Article grinding method, device, electronic device, and readable storage medium

Abstract

Embodiments of the present application provide an article grinding method and device, electronic equipment and readable storage medium, which are applied to an article screening and identifying controller of a grinding processor, the grinding processor further comprising a grinding device, an article detecting device and an article screening device, the method comprising: when an article to be ground enters the grinding processor, controlling the article detecting device to detect an article state of the article entering the grinding processor; receiving the article state sent by the article detecting device, screening the article according to the article state to obtain a screening result; controlling the article screening device to adjust an order in which the article passes through a tooth hole of the grinding processor to enter the grinding device according to the screening result; and adjusting a grinding and crushing working intensity of the grinding device according to the article state of the article when the article enters the grinding device according to the order. Embodiments of the present application can improve grinding efficiency.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of electrical technology, and in particular to a method for grinding articles, an apparatus for grinding articles, an electronic device, and a computer-readable storage medium. Background Technology

[0002] As more and more cities join the ranks of garbage sorting, the market for food waste disposers has exploded. It is well known that various high-fiber, large-volume bones place higher demands on the grinding capabilities of food waste disposers.

[0003] In the past two years, many companies have consciously begun to address these pain points. For example, in response to the high-fiber and large bone-heavy diets common in Chinese cuisine, some leading brands have adopted more powerful grinding motors. Another example is the issue of clogged drains in older residential areas, where some companies have developed stand-alone food waste disposers that do not involve sewage discharge. However, these improvements have failed to achieve precise grinding of food waste. Not only do they fail to achieve a finer grinding effect, but they also waste the disposer's efficiency and damage components, thus shortening the overall lifespan of the machine. Summary of the Invention

[0004] The present invention provides a method, apparatus, electronic device, and computer-readable storage medium for grinding items, in order to solve the problem that the grinding and pulverizing effect cannot be achieved, which also leads to the waste of the food waste disposer's efficiency and damage to its parts, thereby reducing the overall lifespan of the food waste disposer.

[0005] This invention discloses a method for grinding items, applied to an item screening and identification controller of a grinding processor. The grinding processor further includes a grinding device, an item detection device, and an item screening device. The method includes:

[0006] When the item to be ground enters the grinding processor, the item detection device is controlled to detect the item status of the item entering the grinding processor;

[0007] Receive the item status sent by the item detection device, and filter the items according to the item status to obtain the filtering result;

[0008] Based on the screening results, the item screening device is controlled to adjust the order in which the items enter the grinding device through the teeth of the grinding processor;

[0009] When the items enter the grinding device in the specified order, the grinding intensity of the grinding device is adjusted according to the state of the items.

[0010] Optionally, the grinding processor includes at least a food waste disposer, the item includes at least food waste, and the item state includes at least the item texture and item structure, the item texture being used to characterize the softness or hardness of the item, and the item structure being used to characterize the density, shape, and volume of the item.

[0011] Optionally, the article detection device includes at least an acoustic sensor, and controlling the article detection device to detect the article's state upon entering the grinding processor includes:

[0012] When the item to be ground enters the grinding processor, the sound wave sensor is controlled to emit a sound wave, and the item status of the item entering the grinding processor is determined based on the echo returned by the item to the sound wave.

[0013] Optionally, the article detection device includes at least an optical sensor, and controlling the article detection device to detect the article's state upon entering the grinding processor includes:

[0014] When the item to be ground enters the grinding processor, the optical sensor is controlled to emit a light beam, and the item status of the item entering the grinding processor is determined based on the reflected light returned by the item to the light beam.

[0015] Optionally, the step of filtering the items based on their status to obtain the filtering results includes:

[0016] The hardness or softness of the item is determined based on its texture and structure.

[0017] The items are filtered from low to high according to their hardness to obtain the filtering results.

[0018] Optionally, the item sorting device includes a sorting separation plate and a sorting separation shaft. The step of controlling the item sorting device to adjust the order in which the items enter the grinding device through the teeth of the grinding processor based on the sorting result includes:

[0019] While controlling the screening and separation shaft to drive the item to rotate, the screening and separation plate is controlled to adjust the order in which the item enters the grinding device through the teeth of the grinding processor according to the screening result.

[0020] Optionally, the grinding device is driven by a motor, and when the items enter the grinding device in the stated order, the grinding intensity of the grinding device is adjusted according to the state of the items, including:

[0021] When the items enter the grinding device in the specified order, the grinding and crushing intensity of the motor is adjusted according to the condition of the items.

[0022] The motor controls the grinding device to perform rotary and reciprocating linear motion after the grinding and crushing intensity is adjusted.

[0023] Optionally, the grinding device includes a pre-grinding device and a grinding and pulverizing system. The step of adjusting the grinding and pulverizing intensity of the grinding device according to the state of the items as they enter the grinding device in the stated order includes:

[0024] After the items enter the pre-grinding device through the transfer slide of the grinding processor in the order described, the grinding and crushing intensity of the pre-grinding device is adjusted according to the condition of the items.

[0025] After the article enters the grinding and pulverizing system from the pre-grinding device, the article is ground and pulverized by the grinding and pulverizing system.

[0026] Optionally, the grinding and pulverizing work intensity includes the rotational speed when the motor controls the grinding device to rotate and the reciprocating speed when it performs reciprocating linear motion.

