Intelligent control method for anus flusher

Abstract

The invention provides an intelligent control method for an anus flusher, and the method comprises the steps: receiving a flushing request of a user side through flushing equipment, controlling a safety shooting unit to obtain a flushing positioning image, and determining a target flushing region in the flushing positioning image; the flushing equipment controls a cleaning planning unit to conduct path planning on the target flushing area to obtain a flushing planning path, the flushing planning path comprises a fixed-point planning path and a comprehensive planning path, and the flushing equipment controls the cleaning unit to conduct automatic flushing operation on the basis of the fixed-point planning path; and then automatic washing operation is carried out based on the comprehensively planned path, washing equipment receives cleaning completion information of the cleaning unit, the drying duration corresponding to the drying unit is determined, and the drying unit is controlled to carry out drying operation based on the drying duration.

Description

Technical Field

[0001] The invention relates to intelligent control technology, and in particular to an intelligent control method for an anal irrigator. Background Art

[0002] In the field of personal hygiene care, anal irrigators, as an auxiliary cleaning tool, have extremely important application value for elderly people with limited mobility, postoperative recoveries, and people with special cleaning needs.

[0003] In the prior art, most anal irrigators rely on manual operation by users, but it is often difficult for users to accurately determine the irrigating area, resulting in inaccurate irrigating positions, and incomplete cleaning or discomfort due to improper operation.

[0004] Therefore, how to automatically plan the flushing path and improve the accuracy and thoroughness of cleaning has become an urgent problem that needs to be solved. Summary of the invention

[0005] The present invention provides an intelligent control method for an anal irrigator, which can automatically plan the irrigating path and improve the accuracy and thoroughness of cleaning.

[0006] A first aspect of the present invention provides an intelligent control method for an anal irrigator, characterized by comprising: The flushing device receives a flushing request from the user end, controls the safety shooting unit to obtain a flushing positioning image, and determines a target flushing area in the flushing positioning image; The flushing equipment controls the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path; The flushing device controls the cleaning unit to first perform an automatic flushing operation based on the fixed-point planning path, and then perform an automatic flushing operation based on the comprehensive planning path; The flushing device receives the cleaning completion information of the cleaning unit, determines the drying time corresponding to the drying unit, and controls the drying unit to perform a drying operation based on the drying time.

[0007] Optionally, in a possible implementation manner of the first aspect, the flushing device receives a flushing request from a user terminal, controls a safety shooting unit to acquire a flushing positioning image, and determines a target flushing area in the flushing positioning image, including: The flushing device receives the flushing request, obtains the pressure value of the pressure sensing unit, and when the pressure value is greater than a preset threshold, controls the safety shooting unit to shoot an image to obtain a flushing positioning image; Wherein, the seat assembly of the washing equipment is provided with the pressure sensing unit; The flushing device extracts pixel points whose pixel values ​​are located in the dirty pixel interval in the flushing positioning image as target pixel points, and generates a target flushing area based on the adjacent target pixel points.

[0008] Optionally, in a possible implementation of the first aspect, the flushing device controls the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path, including: The flushing device controls the cleaning planning unit to obtain the anus area in the flushing positioning image, determine the center point of the anus area as the planning base point, and determine the center point of each target flushing area as the target point; The cleaning planning unit obtains the planned distance between each target point and the planned base point, and arranges each target washing area from large to small according to the planned distance to obtain a washing sequence; The cleaning planning unit obtains the actual target point position of each target point, and plans a fixed-point path obtained by connecting each actual target point position based on the flushing sequence; The cleaning planning unit obtains a comprehensive washing area covering each of the target washing areas, and generates the comprehensive planning path inside the comprehensive washing area, wherein the comprehensive planning path is a spiral path.

[0009] Optionally, in a possible implementation of the first aspect, the cleaning planning unit obtains the actual target point position of each of the target points, and the fixed-point planning path obtained by connecting each of the actual target points based on the flushing sequence includes: The cleaning planning unit determines the direction from the center point of the image to each of the target points as the determination direction, and determines the distance between the center point of the image and each of the target points as the determination distance; The cleaning planning unit obtains the actual reference point of the center point of the image, obtains the position point at the determination distance from the actual reference point in the determination direction, and determines that the position point is the actual target point corresponding to the target point; The cleaning planning unit counts the area of ​​each target flushing area, and determines that the preset duration configured for the area is the cleaning duration corresponding to the actual target point; The cleaning planning unit connects each of the actual target points in sequence based on the flushing sequence to obtain a fixed-point planning path, and binds the cleaning duration with the corresponding actual target point in the fixed-point planning path.

[0010] Optionally, in a possible implementation manner of the first aspect, the cleaning planning unit obtains a comprehensive rinsing area covering each of the target rinsing areas, and generates the comprehensive planning path inside the comprehensive rinsing area, wherein the comprehensive planning path is a spiral path, including: The cleaning planning unit obtains the outer contour of the anus area, and sequentially enlarges and adjusts the outer contour of the area according to a plurality of preset magnification ratios until the area corresponding to the outer contour of the area completely covers each of the target flushing areas, and then stops enlarging and adjusting the outer contour of the area; The cleaning planning unit determines that the area corresponding to the outer contour of the area is the full-rinsing area, determines the rinsing coverage span of the cleaning unit, and the cleaning planning unit generates a plurality of embedded rinsing areas in the full-rinsing area at intervals of the rinsing coverage span, and the embedded rinsing areas have the same contour shape as the full-rinsing area; The cleaning planning unit determines the planning base point and any multiple contour points with equal spacing in the full flushing area and the embedded flushing area as connection points, determines clockwise or counterclockwise as the connection direction, and determines the remaining contour points with equal spacing in the full flushing area and / or the embedded flushing area as planning points; The cleaning planning unit determines the direction from the external planning point to the internal planning point as the offset direction, and generates multiple offset points corresponding to the contour points on the full flushing area and the embedded flushing area in sequence according to the connection direction and the offset direction, and connects the connection points and the offset points in sequence based on the connection direction to generate the full planning path.

[0011] Optionally, in a possible implementation of the first aspect, the cleaning planning unit generates a plurality of embedded flushing areas in the full flushing area at intervals of the flushing coverage span, and the embedded flushing areas have the same contour shape as the full flushing area, including: The cleaning planning unit determines the reduction ratio corresponding to the flushing coverage span, reduces and adjusts the outer contour of the comprehensive flushing area according to the reduction ratio to obtain an embedded flushing contour, and locates the center point of the embedded flushing contour based on the planning base point to obtain an embedded flushing area; The cleaning planning unit continues to reduce and adjust the area contour of the embedded flushing area based on the reduction ratio to obtain the next embedded flushing contour, and locates the center point of the next embedded flushing contour based on the planning base point to obtain the next embedded flushing area; The cleaning planning unit repeats the steps of reducing and adjusting the area contour of the embedded rinsing area according to the reduction ratio, and generating the embedded rinsing area according to the embedded rinsing contour, until the area of ​​the embedded rinsing area is less than the embedded area threshold, and stops generating the embedded rinsing area.

