Method, system and storage medium for cleaning and controlling laboratory automatic feeding equipment

Abstract

The present application relates to the technical field of automatic control, and discloses a method, system and storage medium for cleaning and controlling laboratory automatic feeding equipment. The method is based on a sewage cleaning device set on the tail rack of the laboratory equipment, and includes: first obtaining an image of the top of the conveyor belt tail rack to obtain a dirt image, identifying a first dirt feature according to a specific dirt threshold, and calculating its corresponding first dryness and humidity and first distribution uniformity. According to the first dryness and humidity, the depth of the cleaning roller brush immersed in the disinfectant is adjusted inversely, and the immersion is shallow when the dryness and humidity are high, and the immersion is deep when the dryness and humidity are low; the thickness of the cleaning roller brush is adjusted inversely according to the first distribution uniformity, and the roller brush is fine when the uniformity is high, and the roller brush is coarse when the uniformity is low. Then, the side image of the conveyor belt tail rack is obtained, the second dirt feature is identified and the dirt height is calculated, and the pressure of the scraper pressing the conveyor belt and the speed of the cleaning roller brush are adjusted in accordance with the positive correlation, and the pressure is high and the speed is fast when the dirt height is high, and the pressure is low and the speed is slow when the dirt height is low. The above scheme can achieve automatic and efficient cleaning.

Description

Technical Field

[0001] The present application relates to the technical field of automated control, and in particular to a method, system and storage medium for controlling pollution of laboratory automatic feeding equipment. Background Art

[0002] The laboratory equipment for automatically cleaning and feeding experimental rabbits includes an equipment rack, on which multiple feeding layers are arranged, and multiple experimental animals, such as rabbits, are raised in each feeding layer. A feeding water and feeding device is arranged on each feeding layer, and a conveyor belt for conveying the excrement of the experimental animals is arranged under each feeding layer, so that the excrement can be cleaned out of the feeding area in time. A waste collecting device is arranged on the tail rack of the equipment rack, which is used to receive the waste conveyed on the conveyor belt.

[0003] The excrement of experimental animals is a measure of the quality of rabbit breeding. Through the observation and analysis of excrement, researchers can judge the health status of rabbits, whether their diet is reasonable, etc. However, the conventional cleaning methods used in the past have many disadvantages.

[0004] Usually, cleaning work is done manually based on experience. This method is not only inefficient, but also due to the limitations of manual judgment and operation, feces cleaning is often not always clean and is prone to residual dirt. Moreover, the involvement of humans increases the chances of contact between the breeding environment and the outside world, greatly increasing the risk of harmful microorganisms such as viruses and bacteria entering the breeding environment. In the long run, it will have an adverse effect on the growth environment of experimental animals. Therefore, there is an urgent need for an efficient and reliable automatic cleaning method to improve the current situation and meet the growing needs of scientific research. Summary of the invention

[0005] In order to achieve automatic cleaning and improve the cleaning effect, the present application provides a cleaning control method, system and storage medium for laboratory automatic breeding equipment.

[0006] In the first aspect, the present application provides a method for controlling the cleaning of laboratory automatic feeding equipment, which adopts the following technical solution:

[0007] A method for cleaning and controlling a laboratory automatic feeding device, based on a sewage cleaning device provided on a tail frame of the laboratory device, the sewage cleaning device comprising a spring scraper, a cleaning roller brush and a disinfection box; the spring scraper comprises a scraper and a spring, the scraper clamps the conveyor belt with the driven roller of the conveyor belt through the spring; the dirt collecting device is located below the scraper, and is used to receive the dirt dropped from the scraper; the cleaning roller brush is placed in the disinfection box; the lower part of the cleaning roller brush is immersed in the disinfectant in the disinfection box, and the upper part rotates in the opposite direction to the running direction of the conveyor belt, and is used to wipe the surface of the conveyor belt; the cleaning roller brush is configured as an expansion roller, and the cleaning roller brush and the disinfection box are slidably connected to the tail frame through an electric sliding member; the electric sliding member is controllably connected to a control module; the disinfection box is connected to a water inlet pipe and a drain pipe of disinfectant water, and both the water inlet pipe and the drain pipe are provided with electric valves, and both the electric valves are controllably connected to the control module;

[0008] The method comprises the following steps:

[0009] Obtain an image of the conveyor belt near the tail frame to obtain a dirt image;

[0010] identifying a first dirt feature from the dirt image according to a specific dirt threshold;

[0011] Calculating, according to the first dirt feature, a first dryness / humidity and a first distribution uniformity corresponding to the first dirt feature;

[0012] The depth of the cleaning roller brush immersed in the disinfectant is adjusted according to the first wetness / humidity inverse correlation, the higher the first wetness / humidity is, the shallower the depth of the cleaning roller brush immersed in the disinfectant is; the lower the first wetness / humidity is, the deeper the depth of the cleaning roller brush immersed in the disinfectant is;

[0013] The thickness of the cleaning roller brush is adjusted inversely according to the first distribution uniformity, wherein the higher the value of the first distribution uniformity is, the thinner the cleaning roller brush is; and the lower the value of the first distribution uniformity is, the thicker the cleaning roller brush is;

[0014] The image of the conveyor belt near the tail frame is obtained as a side image;

[0015] identifying a second dirt feature from the side image according to a specific dirt threshold;

[0016] calculating a dirt height corresponding to the second dirt feature according to the second dirt feature;

[0017] The pressure of the scraper pressing against the conveyor belt and the rotation speed of the cleaning roller brush are adjusted in positive correlation according to the height of the dirt; the higher the height of the object, the greater the pressure of the scraper pressing against the conveyor belt and the faster the rotation speed of the cleaning roller brush; the lower the height of the object, the smaller the pressure of the scraper pressing against the conveyor belt and the slower the rotation speed of the cleaning roller brush.

[0018] By adopting the above technical solutions, the characteristics of dirt on the conveyor belt, such as dryness, humidity, distribution uniformity and height, are intelligently and accurately identified, and the working parameters of the cleaning roller brush and spring scraper are adjusted in a targeted manner to avoid manual limitations and achieve refined cleaning. At the same time, by reducing manual intervention, the risk of contamination of the breeding environment by harmful microorganisms is greatly reduced, creating a healthy environment for experimental animals. This not only ensures the accuracy of the experiment and meets the needs of scientific research, but also achieves a high degree of automation through the control module, reducing labor costs and labor intensity.

[0019] Optionally, the step of identifying a first dirt feature from the dirt image according to a specific dirt threshold value further includes the following sub-steps:

[0020] Calculating a distribution area corresponding to the first dirt characteristic according to the first dirt characteristic;

[0021] The conveying speed of the conveyor belt is adjusted according to the distribution area. The larger the distribution area, the slower the conveying speed of the conveyor belt; the smaller the distribution area, the faster the conveying speed of the conveyor belt;

[0022] Acquiring sound data in the laboratory based on a sound collection device, wherein the sound data includes frequency data and loudness data;

[0023] Performing spectrum analysis on the frequency data to convert the frequency data of the time domain signal into frequency data of the frequency domain signal;

[0024] Extracting a specific sound frequency from the frequency data of the frequency domain signal, and calculating a power spectrum density corresponding to the specific sound frequency;

[0025] Calculating the sound pressure level according to the loudness data;

[0026] Calculate a comprehensive sound value by weighted averaging the power spectrum density and the sound pressure level;

[0027] The variation range of the conveying speed is adjusted according to the comprehensive sound value. The larger the comprehensive sound value is, the larger the variation range is; the smaller the comprehensive sound value is, the smaller the variation range is.

