Self-adaptive control system of washing and care robot based on human-computer interaction

Abstract

The invention relates to the technical field of smart home equipment, in particular to a washing and care robot self-adaptive control system based on man-machine interaction, which comprises a washing and care command generation module used for acquiring image data of clothes to be washed in a to-be-processed area and generating initial working parameters of the clothes in a plurality of working stages according to the image data; the plurality of working stages comprise a preparation stage, a washing stage, a cleaning stage, a dehydration stage and a drying stage; the initial working parameters of the multiple working stages are combined and output as a washing and caring command; the washing and care decision module is used for identifying washing and care tasks corresponding to the washing and care commands and setting priorities for the washing and care tasks; determining a decision execution sequence of the washing and care tasks according to the priorities of the washing and care tasks; the adaptive adjustment module is used for setting the washing grade of the clothes according to the execution working stage of the washing and care task, and setting a parameter adjustment range corresponding to the washing and care task based on the washing grade; and the intelligent degree of the washing and care task, the user participation degree and the execution efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of smart home equipment, and in particular to an adaptive control system of a washing robot based on human-computer interaction. Background Art

[0002] In the prior art, washing robots can usually only work according to preset programs and cannot be intelligently adjusted according to the actual situation of the clothes and the personalized needs of users. In addition, users cannot effectively participate in the washing process and cannot personalize the working parameters of the washing robots. At the same time, there are certain problems with the execution efficiency of washing tasks and the evaluation of washing effects. Therefore, there is a need for an adaptive control system for washing robots that can solve the above problems, improve the intelligence of washing tasks, enhance user participation, improve execution efficiency, and accurately evaluate washing effects.

[0003] For example, Chinese patent publication number CN105843118B discloses a robot interaction method and robot system, which collects multi-modal external input information, including text information, image information, sound information, robot self-test information and sensor information; analyzes the external input information to obtain interactive input information, interactive object feature information and interactive environment feature information; analyzes the interactive object feature information and the interactive environment feature information to obtain matching interactive scenario limitations; performs semantic analysis on the interactive input information to obtain the interactive object's interactive intent; and performs multi-modal interactive behavior output according to the interactive intent under the interactive scenario limitations. It can better simulate the analysis and generation process of human interactive behavior in the process of human-to-human interaction, thereby obtaining more natural and vivid interactive output, greatly improving the application experience of the robot.

[0004] For example, Chinese patent publication number CN112684714A discloses a household appliance human-computer interaction system and its intelligent switch panel. It includes multiple intelligent switch panels; the intelligent switch panels are all embedded with WIFI self-organizing network modules, the gateway is used to provide wireless networks for the multiple intelligent switch panels, the cloud platform is used to provide drivers and / or communication protocols for the multiple intelligent switch panels, and selects one or several of the intelligent switch panels that are closest to the gateway as root nodes, and the remaining intelligent switch panels are configured as child nodes. The household appliance human-computer interaction system reconstructs the networking mode of the intelligent switch panel. Through cloud operations such as APP, the corresponding functions of any intelligent switch panel can be given, and all intelligent switch panels can be connected to the network through a gateway.

[0005] The above-mentioned existing technologies tend to control the devices through interconnection commands, and realize the control of corresponding home appliances through interconnection between multiple devices. However, the existing technologies do not target the specific conditions of the corresponding devices at each stage, resulting in the inability to dynamically adjust the corresponding parameters, thereby reducing the adaptability of the washing robot in the corresponding scenarios. Summary of the invention

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a washing robot adaptive control system based on human-computer interaction, including: a washing command generation module, used to obtain image data of clothes to be washed in the area to be processed, and generate initial working parameters of the clothes in multiple working stages according to the image data; the multiple working stages include a preparation stage, a washing stage, a cleaning stage, a dehydration stage, and a drying stage; the initial working parameters of multiple working stages are combined and output as a washing command.

[0007] The washing and care decision module is used to identify the washing and care tasks corresponding to the washing and care commands and set priorities for the washing and care tasks; according to the priorities of the washing and care tasks, the decision execution order of the washing and care tasks is determined.

[0008] The adaptive adjustment module is used to set the washing level of the clothes according to the working stage of the washing task, and based on the washing level, set the parameter adjustment range corresponding to the washing task.

[0009] The control feedback module is used to obtain the parameters set by the user under the corresponding habits when the washing and care task is executed, and obtain the habit feedback factor.