[0027] Optionally, after controlling the article detection device to detect the article's state upon entering the grinding processor, the method further includes:

[0028] Determine whether the item is allowed to enter the grinding device for grinding based on the item's condition;

[0029] If it is determined that the item is not allowed to enter the grinding device for grinding, the alarm device controlling the grinding processor will issue an alarm message.

[0030] Optionally, the method further includes:

[0031] If the status of the item determines that the item is not allowed to enter the grinding device for grinding, the grinding processor is controlled to stop working, or the item screening device is controlled to prevent items that are not allowed to enter the grinding device from entering the grinding device through the teeth of the grinding processor.

[0032] Optionally, the alarm device includes at least a voice alarm device and a light alarm device.

[0033] This invention also discloses an article grinding device, applied to an article screening and identification controller of the grinding processor. The grinding processor further includes a grinding device, an article detection device, and an article screening device. The device includes:

[0034] The item status detection module is used to control the item detection device to detect the item status of the item entering the grinding processor when the item to be ground enters the grinding processor.

[0035] The item filtering module is used to receive the item status sent by the item detection device, and filter the items according to the item status to obtain the filtering result;

[0036] An item order adjustment module is used to control the item screening device to adjust the order in which the items enter the grinding device through the teeth of the grinding processor according to the screening results;

[0037] The item order adjustment module is used to adjust the grinding and crushing intensity of the grinding device according to the item state when the items enter the grinding device in the order stated.

[0038] Optionally, the grinding processor includes at least a food waste disposer, the item includes at least food waste, and the item state includes at least the item texture and item structure, the item texture being used to characterize the softness or hardness of the item, and the item structure being used to characterize the density, shape, and volume of the item.

[0039] Optionally, the item detection device includes at least an acoustic sensor, and the item status detection module is used for:

[0040] When the item to be ground enters the grinding processor, the sound wave sensor is controlled to emit a sound wave, and the item status of the item entering the grinding processor is determined based on the echo returned by the item to the sound wave.

[0041] Optionally, the item detection device includes at least an optical sensor, and the item state detection module is used for:

[0042] When the item to be ground enters the grinding processor, the optical sensor is controlled to emit a light beam, and the item status of the item entering the grinding processor is determined based on the reflected light returned by the item to the light beam.

[0043] Optionally, the item filtering module is used for:

[0044] The hardness or softness of the item is determined based on its texture and structure.

[0045] The items are filtered from low to high according to their hardness to obtain the filtering results.

[0046] Optionally, the item sorting device includes a sorting separation plate and a sorting separation shaft, and the item order adjustment module is used for:

[0047] While controlling the screening and separation shaft to drive the item to rotate, the screening and separation plate is controlled to adjust the order in which the item enters the grinding device through the teeth of the grinding processor according to the screening result.

[0048] Optionally, the item order adjustment module is used for:

[0049] When the items enter the grinding device in the specified order, the grinding and crushing intensity of the motor is adjusted according to the condition of the items.

[0050] The motor controls the grinding device to perform rotary and reciprocating linear motion after the grinding and crushing intensity is adjusted.

[0051] Optionally, the item order adjustment module is used for:

[0052] After the items enter the pre-grinding device through the transfer slide of the grinding processor in the order described, the grinding and crushing intensity of the pre-grinding device is adjusted according to the condition of the items.

[0053] After the article enters the grinding and pulverizing system from the pre-grinding device, the article is ground and pulverized by the grinding and pulverizing system.

[0054] Optionally, the grinding and pulverizing work intensity includes the rotational speed when the motor controls the grinding device to rotate and the reciprocating speed when it performs reciprocating linear motion.

[0055] Optionally, the device further includes: an alarm module, used for:

[0056] Determine whether the item is allowed to enter the grinding device for grinding based on the item's condition;

[0057] If it is determined that the item is not allowed to enter the grinding device for grinding, the alarm device controlling the grinding processor will issue an alarm message.

[0058] Optionally, the alarm module is used for:

[0059] If the status of the item determines that the item is not allowed to enter the grinding device for grinding, the grinding processor is controlled to stop working, or the item screening device is controlled to prevent items that are not allowed to enter the grinding device from entering the grinding device through the teeth of the grinding processor.

[0060] Optionally, the alarm device includes at least a voice alarm device and a light alarm device.

[0061] This invention also discloses an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0062] The memory is used to store computer programs;

[0063] When the processor executes a program stored in the memory, it implements the method described in the embodiments of the present invention.

[0064] This invention also discloses a computer program product stored in a storage medium, which is executed by at least one processor to implement the method described in this invention.

[0065] This invention also discloses a computer-readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

[0066] The embodiments of the present invention have the following advantages:

[0067] This invention relates to an item screening and identification controller for a grinding processor. The grinding processor also includes a grinding device, an item detection device, and an item screening device. When an item to be ground enters the grinding processor, the item detection device detects the item's state. The controller receives the item's state information from the item detection device, screens the items based on their state, and adjusts the screening device according to the screening results. Based on these results, the controller adjusts the order in which the items enter the grinding device through the grinding processor's teeth. Furthermore, as the items enter the grinding device in sequence, the grinding intensity of the grinding device is adjusted according to the item's state. This invention allows the grinding processor to select an appropriate grinding intensity for different items, achieving a finer grinding effect. This avoids wasted grinding power and damage to components, thus extending the overall lifespan of the grinding processor. Attached Figure Description

[0068] Figure 1 This is a flowchart of the steps of a grinding method for an article provided in an embodiment of the present invention;