[0028] By adopting the above technical solution, on the one hand, the conveying speed of the conveyor belt is adjusted according to the distribution area calculated by the first dirt feature in the dirt image, so that the conveying speed can be matched with the amount of dirt. When the dirt distribution area is large, the speed is reduced to ensure the cleaning effect, and when the area is small, the conveying is accelerated to improve the cleaning efficiency. On the other hand, the laboratory sound data is obtained through the sound collection equipment, and the comprehensive sound value is obtained after spectrum analysis, extraction of specific sound frequencies, calculation of power spectrum density and sound pressure level. The change amplitude of the conveying speed is adjusted accordingly, so that the conveying speed can be dynamically adjusted according to the potential abnormal conditions reflected by the laboratory environmental sound, further improving the intelligence and adaptability of the entire cleaning system, and ensuring that the cleaning work is carried out efficiently and stably.

[0029] Optionally, based on the fact that a pH value testing device is also provided in the disinfection box, the method comprises the following steps:

[0030] Obtaining the pH value in the disinfection box, and judging whether the disinfectant water needs to be replaced according to the pH value;

[0031] When the pH value is within the first range, replacing the disinfectant water in the disinfection box;

[0032] When the pH value is within the second range, a specific amount of disinfectant water is added to the disinfection box; wherein the pH value in the second range is higher than the pH value in the first range;

[0033] When the pH value is within the third range, the electric valve does not operate and the amount of disinfectant water in the disinfection box does not change; wherein the pH value in the third range is higher than the pH value in the second range.

[0034] By adopting the above technical solution, based on the pH value testing device in the disinfection box, scientific management of disinfectant water is achieved, which greatly improves the disinfection effect and resource utilization efficiency. By obtaining the pH value in the disinfection box and judging whether the disinfectant water needs to be replaced or supplemented, it is highly targeted. When the pH value is in the first range, the disinfectant water is replaced in time to ensure that the disinfectant water is always maintained in an effective sterilization state, avoiding the disinfection effect affected by the failure of the disinfectant water. When the pH value is in the second range, a specific amount of disinfectant water is added, which can not only ensure the effectiveness of the disinfectant water, but also avoid unnecessary waste and reduce operating costs. When the pH value is in the third range, no operation is performed and the existing amount of disinfectant water is maintained. This intelligent judgment mechanism realizes the precise management of disinfectant water, cooperates with the automated operation of the entire cleaning system, and further improves the overall efficiency of the cleaning work of the laboratory automatic feeding equipment, providing a strong guarantee for the healthy feeding environment of experimental animals.

[0035] Optionally, the step of adding a specific amount of disinfectant water into the disinfection box includes:

[0036] Get the set replacement cycle of disinfectant water;

[0037] Calculate the time difference between the current time and the end time of the current replacement cycle;

[0038] adjusting the specific amount of the disinfectant water to be supplemented according to the time difference, if the time difference is smaller, the specific amount is larger; if the time difference is larger, the specific amount is smaller;

[0039] When the time difference is zero, the disinfectant water in the disinfection box is replaced.

[0040] By adopting the above technical solution, since the disinfectant will be gradually consumed during the washing process, it is necessary to replenish the disinfectant; the disinfectant water replenishment mechanism is further refined, and the refinement of disinfectant water management is effectively improved. By obtaining the disinfectant water to set the replacement cycle, and calculating the time difference between the current moment and the end of the replacement cycle, the disinfectant water replenishment amount is adjusted based on this, and the influence of time factors on the use of disinfectant water is fully considered. When the time difference is larger, a smaller specific amount of disinfectant water is replenished to maintain the sufficiency and effectiveness of the disinfectant water; and when the time difference is smaller, the replenishment amount is larger, ensuring that the disinfectant water is sufficient and effective for a longer period of time. When the time difference is zero, the disinfectant water is replaced to ensure the timeliness and effectiveness of the disinfectant water. This dynamic and precise disinfectant water replenishment strategy works closely with the entire cleaning system, which not only optimizes resource utilization and reduces operating costs, but also can always maintain a good disinfection effect, providing a solid guarantee for the stability and cleanliness of the experimental animal breeding environment, and effectively promoting the efficient and scientific development of the cleaning work of the laboratory automatic breeding equipment.

[0041] Optionally, based on a camera device disposed on the tail frame, the camera device is located at the bottom of the conveyor belt and behind the cleaning roller brush, and is used to capture an image of the conveyor belt after the cleaning roller brush has brushed, the method further includes:

[0042] The image of the conveyor belt after the cleaning roller brush has finished brushing is obtained as a cleaning image;

[0043] identifying a third dirt feature from the clean image according to a specific dirt threshold;

[0044] Calculating, according to the third dirt characteristic, a third dryness / humidity and a third distribution uniformity corresponding to the third dirt characteristic;

[0045] calculating the fluctuation trend of the third humidity as the first fluctuation trend;

[0046] Calculating the fluctuation trend of the third distribution uniformity as the second fluctuation trend;

[0047] calculating the fluctuation trend of the dirt height as a third fluctuation trend;

[0048] Calculating a pollution removal effect parameter according to the first fluctuation trend, the second fluctuation trend and the third fluctuation trend;

[0049] The dirt threshold is adjusted according to the dirt cleaning effect parameter. The larger the dirt cleaning effect parameter is, the larger the dirt threshold is; the smaller the dirt cleaning effect parameter is, the smaller the dirt threshold is.

[0050] By adopting the above technical solution, based on the camera device on the tail frame, the conveyor belt after cleaning by the cleaning roller brush is imaged and analyzed, which greatly enhances the intelligence and accuracy of the cleaning process. By identifying the third dirt feature in the cleaning image, the third dryness and humidity, the third distribution uniformity and its fluctuation trend, and the fluctuation trend of the dirt height are calculated, and then the cleaning effect parameter is obtained, and the dirt threshold is dynamically adjusted accordingly. When the cleaning effect parameter is larger, it indicates that the cleaning effect is better. At this time, appropriately increasing the dirt threshold can avoid excessive processing of fine residual dirt by the equipment and improve the operating efficiency; when the cleaning effect parameter is smaller, it indicates that the cleaning effect is poor. Lowering the dirt threshold can prompt the equipment to more strictly detect and process residual dirt and improve the cleaning quality. This dynamic adjustment mechanism based on real-time data feedback enables the entire cleaning system to continuously optimize the cleaning strategy to adapt to different dirt conditions, ensure that the cleaning work is always maintained in an efficient and stable state, and provide strong support for the continuous and reliable operation of laboratory automatic feeding equipment.

[0051] Optionally, based on a camera device and a detergent spraying device provided on the tail frame, the camera device is located at the bottom of the conveyor belt and behind the cleaning roller brush, and is used to take an image of the conveyor belt after the cleaning roller brush has finished brushing; the nozzle of the detergent spraying device is facing the side of the conveyor belt located in front of the scraper; the method further includes:

[0052] Acquiring a cleaning image of the conveyor belt after the cleaning roller brush has finished brushing based on the camera device;

[0053] Extracting stain features from the cleaned image according to a preset stain threshold;

[0054] Calculating the color uniformity and the stain distribution uniformity of the stain feature;

[0055] Calculating a cleaning feedback value according to the color uniformity and the stain distribution uniformity;

[0056] The cleaning feedback value is compared with a preset cleaning threshold value. If the cleaning feedback value is greater than or equal to the cleaning threshold value, the cleaning agent spraying device is not started; if the cleaning feedback value is less than the cleaning threshold value, the cleaning agent spraying device is started.