[0010] The feedback evaluation module is used to obtain the task execution degree of the washing and care command and the adaptation interval corresponding to the task execution degree according to the user's habitual feedback factor, and obtain the washing and care evaluation result based on the task execution degree and the adaptation interval.

[0011] The beneficial effects of the present invention are as follows: through image recognition technology and intelligent control algorithms, the system can automatically adjust working parameters according to factors such as clothing type and degree of dirtiness to improve washing and care effects; users can participate in the washing and care process by setting initial working parameters and habit feedback factors to achieve personalized settings and intelligent control; the system can reasonably arrange the execution order according to the priority and dependency of washing and care tasks to improve task execution efficiency; by comparing task execution degree and adaptation interval, the system can accurately evaluate washing and care effects and provide users with reliable feedback and suggestions. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0013] Figure 1 It is a system framework diagram of an adaptive control system of a washing robot based on human-computer interaction.

[0014] Figure 2 It is a system schematic diagram of an adaptive control system of a washing robot based on human-computer interaction.

[0015] Figure 3 The present invention is a flowchart showing the priority of a washing and care decision module of an adaptive control system of a washing and care robot based on human-computer interaction.

[0016] Figure 4 The invention is a flowchart of the decision execution sequence of the washing and care decision module of the washing and care robot adaptive control system based on human-computer interaction. DETAILED DESCRIPTION

[0017] The embodiments of the present invention are described in detail below. The embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. If no specific techniques or conditions are specified in the embodiments, the techniques or conditions described in the literature in the art or the product specifications are used.

[0018] See also Figure 1 , Figure 2 , an adaptive control system of a washing robot based on human-computer interaction, including: a washing command generation module, a washing decision module, an adaptation adjustment module, a control feedback module, and a feedback evaluation module.

[0019] The washing and care command generation module obtains the image data of the clothes to be washed on the area to be processed, combines the initial working parameters of multiple working stages into a washing and care command, and passes it to the washing and care decision module; the washing and care decision module receives the washing and care command output by the washing and care command generation module, determines the decision execution order of the washing and care tasks according to the priority, and passes the task order and the initial working parameters to the adaptation and adjustment module; the adaptation and adjustment module receives the task order and the initial working parameters output by the washing and care decision module, passes the adjusted working parameters to the control feedback module, and may make further adjustments according to the real-time situation (such as user intervention); the control feedback module receives the adjusted working parameters output by the adaptation and adjustment module, passes the habit feedback factor to the feedback evaluation module, and may adjust the execution of the washing and care tasks according to user feedback; the feedback evaluation module receives the habit feedback factor output by the control feedback module, and generates a washing and care evaluation result based on the task execution degree and the adaptation interval; the evaluation result can be used to optimize the parameter settings of the washing and care command generation module, the washing and care decision module and the adaptation and adjustment module to improve the execution efficiency of the washing and care tasks and user satisfaction.

[0020] Through the interconnection and communication of these modules, the intelligent laundry care system can automatically complete the laundry care tasks, while making adaptive adjustments based on user habits and feedback to improve laundry care efficiency and user satisfaction.

[0021] A washing and care command generation module is used to obtain image data of clothes to be washed in a processing area, and generate initial working parameters of the clothes in multiple working stages according to the image data; the multiple working stages include a preparation stage, a washing stage, a cleaning stage, a dehydration stage, and a drying stage; the initial working parameters of the multiple working stages are combined and output as washing and care commands.

[0022] The washing and care decision module is used to identify the washing and care tasks corresponding to the washing and care commands and set priorities for the washing and care tasks; according to the priorities of the washing and care tasks, the decision execution order of the washing and care tasks is determined.

[0023] The adaptive adjustment module is used to set the washing level of the clothes according to the working stage of the washing task, and based on the washing level, set the parameter adjustment range corresponding to the washing task.

[0024] The control feedback module is used to obtain the parameters set by the user under the corresponding habits when the washing and care task is executed, and obtain the habit feedback factor.

[0025] The feedback evaluation module is used to obtain the task execution degree of the washing and care command and the adaptation interval corresponding to the task execution degree according to the user's habitual feedback factor, and obtain the washing and care evaluation result based on the task execution degree and the adaptation interval.

[0026] In the present invention, the washing robot can observe the clothes that currently need to be cleaned through images, and select the washing mode required at this time by identifying the material of the clothes and the stains on the clothes, and use a mechanical arm to grab the clothes and put them into the washing machine, operate the washing machine according to the currently generated washing and care commands, and also control the washing machine to select the corresponding parameters at this time. After completing the washing of the clothes, the clothes are hung out to dry, and finally the clothes that have been hung out to dry are ironed, folded, and stored.