[0069] Figure 2 This is a schematic diagram of the front appearance of a food waste disposer provided in an embodiment of the present invention;

[0070] Figure 3 This is a schematic diagram of the internal structure of a food waste disposer provided in an embodiment of the present invention;

[0071] Figure 4 This is a schematic diagram of a high-frequency acoustic wave sensor provided in an embodiment of the present invention;

[0072] Figure 5 This is a schematic diagram of a waste screening and identification controller provided in an embodiment of the present invention;

[0073] Figure 6 This is a schematic diagram of a garbage disposal unit screening device provided in an embodiment of the present invention;

[0074] Figure 7 This is a schematic diagram of an intelligent screening, grinding, and pulverizing function provided in an embodiment of the present invention;

[0075] Figure 8 This is a structural block diagram of an article grinding device provided in an embodiment of the present invention;

[0076] Figure 9 This is a schematic diagram of the hardware structure of an electronic device that implements various embodiments of the present invention. Detailed Implementation

[0077] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0078] Currently, improvements to food waste disposers and other grinding processors by manufacturers are merely "one-size-fits-all" methods, failing to achieve precise grinding and pulverization of food waste. In practice, food waste includes hard materials like fruit peels and bones, as well as softer materials like vegetables and tea leaves. Grinding all these together not only fails to achieve a finer grinding effect but also wastes equipment resources, damages components, and shortens the overall lifespan of the machine.

[0079] To address the problems of coarse grinding and pulverizing effects, easy sewer blockage due to wastewater discharge, significant wasted efficiency, and damage to components in current food waste disposers and other grinding devices, this invention employs an intelligent screening and grinding solution. Specifically, this solution utilizes high-frequency sound waves to detect the state of the items. When high-frequency sound waves propagate within the food waste disposer, different types of food waste reflect and attenuate at different rates. The acoustic properties and echoes of food waste change depending on its texture and structure, allowing for the determination of the food waste's hardness and structural state. To effectively screen and grind food waste of different textures and structures, this invention also incorporates a waste screening and identification controller capable of receiving high-frequency sound waves to analyze the waste's texture and structure. The controller uses the information from the high-frequency sound wave analysis to control the screening device, starting with the softest waste and proceeding sequentially until the hardest waste is processed. The controller in this embodiment of the invention can also control the motor to work in real time based on the softness and hardness information of the screened waste, and control the rotation and reciprocating linear motion of the grinding device to achieve a more precise grinding and pulverizing effect on kitchen waste, making reasonable and efficient use of the equipment, reducing damage to parts, and improving the service life of the whole machine.

[0080] Reference Figure 1 This diagram illustrates a flowchart of a grinding method for an object according to an embodiment of the present invention. The grinding processor is used in an object screening and identification control device. The grinding processor further includes a grinding device, an object detection device, and an object screening device. The method may specifically include the following steps:

[0081] Step 101: When the item to be ground enters the grinding processor, control the item detection device to detect the item status of the item entering the grinding processor.

[0082] The grinding processor includes at least a food waste disposer, and the item includes at least food waste. The item's state includes at least its texture and structure. The texture characterizes the softness or hardness of the item, and the structure characterizes its density, shape, and volume. Of course, this invention can be applied not only to food waste disposers but also to other product lines using the same principle, such as soy milk makers and other devices with grinding functions. For ease of explanation, the following description primarily uses a food waste disposer as an example.

[0083] Reference Figure 2 This is a schematic diagram of the front appearance of a food waste disposer provided in an embodiment of the present invention. The food waste disposer may include a feed inlet, a display screen, an upper body, a lower body, and a base.

[0084] Reference Figure 3 This is a schematic diagram of the internal structure of a food waste disposer provided in an embodiment of the present invention. The food waste disposer may include an item sorting and identification controller, as well as other components such as a grinding device, an item detection device, and an item sorting device. The item detection device may be a high-frequency acoustic sensor, as detailed in [reference needed]. Figure 4 The item screening device can be a screening and separation plate, while the grinding device refers to the pre-grinding device and the grinding and pulverizing system. The grinding and pulverizing system consists of components such as blades, grinding cylinders, grinding discs, isolation plates, upper fixed frames, lower fixed frames, main shafts, active wheel blades, and driven wheel blades in the lower half of the food waste disposer.

[0085] In this embodiment of the invention, when the item to be ground, such as kitchen waste, enters the kitchen waste processor, the item detection device is controlled to detect the status of the kitchen waste entering the kitchen waste processor.

[0086] Step 102: Receive the item status sent by the item detection device, and filter the items according to the item status to obtain the filtering result.

[0087] In this embodiment of the invention, after the item detection device detects the status of the kitchen waste, it can send the status of the kitchen waste to the item screening and identification controller (waste screening and identification controller), which can be simply referred to as the controller. For details, please refer to [link / reference needed]. Figure 5 The item screening and identification controller can filter items based on their status to obtain screening results. The screening results can include sorting the items by their hardness or softness, for example, sorting the items by hardness or softness from low to high.

[0088] Step 103: Based on the screening results, control the item screening device to adjust the order in which the items enter the grinding device through the teeth of the grinding processor, and adjust the grinding and crushing intensity of the grinding device according to the item state when the items enter the grinding device in the order.

[0089] In this embodiment of the invention, after the item screening and identification controller obtains the screening result, it can control the item screening device to adjust the order in which the items enter the grinding device through the tooth holes of the grinding processor based on the screening result. Then, when the items enter the grinding device in sequence, the grinding and crushing intensity of the grinding device is adjusted according to the item status.