[0012] Optionally, in a possible implementation of the first aspect, the cleaning planning unit determines a direction from an external planning point to an internal planning point as an offset direction, and sequentially generates a plurality of offset points corresponding to contour points on the full flushing area and the embedded flushing area according to the connection direction and the offset direction, including: The cleaning planning unit counts the number of contour points of the full flushing area or the embedded flushing area from the outside to the inside, and obtains a unit offset span according to the ratio of the flushing coverage span and the number of contour points; The cleaning planning unit determines the adjacent connection points as the starting point and the ending point in sequence from the outside to the inside, determines the starting point as the starting point of the connection direction, and determines the ending point as the ending point of the connection direction; The cleaning planning unit determines the contour point of the full flushing area or the embedded flushing area where the starting point is located as a planning point, and arranges each planning point according to the connection direction to obtain a planning sequence; The cleaning planning unit sequentially selects planning points in the planning sequence, obtains an offset distance of the planning point according to the product of the arrangement number of the planning point and the unit offset span, and determines the offset point at a position at the offset distance from the planning point in the offset direction.

[0013] Optionally, in a possible implementation of the first aspect, the flushing device controls the cleaning unit to first perform an automatic flushing operation based on the fixed-point planned path, and then perform an automatic flushing operation based on the comprehensive planned path, including: The flushing device controls the cleaning unit to move to the corresponding actual target point in sequence based on the fixed-point planning path, and performs an automatic flushing operation based on the cleaning time corresponding to the actual target point; When the cleaning unit completes the automatic flushing operation of all the actual target points, the flushing device triggers the cleaning auxiliary unit to perform a flushing operation on the safety shooting unit; The flushing device receives the flushing completion information of the cleaning auxiliary unit and controls the cleaning unit to perform an automatic flushing operation based on the standard speed and the comprehensive planning path; When the cleaning unit completes the automatic flushing operation based on the comprehensive planning path, the flushing device triggers the cleaning auxiliary unit to perform a secondary flushing operation on the safety shooting unit.

[0014] Optionally, in a possible implementation of the first aspect, the flushing device receives the cleaning completion information of the cleaning unit, determines the drying time corresponding to the drying unit, and controls the drying unit to perform a drying operation based on the drying time, including: The flushing device receives the cleaning completion information of the cleaning unit and controls the safety shooting unit to obtain the flushing verification image; When the target washing area exists in the washing verification image, the washing device determines a correction position point corresponding to the target washing area, and controls the washing unit to perform an automatic washing operation based on the correction position point; When the target rinsing area does not exist in the rinsing verification image, the rinsing device determines the drying position and drying time of the drying unit according to the full rinsing area of ​​the cleaning unit, and controls the drying unit to move to the drying position and perform a drying operation based on the drying time.

[0015] Optionally, in a possible implementation of the first aspect, when the target washing area does not exist in the washing verification image, the washing device determines the drying position and drying time of the drying unit according to the full washing area of ​​the washing unit, including: When the target washing area does not exist in the washing verification image, the washing device obtains the actual washing point corresponding to the center point of the full washing area, and determines that the actual washing point is the drying position; The flushing device counts the full flushing area of ​​the full flushing zone, retrieves a drying correspondence table, traverses a plurality of preset area intervals in the drying correspondence table based on the full flushing area, and determines that a preset time duration corresponding to the preset area interval where the full flushing area is located is the drying time duration; The drying correspondence table includes a plurality of preset area intervals and preset durations.

[0016] A second aspect of the present invention provides an intelligent control system for an anal irrigator, comprising: A determination module, configured for the flushing device to receive a flushing request from a user terminal, control the safety shooting unit to obtain a flushing positioning image, and determine a target flushing area in the flushing positioning image; A planning module, used for the flushing equipment to control the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path; A control module, used for controlling the cleaning unit of the flushing device to first perform an automatic flushing operation based on the fixed-point planning path, and then perform an automatic flushing operation based on the comprehensive planning path; The receiving module is used for the flushing device to receive the cleaning completion information of the cleaning unit, determine the drying time corresponding to the drying unit, and control the drying unit to perform a drying operation based on the drying time.

[0017] The beneficial effects of the present invention are as follows: 1. The present invention can automatically flush the dirt in the area near the anus according to the actual situation of the user, and can plan the path and duration of the automatic flushing to ensure the accuracy and thoroughness of the automatic flushing. The present invention can automatically obtain the flushing positioning image and determine the target flushing area, and can accurately identify the area near the user's anus where dirt exists, thereby ensuring that the flushing device can perform accurate flushing operations on these areas and improve the accuracy of flushing.

[0018] 2. The present invention performs path planning for the target flushing area through the cleaning planning unit to obtain the fixed-point planning path and the comprehensive planning path, thereby ensuring that the flushing equipment can orderly and efficiently cover all areas that need to be cleaned during the cleaning process, thereby improving the thoroughness of cleaning. The present invention controls the cleaning unit to perform precise and targeted cleaning of each target flushing area according to the fixed-point planning path, ensuring that stubborn dirt and difficult-to-clean areas are fully rinsed, and then performs comprehensive and indiscriminate cleaning of the comprehensive flushing area including all target flushing areas through the comprehensive planning path, thereby further improving the thoroughness and comprehensiveness of cleaning.

[0019] 3. After the cleaning unit completes the automatic flushing operation, the present invention can trigger the cleaning auxiliary unit to automatically flush the safety shooting unit, which can effectively remove the dirt that may be contaminated on the safety shooting unit and avoid the subsequent shooting screen being blocked or blurred. After the flushing operation of the cleaning unit is completed, the present invention can test the cleaning effect of the cleaning unit to ensure that the dirt in the area near the anus is completely removed, and can determine the drying position and drying time according to the comprehensive flushing area of ​​the cleaning unit, and control the drying unit to automatically perform the drying operation, which can not only ensure the pertinence and effectiveness of the drying operation, but also improve the drying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of an intelligent control method for an anal irrigator provided by an embodiment of the present invention; Figure 2 is a schematic diagram of generating an embedded flushing area provided by an embodiment of the present invention; Figure 3 is a schematic diagram of generating a comprehensive planning path provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of an intelligent control system for an anal irrigator provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0023] See also Figure 1 , is a schematic diagram of an intelligent control method for an anal irrigator provided by an embodiment of the present invention, Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows: S1, the flushing device receives a flushing request from a user terminal, controls a safety shooting unit to obtain a flushing positioning image, and determines a target flushing area in the flushing positioning image.

[0024] Among them, the flushing device refers to an anal irrigator, which includes multiple control units, such as a shooting unit, a planning unit, a cleaning unit and a drying unit. The multiple control units complete the intelligent control process of the flushing device by working together. The user end refers to a terminal held by a user who needs the flushing device to perform automatic flushing operations, such as a mobile phone, a tablet, etc. The flushing request refers to a request for automatic flushing operations issued by the user. The safe shooting unit refers to a unit that can safely shoot the user's anal area, such as a miniature camera installed on the flushing head. The flushing positioning image refers to an image that can be taken by the safe shooting unit to locate the flushing area. The target flushing area refers to the area where there is dirt in the flushing positioning image.

[0025] In the field of medical treatment and daily personal hygiene, anal douches are an auxiliary cleaning tool that is of great significance for improving the quality of life of patients or users. This solution can automatically flush dirt in the area near the anus based on the actual situation of the user, and can plan the path and duration of automatic flushing to ensure the accuracy and thoroughness of automatic flushing.

[0026] In actual applications, the flushing device can be bound to the user. When the user needs to clean the anus and the area near the anus, the user can send a request for a flushing operation to the flushing device. After receiving the user's request, the flushing device can control the security shooting unit to capture images of the user's anus and the area near the anus to obtain a flushing positioning image. In order to improve the user's privacy and security, the image of the user's anus captured by the security shooting unit is only used for analysis operations during this cleaning. After the analysis is completed, it will be deleted immediately and will not be stored. By analyzing the flushing positioning image, the area where the dirt is located, that is, the target flushing area, can be determined. Subsequently, the cleaning unit can be controlled to perform a flushing operation on the target flushing area.