[0027] In order to improve the control effect of the robot, different washing and care commands will be generated for different contents, and priorities will be set between the washing and care commands. When the robot is checking and washing large batches of clothes, the priority will be set according to the execution time of each instruction and the condition of the clothes to complete the robot's washing and care processing. In the case of multi-tasking and recognition errors, the current instruction will be adjusted according to the different settings of the current instruction to improve the robot's work in multiple work stages.

[0028] In one embodiment of the present invention, a washing and care command generation module is used to obtain image data of clothes to be washed on a processing area, and generate initial working parameters of the clothes in multiple working stages according to the image data; the multiple working stages include a preparation stage, a washing stage, a cleaning stage, a dehydration stage, and a drying stage; the initial working parameters of the multiple working stages are combined and output as a washing and care command.

[0029] The washing and care command is a specific description of the operations required for washing and caring for clothes, including parameters set in multiple working stages of washing clothes, and the multiple working stages include a preparation stage, a washing stage, a cleaning stage, a dehydration stage, and a drying stage.

[0030] The preparation stage mainly considers the weight of the clothes to determine whether the weight of the clothes when washing exceeds the weight that the washing machine can carry. At this time, a gravity sensor can be set on the robotic arm of the washing robot to identify the weight of the clothes grabbed by the robotic arm.

[0031] During the washing stage, the water temperature, detergent, water volume and washing mode should be considered. Different water temperatures may be required for different materials to prevent clothes from shrinking. Generally, the water temperature is not specially set, and normal cold water and pre-set water temperature are used. The water volume is determined according to the number of clothes to be washed. The washing mode indicates settings such as standard wash, gentle wash, quick wash, etc. The detergent should take into account the type and amount of detergent placed.

[0032] The washing phase is to wash the clothes, taking into account the number of washes and the time of each wash.

[0033] The dehydration stage controls the dehydration speed and dehydration time to control the dehydration situation; for example, silk clothes should be dehydrated at a low speed.

[0034] The drying stage mainly determines the set drying temperature, drying time and clothing temperature. The drying temperature is the temperature set for the currently associated dryer. The clothing temperature is observed during drying. The temperature changes on the clothing are detected by infrared temperature sensors to prevent the temperature on the clothing from being too low or increasing too quickly. At the same time, the clothing temperature can assist in adjusting the drying time setting.

[0035] The initial working parameters here are implemented by first acquiring image data of the clothes on the area to be processed, classifying the clothes to be washed according to the image data, obtaining classification information of the clothes to be washed, and setting initial working parameters for the clothes to be washed based on the classification information of the clothes to be washed.

[0036] The classification is performed by using image recognition technology, taking the currently collected image data as input and inputting it into an image prediction model. The image prediction model identifies the category and stain area of ​​the current clothing based on the input image data, and obtains the currently set initial working parameters based on the material, category, and stain area. That is, the classification information indicates the category and stain area of ​​the current clothing. The category indicates different contents such as T-shirts, shirts, and pants, and is also used to identify whether the current clothing is made of materials such as cotton, silk, and wool that are relatively easy to shrink, and washes the clothing according to the initial value set for the clothing in the database. The stain area is determined by identifying the points where stains are obviously present in the clothing, and identifying the area of ​​the corresponding pixel points. To obtain, the degree of dirtiness can be set according to the stain area; the initial working parameters are set according to the degree of dirtiness; the initial working parameters set here are obtained by reading the data corresponding to the current degree of dirtiness and other conditions from the database to achieve the set initial working parameters, and the initial working parameters are equivalent to the average value set for normal clothing washing in the historical data, and the average value of the data corresponding to the corresponding small classification is selected according to the current situation of the clothing, and the subsequent use of the average value of the historical data is to select the average value of the data of all classifications or a single large classification, so as to distinguish the difference between the current washing and care command execution and the adjustment processing, to improve the personalized processing form of the washing and care robot for the washing and care tasks.

[0037] The degree of dirtiness is divided into light dirtiness, medium dirtiness and heavy dirtiness, and the initial working parameters to be set may be as follows.

[0038] Lightly soiled: There are a few stains on the surface of the clothes, mainly sweat stains, light dust or light oil stains; Features: small stain area, light color, easy to clean. The initial working parameters include the following: water temperature: cold water or warm water; water volume: appropriate amount; detergent dosage: less; washing time: shorter; washing mode: gentle mode.