[0090] This invention relates to an item screening and identification controller for a grinding processor. The grinding processor also includes a grinding device, an item detection device, and an item screening device. When an item to be ground enters the grinding processor, the item detection device detects the item's state. The controller receives the item's state information from the item detection device, screens the items based on their state, and adjusts the screening device according to the screening results. Based on these results, the controller adjusts the order in which the items enter the grinding device through the grinding processor's teeth. Furthermore, as the items enter the grinding device in sequence, the grinding intensity of the grinding device is adjusted according to the item's state. This invention allows the grinding processor to select an appropriate grinding intensity for different items, achieving a finer grinding effect. This avoids wasted grinding power and damage to components, thus extending the overall lifespan of the grinding processor.

[0091] In one embodiment of the present invention, the article detection device includes at least an acoustic wave sensor (high-frequency acoustic wave sensor), and controlling the article detection device to detect the article state entering the grinding processor includes:

[0092] When the item to be ground enters the grinding processor, the sound wave sensor is controlled to emit a sound wave, and the item status of the item entering the grinding processor is determined based on the echo returned by the item to the sound wave.

[0093] In this embodiment of the invention, when the kitchen waste to be ground begins to enter the grinding chamber of the kitchen waste processor, the item screening and identification controller can control the sound wave sensor to start, causing it to emit sound waves of a specific frequency, such as high-frequency sound waves. When the sound waves propagate in the grinding chamber and encounter the kitchen waste in the grinding chamber, a portion of the sound waves will be reflected back by the surface of the kitchen waste. The reflected sound waves are called echoes. The physical characteristics of the kitchen waste, such as density, shape, size, and texture, can be determined through the echoes. Subsequently, the grinding and crushing intensity when the motor drives the grinding disc can be determined according to the state of the item, and the motor can be driven to drive the grinding disc to grind the kitchen waste in the grinding chamber according to the grinding and crushing intensity.

[0094] In one embodiment of the present invention, the article detection device includes at least an optical sensor, and controlling the article detection device to detect the article state entering the grinding processor includes:

[0095] When the item to be ground enters the grinding processor, the optical sensor is controlled to emit a light beam, and the item status of the item entering the grinding processor is determined based on the reflected light returned by the item to the light beam.

[0096] The optical sensor can be an infrared sensor or similar sensor. In this embodiment of the invention, when the kitchen waste to be ground begins to enter the grinding chamber of the kitchen waste processor, the item screening and identification controller can control the optical sensor to start, causing it to emit a light beam. When the light beam propagates in the grinding chamber and encounters the kitchen waste in the grinding chamber, a portion of the light beam will be reflected back by the surface of the kitchen waste. The reflected light is the reflected light. The physical characteristics of the kitchen waste, such as density, shape, size, and texture, can be determined through the reflected light. Subsequently, the grinding and crushing intensity of the motor driving the grinding disc can be determined according to the state of the item, and the motor can be driven to drive the grinding disc to grind the kitchen waste in the grinding chamber according to the grinding and crushing intensity.

[0097] In the above embodiments, the state of items such as kitchen waste can be detected by an item detection device such as an acoustic sensor, a beam sensor, and a weight sensor. Based on the state of the items, the grinding and crushing intensity of the motor is selected to drive the grinding disc to grind the items. This makes the grinding processor more efficient, safer, and more precise, while reducing energy consumption and maintenance costs and increasing the service life of the grinding processor.

[0098] In one embodiment of the present invention, the step of filtering the items according to the item status to obtain the filtering result includes:

[0099] The hardness or softness of the item is determined based on its texture and structure.

[0100] The items are filtered from low to high according to their hardness to obtain the filtering results.

[0101] In this embodiment of the invention, an acoustic sensor or other object detection device is used to analyze the texture and structure of the food waste entering the grinding chamber of the food waste processor. Based on the object's condition, the controller can classify the objects into different levels of hardness, such as "very soft," "soft," "medium," "hard," and "very hard." The food waste is then screened according to its hardness from low to high to obtain the screening results. Subsequently, the controller can control the object screening device to adjust the order and intensity of grinding and crushing of food waste of different hardness levels based on the screening results.

[0102] In one embodiment of the present invention, the article screening device includes a screening separation plate and a screening separation shaft. The step of controlling the article screening device to adjust the order in which the articles enter the grinding device through the teeth of the grinding processor based on the screening result includes:

[0103] While controlling the screening and separation shaft to drive the item to rotate, the screening and separation plate is controlled to adjust the order in which the item enters the grinding device through the teeth of the grinding processor according to the screening result.

[0104] In the specific implementation, refer to Figure 6 The item sorting device (garbage disposer sorting device) may include a sorting separation plate and a sorting separation shaft. Specifically, after the item sorting device receives the sorting result sent by the controller, it can control the sorting separation plate to adjust the order in which the items enter the grinding device through the teeth of the grinding processor, thereby achieving the purpose of adjusting the order of the kitchen waste entering the grinding device.

[0105] In one embodiment of the present invention, the grinding device is driven by a motor, and when the items enter the grinding device in the stated order, the grinding intensity of the grinding device is adjusted according to the state of the items, including:

[0106] When the items enter the grinding device in the specified order, the grinding and crushing intensity of the motor is adjusted according to the condition of the items.

[0107] The motor controls the grinding device to perform rotary and reciprocating linear motion after the grinding and crushing intensity is adjusted.