[0027] In some embodiments, step S1 includes S11 to S12, which are specifically as follows: S11, the flushing device receives the flushing request, obtains the pressure value of the pressure sensing unit, and when the pressure value is greater than a preset threshold, controls the safety shooting unit to shoot an image to obtain a flushing positioning image.

[0028] Wherein, the seat assembly of the flushing equipment is provided with the pressure sensing unit.

[0029] The flushing device in the present solution can be designed to be sitable, including a corresponding seat component, and a corresponding pressure sensing unit can be configured on the seat component. When the user sits down, the pressure sensing unit will detect and record the pressure value on the seat component. After receiving the flushing request sent by the user, the flushing device can obtain the pressure value detected by the pressure sensing unit. In order to be able to determine whether the user is sitting correctly on the flushing device, a pressure threshold, that is, a preset threshold, can be pre-configured. When the pressure value is greater than the preset threshold, it can be considered that the user has correctly sat on the flushing device. The flushing device can control the safety shooting unit to capture images. When capturing images, the corresponding shooting position and shooting angle of the safety shooting unit can be pre-configured, so that clear and accurate images of the anus and the area near the anus can be captured, so that the flushing area can be located more accurately.

[0030] Among them, the pressure sensing unit refers to a unit that can detect the pressure on the flushing device, the pressure value refers to the value detected by the pressure sensing unit, and the preset threshold refers to the threshold that can be used to determine whether the user is sitting correctly on the flushing device. When the pressure value is greater than the preset threshold, it can be considered that the user is sitting correctly on the flushing device. If the pressure value is less than the preset threshold, it can be considered that the user is not sitting correctly on the flushing device.

[0031] S12, the washing device extracts pixel points whose pixel values ​​are located in the dirty pixel interval in the washing positioning image as target pixel points, and generates a target washing area based on the adjacent target pixel points.

[0032] It can be understood that in the flushing positioning image, the pixel values ​​corresponding to the areas where contaminants exist and the areas where contaminants do not exist are different. The pixel value interval corresponding to the pixel points in the area where the contaminants are located can be pre-configured, that is, the dirty pixel interval, for example, the pixel value interval corresponding to the brown color. By comparing the pixel values ​​of multiple pixel points corresponding to the flushing positioning image with the dirty pixel interval, if the pixel value of the pixel point is within the dirty pixel interval, the pixel point can be determined as the target pixel point. By identifying adjacent target pixels, one or more continuous areas can be formed, and the identified continuous areas can be determined as target flushing areas.

[0033] The dirty pixel interval refers to a pre-configured pixel value interval corresponding to the dirt, and the target pixel point refers to a pixel point corresponding to the dirt.

[0034] Through the above implementation, the areas near the user's anus where dirt exists can be accurately identified, thereby ensuring that the flushing device can perform accurate flushing operations on these areas, improving the accuracy of flushing, and providing privacy and security for the user.

[0035] S2, the flushing equipment controls the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path.

[0036] Among them, the cleaning planning unit refers to a unit that can plan the path during automatic cleaning, the flushing planning path refers to the path during automatic cleaning, the fixed-point planning path refers to the path for cleaning multiple target flushing areas in sequence, and the comprehensive planning path refers to the path for comprehensive cleaning of the total flushing area including multiple target flushing areas.

[0037] After acquiring multiple target flushing areas, in order to be able to perform a more comprehensive cleansing of the area near the user's anus and improve the thoroughness of the cleaning, the flushing device can control the cleaning planning unit to plan the cleaning path. First, multiple target flushing areas can be combined to plan a path that can perform detailed cleaning of each target flushing area in turn, that is, a fixed-point planned path. Through the fixed-point planned path, each target flushing area can be accurately and targetedly cleaned to ensure that stubborn dirt and difficult-to-clean areas are targetedly flushed. Then, a comprehensive flushing path planning can be performed on the complete area covering all target flushing areas to obtain the corresponding comprehensive planned path. Through the comprehensive planned path, all areas that need to be flushed can be cleaned indiscriminately, and the dirt near the user's anus can be comprehensively cleaned through the fixed-point planned path and the comprehensive planned path.

[0038] Based on the above embodiment, the specific implementation of step S2 may be: S21, the flushing device controls the cleaning planning unit to obtain the anus area in the flushing positioning image, determines the center point of the anus area as the planning base point, and determines the center point of each target flushing area as the target point.

[0039] In actual applications, when cleaning dirt near the user's anus, the flushing equipment can start cleaning from the outside, that is, the area farther away from the anus, which can gradually reduce the accumulation and spread of dirt. As the cleaning progresses, the dirt around the anus can be gradually removed, reducing the possibility of dirt spreading to the inside, that is, the area closer to the anus, thereby reducing the degree of contamination in the internal area and improving the overall cleaning effect. Therefore, when planning the flushing path, the distance between each target flushing area and the anus can be determined first, and then the cleaning order of each target flushing area can be determined according to the distance.

[0040] Specifically, when planning the cleaning path, the flushing device can control the cleaning planning unit to extract the area corresponding to the anus from the flushing positioning image, and can determine the center point of the anus area as the reference point for cleaning path planning, that is, the planning base point, and then the center point of each target flushing area can be determined as the target point. According to the distance between each target point and the planning base point, the position of each target flushing area from the anus can be determined.

[0041] The anus area refers to the area where the anus is located, the planning base point refers to the center point of the anus area, and the target point refers to the center point of the target flushing area.

[0042] S22, the cleaning planning unit obtains the planned distance between each of the target points and the planned base point, and arranges each of the target washing areas from large to small according to the planned distance to obtain a washing sequence.

[0043] Specifically, the distance between each target point and the planning base point, i.e., the planning distance, can be obtained through the cleaning planning unit. According to the planning distance, each target flushing area is arranged from large to small to obtain the corresponding flushing sequence. The target flushing area with a larger planning distance is arranged at the front in the flushing sequence. When cleaning is performed later, each target flushing area can be cleaned according to the flushing sequence. Among them, the planning distance refers to the distance between the target point and the planning base point, and the flushing sequence refers to the sequence obtained by arranging each target flushing area from large to small according to the planning distance.

[0044] S23, the cleaning planning unit obtains the actual target point position of each of the target points, and plans a fixed-point path obtained by connecting each of the actual target points based on the flushing sequence.

[0045] Specifically, since the target point is a point in the flushing positioning image, and when performing the cleaning operation, the actual position corresponding to the target flushing area needs to be cleaned, the cleaning planning unit can determine the position point corresponding to each target point in reality through the flushing positioning image, that is, the actual target point, and then perform the flushing operation on the actual target point. According to the order corresponding to each target flushing area in the flushing sequence, the actual target points corresponding to each target flushing area are connected in sequence, and the corresponding fixed-point planning path can be obtained. Among them, the actual target point refers to the position point corresponding to the target point in reality.

[0046] Based on the above embodiment, the specific implementation of step S23 may be: S231: The cleaning planning unit determines a direction from the center point of the image to each of the target points as a determination direction, and determines a distance between the center point of the image and each of the target points as a determination distance.

