target components;

[0111] Detecting whether the definition of the real-time image is less than a preset definition;

[0112] If the clarity of the real-time image is less than the preset clarity, it is determined that the target component needs to be cleaned.

[0113] Furthermore, in one embodiment, the first selection module 30 is used to:

[0114] Determine the cleaning range corresponding to the target parts;

[0115] Determining a posture adjustment amount required to make the washing range of each nozzle that can be used to clean the target component cover the cleaning range;

[0116] The nozzle that requires the smallest amount of posture adjustment is selected as the target nozzle.

[0117] Furthermore, in one embodiment, the washing device based on the adjustable nozzle further includes an adjustment module for:

[0118] The posture of the target nozzle is adjusted by the posture adjustment amount required to make the washing range of the target nozzle cover the cleaning range.

[0119] Furthermore, in one embodiment, the washing device based on the adjustable nozzle further includes a recording module for:

[0120] The number of the washing pump and the number of the multi-way connector outlet included in the optimal washing passage are taken as a record.

[0121] Furthermore, in one embodiment, the washing device based on the adjustable nozzle further includes a closing module for:

[0122] When it is detected that the target component does not need to be cleaned, the number of the washing pump and the numbers of the outlets of each multi-way connector are used as search targets to detect whether there are other records containing the search targets;

[0123] When the search target is the serial number of the washing pump, if there are other records containing the search target, the washing pump is not turned off; if there are no other records containing the search target, the washing pump is turned off;

[0124] When the search target is the number of a multi-way connector outlet, if there are other records containing the search target, the multi-way connector outlet is not closed; if there are no other records containing the search target, the multi-way connector outlet is closed;

[0125] Clear the record consisting of the number of the washing pump and the number of the multi-way joint outlet included in the optimal washing passage.

[0126] Among them, the functional implementation of each module in the above-mentioned washing device based on the adjustable nozzle corresponds to the various steps in the above-mentioned washing method embodiment based on the adjustable nozzle, and its functions and implementation processes will not be repeated here one by one.

[0127] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0128] The readable storage medium of the present invention stores a washing program based on an adjustable nozzle, wherein when the washing program based on the adjustable nozzle is executed by a processor, the steps of the washing method based on the adjustable nozzle as described above are implemented.

[0129] Among them, the method implemented when the washing program based on the adjustable nozzle is executed can refer to the various embodiments of the washing method based on the adjustable nozzle of the present invention, and will not be repeated here.

[0130] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0131] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0133] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A washing method based on an adjustable nozzle, characterized in that: The washing method based on the adjustable nozzle comprises: Detect whether the target parts need to be cleaned; When a target component needs to be cleaned, a nozzle that can be used to clean the target component is determined based on the corresponding relationship between the component and the nozzle; When there are multiple nozzles that can be used to clean the target component, select a target nozzle from the multiple nozzles that can be used to clean the target component; selecting an optimal washing path from the washing paths whose end points are the target nozzles; The washing pump to which the washing pump outlet included in the optimal washing passage belongs is controlled to rotate in a direction corresponding to the washing pump outlet, thereby opening the multi-way joint outlet included in the optimal washing passage.

2. The washing method based on an adjustable nozzle according to claim 1, characterized in that: The step of detecting whether the target component needs to be cleaned comprises: Photograph the target component to obtain the actual surface image of the target component; Determine a difference image between an actual surface image of a target component and a standard surface image of the target component, wherein the standard surface image of the target component is obtained by photographing the target component when the target component is not dirty; detecting whether the difference image is a dirt image; If the difference image is a dirt image, it is determined that the target component needs to be cleaned.

3. The washing method based on an adjustable nozzle according to claim 1, characterized in that: When the target component is a camera, the step of detecting whether the target component needs to be cleaned includes: Acquire real-time images of target components; Detecting whether the definition of the real-time image is less than a preset definition; If the clarity of the real-time image is less than the preset clarity, it is determined that the target component needs to be cleaned.

4. The washing method based on an adjustable nozzle according to claim 1, characterized in that: The step of selecting a target nozzle from a plurality of nozzles that can be used to clean the target component comprises: Determine the cleaning range corresponding to the target parts; Determining a posture adjustment amount required to make the washing range of each nozzle that can be used to clean the target component cover the cleaning range; The nozzle that requires the smallest amount of posture adjustment is selected as the target nozzle.

5. The washing method based on an adjustable nozzle according to claim 4, characterized in that: After the step of selecting a target nozzle from a plurality of nozzles that can be used to clean the target component, the method further includes: The posture of the target nozzle is adjusted by the posture adjustment amount required to make the washing range of the target nozzle cover the cleaning range.

6. The washing method based on an adjustable nozzle according to claim 1, characterized in that: After the step of controlling the washing pump to which the washing pump outlet included in the optimal washing passage belongs to rotate in the direction corresponding to the washing pump outlet and connecting the multi-way joint outlet included in the optimal washing passage, the method further includes: The number of the washing pump and the number of the multi-way connector outlet included in the optimal washing passage are taken as a record.

7. The washing method based on an adjustable nozzle according to claim 6, characterized in that: After the step of taking the number of the washing pump and the number of the multi-way joint outlet included in the optimal washing passage as a record, the method further includes: When it is detected that the target component does not need to be cleaned, the number of the washing pump and the numbers of the outlets of each multi-way connector are used as search targets to detect whether there are other records containing the search targets; When the search target is the serial number of the washing pump, if there are other records containing the search target, the washing pump is not turned off; if there are no other records containing the search target, the washing pump is turned off; When the search target is the number of a multi-way connector outlet, if there are other records containing the search target, the multi-way connector outlet is not closed; if there are no other records containing the search target, the multi-way connector outlet is closed; Clear the record consisting of the number of the washing pump and the number of the multi-way joint outlet included in the optimal washing passage.

8. A washing device based on an adjustable nozzle, characterized in that: The washing device based on the adjustable nozzle comprises: A detection module, used to detect whether the target component needs to be cleaned; A determination module, used for determining a nozzle that can be used to clean the target component based on the corresponding relationship between the component and the nozzle when the target component needs to be cleaned; A first selection module, configured to select a target nozzle from among the plurality of nozzles that can be used to clean the target component when there are a plurality of nozzles that can be used to clean the target component; A second selection module, configured to select an optimal washing path from the washing paths whose end points are the target nozzles; The control module is used to control the washing pump belonging to the washing pump outlet included in the optimal washing passage to rotate in a direction corresponding to the washing pump outlet, and to connect the multi-way joint outlet included in the optimal washing passage.

9. A washing device based on an adjustable nozzle, characterized in that: The adjustable nozzle-based washing device includes a processor, a memory, and an adjustable nozzle-based washing program stored in the memory and executable by the processor, wherein when the adjustable nozzle-based washing program is executed by the processor, the steps of the adjustable nozzle-based washing method as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a washing program based on an adjustable nozzle, wherein when the washing program based on the adjustable nozzle is executed by a processor, the steps of the washing method based on an adjustable nozzle as described in any one of claims 1 to 7 are implemented.

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