[0039] Moderately dirty: There are many stains on the surface of the clothes, which may be soil, food residues or medium oil stains; Characteristics: The stain area is large and the color is dark, requiring stronger cleaning power. The initial working parameters include the following: water temperature: warm water or hot water; water volume: moderate; detergent dosage: moderate; washing time: medium; washing mode: standard mode.

[0040] Severely soiled: There are a lot of stains on the surface of the clothes, which may be serious dirt, oil, blood or other stains that are difficult to remove; Characteristics: The stain area is large and the color is dark, requiring very strong cleaning power. The initial working parameters include the following: water temperature: hot water; water volume: more; detergent dosage: more; washing time: longer; washing mode: strong mode.

[0041] The washing and care instructions finally output will include the initial working parameters for the identified clothes, as well as the specific contents of the washing execution; for example, the initial working parameters set at this time may include: clothing weight, clothing category, degree of dirtiness, water temperature, detergent, water volume, washing mode, dehydration speed, dehydration time, drying temperature, drying time and clothing temperature, and the setting of the initial working parameters is completed based on these multiple stage parameters.

[0042] In one embodiment of the present invention, the washing and care decision module is used to identify the washing and care tasks corresponding to the washing and care commands and set priorities for the washing and care tasks; and determine the decision execution order of the washing and care tasks according to the priorities of the washing and care tasks.

[0043] The washing and care task at this time can be considered as the process of executing one part of the washing and care command. For example, for the method of classified washing of clothes, the clothes can be classified according to their differences, and the clothes in each category can be washed. The parameters set for each classified washing can be considered as a washing and care task, and the process of adjusting the parameters for different clothes can also be considered as a washing and care task; or the process of washing each group of clothes can also be considered as a washing and care task.

[0044] like Figure 3 As shown, when setting the priority at this time, the washing and care command is first divided into washing and care tasks. For example, after the washing and care instruction is generated, the user enters a command through the mobile phone APP and requests to stop immediately. At this time, the stop can be considered a washing and care task, and the user's request to wash clothes will also be considered a washing and care task.

[0045] Therefore, the priority of the washing and care task can be obtained by extracting the stage execution order related to the work stage in the washing and care instructions, the stage execution order indicates the current work stage that needs to be performed, and the order of the corresponding work stage when executing washing and care; obtaining the washing and care units related to the washing and care task in the stage execution order, calculating the interference assessment degree of the washing and care unit under multiple work stages according to the number of clothes, clothing category, and task time of the washing and care unit, and setting the priority of the washing and care task based on the interference assessment degree; the washing and care unit represents a specific operation in the current washing and care task, such as the clothes have been washed and are being washed at this time, the number and time of washing can be considered as a washing and care unit.

[0046] At this time, the interference assessment degree is mainly quantified based on the task time ratio, execution weight, and task impact factor of the washing and care unit. The task time ratio represents the ratio of the task time of the current washing and care unit to the standard time. The standard time is the average time value of the current washing and care unit of the same type. The execution weight is obtained through the number of clothes and the category of clothes. At this time, the weight value is set in advance in the database according to the number of clothes and the category of clothes. The weight value ranges from 0 to 1, for example, 0-5 pieces are 0.1, 6-10 pieces are 0.2, 11-15 pieces are 0.3, and 16 pieces or more are 0.4; T-shirts and underwear are 0.1, shirts and pants are 0.2, coats and down jackets are 0.3, and special materials (such as silk and wool) are 0.4. At this time, the execution weight represents the product of the weight value of the number of clothes and the category of clothes. The task impact factor indicates that the current washing and care task has potential interference with other tasks, which can be expressed as the ratio of the time expected to increase after the initial working parameters are adjusted to the standard time of the washing and care unit. When the initial working parameters are not adjusted, the initial value of the task impact factor is set to 0.1.

[0047] Therefore, the interference assessment degree is obtained by obtaining the task time ratio corresponding to the task time, the execution weight corresponding to the number of clothes and clothing categories, and the task influence factor corresponding to the stage execution sequence, and calculating the interference assessment degree.

[0048] The interference assessment degree is expressed as: ;in, Indicates the degree of interference assessment, Represents the task time ratio, represents the execution weight, represents the task impact factor, Represents an exponential constant.