[0108] In this embodiment of the invention, when kitchen waste enters the grinding device according to the screening results, the controller adjusts the grinding intensity of the motor based on the condition of the kitchen waste (such as its hardness, size, and shape). Thus, for softer or smaller kitchen waste, the motor may operate at a lower intensity to avoid over-grinding and unnecessary waste of the kitchen waste processor's resources; while for harder or larger kitchen waste, the motor will operate at a higher intensity to ensure effective grinding. The grinding intensity can include the rotational speed of the motor controlling the grinding device to rotate and the reciprocating speed during linear motion. The motor, after adjusting the grinding intensity in this embodiment, drives the grinding device to perform both rotational and reciprocating linear motions. This combination of motions improves the grinding efficiency of the kitchen waste, ensuring that it is uniformly and thoroughly ground during the grinding process.

[0109] In one embodiment of the present invention, the grinding device includes a pre-grinding device and a grinding and pulverizing system. The step of adjusting the grinding and pulverizing intensity of the grinding device according to the state of the items as they enter the grinding device in the stated order includes:

[0110] After the items enter the pre-grinding device through the transfer slide of the grinding processor in the order described, the grinding and crushing intensity of the pre-grinding device is adjusted according to the condition of the items.

[0111] After the article enters the grinding and pulverizing system from the pre-grinding device, the article is ground and pulverized by the grinding and pulverizing system.

[0112] In the food waste disposer of this invention, the grinding device may include a pre-grinding device and a grinding and pulverizing system. The pre-grinding device can pre-grind the food waste, and then further grind and pulverize the pre-grinded food waste, thereby preventing food waste from entering the sewer and clogging the pipes.

[0113] Specifically, in this embodiment of the invention, after the kitchen waste enters the pre-grinding device in sequence through the transfer slide of the grinding processor, the grinding and pulverizing intensity of the pre-grinding device is adjusted according to the state of the kitchen waste. Subsequently, after the items enter the grinding and pulverizing system from the pre-grinding device, the items are further ground and pulverized by the grinding and pulverizing system.

[0114] In one embodiment of the present invention, after controlling the article detection device to detect the article's state upon entering the grinding processor, the method further includes:

[0115] Determine whether the item is allowed to enter the grinding device for grinding based on the item's condition;

[0116] If it is determined that the item is not allowed to enter the grinding device for grinding, the alarm device controlling the grinding processor will issue an alarm message.

[0117] In this embodiment of the invention, before food waste enters the grinding device of the food waste disposer, the controller determines whether grinding is permitted based on the condition of the food waste. If the condition of the food waste does not meet the grinding requirements, such as containing non-grindable materials or being too hard, the controller will determine that the food waste is not allowed to enter the grinding device for grinding. In this case, the food waste disposer will activate its alarm device and issue an alarm message. The alarm device may include at least a voice alarm and a light alarm to remind the user to take appropriate measures, such as manually removing items that are not allowed to be ground or stopping the food waste disposer, to prevent damage to the food waste disposer or poor grinding results.

[0118] In one embodiment of the present invention, the method may further include:

[0119] If the status of the item determines that the item is not allowed to enter the grinding device for grinding, the grinding processor is controlled to stop working, or the item screening device is controlled to prevent items that are not allowed to enter the grinding device from entering the grinding device through the teeth of the grinding processor.

[0120] In this embodiment of the invention, if it is determined that the kitchen waste is not allowed to enter the grinding device for grinding based on the state of the kitchen waste, the kitchen waste processor is controlled to stop working; or, the item screening device is controlled to prevent kitchen waste that is not allowed to enter the grinding device of the kitchen waste processor from entering the grinding device through the tooth holes of the kitchen waste processor, thereby ensuring the safety and efficiency of the kitchen waste processor in the process of grinding kitchen waste.

[0121] This invention is primarily applied to scenarios where the grinding and pulverizing effect of a food waste disposer is poor, easily clogging drains. The operation of this food waste disposer relies on the cooperation of built-in high-frequency acoustic wave sensors, a waste screening and identification controller, and a waste screening device. When food waste enters the disposer, the high-frequency acoustic wave sensor activates, emitting high-frequency sound waves. Based on the echo, it determines the texture, hardness, and structural state of the food waste. Simultaneously, the waste screening device is activated, and the waste screening and identification controller controls the device to screen the waste. Based on the texture and structural information analyzed by the high-frequency acoustic waves, screening begins with the softest waste and continues sequentially until the hardest food waste is processed. Meanwhile, the waste screening and identification controller controls the motor in real time based on the state of the kitchen waste that passes through the tooth holes. This controls the rotation and reciprocating linear motion of the grinding device, and adjusts the grinding intensity according to the texture and structure of the kitchen waste. This improves the accuracy of the grinding process, fully grinds the waste, reduces the rate of unground small debris in the discharged wastewater, and ensures that the ground kitchen waste does not clog the sewer or cause backflow of wastewater.

[0122] To enable those skilled in the art to better understand the embodiments of the present invention, a specific example is used for illustration below.

[0123] Reference Figure 7 This is a schematic diagram of an intelligent screening, grinding, and pulverizing function provided in an embodiment of the present invention. The specific steps are as follows:

[0124] Step A: After food waste enters the food waste processor, the high-frequency acoustic sensor automatically activates, emitting high-frequency sound waves. The echoes are used to determine the texture and structure of the waste entering the processor. The purpose is to use the principle of high-frequency sound waves to accurately identify the texture and structure of each piece of food waste entering the processor, facilitating subsequent screening and control.