[0057] By adopting the above technical solution, by adding a camera device and a detergent spraying device to the tail frame and using the two to work together, the intelligence and accuracy of conveyor belt cleaning are greatly improved. The image of the conveyor belt after cleaning by the cleaning roller brush is obtained with the help of a camera device, and the stain features are extracted from it and the color uniformity and stain distribution uniformity are calculated, thereby obtaining a cleaning feedback value. It is compared with the preset cleaning threshold to decide whether to start the detergent spraying device, thereby realizing the refined control of the cleaning work. When the cleaning feedback value is greater than or equal to the cleaning threshold, the spraying device is not started to avoid unnecessary waste of detergent; and when it is less than the cleaning threshold, it is started to ensure that the conveyor belt that is not thoroughly cleaned can be cleaned again in time, effectively improving the cleaning quality. This intelligent decision-making mechanism based on image analysis and data comparison enables the entire cleaning system to dynamically adjust the cleaning strategy according to the actual cleaning effect, while saving resources, effectively ensuring the cleanliness of the conveyor belt, and providing a solid guarantee for the hygiene of the experimental animal breeding environment.

[0058] Optionally, if the cleaning feedback value is less than the cleaning threshold, the step of starting the cleaning agent spraying device comprises the following sub-steps:

[0059] Calculating a cleaning difference between the cleaning threshold and the cleaning feedback value;

[0060] adjusting the spraying time of the cleaning agent spraying device according to the cleaning difference, wherein the larger the cleaning difference is, the longer the spraying time is; and the smaller the cleaning difference is, the shorter the spraying time is;

[0061] Or the spraying frequency of the detergent spraying device is adjusted according to the cleaning difference, the larger the cleaning difference is, the larger the spraying frequency is; the smaller the cleaning difference is, the smaller the spraying frequency is.

[0062] By adopting the above technical solutions, the control logic of detergent spraying is further optimized, and the refinement of the cleaning process is significantly improved. When the cleaning feedback value is less than the cleaning threshold, it indicates that the cleaning effect of the conveyor belt is not up to standard. At this time, by calculating the cleaning difference and adjusting the spraying time or frequency of the detergent spraying device according to the difference, the precise control of the detergent spraying amount is achieved. The larger the cleaning difference, the longer the spraying time or the higher the spraying frequency, which can ensure more thorough cleaning of heavily polluted areas; the smaller the cleaning difference, the shorter the spraying time or the lower the spraying frequency, to avoid excessive use of detergents and effectively save resources. This precise adjustment mechanism, while ensuring the cleaning quality of the conveyor belt, maximizes the efficiency of detergent use, reduces costs, and makes the entire cleaning system more intelligent, efficient, and environmentally friendly, providing reliable guarantees for the stable operation of laboratory automatic feeding equipment and the continuous cleaning of the experimental animal feeding environment.

[0063] Optionally, the step of adding a specific amount of disinfectant water into the disinfection box further includes:

[0064] Counting the replenishment frequency of the disinfectant water within a short set time, and adjusting the spraying amount of the detergent spraying device according to the positive correlation of the replenishment frequency;

[0065] The higher the replenishment frequency, the larger the spraying amount; the lower the replenishment frequency, the smaller the spraying amount.

[0066] By adopting the above technical solution, the overall situation of pollutants in the breeding environment can be indirectly reflected by counting the frequency of replenishing disinfectant water within a set time period. When the frequency of replenishing disinfectant water is high, it means that the pollution in the breeding environment is more serious. At this time, the spraying amount of the detergent spraying device is increased accordingly to ensure a more thorough cleaning of the conveyor belt and effectively remove stubborn stains, thereby maintaining a good breeding environment. On the contrary, if the frequency of replenishing disinfectant water is low, indicating that the degree of pollution is relatively light, the amount of detergent spraying is reduced to avoid unnecessary waste of detergent and improve resource utilization efficiency. This cross-device collaborative adjustment mechanism closely combines the disinfection link with the cleaning link, which not only optimizes the cleaning process, but also ensures the cleanliness of the breeding environment while realizing the rational allocation of resources, further improving the intelligence and efficiency of the entire cleaning system, and providing a more stable and hygienic growth environment for experimental animals.

[0067] In the second aspect, the present application provides a cleaning control system for a laboratory automatic feeding device, which adopts the following technical solution:

[0068] A pollution cleaning control system for an automatic laboratory feeding device comprises a processor, wherein the processor executes the steps of the pollution cleaning control method for the automatic laboratory feeding device as described in any one of the above.

[0069] In a third aspect, the present application provides a storage medium, which adopts the following technical solution:

[0070] A storage medium stores a program, and when the program is executed by a processor, the steps of the above-mentioned method for controlling the cleaning of laboratory automatic feeding equipment are implemented.

[0071] In summary, the present application includes at least one of the following beneficial technical effects:

[0072] Precise and intelligent pollution cleaning: Through image recognition technology, the working parameters of the spring scraper, cleaning roller brush and conveyor belt are intelligently adjusted according to the dryness and wetness, distribution uniformity, height and distribution area of ​​the dirt, so as to achieve precise and efficient pollution cleaning, greatly improve the quality and efficiency of pollution cleaning, and overcome the drawbacks of traditional manual pollution cleaning.

[0073] Reduce pollution risks: reduce manual participation in pollution cleaning work, reduce the chance of contact between the breeding environment and the outside world, thereby reducing the risk of harmful microorganisms such as viruses and bacteria entering the breeding environment, and ensure a healthy growth environment for experimental animals.

[0074] Scientific management of disinfectant water: Use a pH testing device to determine the effectiveness of the disinfectant water based on its pH value, accurately replace or replenish it, and adjust the amount of detergent sprayed based on the disinfectant water replenishment frequency, which not only ensures the disinfection effect, but also optimizes resource utilization and reduces operating costs.

[0075] Intelligent dynamic adjustment: Based on the image analysis of the conveyor belt after cleaning, the cleaning effect parameters are calculated and the dirt threshold is dynamically adjusted. According to the comparison between the cleaning feedback value and the cleaning threshold, the start-up, spraying time and frequency of the detergent spraying device are intelligently controlled, so that the cleaning system can continuously optimize the cleaning strategy according to the actual cleaning effect, ensuring that the cleaning work is always carried out efficiently and stably.

[0076] Improve system synergy: establish a relationship between the frequency of disinfectant water replenishment and the amount of detergent sprayed, achieve coordinated adjustment across devices, closely combine disinfection and cleaning links, improve the cleaning system, further improve the intelligence and efficiency of the entire cleaning system, and create a stable and hygienic growth environment for experimental animals. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 The present invention is a step diagram of a method for controlling the cleaning of a laboratory automatic feeding device.

[0078] Figure 2 It is a laboratory automatic feeding equipment, mainly used to show the structural diagram of the sewage cleaning device.

[0079] Figure 3 These are sample images of dirt captured at different dryness and wetness levels.

[0080] Figure 4 The invention is a step diagram for adjusting the conveying speed of the conveyor belt according to the first dirt characteristic and adjusting the variation range of the conveying speed according to the sound data.

