An adaptive control system for a washing and care robot based on human-computer interaction

Abstract

The present invention relates to the technical field of smart home devices, and specifically to an adaptive control system for a washing and care robot based on human-computer interaction, including: a washing and care command generation module, which is 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 rinsing 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; a washing and care decision-making module, which is used to identify the washing and care task corresponding to the washing and care command, and set a priority for the washing and care task; according to the priority of the washing and care task, determine the decision execution order of the washing and care task; an adaptation and adjustment module, which is used to set the cleaning level of the clothes according to the working stage of the washing and care task execution, and based on the cleaning level, set the parameter adjustment range corresponding to the washing and care task; improving the intelligence level, user participation degree and execution efficiency of the washing and care task.

Description

Technical Field

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

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

[0003] For example, Chinese Patent Publication No. CN105843118B discloses a robot interaction method and a robot system. By collecting multi-modal external input information, the external input information includes text information, image information, sound information, robot self-check information, and sensing information; analyzing the external input information to obtain interaction input information, interaction object feature information, and interaction environment feature information; analyzing the interaction object feature information and the interaction environment feature information to obtain a matching interaction scenario limit; performing semantic parsing on the interaction input information to obtain the interaction intention of the interaction object; and under the interaction scenario limit, performing multi-modal interaction behavior output according to the interaction intention. It can better simulate the analysis and generation process of human interaction behavior in the process of human-to-human interaction, so as to obtain a more natural and vivid interaction output, greatly improving the application experience of the robot.

[0004] For example, Chinese Patent Publication No. CN112684714A discloses a human-computer interaction system for household appliances and its intelligent switch panel. It includes a plurality of intelligent switch panels; each of the intelligent switch panels is embedded with a WIFI self-organizing network module, the gateway is used to provide a wireless network for the plurality of intelligent switch panels, the cloud platform is used to provide driver programs and / or communication protocols for the plurality of intelligent switch panels, and one or several of the intelligent switch panels closest to the gateway among the plurality of intelligent switch panels are selected and configured as root nodes, and the remaining intelligent switch panels are configured as sub-nodes. This human-computer interaction system for household appliances reconstructs the networking method of the intelligent switch panel, and through cloud operations such as APP, the corresponding functions can be given to any intelligent switch panel, and all intelligent switch panels can be networked through one gateway.

[0005] The above-mentioned existing technologies tend to control devices through instructions and achieve the control of corresponding household appliances through the connection between multiple devices. However, the existing technologies do not target the specific situations of corresponding devices at each stage, resulting in the inability to dynamically adjust corresponding parameters and reducing the adaptability of the washing and care robot in corresponding scenarios. Summary of the Invention

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: an adaptive control system for a washing and care robot based on human-computer interaction, including: a washing and care command generation module, which is used to obtain image data of the 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 rinsing 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.

[0007] A washing and care decision-making module, which is used to identify the washing and care tasks corresponding to the washing and care commands, 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.

[0008] An adaptation adjustment module, which is used to set the cleaning level of the clothes according to the working stage of the execution of the washing and care tasks, and set the parameter adjustment range corresponding to the washing and care tasks based on the cleaning level.

[0009] A control feedback module, which is used to obtain the parameters set by the user under the corresponding habits during the execution of the washing and care tasks to obtain a habit feedback factor.

[0010] A feedback evaluation module, which 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 habit feedback factor, and obtain a 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 dirt degree, improving the washing and care effect; users can participate in the washing and care process by setting initial working parameters and habit feedback factors, etc., to achieve personalized settings and intelligent control; the system can reasonably arrange the execution order according to the priorities and dependencies of the washing and care tasks, improving the task execution efficiency; by comparing the task execution degree and the adaptation interval, the system can accurately evaluate the washing and care effect and provide reliable feedback and suggestions for users. Brief Description of the Drawings

[0012] The following further illustrates the present invention in conjunction with the drawings and embodiments.

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

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

[0015] Figure 3 It is a flow schematic diagram of the priority of the washing and care decision-making module of an adaptive control system for a washing and care robot based on human-computer interaction.

[0016] Figure 4 It is a flow schematic diagram of the decision execution order of the washing and care decision-making module of an adaptive control system for a washing and care robot based on human-computer interaction. Detailed implementation manners

[0017] The embodiments of the present invention will be described in detail below. The described embodiments are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention. For those not specified in the embodiments regarding specific technologies or conditions, they shall be carried out according to the technologies or conditions described in the literature in this field or according to the product specifications.

[0018] Refer to Figure 1 、 Figure 2 A washing and care robot adaptive control system based on human-computer interaction includes: a washing and care command generation module, a washing and care decision-making module, an adaptation and adjustment module, a control feedback module, and a feedback evaluation module.