[0125] Step B: After the high-frequency acoustic sensor is activated, the waste sorting device starts working. The high-frequency acoustic waves transmit the waste texture and structure information they have identified and analyzed to the waste sorting and control unit. The control unit then performs the waste sorting based on this information. Its function is to perform precise sorting, allowing for sorting starting with the softest kitchen waste and proceeding sequentially until the hardest kitchen waste is processed.

[0126] Step C: The waste screening and identification controller, based on the texture and hardness of the kitchen waste passing through the toothed holes, controls the motor in real time to control the rotation and reciprocating linear motion of the grinding device. It applies appropriate grinding and pulverizing intensity to the corresponding texture and structure of the kitchen waste. Its function is to achieve precise and finer grinding and pulverizing of kitchen waste, making efficient use of the kitchen waste processor's capabilities to thoroughly grind and pulverize the waste, improving the accuracy of the grinding and pulverizing process, and reducing the rate of unground fine waste in the discharged wastewater.

[0127] Step D: The screened kitchen waste passes through the toothed holes and slides down the conveyor belt into the pre-grinding device. After pre-grinding, the waste is transferred to the grinding and pulverizing system for further grinding and pulverizing. The purpose of this process is to thoroughly grind and pulverize the kitchen waste through multiple grinding and pulverizing steps, helping to reduce the rate of uncrushed fine waste.

[0128] Compared with existing technologies, this invention, by adding an intelligent screening, grinding, and pulverizing function, can rationally and efficiently utilize the power of the food waste disposer, reduce damage to its components, and extend the overall lifespan of the disposer. Simultaneously, it achieves precise and finer grinding of food waste, improving the accuracy of the disposer's grinding and pulverizing process, fully grinding and pulverizing the food waste, reducing the rate of unground waste in the discharged wastewater, and preventing sewer blockages or sewage backflow.

[0129] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0130] Reference Figure 8 The diagram illustrates a structural block diagram of an article grinding device provided in an embodiment of the present invention, which is applied to an article screening and identification controller of the grinding processor. The grinding processor further includes a grinding device, an article detection device, and an article screening device. The device may specifically include the following modules:

[0131] The item status detection module 801 is used to control the item detection device to detect the item status of the item entering the grinding processor when the item to be ground enters the grinding processor.

[0132] The item filtering module 802 is used to receive the item status sent by the item detection device, and filter the items according to the item status to obtain the filtering result;

[0133] The item order adjustment module 803 is used to control the item screening device to adjust the order in which the items enter the grinding device through the tooth holes of the grinding processor according to the screening result, and to adjust the grinding and crushing intensity of the grinding device according to the item state when the items enter the grinding device in the order.

[0134] In one embodiment of the present invention, the grinding processor includes at least a food waste processor, the article includes at least food waste, and the article state includes at least the article texture and article structure, the article texture being used to characterize the softness or hardness of the article, and the article structure being used to characterize the density, shape, and volume of the article.

[0135] In one embodiment of the present invention, the item detection device includes at least an acoustic sensor, and the item state detection module 801 is used for:

[0136] When the item to be ground enters the grinding processor, the sound wave sensor is controlled to emit a sound wave, and the item status of the item entering the grinding processor is determined based on the echo returned by the item to the sound wave.

[0137] In one embodiment of the present invention, the item detection device includes at least an optical sensor, and the item state detection module 801 is used for:

[0138] When the item to be ground enters the grinding processor, the optical sensor is controlled to emit a light beam, and the item status of the item entering the grinding processor is determined based on the reflected light returned by the item to the light beam.

[0139] In one embodiment of the present invention, the item screening module 802 is used for:

[0140] The hardness or softness of the item is determined based on its texture and structure.

[0141] The items are filtered from low to high according to their hardness to obtain the filtering results.

[0142] In one embodiment of the present invention, the item sorting device includes a sorting separation plate and a sorting separation shaft, and the item order adjustment module 803 is used for:

[0143] While controlling the screening and separation shaft to drive the item to rotate, the screening and separation plate is controlled to adjust the order in which the item enters the grinding device through the teeth of the grinding processor according to the screening result.

[0144] In one embodiment of the present invention, the item order adjustment module 803 is used for:

[0145] When the items enter the grinding device in the specified order, the grinding and crushing intensity of the motor is adjusted according to the condition of the items.

[0146] The motor controls the grinding device to perform rotary and reciprocating linear motion after the grinding and crushing intensity is adjusted.

[0147] In one embodiment of the present invention, the item order adjustment module 803 is used for:

[0148] After the items enter the pre-grinding device through the transfer slide of the grinding processor in the order described, the grinding and crushing intensity of the pre-grinding device is adjusted according to the condition of the items.

[0149] After the article enters the grinding and pulverizing system from the pre-grinding device, the article is ground and pulverized by the grinding and pulverizing system.

[0150] In one embodiment of the present invention, the grinding and pulverizing work intensity includes the rotational speed when the motor controls the grinding device to rotate and the reciprocating speed when it performs reciprocating linear motion.

[0151] In one embodiment of the present invention, the device further includes: an alarm module, used for:

[0152] Determine whether the item is allowed to enter the grinding device for grinding based on the item's condition;

[0153] If it is determined that the item is not allowed to enter the grinding device for grinding, the alarm device controlling the grinding processor will issue an alarm message.