[0049] The main purpose of interference assessment is to evaluate the occupation of system resources by each cleaning task during execution and its potential impact on other tasks. In this way, it can ensure that high-priority tasks can be executed first, thereby improving the overall efficiency of the system and user experience.

[0050] The way to set the priority of the washing and care tasks based on the interference assessment degree is to sort all the washing and care tasks in order according to the calculated interference assessment degree, set the priority of the washing and care tasks with the highest interference assessment degree to the lowest, and process them last, and set the priority of the washing and care tasks with the lowest interference assessment degree to the highest.

[0051] like Figure 4As shown, the method for determining the decision execution order of the washing and care tasks can be to use the shortest path method to regard all washing and care tasks as a washing and care node, connect all washing and care nodes according to the dependency relationship between the washing and care tasks, set the washing and care node with the lowest interference assessment value as the initial node, calculate the shortest path between the initial node and the washing and care node, and output the shortest path between the initial node and the washing and care node as the decision execution order of the washing and care tasks.

[0052] When calculating the shortest path between the initial node and the cleaning node, the task time corresponding to the cleaning task is used as the distance value of the edge between the cleaning nodes, and the interference assessment degree is used as the weight of the edge. The shortest path finally obtained requires the sum of the product of the edge distance value and the edge weight to be minimized.

[0053] In one embodiment of the present invention, the adaptive adjustment module is used to set the washing level of the clothes according to the working stage of the washing task, and based on the washing level, set the parameter adjustment range corresponding to the washing task.

[0054] The cleaning level set at this time is to set the parameters for the periodic reminder of the current cleaning robot. The cleaning level is used to express the factors currently set for cleaning. This parameter can be set by the frequency of cleaning and the task time interval to describe whether the current cleaning is effective and the energy consumption corresponding to the cleaning, thereby adjusting the range of initial working parameters that need to be adjusted for the cleaning task.

[0055] For example, if some of the user's clothes are often washed, with the frequency reaching once a day, and no stains or the like can be identified on the surface of the clothes, then the washing level of the clothes can be set to a low level, indicating that the value of the initial working parameter for washing can be slightly lowered. If some clothes are not washed for a long time, a larger value of the initial working parameter can be used for the clothes, thereby adjusting the current working parameters in real time and setting the washing level for the corresponding clothes according to the washing frequency and task time interval of the clothes in each working stage.

[0056] For example, the cleaning level is expressed as: obtaining the corresponding clothing cleaning frequency, dirtiness and task time interval during the working stage of the washing task, and calculating the cleaning level.

[0057] The cleaning level is expressed as: ;in, Indicates the cleaning level. Indicates the cleaning frequency, Indicates the degree of dirtiness. Indicates the task time interval, Indicates the standard value of cleaning frequency, Indicates the maximum value of the degree of dirtiness. Indicates the standard value of the task time interval, represents the weight of the cleaning frequency, The weight representing the degree of dirtiness, It represents an exponential constant. The standard values ​​of the cleaning frequency and task time interval set at this time can be obtained by obtaining the corresponding average values ​​in the historical data. The purpose of using the maximum value of the degree of dirtiness for quantification is to determine the relative impact of the current degree of dirtiness of the clothes on the cleaning frequency, so as to identify the user's pattern of washing clothes.

[0058] Cleaning level refers to an indicator that quantitatively evaluates the overall performance and reliability of the system in the control system by comprehensively considering the cleaning frequency, degree of dirtiness and task time interval. This indicator can help users understand the performance of the system when executing control instructions and decide whether further optimization or maintenance is needed. Based on the value obtained, it can be judged whether the current cleaning level is appropriate and the subsequent processing and identification can be judged.

[0059] The cleaning frequency can be obtained according to the frequency of the current washing robot recognizing the current clothes when washing and caring for clothes. The degree of dirtiness is obtained by obtaining the initial working parameters under the working stage of the current washing and caring task. The task time interval represents the time interval between the washing and caring tasks under the current working node. The task time interval obtained at this time is used to judge the current time required to execute the task when executing the washing and caring task.

[0060] At the same time, the weight of the washing frequency will be set according to the proportion of the number of clothes in the current category of washing clothes to all clothes, or it can be set to the proportion of clothes in the corresponding category under the corresponding washing task to the total number of clothes in a fixed period, and this fixed period is set to 1 week; the weight of the degree of dirtiness is set according to the probability of the occurrence of the corresponding degree of dirtiness; at this time, the degree of dirtiness is set according to the area where the stains currently appear.