[0047] Specifically, the cleaning planning unit can obtain the center point of the flushing positioning image, that is, the center point of the image, and determine the direction from the center point of the image to the target point as the judgment direction. There is a corresponding judgment direction between each target point and the center point of the image, and the interval distance between the center point of the image and each target point in the corresponding judgment direction can be obtained. Since the obtained interval distance is the distance in the image, the zoom ratio configured by the safety shooting unit when shooting the flushing positioning image can be obtained. According to the zoom ratio, the interval distance in the image can be converted into the actual distance to obtain the judgment distance corresponding to each target point.

[0048] The image center point refers to the center point of the washing positioning image, the determination direction refers to the direction in which the image center point points to the target point, and the determination distance refers to the actual distance corresponding to the interval distance between the target point and the image center point.

[0049] S232, the cleaning planning unit obtains the actual reference point of the center point of the image, obtains the position point at the determination distance from the actual reference point in the determination direction, and determines that the position point is the actual target point corresponding to the target point.

[0050] Specifically, the cleaning planning unit can obtain the position point corresponding to the center point of the image in reality, that is, the actual reference point, and can determine a position point at the determination distance corresponding to the actual reference point from the target point in the determination direction corresponding to each target point, and can determine the position point as the actual target point corresponding to the target point. The actual reference point refers to the position point corresponding to the center point of the image in reality.

[0051] S233, the cleaning planning unit counts the area of ​​each target flushing area, and determines that the preset duration configured for the area is the cleaning duration corresponding to the actual target point.

[0052] After obtaining the actual target points corresponding to each target flushing area, the flushing equipment can control the cleaning planning unit to obtain the area corresponding to each target flushing area. It can be considered that the larger the area, the more dirt there is in the corresponding target flushing area. In order to ensure the thoroughness of cleaning, the cleaning time can be longer. In actual applications, different cleaning times can be configured for different target flushing areas according to the different area areas corresponding to the target flushing areas.

[0053] Specifically, a time correspondence table that has been pre-configured based on a large amount of historical data can be retrieved. In the time correspondence table, there are multiple area intervals, and each area interval has a corresponding preset time. By comparing the area corresponding to each target flushing area with the time correspondence table, the area interval in which the area corresponding to each target flushing area is located can be determined, and then the preset time corresponding to the area interval can be obtained. The preset time corresponding to the area interval can be determined as the cleaning time required for the actual target point corresponding to the target flushing area. The larger the area corresponding to the target flushing area, the longer the cleaning time required for the corresponding actual target point.

[0054] Among them, the regional area refers to the area corresponding to the target flushing area, the preset duration refers to the pre-configured duration for flushing the target flushing area corresponding to the regional area, and the cleaning duration refers to the duration of the flushing operation at the actual target point.

[0055] S234: The cleaning planning unit connects the actual target points in sequence based on the flushing sequence to obtain a fixed-point planning path, and binds the cleaning duration to the corresponding actual target points in the fixed-point planning path.

[0056] Specifically, the flushing equipment can control the cleaning planning unit to connect the actual target points corresponding to each target flushing area in sequence according to the corresponding order of each target flushing area in the flushing sequence, obtain the corresponding fixed-point planning path, and bind each actual target point in the fixed-point planning path with the corresponding cleaning time. Subsequently, the flushing equipment can control the cleaning unit, such as the flushing head, to go to each actual target point in sequence along the fixed-point planning path, and perform flushing operations according to the corresponding cleaning time.

[0057] Through the above implementation, it can be ensured that the flushing device can be accurately aimed at each area that needs to be cleaned, thereby improving the accuracy of cleaning and ensuring the thoroughness of cleaning.

[0058] S24, the cleaning planning unit obtains a comprehensive washing area covering each of the target washing areas, and generates the comprehensive planning path inside the comprehensive washing area, wherein the comprehensive planning path is a spiral path.

[0059] When generating a comprehensive planning path, an area covering each target flushing area, i.e., a comprehensive flushing area, can be obtained. A spiral path can be generated from the outside to the inside in the comprehensive flushing area, i.e., a comprehensive planning path. Starting from the outer edge of the comprehensive flushing area, along a determined rotation direction, the spiral path gradually shrinks inward until the entire comprehensive flushing area is covered. The risk of missing certain areas can be avoided through the spiral path, thereby improving the efficiency and effect of cleaning. Among them, the comprehensive flushing area refers to an area that can contain each target flushing area, and the spiral path refers to a path that starts from the outer edge of the comprehensive flushing area and gradually shrinks inward along a determined rotation direction.

[0060] Based on the above embodiment, the specific implementation of step S24 may be: S241, the cleaning planning unit obtains the outer contour of the anus area, and sequentially expands and adjusts the outer contour of the area according to a plurality of preset magnification ratios until the area corresponding to the outer contour of the area completely covers each of the target flushing areas, and then stops expanding and adjusting the outer contour of the area.

[0061] In actual applications, when generating a comprehensive flushing area, it can be generated according to the outer contour of the anal area. Specifically, the outer contour corresponding to the anal area, that is, the outer contour of the area, can be obtained, and the outer contour of the area can be enlarged and adjusted in sequence according to multiple pre-configured preset magnification ratios. For example, the magnification ratio can be 1.1 times, 1.2 times, etc. When the area corresponding to the enlarged outer contour of the area can completely cover all target flushing areas, stop expanding and adjusting the outer contour of the area.

[0062] The region outer contour refers to the outer contour corresponding to the anus region, and the preset magnification ratio refers to the pre-configured ratio for enlarging and adjusting the region outer contour.

[0063] S242, the cleaning planning unit determines that the area corresponding to the outer contour of the area is the full rinse area, determines the rinse coverage span of the cleaning unit, and the cleaning planning unit generates multiple embedded rinse areas in the full rinse area at intervals of the rinse coverage span, and the embedded rinse areas have the same contour shape as the full rinse area.

[0064] Among them, the cleaning unit refers to the unit in the flushing equipment that is responsible for the flushing operation, for example, it can be a flushing head, the flushing coverage span refers to the area span that the cleaning unit can cover during the flushing operation, and the embedded flushing area refers to the area obtained after the full flushing area is reduced and adjusted according to the corresponding reduction ratio.

[0065] Specifically, the area obtained when the expansion and adjustment of the outer contour of the area is stopped can be determined as a full-rinsing area. The full-rinsing area can be used to perform secondary cleaning on the area where the dirt is located, thereby improving the thoroughness of cleaning. The flushing equipment can pre-configure the area range that the cleaning unit can cover during the flushing operation, so that the flushing coverage span corresponding to the cleaning unit, such as the flushing head, can be obtained. Starting from the outer edge of the full-rinsing area, an area with the same contour shape as the full-rinsing area can be determined for every other flushing coverage span. The obtained area with the same contour shape as the full-rinsing area can be determined as an embedded flushing area, so that multiple embedded flushing areas can be generated inside the full-rinsing area.

[0066] In some embodiments, the step S242 of "generating a plurality of embedded flushing areas in the full flushing area at the interval of the flushing coverage span of the cleaning planning unit, wherein the embedded flushing areas have the same contour shape as the full flushing area" includes the following steps: S2421, the cleaning planning unit determines the reduction ratio corresponding to the flushing coverage span, reduces and adjusts the outer contour of the comprehensive flushing area according to the reduction ratio to obtain an embedded flushing contour, and locates the center point of the embedded flushing contour based on the planning base point to obtain an embedded flushing area.

[0067] Specifically, when generating an embedded flushing area, the reduction ratio corresponding to the flushing coverage span can be determined. According to the reduction ratio, the outer contour of the area corresponding to the comprehensive flushing area is reduced and adjusted to obtain the first embedded flushing contour. By positioning the center point corresponding to the embedded flushing contour to the planning base point, the embedded flushing area corresponding to the first embedded flushing contour can be obtained.