[0154] In one embodiment of the present invention, the alarm module is used for:

[0155] If the status of the item determines that the item is not allowed to enter the grinding device for grinding, the grinding processor is controlled to stop working, or the item screening device is controlled to prevent items that are not allowed to enter the grinding device from entering the grinding device through the teeth of the grinding processor.

[0156] In one embodiment of the present invention, the alarm device includes at least a voice alarm device and a light alarm device.

[0157] This invention relates to an item screening and identification controller for a grinding processor. The grinding processor also includes a grinding device, an item detection device, and an item screening device. When an item to be ground enters the grinding processor, the item detection device detects the item's state. The controller receives the item's state information from the item detection device, screens the items based on their state, and adjusts the screening device according to the screening results. Based on these results, the controller adjusts the order in which the items enter the grinding device through the grinding processor's teeth. Furthermore, as the items enter the grinding device in sequence, the grinding intensity of the grinding device is adjusted according to the item's state. This invention allows the grinding processor to select an appropriate grinding intensity for different items, achieving a finer grinding effect. This avoids wasted grinding power and damage to components, thus extending the overall lifespan of the grinding processor.

[0158] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0159] In addition, this invention also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described article grinding method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0160] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the above-described article grinding method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0161] This invention also provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described article grinding method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0162] Figure 9A schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0163] The electronic device 900 includes, but is not limited to, components such as: a radio frequency unit 901, a network module 902, an audio output unit 903, an input unit 904, a sensor 905, a display unit 906, a user input unit 907, an interface unit 908, a memory 909, a processor 910, and a power supply 911. Those skilled in the art will understand that... Figure 9 The electronic device structures shown are not intended to limit the electronic device. An electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements. In embodiments of the present invention, the electronic device includes, but is not limited to, mobile phones, tablet computers, laptops, PDAs, in-vehicle terminals, wearable devices, and pedometers.

[0164] It should be understood that, in this embodiment of the invention, the radio frequency unit 901 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink data from the base station and processes it with the processor 910; additionally, it transmits uplink data to the base station. Typically, the radio frequency unit 901 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc. Furthermore, the radio frequency unit 901 can also communicate with networks and other devices through a wireless communication system.

[0165] Electronic devices provide users with wireless broadband internet access through network module 902, such as helping users send and receive emails, browse web pages, and access streaming media.

[0166] The audio output unit 903 can convert audio data received by the radio frequency unit 901 or the network module 902 or stored in the memory 909 into audio signals and output them as sound. Furthermore, the audio output unit 903 can also provide audio output related to specific functions performed by the electronic device 900 (e.g., call signal reception sound, message reception sound, etc.). The audio output unit 903 includes a speaker, a buzzer, and a receiver, etc.

[0167] Input unit 904 is used to receive audio or video signals. Input unit 904 may include a graphics processing unit (GPU) 9041 and a microphone 9042. The GPU 9041 processes image data of still images or videos acquired by an image capture device (such as a camera) in video capture mode or image capture mode. The processed image frames can be displayed on display unit 906. The image frames processed by GPU 9041 can be stored in memory 909 (or other storage medium) or transmitted via radio frequency unit 901 or network module 902. Microphone 9042 can receive sound and process such sound into audio data. The processed audio data can be converted into a format that can be transmitted to a mobile communication base station via radio frequency unit 901 in telephone call mode.

[0168] The electronic device 900 also includes at least one sensor 905, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display panel 9061 according to the ambient light level, and the proximity sensor can turn off the display panel 9061 and / or backlight when the electronic device 900 is moved to the ear. As a type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity and can be used to identify the posture of the electronic device (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc. The sensor 905 may also include a fingerprint sensor, pressure sensor, iris sensor, molecular sensor, gyroscope, barometer, hygrometer, thermometer, infrared sensor, etc., which will not be described in detail here.

[0169] The display unit 906 is used to display information input by the user or information provided to the user. The display unit 906 may include a display panel 9061, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0170] User input unit 907 can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of electronic devices. Specifically, user input unit 907 includes a touch panel 9071 and other input devices 9072. Touch panel 9071, also known as a touch screen, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near touch panel 9071). Touch panel 9071 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to processor 910, which receives and executes commands from processor 910. In addition, touch panel 9071 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. Besides touch panel 9071, user input unit 907 may also include other input devices 9072. Specifically, other input devices 9072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, joysticks, etc., which will not be described in detail here.

[0171] Furthermore, the touch panel 9071 can cover the display panel 9061. When the touch panel 9071 detects a touch operation on or near it, it transmits the information to the processor 910 to determine the type of touch event. Subsequently, the processor 910 provides corresponding visual output on the display panel 9061 based on the type of touch event. Although in Figure 9 In this embodiment, the touch panel 9071 and the display panel 9061 are two independent components to realize the input and output functions of the electronic device. However, in some embodiments, the touch panel 9071 and the display panel 9061 can be integrated to realize the input and output functions of the electronic device. The specific implementation is not limited here.

[0172] Interface unit 908 serves as an interface for connecting external devices to electronic device 900. For example, external devices may include a wired or wireless headphone port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, a headphone port, and so on. Interface unit 908 can be used to receive input from external devices (e.g., data, power, etc.) and transmit the received input to one or more components within electronic device 900, or it can be used to transmit data between electronic device 900 and external devices.