[0081] Figure 5 This is a step-by-step diagram for replenishing disinfectant water based on pH value.

[0082] Figure numerals: 1, tail frame; 2, conveyor belt; 3, driven roller; 4, spring scraper; 5, cleaning roller brush; 6, material receiving device; 7, disinfection box; 8, nozzle; 9, detergent spraying device; 10, guide roller. DETAILED DESCRIPTION

[0083] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings.

[0084] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0085] The laboratory equipment for automatically cleaning and feeding experimental rabbits includes an equipment frame, on which multiple feeding layers are arranged, and multiple experimental animals, such as rabbits, are raised in each feeding layer. A feeding water and feeding device is arranged on each feeding layer, and a conveyor belt for conveying the excrement of the experimental animals is arranged below each feeding layer. A sewage cleaning device is arranged on the tail frame of the laboratory equipment, and the sewage cleaning device includes a spring scraper, a cleaning roller brush and a disinfection box; the spring scraper includes a scraper and a spring, and the scraper clamps the conveyor belt with the driven roller of the conveyor belt through the spring. In order to guide the conveyor belt, a guide roller is also installed on the tail frame. The dirt collecting device is located below the scraper and is used to receive the dirt dropped on the scraper. The dirt crushing and discharging device is installed at the end of the tail frame and connected to the sewage discharge port of the dirt collecting device, and the dirt scraped by the scraper is discharged after being crushed. A flushing water pipeline is also arranged on the equipment frame, and a nozzle is arranged on the flushing water pipeline, and the nozzle is aimed at the receiving hopper of the dirt collecting device for cleaning the receiving hopper. The cleaning roller brush is placed in the disinfection box; the bottom of the cleaning roller brush is immersed in the disinfectant in the disinfection box, and the top rotates in the opposite direction of the conveyor belt to wipe the surface of the conveyor belt. The cleaning roller brush is set as an expansion roller, and the cleaning roller brush and the disinfection box are connected to the tail frame through an electric sliding member; the electric sliding member is controlled to be connected to the control module. A disinfection water pipeline is set on the equipment frame to supply disinfection water to each disinfection box. Electric valves are set on the water inlet pipe and the drain pipe of the disinfection water connected to the disinfection box, and the electric valves are controlled to be connected to the control module. The pH value sensor in the disinfectant is initially set: when the pH value is less than 8 or the disinfectant water has not been replaced for more than 48 hours, the disinfectant water is emptied for replacement. In addition to the pH value sensor to control the replacement frequency of the disinfectant water, two liquid level sensors are placed in the disinfectant water to control the liquid level of the disinfectant water and the high water level alarm. A machine vision system is installed at the tail end to analyze the dirt in the dirt tray through images and intelligently control the tail cleaning time. The tailstock is equipped with a machine vision system (including multiple cameras) that analyzes the dirt in front and behind the conveyor belt through images and intelligently controls the cleaning strategy of the tailstock.

[0086] The present application embodiment discloses a method for controlling the cleaning of laboratory automatic feeding equipment, based on a sewage cleaning device provided on the tail rack of the laboratory equipment, referring to Figure 1 , Figure 2 and Figure 3 , the method comprises the following steps:

[0087] The image of the dirt is obtained by using the camera device of the visual system to obtain the image of the conveyor belt near the top of the tail frame.

[0088] According to a specific dirt threshold, an image recognition algorithm is used to identify a first dirt feature from the dirt image; including but not limited to feature information in terms of shape, color, texture, etc. of the dirt.

[0089] According to the first dirt feature, the first dryness and humidity and the first distribution uniformity corresponding to the first dirt feature are calculated. The first dryness and humidity involve the analysis of the color and texture information in the image and the comparison with the standard humidity sample; the first distribution uniformity is based on the consideration of factors such as the discrete degree and aggregation state of the dirt distribution in the image.

[0090] The depth of the cleaning roller brush immersed in the disinfectant is adjusted inversely according to the first wetness and humidity. The higher the first wetness and humidity, the shallower the depth of the cleaning roller brush immersed in the disinfectant; the lower the first wetness and humidity, the deeper the depth of the cleaning roller brush immersed in the disinfectant. When the first wetness and humidity is higher, it means that the dirt is relatively dry. At this time, the depth of the cleaning roller brush immersed in the disinfectant should be shallower to avoid over-wetting the conveyor belt; conversely, when the first wetness and humidity is lower, that is, the dirt is relatively wet, the depth of the cleaning roller brush immersed in the disinfectant is deeper to enhance the cleaning effect. For example, the original depth of the cleaning roller brush immersed in the disinfectant was 5 cm, and now it is adjusted to 2 cm to avoid over-wetting the conveyor belt.

[0091] There are several ways to adjust the depth of the cleaning roller brush immersed in the disinfectant:

[0092] The first method: only adjust the height of the cleaning roller brush.

[0093] The second method: adjust the height of the disinfection box.

[0094] The third method: adjusting the height of the cleaning roller brush and the disinfection box, and the displacement of the disinfection box is greater than the displacement of the cleaning roller brush.

[0095] The thickness of the cleaning roller brush is adjusted inversely according to the first distribution uniformity. The higher the value of the first distribution uniformity, the thinner the cleaning roller brush; the lower the value of the first distribution uniformity, the thicker the cleaning roller brush. When the value of the first distribution uniformity is higher, it means that the dirt is distributed relatively evenly. At this time, the cleaning roller brush should be adjusted to be thinner to clean the conveyor belt more carefully; and when the value of the first distribution uniformity is lower, it means that the dirt is distributed more concentratedly or unevenly. The cleaning roller brush should be adjusted to be thicker to better cover and clean a larger area of ​​dirt. Suppose the original diameter is adjusted from 5 cm to 3 cm to clean the conveyor belt more carefully.

[0096] The image of the conveyor belt near the tail frame is obtained as a side image;

[0097] identifying a second dirt feature from the side image according to a specific dirt threshold;

[0098] According to the second dirt feature, a dirt height corresponding to the second dirt feature is calculated.

[0099] The pressure of the scraper pressing the conveyor belt and the speed of the cleaning roller brush are adjusted according to the positive correlation of the dirt height; the higher the dirt height, the greater the pressure of the scraper pressing the conveyor belt, and the faster the speed of the cleaning roller brush; the lower the dirt height, the smaller the pressure of the scraper pressing the conveyor belt, and the slower the speed of the cleaning roller brush. When the dirt height is higher, it means that the dryness and wetness of the dirt at this time are relatively low, that is, the dryness is larger, the shape of the dirt is relatively fixed, and more force is required to clean it. At this time, the pressure of the scraper pressing the conveyor belt should be greater, and the speed of the cleaning roller brush should also be faster to ensure efficient cleaning. On the contrary, when the dirt height is lower, it means that the dryness and wetness of the dirt are higher, that is, the humidity is higher and it is easier to scrape off. The pressure of the scraper pressing the conveyor belt is smaller, and the speed of the cleaning roller brush is slower, which can not only ensure the cleaning effect, but also avoid unnecessary wear and energy waste on the conveyor belt.

[0100] Suppose that by analyzing the side image, a raised mass of dirt is found.