[0019] The washing and care command generation module acquires the image data of the clothes to be washed in the area to be processed, combines the initial working parameters of multiple working stages into a washing and care command, and transmits it to the washing and care decision-making module; the washing and care decision-making 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 transmits 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-making module, transmits the adjusted working parameters to the control feedback module, and may further adjust 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, transmits the habit feedback factor to the feedback evaluation module, and may adjust the execution of the washing and care tasks according to the 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-making 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 washing and care system can automatically complete the washing and care tasks of clothes, and at the same time make adaptive adjustments according to the user's habits and feedback, improving the washing and care efficiency and user satisfaction.

[0021] A laundry care command generation module, configured to obtain image data of laundry to be washed in an area to be processed, generate initial working parameters of the laundry in multiple working phases according to the image data; the multiple working phases include a preparation phase, a washing phase, a rinsing phase, a dehydration phase, and a drying phase; and combine and output the initial working parameters of the multiple working phases as a laundry care command.

[0022] A laundry care decision-making module, configured to identify a laundry care task corresponding to the laundry care command, set a priority for the laundry care task; and determine a decision execution order of the laundry care task according to the priority of the laundry care task.

[0023] An adaptation and adjustment module, configured to set a cleaning level of the laundry according to the working phase of the laundry care task, and set a parameter adjustment range corresponding to the laundry care task based on the cleaning level.

[0024] A control feedback module, configured to obtain parameters set by a user under corresponding habits during the execution of the laundry care task, and obtain a habit feedback factor.

[0025] A feedback evaluation module, configured to obtain a task execution degree of the laundry care command and an adaptation interval corresponding to the task execution degree according to the user's habit feedback factor, and obtain a laundry care evaluation result based on the task execution degree and the adaptation interval.

[0026] In the present invention, the provided laundry care robot can observe the laundry that needs to be cleaned currently through an image, identify the material of the laundry and the stain marks existing on the laundry, select a washing mode required at this time, grab the laundry with a robotic arm and place it at a washing machine, operate the washing machine to operate according to the currently generated laundry care command, and at the same time control the washing machine to select corresponding parameters at this time. After the laundry is cleaned, the laundry is dried, and finally the dried laundry is ironed, folded, and stored.

[0027] To improve the control effect on the robot, different contents are generated into different laundry care commands at this time, and priorities are set between the laundry care commands, so that when the robot views and cleans a large batch of laundry, priorities are set according to the execution time of each instruction and the situation of the laundry, to complete the robot's processing of laundry care, and in the case of multiple tasks and recognition errors, adjust the current instruction according to the differences set by the current instruction, to improve the working conditions of the robot in multiple working phases.

[0028] In an embodiment of the present invention, a laundry care command generation module, configured to obtain image data of laundry to be washed in an area to be processed, generate initial working parameters of the laundry in multiple working phases according to the image data; the multiple working phases include a preparation phase, a washing phase, a rinsing phase, a dehydration phase, and a drying phase; and combine and output the initial working parameters of the multiple working phases as a laundry care command.

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

[0030] In the preparation stage, the weight of the clothes is mainly considered to determine whether the weight of the clothes exceeds the weight that the washing machine can handle during washing. At this time, a gravity sensor can be set at the robotic arm of the washing and care robot to identify the weight of the clothes grabbed by the robotic arm.

[0031] In the washing stage, the water temperature, detergent, water volume, and washing mode set are considered. Different water temperatures may be required to prevent the clothes from shrinking when the materials are different. Generally, the water temperature is not specially set, and normal cold water and the preset water temperature are used; the water volume is determined according to the number of clothes to be washed; the washing mode indicates being set to standard wash, gentle wash, quick wash, etc.; and the detergent considers the type and amount of detergent to be placed.

[0032] The rinsing stage is to rinse the clothes, considering the number of rinses and the time for each rinse.

[0033] The dehydration stage is the dehydration speed and dehydration time to control the dehydration situation; for example, silk clothes should use low-speed dehydration.

[0034] The drying stage mainly determines the set drying temperature, drying time, and the situation of the clothes temperature. The drying temperature is the temperature set by the currently associated dryer, and the clothes temperature is to observe the temperature change of the clothes during drying. At this time, an infrared temperature sensor is used to identify the temperature change of the clothes to prevent problems such as too low or too fast-growing temperature on the clothes. At the same time, the clothes temperature can assist in adjusting the setting of the drying time.

[0035] The implementation method of the initial working parameters here is as follows: First, obtain the image data of the clothes in the area to be processed, classify the clothes to be washed according to the image data to obtain the classification information of the clothes to be washed, and based on the classification information of the clothes to be washed, set the initial working parameters for the clothes to be washed.

[0036] The way of classification is by using image recognition technology. Taking the currently collected image data as input, it is input into the image prediction model. The image prediction model identifies the category and stain area of the current piece of clothing based on the input image data, and obtains the initial working parameters set currently according to the material, category, and stain area. That is, the classification information represents the category and stain area of the current piece of clothing; the category represents different contents such as T-shirts, shirts, and trousers, and is also used to identify whether the current piece of clothing belongs to materials that are relatively easy to shrink, such as cotton, silk, wool, etc., and is washed according to the initial values set for this kind of clothing in the database; the stain area is obtained by identifying the points with obvious stains on the clothing and identifying the area of the corresponding pixel points. 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 corresponding data according to the current degree of dirtiness and other situations from the database to achieve the setting of the initial working parameters. The initial working parameters are equivalent to the average value set during normal clothing washing in historical data, and the average value corresponding to the corresponding fine classification is selected according to the situation of the current piece of clothing, and the average value of the historical data used later is the average value of all classifications or the data of a single large classification, so as to distinguish the difference between the execution and adjustment processing of the current washing and care command, and improve the personalized processing form of the washing and care robot for washing and care tasks.