[0068] When obtaining the reduction ratio corresponding to the flushing coverage span, the ratio comparison table pre-configured based on a large amount of historical data can be called up. In the ratio comparison table, there are multiple span intervals, and each span interval has a corresponding preset reduction ratio. The flushing coverage span can be compared with the ratio comparison table to determine the span interval where the flushing coverage span is located, and the preset reduction ratio corresponding to the span interval can be obtained. The preset reduction ratio can be determined as the reduction ratio corresponding to the flushing coverage span.

[0069] Among them, the reduction ratio refers to the reduction ratio corresponding to the flushing coverage span, and the embedded flushing contour refers to the contour obtained by reducing and adjusting the outer contour of the area corresponding to the comprehensive flushing area.

[0070] S2422, the cleaning planning unit continues to reduce and adjust the area contour of the embedded flushing area based on the reduction ratio to obtain the next embedded flushing contour, and locates the center point of the next embedded flushing contour based on the planning base point to obtain the next embedded flushing area.

[0071] Specifically, after obtaining the embedded flushing area corresponding to the first embedded flushing contour, the area contour corresponding to the obtained embedded flushing area can be reduced and adjusted according to the reduction ratio to obtain the next embedded flushing contour. By positioning the center point of the next embedded flushing contour to the planned base point, the next embedded flushing area can be obtained.

[0072] S2423, the cleaning planning unit repeats the steps of reducing and adjusting the area contour of the embedded rinsing area according to the reduction ratio, and generating the embedded rinsing area according to the embedded rinsing contour, until the area of ​​the embedded rinsing area is smaller than the embedded area threshold, and stops generating the embedded rinsing area.

[0073] See also Figure 2 , which is a schematic diagram of generating an embedded flushing area provided by an embodiment of the present invention, such as Figure 2 As shown in , by reducing the overall flushing area according to the reduction ratio, the corresponding first embedded flushing contour can be obtained. By locating the center point corresponding to the embedded flushing contour to the planning base point, the embedded flushing area corresponding to the first embedded flushing contour can be obtained. Then, the first embedded flushing area is reduced and adjusted according to the same reduction ratio to obtain the next embedded flushing contour. By locating the center point of the next embedded flushing contour to the planning base point, the next embedded flushing area can be obtained. Figure 2 It can be seen that the distance between the contour points on the same straight line between the full flushing area and the first embedded flushing area is the flushing coverage span, and the distance between the contour points on the same straight line between the first embedded flushing area and the next embedded flushing area is also the flushing coverage span.

[0074] Flushing equipment can control the cleaning planning unit repetition Figure 2 The steps shown in FIG. 1 are to adjust the area contour of the embedded flushing area according to the reduction ratio, and can be repeated Figure 2 As shown in the step of generating the embedded flushing area according to the embedded flushing contour, when the area of ​​the embedded flushing area is smaller than the embedded area threshold, it can be considered that the embedded flushing area is too small, and the generation of the embedded flushing area can be stopped at this time.

[0075] Among them, the embedded area threshold refers to the area threshold that can be used to determine whether the embedded flushing area is too small. If the area of ​​the embedded flushing area is smaller than the embedded area threshold, it can be considered that the embedded flushing area is too small, and there is no need to reduce the embedded flushing area. If the area of ​​the embedded flushing area is larger than the embedded area threshold, it can be considered that the area of ​​the embedded flushing area is large, and the embedded flushing area can continue to be reduced.

[0076] S243, the cleaning planning unit determines the planning base point and any multiple contour points with equal spacing in the full flushing area and the embedded flushing area as connection points, determines clockwise or counterclockwise as the connection direction, and determines the remaining contour points with equal spacing in the full flushing area and / or the embedded flushing area as planning points.

[0077] Specifically, when determining the connection points, multiple contour points on the outer contour of the area corresponding to the full flushing area can be obtained. The planning base point is connected with any contour point to obtain the corresponding auxiliary line, and the contour points where the full flushing area and multiple embedded flushing areas intersect with the auxiliary line are determined as connection points. The multiple connection points obtained are located on the same straight line, and the spacing between the multiple connection points is equal, which are all flushing coverage spans. The clockwise or counterclockwise direction can be determined as the connection direction. In the connection direction, starting from the connection point, at equal intervals, multiple contour points with equal spacing can be obtained on the full flushing area and the embedded flushing area. These contour points can be determined as planning points. By selecting contour points with equal spacing as planning points, it can be ensured that the generated full flushing path can evenly cover the entire full flushing area.

[0078] Among them, the connection point refers to the contour points located on the same straight line, with equal spacing and in different flushing areas, the connection direction refers to the direction of a spiral comprehensive planning path, and the planning point refers to the contour points with equal spacing in the comprehensive flushing area or the embedded flushing area except the connection point.

[0079] S244, the cleaning planning unit determines the direction from the external planning point to the internal planning point as the offset direction, and generates multiple offset points corresponding to the contour points on the full flushing area and the embedded flushing area in sequence according to the connection direction and the offset direction, and connects the connection points and the offset points in sequence based on the connection direction to generate the full planning path.

[0080] Among them, the offset direction refers to the direction in which each planned point on the full flushing area and the embedded flushing area can be offset. Each planned point on the full flushing area and the embedded flushing area has a corresponding offset direction. The offset point refers to the point obtained after the planned point is offset in the corresponding offset direction.

[0081] See also Figure 3 , which is a schematic diagram of generating a comprehensive planning path provided by an embodiment of the present invention, can determine a circular area including all target flushing areas as a comprehensive flushing area, such as Figure 3 The outermost circular area in the whole flushing area is the planning base point, such as Figure 3 The black dot in the center of the full flushing area contains multiple embedded flushing areas with the same outline shape as the full flushing area, such as Figure 3As shown in , the multiple circular areas located inside the outermost circular area can obtain the corresponding auxiliary lines by connecting the planning base point with any contour point on the full flushing area, and the contour points where the full flushing area and the multiple embedded flushing areas intersect with the auxiliary line can be determined as connection points, such as Figure 3 As shown in , in the connection direction, the first contour point located on the outer contour of the area corresponding to the full flushing area can be determined as the connection point, and an auxiliary line can be obtained by connecting the planning base point with the connection point, and there are intersecting contour points between the auxiliary line and the area contours corresponding to multiple embedded cleaning areas, and the contour points where the area contours corresponding to the embedded flushing area intersect with the auxiliary line can be determined as connection points. When generating a spiral full planning path, this embodiment generates it from the outside to the inside, and when generating a full planning path, multiple contour points with equal spacing on the full flushing area and the embedded flushing area can be determined as planning points, and the planning points can be offset in the corresponding offset direction to obtain multiple offset points, and the corresponding full planning path can be obtained by connecting the multiple offset points in sequence.