[0101] According to the second dirt feature, the height corresponding to the dirt is calculated to be 3 cm. Due to the high dirt height, it is judged that the dirt is low in dryness and humidity, high in dryness, and fixed in shape. Based on this, the pressure of the scraper pressing the conveyor belt and the speed of the cleaning roller brush are adjusted in a positive correlation. The pressure of the scraper pressing the conveyor belt is increased from the original 5 Newtons to 10 Newtons, and the speed of the cleaning roller brush is increased from 100 revolutions per minute to 150 revolutions per minute to ensure efficient cleaning.

[0102] On the contrary, if the acquired side image shows that the dirt height is relatively low, for example, only 1 cm, it means that the dirt is relatively dry and wet and is easier to scrape off. At this time, the pressure of the scraper pressing the conveyor belt is reduced from 5 Newtons to 4.5 Newtons, and the speed of the cleaning roller brush is reduced from 100 revolutions per minute to 80 revolutions per minute, which not only ensures the cleaning effect but also avoids unnecessary wear and energy waste on the conveyor belt.

[0103] Reference Figure 4 The step of identifying the first dirt feature from the dirt image according to a specific dirt threshold value further includes the following sub-steps:

[0104] According to the first dirt feature, the distribution area corresponding to the first dirt feature is calculated; for example, by counting all the pixels belonging to the first dirt feature through a pixel counting method, and then calculating the distribution area occupied by the pixels in the image. Assuming that in an image, each pixel represents 1 square millimeter of the actual area, after counting, the first dirt feature contains 1000 pixels, then the corresponding distribution area is 1000 square millimeters.

[0105] The conveying speed of the conveyor belt is adjusted according to the distribution area. The larger the distribution area, the slower the conveying speed of the conveyor belt; the smaller the distribution area, the faster the conveying speed of the conveyor belt. When the distribution area is large, it means that there is more dirt to be cleaned. At this time, if the conveyor belt speed is too fast, it may not be cleaned thoroughly. For example, if the distribution area is 2000 square millimeters, the conveying speed of the conveyor belt is set to 1 meter / minute; if the distribution area is reduced to 500 square millimeters, the conveying speed can be increased to 4 meters / minute, that is, the smaller the distribution area, the faster the conveyor belt speed, so as to improve the overall cleaning efficiency.

[0106] Based on the sound collection equipment, the sound data in the laboratory is obtained, and the sound data includes frequency data and loudness data. With the help of sound collection equipment installed in different locations in the laboratory, such as microphone arrays, the sound data in the laboratory is collected in all directions. These sound data cover frequency data and loudness data. For example, at a certain moment, the frequency range recorded by the sound collection equipment is 20Hz-20000Hz, and the loudness is 40dB.

[0107] Perform spectrum analysis on frequency data to convert the frequency data of time domain signals into frequency data of frequency domain signals; use Fourier transform algorithm to convert the frequency data of time domain signals into frequency data of frequency domain signals. For example, a frequency signal that originally changes with time in the time domain can clearly show the distribution of different frequency components in the frequency domain after Fourier transform.

[0108] Extract specific sound frequencies from the frequency data of the frequency domain signal, and calculate the power spectrum density corresponding to the specific sound frequency. For example, when a laboratory rabbit makes an abnormal sound, the specific frequency range generated is 1000Hz-2000Hz. Then, the power spectrum density corresponding to the specific sound frequency is calculated by the Welch method. Assuming that the extracted frequency of 1200Hz is calculated, its power spectrum density is 0.5.

[0109] The sound pressure level is calculated based on the loudness data; based on the collected loudness data, the sound pressure level is calculated using the formula (L_p=20\log_{10}(\frac{p}{p_0})) (where (p) is the actual sound pressure and (p_0) is the reference sound pressure). For example, if the actual sound pressure (p) is 100 times the reference sound pressure (p_0), then the sound pressure level (L_p=20\log_{10}(100)=40dB).

[0110] The comprehensive sound value is calculated by taking the weighted average of the power spectrum density and the sound pressure level; assuming that the weight of the power spectrum density is 0.4 and the weight of the sound pressure level is 0.6, if the power spectrum density is 0.5 and the sound pressure level is 40dB, then the comprehensive sound value is (0.5×0.4+40×0.6=24.2).

[0111] The variation range of the conveying speed is adjusted according to the comprehensive sound value. The larger the comprehensive sound value, the larger the variation range; the smaller the comprehensive sound value, the smaller the variation range. If the comprehensive sound value is large, it indicates that there may be more interference in the laboratory environment or the equipment operation status is unstable. At this time, the variation range of the conveying speed needs to be increased. For example, when the comprehensive sound value is 30, the variation range of the conveying speed is set to increase or decrease by 2 meters per minute; if the comprehensive sound value is small, such as 10, the variation range of the conveying speed is reduced to increase or decrease by 0.5 meters per minute to ensure that the conveyor belt operates stably and efficiently in different environments.

[0112] Reference Figure 5 , based on the fact that a pH value testing device is also provided in the disinfection box, the method comprises the following steps:

[0113] Obtain the pH value in the disinfection box and determine whether the disinfectant water needs to be replaced based on the pH value;

[0114] When the pH value is within the first range, replace the disinfectant in the disinfection box. Assume that the first range is set to a pH value less than 8. When the pH value obtained is within this range, it indicates that the acidity of the disinfectant is too strong, and it may have expired or been seriously contaminated, and an effective disinfection effect cannot be guaranteed. At this time, start the procedure for replacing the disinfectant. The specific operation is to open the drain electric valve at the bottom of the disinfection box, completely drain the old disinfectant in the box, then close the drain valve, and then open the electric valve of the water inlet pipe, and inject fresh disinfectant until the standard water level line of the disinfection box is reached.

[0115] When the pH value is within the second range, a specific amount of disinfectant water is added to the disinfection box; wherein the pH value in the second range is higher than the pH value in the first range. The second range is set to a pH value between 8 and 8.5. When the pH value is in this interval, it means that although the disinfectant water still has a certain disinfection ability, the concentration may have decreased. In order to maintain its disinfection effect, a specific amount of disinfectant water needs to be added. For example, when the pH value is 8.2, according to the pre-set supplementation rules, it is calculated that 300 ml of disinfectant water needs to be added. The specific operation is to open the electric valve of the water inlet pipe, inject 300 ml of disinfectant water, and then close the electric valve.

[0116] When the pH value is within the third range, the electric valve does not operate and does not change the amount of disinfectant water in the current disinfection box; wherein the pH value in the third range is higher than the pH value in the second range. The third range is set to a pH value greater than 8.5. When the pH value is within this range, it indicates that the concentration and pH of the disinfectant water are in a suitable state and can meet the current disinfection needs. At this time, the electric valve does not perform any operation, and the amount of disinfectant water in the current disinfection box remains unchanged, avoiding unnecessary waste of resources and equipment loss.

[0117] The steps of adding a specific amount of disinfectant water into the disinfection box include:

[0118] Get a set replacement cycle for disinfectant water, such as 48 hours.

[0119] Calculate the time difference between the current time and the end time of the current replacement cycle.

[0120] The specific amount of disinfectant water to be added is adjusted according to the time difference. If the time difference is smaller, the specific amount is larger; if the time difference is larger, the specific amount is smaller. When the time difference is large, it means that there is still a long time before the next replacement of the disinfectant water. It also means that the pH value of the disinfectant water at this time is still sufficient to maintain disinfection. Therefore, only a small amount of disinfectant water needs to be added to maintain basic disinfection functions. For example, if the calculated time difference is 24 hours, according to the pre-set replenishment rules, 200 ml of disinfectant water may need to be added. On the contrary, when the time difference is small and it is close to the end of the replacement cycle, in order to ensure that the disinfectant water is sufficient and effective during this period, a larger specific amount of disinfectant water needs to be added at this time. For example, if the time difference is only 3 hours, 1 liter of disinfectant water needs to be added.