[0061] The parameter adjustment range corresponding to the cleaning task may be set in a manner of setting the parameter adjustment range according to the level coefficient and occurrence probability corresponding to the cleaning level.

[0062] The parameter adjustment range is expressed as: ;in, The index value representing the parameter adjustment range, where the index value represents the interval corresponding to the upper limit value and the lower limit value of the parameter adjustment range; The index value representing the working range of the initial working parameters. The index value expressed at this time is the upper limit and lower limit corresponding to the initial working range; represents the exponential constant, The grade factor indicating the cleaning grade, represents the probability of occurrence of the cleaning level, The exponential factor represents the grade coefficient. In this case, the exponential factor takes a value between 0 and 1. For example, the cleaning grade is divided into five grades, such as very light cleaning, light cleaning, standard cleaning, heavy cleaning, and very heavy cleaning.

[0063] Ultra-light cleaning is applicable to clothes with almost no stains and only need simple cleaning, such as underwear and light clothing for daily wear; Light cleaning is applicable to clothes with slight stains and need moderate cleaning, such as T-shirts and socks for daily wear; Standard cleaning is applicable to clothes with moderate stains and need regular cleaning, such as shirts and pants for daily wear; Heavy cleaning is applicable to clothes with heavier stains and need strong cleaning, such as clothes after outdoor activities and work clothes; Extra-heavy cleaning is applicable to clothes with serious stains and need particularly strong cleaning, such as clothes with serious oil stains and muddy work clothes; The exponential factors set for these five levels can be expressed as 0.2, 0.4, 0.5, 0.7, and 0.9 respectively.

[0064] The execution formula of the above parameter adjustment range is calculated by calculating the index value of the corresponding working range. The parameter adjustment range calculated at this time is used to measure the maximum and minimum values ​​of the working range of the initial working parameters. Under the current cleaning level and exponential factor settings, the range in which the maximum and minimum values ​​finally change represents the range of values ​​that can be selected for the current parameter adjustment. The final formula outputs the two end values ​​corresponding to this range value. Combining the two end values, the value corresponding to the parameter adjustment range can be obtained.

[0065] In one embodiment of the present invention, the control feedback module is used to obtain the parameters set by the user under the corresponding habits when the washing and care task is executed, and obtain the habit feedback factor.

[0066] This module mainly records the parameters set by the user when washing clothes, compares the parameters that the user prefers to set in different situations, and obtains the user's evaluation after the corresponding parameter settings to obtain the habit feedback factor at this time; for example, the habit feedback factor can be set by comparing the water temperature, speed, detergent amount, number of rinses, drying temperature and drying time set by the user to quantify the parameters set by the user in different situations.

[0067] For example, the habit feedback factor is expressed as follows: the initial working parameters set by the current user are set as a parameter group, and there are n elements in the parameter group. After the data in the parameter group is normalized, the habit feedback factor is calculated.

[0068] ;in, represents the habit feedback factor, Indicates the index value of the i-th element in the parameter group. At this time, each element in the parameter group represents the value of an initial working parameter, which is used to indicate the specific setting of the initial working parameter at this time. Indicates the number of elements in the parameter group, i ranges from 1 to n, Represents the smoothing factor, the smoothing factor value is 0 to 1; It represents the difference of the historical habit feedback factor corresponding to the ith element. This difference can represent the average value of the difference between the habit feedback factors of the historical data under the corresponding circumstances when the value corresponding to the ith element is adjusted. The difference obtained at this time is also used to represent the relevant differences between the current initial working parameters and the historical data, and these differences are summarized according to the values ​​of the initial working parameters to obtain the comprehensive habit feedback factor to describe the difference between the current initial working parameters and the historical settings.

[0069] The habit feedback factor obtained at this time can describe the current user's corresponding preferences when setting parameters. At the same time, these data will also affect the robot's initial settings to improve the robot's effect on clothing washing and improve the efficiency of the overall washing process.

[0070] In one embodiment of the present invention, the feedback evaluation module is used to obtain the task execution degree of the washing and care command and the adaptation interval corresponding to the task execution degree according to the user's habitual feedback factor, and obtain the washing and care evaluation result based on the task execution degree and the adaptation interval.

[0071] This module tends to obtain the current robot's execution of the washing and care task after the habit feedback factor is set, such as obtaining the task execution degree of the current washing and care command and the adaptation interval corresponding to the task execution degree, to quantify the robot's execution of the washing and care command, so as to obtain an evaluation of the current washing and care command.