[0173] The memory 909 can be used to store software programs and various data. The memory 909 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function (such as sound playback, image playback, etc.), etc.; the data storage area may store data created based on the use of the mobile phone (such as audio data, phonebook, etc.). Furthermore, the memory 909 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0174] The processor 910 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 909, and by calling data stored in the memory 909, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. The processor 910 may include one or more processing units; preferably, the processor 910 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 910.

[0175] The electronic device 900 may also include a power supply 911 (such as a battery) that supplies power to various components. Preferably, the power supply 911 is logically connected to the processor 910 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system.

[0176] In addition, the electronic device 900 includes some functional modules not shown, which will not be described in detail here.

[0177] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0178] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0179] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

[0180] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0181] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0182] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0183] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0184] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0185] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0186] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An article polishing method characterized by comprising: The application discloses an object screening and identifying management device applied to a grinding processor, and the grinding processor further comprises a grinding device, an object detecting device and an object screening device. When an object to be ground enters the grinding processor, the object detecting device detects the object state of the object entering the grinding processor. The object state sent by the object detecting device is received, and the object is screened according to the object state to obtain a screening result. The screening result is used for controlling the object screening device to adjust the sequence of the object entering the grinding device through the tooth hole of the grinding processor, and the grinding and crushing working intensity of the grinding device is correspondingly adjusted according to the object state of the object when the object enters the grinding device according to the sequence.

2. The method of claim 1, wherein, The grinding processor at least comprises a kitchen waste processor, and the object at least comprises kitchen waste; the object state at least comprises the object texture and the object structure, and the object texture is used for representing the soft and hard texture of the object, and the object structure is used for representing the density, shape and volume of the object.

3. The method of claim 1, wherein, The object detecting device at least comprises a sound wave sensor, and the object state of the object entering the grinding processor is detected by controlling the sound wave sensor to emit a sound wave and judging the object state of the object entering the grinding processor according to the echo returned by the object to the sound wave. The object detecting device at least comprises an optical sensor, and the object state of the object entering the grinding processor is detected by controlling the optical sensor to emit a light beam and judging the object state of the object entering the grinding processor according to the reflected light returned by the object to the light beam.

4. The method of claim 1, wherein, The screening result of the object is obtained by screening the object according to the object state, which comprises the following steps. The soft and hard degree of the object is determined according to the object texture and the object structure.

5. The method of claim 2, wherein, The object screening result is obtained by screening the object according to the soft and hard degree from low to high. The object screening device comprises a screening separation plate and a screening separation shaft, and the sequence of the object entering the grinding device through the tooth hole of the grinding processor is adjusted by controlling the screening separation plate according to the screening result when the screening separation shaft drives the object to rotate. The grinding device is driven by a motor, and the grinding and crushing working intensity of the grinding device is correspondingly adjusted according to the object state of the object when the object enters the grinding device according to the sequence, which comprises the following steps.

6. The method of claim 1, wherein, The grinding and crushing working intensity of the motor is adjusted according to the object state of the object when the object enters the grinding device according to the sequence. The grinding device is controlled to rotate and move in a reciprocating straight line according to the motor with the adjusted grinding and crushing working intensity.

7. The method of claim 1, wherein, ​ ​ ​ 8. The method of claim 1, wherein, The grinding device includes a pre-grinding device and a grinding and crushing system, and the grinding and crushing working strength of the grinding device is adjusted according to the article state of the article when the article enters the grinding device in the order, including: After the article enters the pre-grinding device through the transfer sliding frame of the grinding processor in the order, the grinding and crushing working strength of the pre-grinding device is adjusted according to the article state of the article; After the article enters the grinding and crushing system from the pre-grinding device, the article is ground and crushed by the grinding and crushing system.

9. The method of claim 7, wherein, The grinding and crushing working strength includes the rotating speed when the motor controls the grinding device to rotate and the reciprocating speed when the motor controls the grinding device to reciprocate linearly.

10. The method of claim 1, wherein, After the article detection device detects the article state of the article entering the grinding processor when the article to be ground enters the grinding processor, the method further includes: Determining whether the article is allowed to enter the grinding device for grinding according to the article state; If it is determined that the article is not allowed to enter the grinding device for grinding according to the article state, controlling the alarm device of the grinding processor to issue an alarm information.

11. The method of claim 10, wherein, The method further includes: If it is determined that the article is not allowed to enter the grinding device for grinding according to the article state, controlling the grinding processor to stop working, or controlling the article screening device to prohibit the article not allowed to enter the grinding device from entering the grinding device through the tooth hole of the grinding processor.

12. The method of claim 10, wherein, The alarm device at least includes a voice alarm device and a light alarm device.

13. An article grinding apparatus, characterized by, An article screening and identification controller applied to a grinding processor, the grinding processor further includes a grinding device, an article detection device and an article screening device, and the device includes: An article state detection module for controlling the article detection device to detect the article state of the article entering the grinding processor when the article to be ground enters the grinding processor; An article screening module for receiving the article state sent by the article detection device, screening the article according to the article state to obtain a screening result; An article order adjustment module for controlling the article screening device to adjust the order of the article entering the grinding device through the tooth hole of the grinding processor according to the screening result; An article order adjustment module for adjusting the grinding and crushing working strength of the grinding device according to the article state of the article when the article enters the grinding device in the order.

14. An electronic device, comprising: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is used to execute the program stored on the memory, and realizes the method of any one of claims 1-12.

15. A computer readable storage medium having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the method of any one of claims 1-12.

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