[0121] When the time difference is zero, replace the disinfectant water in the disinfection box. When the time difference is zero, it indicates that the set replacement cycle end time has been reached. At this time, immediately start the disinfectant water replacement program. The specific operation is to first open the drain electric valve at the bottom of the disinfection box, completely empty the used disinfectant water in the box, and then close the drain valve. Next, open the electric valve of the water inlet pipe and inject new disinfectant water into the disinfection box until it reaches the standard liquid level line of the disinfection box to ensure that the amount and quality of the disinfectant water meet the subsequent cleaning and disinfection needs.

[0122] Based on a camera device disposed on the tail frame, the camera device is located at the bottom of the conveyor belt and behind the cleaning roller brush, and is used to capture an image of the conveyor belt after the cleaning roller brush has brushed. The method also includes:

[0123] Using a high-resolution, high-frame-rate camera, after the cleaning roller brush finishes cleaning the conveyor belt, the image of the conveyor belt surface is quickly captured and defined as a cleaning image. For example, the camera can capture 30 frames per second, and a clear cleaning image can be obtained within 0.1 seconds after the cleaning roller brush finishes its work.

[0124] According to a specific dirt threshold, the image recognition algorithm is used to identify the third dirt feature from the clean image. The feature includes the shape, size, color, etc. of the residual dirt. For example, the image recognition algorithm identifies several irregularly shaped and darker spots in the clean image, which are determined as the third dirt feature.

[0125] According to the third dirt feature, the third dryness and humidity and the third distribution uniformity corresponding to the third dirt feature are calculated. For example, the third dryness and humidity are determined by analyzing the color information in the image and comparing it with the standard humidity sample. Assuming that in the standard humidity sample, the corresponding value of the dry state is 0, and the corresponding value of the wet state is 10, the current third dryness and humidity is 3 after calculation. For the third distribution uniformity, it is obtained by analyzing factors such as the degree of discreteness of the distribution of dirt in the image and the aggregation state. For example, if the dirt is relatively concentrated in several areas, the calculated third distribution uniformity is 0.3, and the uniformity value range is 0-1. The smaller the value, the more uneven the distribution.

[0126] The fluctuation trend of the third humidity is calculated as the first fluctuation trend; the third humidity data at multiple time points are collected and the fluctuation trend is calculated using data analysis tools. For example, after the past 5 cleanings, the third humidity data are 2, 3, 3, 4, and 3, respectively. It is calculated that the first fluctuation trend shows a slightly upward trend.

[0127] The fluctuation trend of the third distribution uniformity is calculated as the second fluctuation trend; the third distribution uniformity data at multiple time points are analyzed. Assuming that the third distribution uniformity data of the first five times are 0.2, 0.3, 0.35, 0.4, and 0.38, the second fluctuation trend is calculated to be gradually increasing, indicating that the dirt distribution is becoming more and more uniform.

[0128] The fluctuation trend of the dirt height is calculated as the third fluctuation trend; by comparing the data of the dirt height in different cleaning cycles, the fluctuation trend is calculated. For example, the previous dirt heights were 2mm, 3mm, 2.5mm, 2.8mm, and 3mm, respectively. The third fluctuation trend is calculated to be relatively stable with a slight increase.

[0129] According to the first fluctuation trend, the second fluctuation trend and the third fluctuation trend, the pollution cleaning effect parameter is calculated. For example, assuming that the calculation formula of the pollution cleaning effect parameter is: pollution cleaning effect parameter = first fluctuation trend × 0.4 + second fluctuation trend × 0.3 + third fluctuation trend × 0.3. According to the fluctuation trend calculated above, assuming that the first fluctuation trend is 0.2 (increase), the second fluctuation trend is 0.15 (increase), and the third fluctuation trend is 0.1 (increase), then the pollution cleaning effect parameter = 0.2 × 0.4 + 0.15 × 0.3 + 0.1 × 0.3 = 0.155.

[0130] Adjust the dirt threshold according to the dirt cleaning effect parameter. The larger the dirt cleaning effect parameter, the larger the dirt threshold; the smaller the dirt cleaning effect parameter, the smaller the dirt threshold. When the dirt cleaning effect parameter is larger, it means that the dirt cleaning effect is better. At this time, increase the dirt threshold appropriately. For example, if the current dirt threshold is 5, it means that a certain feature in the image reaches a certain level to be identified as dirt. When the dirt cleaning effect parameter is 0.155, increase the dirt threshold to 6. Conversely, when the dirt cleaning effect parameter is smaller, it means that the dirt cleaning effect is poor. Lower the dirt threshold to prompt the device to detect and handle residual dirt more strictly. For example, if the dirt cleaning effect parameter is 0.08, reduce the dirt threshold from 5 to 4.

[0131] Based on a camera device and a detergent spraying device arranged on the tail frame, the camera device is located at the bottom of the conveyor belt and behind the cleaning roller brush, and is used to take an image of the conveyor belt after the cleaning roller brush has brushed; the nozzle of the detergent spraying device faces the side of the conveyor belt located in front of the scraper; the method also includes:

[0132] The cleaning image of the conveyor belt after the cleaning roller brush is used is obtained based on the camera device; the camera device on the tail frame is installed at the bottom of the conveyor belt and is located behind the cleaning roller brush. After the cleaning roller brush completes the cleaning action on the conveyor belt, the camera device starts the shooting program. The camera device has high resolution and high frame rate characteristics, which can capture the details of the conveyor belt surface and generate a cleaning image. For example, when the cleaning roller brush completes a cleaning, the camera device captures a clear conveyor belt cleaning image within 0.5 seconds.

[0133] According to the preset stain threshold, stain features are extracted from the cleaned image; by processing the color, brightness, and relationship of each pixel in the image with surrounding pixels, the parts that meet the stain features are extracted. For example, the preset stain threshold stipulates that if the difference between the pixel color of a certain area and the background color of the conveyor belt exceeds a certain value, and the area of ​​the area is greater than a certain number of pixels, then the area is determined to be a stain feature. After algorithm processing, several small areas of abnormal color are identified in the cleaned image and determined to be stain features.

[0134] Calculate the color uniformity of the stain feature and the uniformity of the stain distribution; calculate the color uniformity by analyzing the color difference of each pixel in the stain. Use the color space conversion algorithm to convert the color information of the image to a suitable color space (such as HSV or Lab space) to more accurately measure the color difference. For example, in the Lab color space, calculate the standard deviation of the L, a, and b values ​​of all pixels in the stain as a measure of color uniformity. Suppose the color uniformity value of a stain is calculated to be 0.2 (the value range is 0-1, the closer to 0, the more uniform the color). Calculate the uniformity of the stain distribution by analyzing the position distribution of the stain in the conveyor belt image. The conveyor belt image can be divided into multiple small areas, and the number or area proportion of the stain in each small area is counted to obtain the distribution uniformity. For example, if the conveyor belt image is divided into 10×10 small grids, if the stains are concentrated in a few grids, the calculated stain distribution uniformity may be 0.3 (the value range is 0-1, the closer to 0, the more uneven the distribution).