[0072] Task execution degree can be defined as a value between 0 and 1, which indicates the quality and efficiency of task completion. The adaptation interval defines the range of parameter adjustment under different task execution degrees. Therefore, the adaptation interval is used to measure the content of the parameter adjustment range and verify whether the initial working parameters at this time can use the values ​​corresponding to the parameter adjustment range. Task execution degree indicates the completion status of the current washing and care task after setting it according to the habitual feedback factor at this time under the decision-making execution order, so as to obtain the execution status of the washing and care command. The task execution degree and the adaptation interval are combined to complete the overall real-time evaluation, timely detect the current working status of the washing and care robot, and prevent abnormal setting parameters from causing damage to the clothes.

[0073] The task execution degree at this time can be expressed as: obtaining the cleaning effect score, energy consumption score, and task time score corresponding to the washing and care task. The cleaning effect score is obtained by the score set by the user after the clothes are washed and cared for. The energy consumption score is the ratio of the power consumption to the maximum power consumption. The task time score is the ratio of the time to complete the washing and care task to the maximum allowed time to complete the washing and care task; the task execution degree is calculated.

[0074] ;in, Indicates the degree of task execution, Indicates the cleaning effect rating, represents the energy consumption score, represents the task time score, represents the weight of the cleaning effect score, represents the weight of the energy consumption score, Represents the weight of the task time score; the three weights are set to 0.5, 0.3, and 0.2 in the order of cleaning effect score, energy consumption score, and task time score.

[0075] The task execution degree indicates the execution status of the current washing and care task. When the value of the task execution degree changes, it will also affect the value of the adaptation interval. At this time, according to the value range of the task execution degree, the value of the adaptation interval related to the task execution degree will be prepared in the data that the washing and care robot can connect to.

[0076] After completing the washing and care task, the implementation method of obtaining the washing and care evaluation result based on the task execution degree and the adaptation range is expressed as follows: compare the adaptation interval corresponding to the task execution degree with the parameter adjustment range, and compare the upper and lower limits of the adaptation interval and the parameter adjustment range in turn, and calculate the current interval difference value. The interval difference value is the sum of the differences between the upper and lower limits of the adaptation interval and the parameter adjustment range.

[0077] When the interval difference value is less than the first threshold, the washing and care evaluation result is considered to be good. When the interval difference value is greater than the first threshold and less than the second threshold, the initial working parameters of the washing and care command are adjusted, and the average value of the initial working parameters of the previous operation cycle is selected as the current initial working parameters; when it is greater than the second threshold, the corresponding data is transmitted to the external processing center, and the current washing and care robot is suspended.

[0078] At this time, the first threshold represents 0.1 times the range value of the adaptation interval of the current task execution degree, and the second threshold represents 0.3 times the range value of the adaptation interval, to determine whether the currently adjusted parameter adjustment range exceeds the normal processing level, to prevent the situation where the washing robot performs abnormal numerical settings.

[0079] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention and they are still covered by the protection scope of the present invention.

Claims

1. An adaptive control system for a washing robot based on human-computer interaction, characterized in that: include: A washing and care command generation module is used to obtain image data of the clothes to be washed on the area to be processed, and generate initial working parameters of the clothes in multiple working stages according to the image data; The multiple working stages include a preparation stage, a washing stage, a cleaning stage, a dehydration stage, and a drying stage; the initial working parameters of the multiple working stages are combined and output as a washing and care command; The washing and care decision module is used to identify the washing and care tasks corresponding to the washing and care commands and set priorities for the washing and care tasks; according to the priorities of the washing and care tasks, the decision execution order of the washing and care tasks is determined; The adaptive adjustment module is used to set the washing level of the clothes according to the working stage of the washing task, and based on the washing level, set the parameter adjustment range corresponding to the washing task; The control feedback module is used to obtain the parameters set by the user under the corresponding habits when the washing and care task is executed, and obtain the habit feedback factor; The feedback evaluation module is used to obtain the task execution degree of the washing and care command and the adaptation interval corresponding to the task execution degree according to the user's habitual feedback factor, and obtain the washing and care evaluation result based on the task execution degree and the adaptation interval.

2. According to the adaptive control system of the washing robot based on human-computer interaction according to claim 1, it is characterized in that: The initial working parameters are implemented by first acquiring image data of the clothes on the area to be processed, classifying the clothes to be washed according to the image data, obtaining classification information of the clothes to be washed, and setting initial working parameters for the clothes to be washed based on the classification information of the clothes to be washed.