[0082] When obtaining the offset direction corresponding to each planning point, the planning points located on the same straight line can be determined as the same group of planning points, and the direction from the external planning point to the internal planning point in the same group of planning points can be determined as the offset direction corresponding to each planning point, such as Figure 3 As shown in , in the connection direction, the second contour point located on the full flushing area can be determined as planning point 1, and the second contour point located on the same straight line as planning point 1 and on the regional contour corresponding to the embedded flushing area can be determined as planning point 2. The direction from the external planning point 1 to the internal planning point 2 can be determined as the offset direction corresponding to planning point 1. The third contour point located on the outer contour of the area corresponding to the full flushing area can be determined as planning point 3. The third contour point located on the same straight line as planning point 3 and on the regional contour corresponding to the embedded flushing area can be determined as planning point 4. Planning point 3 and planning point 4 are points located on the same straight line. The direction from the external planning point 3 to the internal planning point 4 can be determined as the offset direction corresponding to planning point 3. According to the connection direction and the offset direction, multiple planning points on the full flushing area or the embedded flushing area are offset in the corresponding offset direction, as shown in FIG. Figure 3As shown in , for planning point 1, offsetting in its corresponding offset direction can obtain the corresponding offset point. For planning point 3, offsetting in its corresponding offset direction can obtain the corresponding offset point. By offsetting each planning point in the corresponding offset direction respectively, the offset point corresponding to each planning point on the comprehensive flushing area and the embedded flushing area can be obtained. When the connection direction is clockwise, the connection point and multiple offset points can be connected in sequence according to the connection direction to obtain the corresponding comprehensive planning path.

[0083] Based on the above embodiment, the specific implementation of step S244 may be: S2441, the cleaning planning unit counts the number of contour points of the full flushing area or the embedded flushing area from the outside to the inside, and obtains a unit offset span according to the ratio of the flushing coverage span and the number of contour points.

[0084] Specifically, when generating offset points, the cleaning planning unit can first count the number of contour points corresponding to the full flushing area and the number of contour points corresponding to the embedded flushing area in sequence from the outside to the inside, that is, starting from the full flushing area, and by calculating the ratio of the flushing coverage span to the number of contour points corresponding to each flushing area, the unit offset span corresponding to each flushing area can be obtained. For example, by calculating the ratio of the flushing coverage span to the number of contour points corresponding to the full flushing area, the unit offset span corresponding to each planning point on the full flushing area can be obtained.

[0085] S2442, the cleaning planning unit determines the adjacent connection points as the starting point and the ending point in sequence from the outside to the inside, determines the starting point as the starting point of the connection direction, and determines the ending point as the ending point of the connection direction.

[0086] Specifically, adjacent connection points may be determined as starting points and ending points in sequence in a direction from the outside to the inside, for example: Figure 3 As shown in , when the direction from the outside to the inside is the direction pointing to the planned base point, since the first connection point and the second connection point are adjacent connection points, the first connection point can be determined as the starting point and the second connection point can be determined as the ending point, and the first connection point can be determined as the starting point of the connection direction and the second connection point can be determined as the end point of the connection direction.

[0087] The starting point refers to the starting point when connecting the offset point in the connection direction, and the ending point refers to the ending point when connecting the offset point in the connection direction.

[0088] S2443, the cleaning planning unit determines the contour point of the full flushing area or the embedded flushing area where the starting point is located as a planning point, and arranges each planning point according to the connection direction to obtain a planning sequence.

[0089] Specifically, the planning point can be determined from the contour point on the area where the starting point is located, for example Figure 2 As shown in , when the first connection point is determined as the starting point, the contour point corresponding to the full flushing area can be determined as the planning point, and when the second connection point is determined as the starting point, the contour point on the embedded flushing area can be determined as the planning point. The corresponding planning sequence can be obtained by arranging each planning point according to the connection direction. Among them, the planning sequence refers to the sequence obtained by arranging each planning point according to the connection direction.

[0090] S2444, the cleaning planning unit sequentially selects planning points in the planning sequence, obtains an offset distance of the planning point according to the product of the arrangement number of the planning point and the unit offset span, and determines the offset point at a position at the offset distance from the planning point in the offset direction.

[0091] Specifically, in the planning sequence corresponding to the planning point, each planning point has a corresponding arrangement number. The cleaning planning unit can obtain the planning points in the planning sequence in turn. By multiplying the arrangement number corresponding to each planning point by the unit offset span, the offset distance corresponding to each planning point can be obtained. For example, if the arrangement number corresponding to planning point 1 is 1, and the arrangement number corresponding to planning point 2 is 2, when the unit offset span is 1 mm, the offset distance corresponding to planning point 1 can be obtained as 1 mm, and the offset distance corresponding to planning point 2 can be obtained as 2 mm. In the offset direction corresponding to each planning point, the offset point corresponding to each planning point can be determined at the offset distance corresponding to each planning point.

[0092] The arrangement number refers to the serial number corresponding to each planning point in the planning sequence, and the offset distance refers to the distance when each planning point is offset in the offset direction corresponding to each planning point.

[0093] Through the above implementation, it can be ensured that the flushing equipment can cover all areas that need to be cleaned in an orderly and efficient manner during the cleaning process, reduce the situation of missing areas, and improve the comprehensiveness and efficiency of cleaning.

[0094] S3, the flushing device controls the cleaning unit to first perform an automatic flushing operation based on the fixed-point planned path, and then perform an automatic flushing operation based on the comprehensive planned path.

[0095] After obtaining the fixed-point planned path and the comprehensive planned path, the flushing device can control the cleaning unit to first perform precise and targeted automatic flushing operations on multiple target flushing areas in turn according to the fixed-point planned path, and then perform indiscriminate automatic flushing operations on the area near the user's anus according to the comprehensive planned path, thereby ensuring a more comprehensive cleaning of the area near the user's anus and improving the thoroughness of the cleaning.

[0096] Based on the above embodiment, the specific implementation of step S3 may be: S31, the flushing device controls the cleaning unit to move to the corresponding actual target point in sequence based on the fixed-point planning path, and performs an automatic flushing operation based on the cleaning time corresponding to the actual target point.

[0097] Specifically, the flushing equipment can control the cleaning unit to go to each actual target point on the fixed-point planning path in turn along the fixed-point planning path, and perform automatic flushing operations at each actual target point according to the cleaning time corresponding to each actual target point.

[0098] S32, when the cleaning unit completes the automatic flushing operation of all the actual target points, the flushing device triggers the cleaning auxiliary unit to perform a flushing operation on the safety shooting unit.

[0099] The cleaning auxiliary unit refers to a unit that can automatically flush the safety shooting unit, for example, it can be a flushing head that is close to the cleaning unit.

[0100] Specifically, since the safety shooting unit can be located on the cleaning unit, when the cleaning unit is performing an automatic cleaning operation, the safety shooting unit may be contaminated with dirt. In order to prevent the dirt from affecting the subsequent shooting process of the safety shooting unit, when the cleaning unit completes the automatic flushing operation at all actual target points, the flushing device can trigger the cleaning auxiliary unit, and the cleaning auxiliary unit performs an automatic flushing operation on the safety shooting unit. Among them, one flushing operation refers to the first time that the cleaning auxiliary unit performs an automatic flushing operation on the safety shooting unit.

[0101] S33, the flushing device receives the flushing completion information of the cleaning auxiliary unit, and controls the cleaning unit to perform an automatic flushing operation based on a standard speed and the comprehensive planned path.

[0102] When the cleaning auxiliary unit completes the automatic flushing operation on the safety shooting unit, it can send corresponding completion information to the flushing device. After receiving the flushing completion information from the cleaning auxiliary unit, the flushing device can control the cleaning unit to start from the outer edge of the full flushing area at a pre-configured standard speed, along the spiral fully planned path, and gradually start the automatic flushing operation inward.

[0103] The flushing completion information refers to the information that the cleaning auxiliary unit completes the automatic flushing operation on the safety shooting unit, and the standard speed refers to the speed at which the pre-configured cleaning unit performs a full flushing on the full flushing area.