[0135] The cleaning feedback value is obtained by combining the color uniformity and the stain distribution uniformity through a specific calculation formula. Assume that the calculation formula is: Cleaning feedback value = color uniformity × 0.6 + stain distribution uniformity × 0.4. Based on the previously calculated color uniformity of 0.2 and stain distribution uniformity of 0.3, the cleaning feedback value is calculated to be 0.2 × 0.6 + 0.3 × 0.4 = 0.24.

[0136] The cleaning feedback value is compared with the preset cleaning threshold. If the cleaning feedback value is greater than or equal to the cleaning threshold, the detergent spraying device is not started; if the cleaning feedback value is less than the cleaning threshold, the detergent spraying device is started. For example, the preset cleaning threshold is 0.3. If the cleaning feedback value is greater than or equal to the cleaning threshold, such as the cleaning feedback value is 0.35, it means that the cleaning effect of the conveyor belt is good and no further cleaning with detergent is required. At this time, the detergent spraying device is not started. If the cleaning feedback value is less than the cleaning threshold, such as the cleaning feedback value is 0.24, it means that the cleaning effect of the conveyor belt does not meet expectations and it is necessary to start the detergent spraying device for additional cleaning. The nozzle of the detergent spraying device faces the side of the conveyor belt in front of the scraper. Once started, it will spray detergent onto the surface of the conveyor belt according to the preset spraying pattern to ensure that the conveyor belt is more thoroughly cleaned.

[0137] If the cleaning feedback value is less than the cleaning threshold, the step of starting the cleaning agent spraying device includes the following sub-steps:

[0138] Calculate the cleaning difference between the cleaning threshold and the cleaning feedback value; for example, assuming that the pre-set cleaning threshold is 0.5, and the cleaning feedback value obtained by analyzing the conveyor belt cleaning image is 0.3, then the cleaning difference is 0.5-0.3=0.2.

[0139] The spraying time of the detergent spraying device is adjusted according to the cleaning difference. The larger the cleaning difference, the longer the spraying time; the smaller the cleaning difference, the shorter the spraying time. When the cleaning difference is large, it means that the cleaning effect of the conveyor belt is far from the expected target, and a longer time of detergent spraying is required to improve the cleaning effect. Conversely, when the cleaning difference is small, a shorter spraying time can meet the cleaning needs. For example, if the cleaning difference is 0.3, according to the pre-set time adjustment rules, the spraying time may be set to 30 seconds; if the cleaning difference is reduced to 0.1, according to the rules, the spraying time is shortened to 10 seconds accordingly. In this way, it is ensured that the detergent can be reasonably used under different cleaning needs, which not only ensures the cleaning quality but also avoids waste of resources.

[0140] In addition to adjusting the spraying time, the spraying frequency of the detergent spraying device can also be adjusted according to the cleaning difference: the spraying frequency of the detergent spraying device is adjusted according to the cleaning difference. The larger the cleaning difference, the greater the spraying frequency; the smaller the cleaning difference, the smaller the spraying frequency. When the cleaning difference is large, increasing the spraying frequency can cover the surface of the conveyor belt more densely and effectively remove stubborn stains. When the cleaning difference is small, reducing the spraying frequency can achieve the cleaning purpose and reduce the consumption of detergent. For example, if the cleaning difference is 0.4, set the spraying frequency to 3 times per second; if the cleaning difference drops to 0.05, adjust the spraying frequency to 1 time per second. Through this flexible frequency adjustment mechanism, the use efficiency of the detergent is further optimized, and the intelligence and accuracy of the entire cleaning system are improved.

[0141] The step of adding a specific amount of disinfectant water to the disinfection box also includes:

[0142] Statistics on the replenishment frequency of disinfectant water within a set time period; within the set time period, the control system of the equipment will automatically record the number of times the disinfectant water is replenished, and use this to calculate the replenishment frequency. For example, if the statistical time period is set to 48 hours, and the disinfectant water is replenished 10 times in total, then the replenishment frequency of disinfectant water is 10 times / 48 hours, which is approximately equal to 0.208 times / hour.

[0143] According to the statistically obtained disinfection water replenishment frequency, the spraying amount of the detergent spraying device is adjusted according to the positive correlation. When the replenishment frequency is high, it means that the pollution in the breeding environment is more serious, and more detergent is needed to ensure the cleaning effect of the conveyor belt. Conversely, when the replenishment frequency is low, it means that the pollution level is relatively light, and the spraying amount of detergent is reduced accordingly.

[0144] Assume that the preset frequency and spraying volume correspond to the following relationship: when the replenishment frequency is 0-0.1 times / hour, the detergent spraying volume is 50 ml each time; when the replenishment frequency is 0.1-0.3 times / hour, the detergent spraying volume is 100 ml each time; when the replenishment frequency is 0.3-0.5 times / hour, the detergent spraying volume is 150 ml each time. In the previous example, the disinfectant replenishment frequency is 0.208 times / hour, which is in the range of 0.1-0.3 times / hour, so the detergent spraying volume will be adjusted to 100 ml each time.

[0145] For example, if in another statistical period, disinfectant water is only replenished 4 times within 48 hours, the replenishment frequency is 4 times / 48 hours, which is approximately equal to 0.083 times / hour, and is in the range of 0-0.1 times / hour. Then, according to the corresponding relationship, the amount of detergent sprayed each time will be set to 50 ml. By dynamically adjusting the amount of detergent sprayed according to the disinfectant water replenishment frequency, the entire cleaning system can reasonably allocate cleaning resources according to the actual pollution situation, which not only ensures the cleaning effect, but also avoids excessive use and waste of detergents.

[0146] The embodiment of the present application also discloses a pollution cleaning control system for an automatic laboratory feeding device, including a processor, wherein the processor executes the steps of the pollution cleaning control method for the automatic laboratory feeding device as described in any one of the above.

[0147] The embodiment of the present application further discloses a storage medium, in which a program is stored. When the program is executed by a processor, the steps of the above-mentioned method for controlling the cleaning of laboratory automatic breeding equipment are implemented.

[0148] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for cleaning and controlling a laboratory automatic feeding device, characterized in that: Based on the sewage cleaning device set on the tail frame of the laboratory equipment, the sewage cleaning device includes a spring scraper, a cleaning roller brush and a disinfection box; the spring scraper includes a scraper and a spring, and the scraper clamps the conveyor belt with the driven roller of the conveyor belt through the spring; the dirt collecting device is located below the scraper, and is used to receive the dirt dropped on the scraper; the cleaning roller brush is placed in the disinfection box; The lower part of the cleaning roller brush is immersed in the disinfectant in the disinfection box, and the upper part rotates in the opposite direction to the running direction of the conveyor belt to wipe the surface of the conveyor belt; the cleaning roller brush is configured as an expansion roller, and the cleaning roller brush and the disinfection box are slidably connected to the tail frame through an electric sliding member; the electric sliding member is controllably connected to the control module; the disinfection box is connected to a water inlet pipe and a drain pipe of disinfectant water, and the water inlet pipe and the drain pipe are both provided with electric valves, and the electric valves are controllably connected to the control module; The method comprises the following steps: Obtain an image of the conveyor belt near the tail frame to obtain a dirt image; identifying a first dirt feature from the dirt image according to a specific dirt threshold; Calculating, according to the first dirt feature, a first dryness / humidity and a first distribution uniformity corresponding to the first dirt feature; The depth of the cleaning roller brush immersed in the disinfectant is adjusted according to the first wetness / humidity inverse correlation, the higher the first wetness / humidity is, the shallower the depth of the cleaning roller brush immersed in the disinfectant is; the lower the first wetness / humidity is, the deeper the depth of the cleaning roller brush immersed in the disinfectant is; The thickness of the cleaning roller brush is adjusted inversely according to the first distribution uniformity, wherein the higher the value of the first distribution uniformity is, the thinner the cleaning roller brush is; and the lower the value of the first distribution uniformity is, the thicker the cleaning roller brush is; Acquiring an image of the side of the conveyor belt close to the tailstock as a side image; identifying a second dirt feature from the side image according to a specific dirt threshold; calculating a dirt height corresponding to the second dirt feature according to the second dirt feature; The pressure with which the scraper presses against the conveyor belt and the rotation speed of the cleaning roller brush are adjusted in positive correlation according to the dirt height; the higher the dirt height, the greater the pressure with which the scraper presses against the conveyor belt and the faster the rotation speed of the cleaning roller brush; the lower the dirt height, the smaller the pressure with which the scraper presses against the conveyor belt and the slower the rotation speed of the cleaning roller brush.