3. The adaptive control system of a washing robot based on human-computer interaction according to claim 1 is characterized in that: The priority of the washing and care task can be obtained by extracting the stage execution order related to the working stage in the washing and care instructions, obtaining the washing and care units related to the washing and care tasks in the stage execution order, calculating the interference assessment degree of the washing and care units under multiple working stages according to the number of clothes, clothing categories, and task time in the washing and care units, and setting the priority of the washing and care task based on the interference assessment degree.

4. The adaptive control system of a washing robot based on human-machine interaction according to claim 3 is characterized in that: The interference assessment degree is obtained by obtaining the task time ratio corresponding to the task time, the execution weight corresponding to the number of clothes and clothing categories, and the task impact factor corresponding to the stage execution sequence, and calculating the interference assessment degree: ； in, Indicates the degree of interference assessment, Represents the task time ratio, represents the execution weight, represents the task impact factor, Represents an exponential constant.

5. The adaptive control system of a washing robot based on human-machine interaction according to claim 3 is characterized in that: The decision execution order of washing and care tasks is implemented as follows: all washing and care tasks are regarded as washing and care nodes, all washing and care nodes are first connected according to the dependency relationship between washing and care tasks, the washing and care node with the lowest interference assessment value is set as the initial node, the shortest path between the initial node and the washing and care node is calculated, and the shortest path between the initial node and the washing and care node is output as the decision execution order of the washing and care tasks.

6. The adaptive control system of a washing robot based on human-machine interaction according to claim 1, characterized in that: The cleaning level is expressed as: obtaining the corresponding clothing cleaning frequency, dirtiness and task time interval during the working stage of the washing task, and calculating the cleaning level; ； in, Indicates the cleaning level. Indicates the cleaning frequency, Indicates the degree of dirtiness. Indicates the task time interval, Indicates the standard value of cleaning frequency, Indicates the maximum value of the degree of dirtiness. Indicates the standard value of the task time interval, represents the weight of the cleaning frequency, The weight representing the degree of dirtiness, Represents an exponential constant.

7. The adaptive control system of a washing robot based on human-machine interaction according to claim 1, characterized in that: The parameter adjustment range corresponding to the cleaning task is set in the following manner: the parameter adjustment range is set according to the level coefficient and occurrence probability corresponding to the cleaning level; ； in, The index value representing the parameter adjustment range; An index value representing the working range of the initial working parameters; represents the exponential constant, The grade factor indicating the cleaning grade, represents the probability of occurrence of the cleaning level, An exponential factor representing the rank coefficient.

8. The adaptive control system of a washing robot based on human-machine interaction according to claim 1, characterized in that: The habit feedback factor is expressed as follows: the initial working parameters set by the current user are set as a parameter group, and after normalizing the data in the parameter group, the habit feedback factor is calculated; ； in, represents the habit feedback factor, represents the index value of the i-th element in the parameter group, Indicates the number of elements in the parameter group, i ranges from 1 to n, represents the smoothing factor; Represents the difference in the historical habit feedback factor corresponding to the i-th element.

9. The adaptive control system of a washing robot based on human-machine interaction according to claim 1, characterized in that: The task execution degree is expressed as: obtaining the cleaning effect score, energy consumption score, and task time score corresponding to the washing and care task, and calculating the task execution degree; ； in, Indicates the degree of task execution. Indicates the cleaning effect rating, represents the energy consumption score, represents the task time score, represents the weight of the cleaning effect score, represents the weight of the energy consumption score, Represents the weight of the task time score.

10. The adaptive control system of a washing robot based on human-machine interaction according to claim 1, characterized in that: Based on the task execution degree and adaptation range, the implementation method of obtaining the washing and care evaluation result is expressed as: Compare the adaptation interval corresponding to the task execution degree with the parameter adjustment range, compare the upper and lower limits of the adaptation interval and the parameter adjustment range in turn, and calculate the current interval difference value; When the interval difference value is less than the first threshold, the washing and care evaluation result is considered to be good. When the interval difference value is greater than the first threshold and less than the second threshold, the initial working parameters of the washing and care command are adjusted, and the average value of the initial working parameters of the previous operation cycle is selected as the current initial working parameters; when it is greater than the second threshold, the corresponding data is transmitted to the external processing center, and the current washing and care robot is suspended.

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