[0104] S34, when the cleaning unit completes the automatic flushing operation based on the comprehensive planning path, the flushing device triggers the cleaning auxiliary unit to perform a secondary flushing operation on the safety shooting unit.

[0105] Specifically, when the cleaning unit completes the automatic flushing operation of the full flushing area along the fully planned path, the flushing device will trigger the cleaning auxiliary unit again to perform the automatic flushing operation on the safety shooting unit again to prevent possible dirt from blocking the subsequent shooting process of the safety shooting unit. The secondary flushing operation refers to the second automatic flushing operation of the cleaning auxiliary unit on the safety shooting unit.

[0106] Through the above implementation, it can be ensured that each target flushing area is given sufficient flushing time, thereby ensuring that the area near the user's anus is cleaned more comprehensively and thoroughly.

[0107] S4, the flushing device receives the cleaning completion information of the cleaning unit, determines the drying time corresponding to the drying unit, and controls the drying unit to perform a drying operation based on the drying time.

[0108] After the cleaning unit completes all automatic flushing operations, it can send corresponding completion information to the flushing device. After receiving the cleaning completion information from the cleaning unit, the flushing device can determine the drying time of the flushing area, and then control the drying unit to perform drying operations on the flushing area according to the drying time.

[0109] Among them, the cleaning completion information refers to the information that the cleaning equipment has completed all automatic flushing operations, the drying unit refers to the unit that automatically dries the area flushed by the user, for example, it can be a nozzle that can generate hot air, and the drying time refers to the time required to dry the flushing area.

[0110] Based on the above embodiment, the specific implementation of step S4 may be: S41, the flushing device receives the cleaning completion information of the cleaning unit and controls the safety shooting unit to obtain a flushing verification image.

[0111] Specifically, after the cleaning unit completes all automatic flushing operations, in order to be able to check the cleaning effect of the cleaning unit, the flushing device can control the safety shooting unit to capture the image of the user's anus after flushing, and obtain the corresponding flushing verification image. The flushing verification image is only used for this inspection and analysis, and will be deleted immediately after the analysis is completed, which can improve the user's privacy security.

[0112] The flushing verification image refers to an image that can be used to verify the cleaning effect of the cleaning unit.

[0113] S42, when the target washing area exists in the washing verification image, the washing device determines a correction position point corresponding to the target washing area, and controls the cleaning unit to perform an automatic washing operation based on the correction position point.

[0114] Specifically, if the target flushing area still exists in the flushing verification image, it can be considered that there is still dirt near the user's anus. At this time, the flushing device can determine the actual corresponding correction position point of the target flushing area, and control the cleaning unit to automatically flush the correction position point again to ensure that the dirt near the anus can be thoroughly cleaned.

[0115] The correction position point refers to the actual position point corresponding to the target flushing area in the flushing verification image.

[0116] S43, when the target rinsing area does not exist in the rinsing verification image, the rinsing device determines the drying position and drying time of the drying unit according to the comprehensive rinsing area of ​​the cleaning unit, and controls the drying unit to move to the drying position and perform a drying operation based on the drying time.

[0117] Specifically, if the target flushing area does not exist in the flushing verification image, it can be considered that the cleaning unit thoroughly cleans the dirt near the user's anus. At this time, the flushing device can determine the drying position and drying time of the drying unit when performing the drying operation based on the comprehensive flushing area when the cleaning unit performs a comprehensive flushing. The drying unit can then be controlled to move to the drying position and perform the corresponding drying operation in combination with the corresponding drying time.

[0118] The drying position refers to a position where the drying operation can be performed.

[0119] In some embodiments, step S43 includes S431 to S432, which are specifically as follows: S431, when the target washing area does not exist in the washing verification image, the washing device obtains the actual washing point corresponding to the center point of the full washing area, and determines that the actual washing point is the drying position.

[0120] Specifically, when the target washing area does not exist in the washing verification image, the washing device can obtain the actual corresponding position point of the center point of the full washing area, that is, the actual washing point position, and determine the actual washing point position as the drying position where the drying unit is to perform the drying operation. The actual washing point position refers to the actual corresponding position point of the center point of the full washing area.

[0121] S432, the flushing equipment counts the full flushing area of ​​the full flushing zone, retrieves the drying correspondence table, traverses multiple preset area intervals in the drying correspondence table based on the full flushing area, and determines that the preset time corresponding to the preset area interval where the full flushing area is located is the drying time.

[0122] The drying correspondence table includes a plurality of preset area intervals and preset durations.

[0123] Specifically, when obtaining the drying time corresponding to the drying position, a drying correspondence table pre-configured based on a large amount of historical drying data can be retrieved. The drying correspondence table includes multiple preset area intervals, and each preset area interval has a corresponding preset time. The flushing equipment can obtain the area corresponding to the full flushing area, that is, the full flushing area. According to the full flushing area, multiple preset area intervals in the drying correspondence table are traversed to obtain the preset area interval where the full flushing area is located, and the preset time corresponding to the preset area interval can be determined as the drying time corresponding to the drying position.

[0124] Among them, the full flushing area refers to the area corresponding to the full flushing area, the drying correspondence table refers to a table that can be used to determine the drying time, the preset area interval refers to the pre-configured area interval in the drying correspondence table, and the preset time refers to the drying time corresponding to each preset area interval.

[0125] Through the above-mentioned implementation, the cleaning effect of the cleaning unit can be checked to avoid the situation where the user feels uncomfortable due to insufficient or excessive drying.

[0126] See also Figure 4 , is a schematic diagram of the structure of an intelligent control system for an anal irrigator provided by an embodiment of the present invention. The data processing system based on the intelligent control system of the anal irrigator includes: A determination module, configured for the flushing device to receive a flushing request from a user terminal, control the safety shooting unit to obtain a flushing positioning image, and determine a target flushing area in the flushing positioning image; A planning module, used for the flushing equipment to control the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path; A control module, used for controlling the cleaning unit of the flushing device to first perform an automatic flushing operation based on the fixed-point planning path, and then perform an automatic flushing operation based on the comprehensive planning path; The receiving module is used for the flushing device to receive the cleaning completion information of the cleaning unit, determine the drying time corresponding to the drying unit, and control the drying unit to perform a drying operation based on the drying time.

[0127] Figure 4 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control method for an anal irrigator, characterized in that: include: The flushing device receives a flushing request from the user end, controls the safety shooting unit to obtain a flushing positioning image, and determines a target flushing area in the flushing positioning image; The flushing equipment controls the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path; The flushing device controls the cleaning unit to first perform an automatic flushing operation based on the fixed-point planning path, and then perform an automatic flushing operation based on the comprehensive planning path; The flushing device receives the cleaning completion information of the cleaning unit, determines the drying time corresponding to the drying unit, and controls the drying unit to perform a drying operation based on the drying time.

2. The method according to claim 1, characterized in that The flushing device receives a flushing request from a user terminal, controls a safety shooting unit to obtain a flushing positioning image, and determines a target flushing area in the flushing positioning image, including: The flushing device receives the flushing request, obtains the pressure value of the pressure sensing unit, and when the pressure value is greater than a preset threshold, controls the safety shooting unit to shoot an image to obtain a flushing positioning image; Wherein, the seat assembly of the washing equipment is provided with the pressure sensing unit; The flushing device extracts pixel points whose pixel values ​​are located in the dirty pixel interval in the flushing positioning image as target pixel points, and generates a target flushing area based on the adjacent target pixel points.