2. The method for controlling the pollution of the laboratory automatic feeding equipment according to claim 1, characterized in that: The step of identifying the first dirt feature from the dirt image according to a specific dirt threshold value further includes the following sub-steps: Calculating a distribution area corresponding to the first dirt characteristic according to the first dirt characteristic; The conveying speed of the conveyor belt is adjusted according to the distribution area. The larger the distribution area, the slower the conveying speed of the conveyor belt; the smaller the distribution area, the faster the conveying speed of the conveyor belt; Acquiring sound data in the laboratory based on a sound collection device, wherein the sound data includes frequency data and loudness data; Performing spectrum analysis on the frequency data to convert the frequency data of the time domain signal into frequency data of the frequency domain signal; Extracting a specific sound frequency from the frequency data of the frequency domain signal, and calculating a power spectrum density corresponding to the specific sound frequency; Calculating the sound pressure level according to the loudness data; Calculate a comprehensive sound value by weighted averaging the power spectrum density and the sound pressure level; The variation range of the conveying speed is adjusted according to the comprehensive sound value. The larger the comprehensive sound value is, the larger the variation range is; the smaller the comprehensive sound value is, the smaller the variation range is.

3. The method for controlling the pollution of the laboratory automatic feeding equipment according to claim 2, characterized in that: Based on the fact that a pH value testing device is also provided in the disinfection box, the method comprises the following steps: Obtaining the pH value in the disinfection box, and judging whether the disinfectant water needs to be replaced according to the pH value; When the pH value is within the first range, replacing the disinfectant water in the disinfection box; When the pH value is within the second range, a specific amount of disinfectant water is added to the disinfection box; wherein the pH value in the second range is higher than the pH value in the first range; When the pH value is within the third range, the electric valve does not operate and the amount of disinfectant water in the disinfection box does not change; wherein the pH value in the third range is higher than the pH value in the second range.

4. The method for controlling the pollution of the laboratory automatic feeding equipment according to claim 3, characterized in that: The step of adding a specific amount of disinfectant water into the disinfection box includes: Get the set replacement cycle of disinfectant water; Calculate the time difference between the current time and the end time of the current replacement cycle; adjusting the specific amount of the disinfectant water to be supplemented according to the time difference, if the time difference is smaller, the specific amount is larger; if the time difference is larger, the specific amount is smaller; When the time difference is zero, the disinfectant water in the disinfection box is replaced.

5. The method for cleaning and controlling the laboratory automatic feeding equipment according to claim 4, characterized in that: Based on a camera device disposed on the tail frame, the camera device is located at the bottom of the conveyor belt and behind the cleaning roller brush, and is used to capture an image of the conveyor belt after the cleaning roller brush has brushed. The method also includes: The image of the conveyor belt after the cleaning roller brush has finished brushing is obtained as a cleaning image; identifying a third dirt feature from the clean image according to a specific dirt threshold; Calculating, according to the third dirt characteristic, a third dryness / humidity and a third distribution uniformity corresponding to the third dirt characteristic; calculating the fluctuation trend of the third humidity as the first fluctuation trend; Calculating the fluctuation trend of the third distribution uniformity as the second fluctuation trend; calculating the fluctuation trend of the dirt height as a third fluctuation trend; Calculating a pollution removal effect parameter according to the first fluctuation trend, the second fluctuation trend and the third fluctuation trend; The dirt threshold is adjusted according to the dirt cleaning effect parameter. The larger the dirt cleaning effect parameter is, the larger the dirt threshold is; the smaller the dirt cleaning effect parameter is, the smaller the dirt threshold is.

6. The method for cleaning and controlling the laboratory automatic feeding equipment according to claim 4, characterized in that: Based on a camera device and a detergent spraying device arranged on the tail frame, the camera device is located at the bottom of the conveyor belt and behind the cleaning roller brush, and is used to take an image of the conveyor belt after the cleaning roller brush has brushed; The nozzle of the cleaning agent spraying device is directed toward the side of the conveyor belt located in front of the scraper; the method further comprises: Acquiring a cleaning image of the conveyor belt after the cleaning roller brush has finished brushing based on the camera device; Extracting stain features from the cleaned image according to a preset stain threshold; Calculating the color uniformity and the stain distribution uniformity of the stain feature; Calculating a cleaning feedback value according to the color uniformity and the stain distribution uniformity; The cleaning feedback value is compared with a preset cleaning threshold value. If the cleaning feedback value is greater than or equal to the cleaning threshold value, the cleaning agent spraying device is not started; if the cleaning feedback value is less than the cleaning threshold value, the cleaning agent spraying device is started.

7. The method for controlling the cleaning of the laboratory automatic feeding equipment according to claim 6, characterized in that: The step of starting the cleaning agent spraying device if the cleaning feedback value is less than the cleaning threshold value comprises the following sub-steps: Calculating a cleaning difference between the cleaning threshold and the cleaning feedback value; adjusting the spraying time of the cleaning agent spraying device according to the cleaning difference, wherein the larger the cleaning difference is, the longer the spraying time is; and the smaller the cleaning difference is, the shorter the spraying time is; or adjusting the spraying frequency of the cleaning agent spraying device according to the cleaning difference, the greater the cleaning difference, the greater the spraying frequency; The smaller the cleaning difference is, the smaller the spraying frequency is.

8. The method for controlling the cleaning of the laboratory automatic feeding equipment according to claim 7, characterized in that: The step of adding a specific amount of disinfectant water into the disinfection box also includes: Counting the replenishment frequency of the disinfectant water within a set time period, and adjusting the spraying amount of the detergent spraying device according to the positive correlation of the replenishment frequency; The higher the replenishment frequency, the larger the spraying amount; the lower the replenishment frequency, the smaller the spraying amount.

9. A pollution control system for laboratory automatic feeding equipment, characterized in that: It comprises a processor, which executes the steps of the cleaning control method of laboratory automatic feeding equipment as described in any one of claims 1-8.

10. A storage medium, characterized in that: The medium stores a program, and when the program is executed by the processor, the steps of the method for controlling the cleaning of laboratory automatic feeding equipment according to any one of claims 1 to 8 are implemented.

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