3. The method according to claim 1, characterized in that The flushing equipment controls the cleaning planning unit to perform path planning on the target flushing area to obtain a flushing planning path, wherein the flushing planning path includes a fixed-point planning path and a comprehensive planning path, including: The flushing device controls the cleaning planning unit to obtain the anus area in the flushing positioning image, determine the center point of the anus area as the planning base point, and determine the center point of each target flushing area as the target point; The cleaning planning unit obtains the planned distance between each target point and the planned base point, and arranges each target washing area from large to small according to the planned distance to obtain a washing sequence; The cleaning planning unit obtains the actual target point position of each target point, and plans a fixed-point path obtained by connecting each actual target point position based on the flushing sequence; The cleaning planning unit obtains a comprehensive washing area covering each of the target washing areas, and generates the comprehensive planning path inside the comprehensive washing area, wherein the comprehensive planning path is a spiral path.

4. The method according to claim 3, characterized in that The cleaning planning unit obtains the actual target point position of each target point, and connects each actual target point position based on the flushing sequence to obtain a fixed-point planning path, including: The cleaning planning unit determines the direction from the center point of the image to each of the target points as the determination direction, and determines the distance between the center point of the image and each of the target points as the determination distance; The cleaning planning unit obtains the actual reference point of the center point of the image, obtains the position point at the determination distance from the actual reference point in the determination direction, and determines that the position point is the actual target point corresponding to the target point; The cleaning planning unit counts the area of ​​each target flushing area, and determines that the preset duration configured for the area is the cleaning duration corresponding to the actual target point; The cleaning planning unit connects each of the actual target points in sequence based on the flushing sequence to obtain a fixed-point planning path, and binds the cleaning duration with the corresponding actual target point in the fixed-point planning path.

5. The method according to claim 3, characterized in that: The cleaning planning unit obtains a comprehensive washing area covering each of the target washing areas, and generates the comprehensive planning path inside the comprehensive washing area, wherein the comprehensive planning path is a spiral path, including: The cleaning planning unit obtains the outer contour of the anus area, and sequentially enlarges and adjusts the outer contour of the area according to a plurality of preset magnification ratios until the area corresponding to the outer contour of the area completely covers each of the target flushing areas, and then stops enlarging and adjusting the outer contour of the area; The cleaning planning unit determines that the area corresponding to the outer contour of the area is the full-rinsing area, determines the rinsing coverage span of the cleaning unit, and the cleaning planning unit generates a plurality of embedded rinsing areas in the full-rinsing area at intervals of the rinsing coverage span, and the embedded rinsing areas have the same contour shape as the full-rinsing area; The cleaning planning unit determines the planning base point and any multiple contour points with equal spacing in the full flushing area and the embedded flushing area as connection points, determines clockwise or counterclockwise as the connection direction, and determines the remaining contour points with equal spacing in the full flushing area and / or the embedded flushing area as planning points; The cleaning planning unit determines the direction from the external planning point to the internal planning point as the offset direction, and generates multiple offset points corresponding to the contour points on the full flushing area and the embedded flushing area in sequence according to the connection direction and the offset direction, and connects the connection points and the offset points in sequence based on the connection direction to generate the full planning path.

6. The method according to claim 5, characterized in that The cleaning planning unit generates a plurality of embedded flushing areas in the full flushing area at intervals of the flushing coverage span, wherein the embedded flushing areas have the same contour shape as the full flushing area, including: The cleaning planning unit determines the reduction ratio corresponding to the flushing coverage span, reduces and adjusts the outer contour of the comprehensive flushing area according to the reduction ratio to obtain an embedded flushing contour, and locates the center point of the embedded flushing contour based on the planning base point to obtain an embedded flushing area; The cleaning planning unit continues to reduce and adjust the area contour of the embedded flushing area based on the reduction ratio to obtain the next embedded flushing contour, and locates the center point of the next embedded flushing contour based on the planning base point to obtain the next embedded flushing area; The cleaning planning unit repeats the steps of reducing and adjusting the area contour of the embedded rinsing area according to the reduction ratio, and generating the embedded rinsing area according to the embedded rinsing contour, until the area of ​​the embedded rinsing area is less than the embedded area threshold, and stops generating the embedded rinsing area.

7. The method according to claim 5, characterized in that The cleaning planning unit determines the direction from the external planning point to the internal planning point as the offset direction, and sequentially generates a plurality of offset points corresponding to the contour points on the full flushing area and the embedded flushing area according to the connection direction and the offset direction, including: The cleaning planning unit counts the number of contour points of the full flushing area or the embedded flushing area from the outside to the inside, and obtains a unit offset span according to the ratio of the flushing coverage span and the number of contour points; The cleaning planning unit determines the adjacent connection points as the starting point and the ending point in sequence from the outside to the inside, determines the starting point as the starting point of the connection direction, and determines the ending point as the ending point of the connection direction; The cleaning planning unit determines the contour point of the full flushing area or the embedded flushing area where the starting point is located as a planning point, and arranges each planning point according to the connection direction to obtain a planning sequence; The cleaning planning unit sequentially selects planning points in the planning sequence, obtains an offset distance of the planning point according to the product of the arrangement number of the planning point and the unit offset span, and determines the offset point at a position at the offset distance from the planning point in the offset direction.

8. The method according to claim 4 or 5, characterized in that: The flushing device controls the cleaning unit to first perform an automatic flushing operation based on the fixed-point planning path, and then perform an automatic flushing operation based on the comprehensive planning path, including: The flushing device controls the cleaning unit to move to the corresponding actual target point in sequence based on the fixed-point planning path, and performs an automatic flushing operation based on the cleaning time corresponding to the actual target point; When the cleaning unit completes the automatic flushing operation of all the actual target points, the flushing device triggers the cleaning auxiliary unit to perform a flushing operation on the safety shooting unit; The flushing device receives the flushing completion information of the cleaning auxiliary unit and controls the cleaning unit to perform an automatic flushing operation based on the standard speed and the comprehensive planning path; When the cleaning unit completes the automatic flushing operation based on the comprehensive planning path, the flushing device triggers the cleaning auxiliary unit to perform a secondary flushing operation on the safety shooting unit.

9. The method according to claim 1, characterized in that: The flushing device receives the cleaning completion information of the cleaning unit, determines the drying time corresponding to the drying unit, and controls the drying unit to perform a drying operation based on the drying time, including: The flushing device receives the cleaning completion information of the cleaning unit and controls the safety shooting unit to obtain the flushing verification image; When the target washing area exists in the washing verification image, the washing device determines a correction position point corresponding to the target washing area, and controls the washing unit to perform an automatic washing operation based on the correction position point; When the target rinsing area does not exist in the rinsing verification image, the rinsing device determines the drying position and drying time of the drying unit according to the full rinsing area of ​​the cleaning unit, and controls the drying unit to move to the drying position and perform a drying operation based on the drying time.

10. The method according to claim 9, characterized in that When the target washing area does not exist in the washing verification image, the washing device determines the drying position and drying time of the drying unit according to the overall washing area of ​​the washing unit, including: When the target washing area does not exist in the washing verification image, the washing device obtains the actual washing point corresponding to the center point of the full washing area, and determines that the actual washing point is the drying position; The flushing device counts the full flushing area of ​​the full flushing zone, retrieves a drying correspondence table, traverses a plurality of preset area intervals in the drying correspondence table based on the full flushing area, and determines that a preset time duration corresponding to the preset area interval where the full flushing area is located is the drying time duration; The drying correspondence table includes a plurality of preset area intervals and preset durations.

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