[0037] The degree of dirtiness is divided into slight dirtiness, moderate dirtiness, and severe dirtiness. The initial working parameters set can be the following content.

[0038] Slight dirtiness: There are a small amount of stains on the surface of the clothing, mainly sweat stains, slight dust, or slight oil stains; characteristics: small stain area, light color, easy to clean. The initial working parameters include the following content, water temperature: cold water or warm water; water volume: appropriate; detergent dosage: less; washing time: short; washing mode: gentle mode.

[0039] Moderate dirtiness: There are more stains on the surface of the clothing, which may be dirt, food residues, or medium-degree oil stains; characteristics: larger stain area, darker color, requiring stronger cleaning power. The initial working parameters include the following content, water temperature: warm water or hot water; water volume: moderate; detergent dosage: moderate; washing time: medium; washing mode: standard mode.

[0040] Severe dirtiness: There are a large number of stains on the surface of the clothing, which may be severe dirt, oil stains, blood stains, or other stains that are difficult to remove; characteristics: large stain area, dark color, requiring very strong cleaning power. The initial working parameters include the following content, water temperature: hot water; water volume: more; detergent dosage: more; washing time: long; washing mode: strong mode.

[0041] The finally output washing and care instructions will include the initial working parameters of the recognized clothing and the content of the specific cleaning execution. For example, the initial working parameters set at this time may include: clothing weight, clothing category, degree of dirt, water temperature, detergent, water volume, washing mode, dehydration speed, dehydration time, drying temperature, drying time, and clothing temperature. The initial working parameters are set according to the parameters of these multiple stages.

[0042] In an embodiment of the present invention, a washing and care decision-making 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, determine the decision execution order of the washing and care tasks.

[0043] At this time, the washing and care tasks can be considered as the process of executing one part of the washing and care commands. For example, for the way of classifying and washing clothes, the clothes can be classified according to their differences, and each classified piece of clothing can be washed. The parameters set for each classified washing can be considered as one washing and care task. At the same time, the process of adjusting the parameters according to the differences of the clothes can also be regarded as one washing and care task; or the process of washing each group of clothes can also be considered as one washing and care task.

[0044] As Figure 3 shown, when setting priorities at this time, first divide the washing and care commands into washing and care tasks. For example, after generating the washing and care instructions, the user inputs a command through the mobile phone APP to stop immediately. The stop at this time can be considered as one washing and care task, and the user's request for cleaning the clothes will also be considered as a washing and care task.

[0045] Therefore, the way to obtain the priorities of the washing and care tasks can be to extract the stage execution order related to the working stages in the washing and care instructions. The stage execution order represents the working stage that needs to be carried out currently, corresponding to the order of the working stage during the execution of washing and care; obtain the washing and care units related to the washing and care tasks in the stage execution order, calculate the interference evaluation degree of the washing and care units under multiple working stages according to the number of clothes, clothing category, and task time in the washing and care units, and set the priorities of the washing and care tasks based on the interference evaluation degree; the washing and care unit represents a specific operation existing in the current washing and care task. For example, after the clothes have been washed and are being washed at this time, the number of times and time of this ongoing washing can be considered as one washing and care unit.

[0046] At this time, the interference evaluation 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 currently executing washing and care unit to the standard time, and the standard time is the average time value of the current washing and care unit of the same type; the execution weight is obtained based on the number of clothes and the clothing category. At this time, the weight values will be set in the database in advance according to the number of clothes and the clothing category, and the range of the weight value is from 0 to 1. For example, for 0 - 5 pieces, it is 0.1; for 6 - 10 pieces, it is 0.2; for 11 - 15 pieces, it is 0.3; for more than 16 pieces, it is 0.4; for T-shirts and underwear, it is 0.1; for shirts and trousers, it is 0.2; for coats and down jackets, it is 0.3; for special materials (such as silk and wool), it is 0.4. At this time, the execution weight represents the product sum of the weight values of the number of clothes and the clothing category; the task impact factor represents the potential interference of the current washing and care task on other tasks, and can be expressed as the ratio of the expected increased time after adjusting the initial working parameters 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 way to obtain the interference evaluation degree is to obtain the task time ratio corresponding to the task time, the execution weight corresponding to the number of clothes and the clothing category, and the task impact factor corresponding to the stage execution order, and calculate to obtain the interference evaluation degree.

[0048] The interference evaluation degree is expressed as: ; where represents the interference evaluation degree, represents the task time ratio, represents the execution weight, represents the task impact factor, represents the exponential constant.

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

[0050] The method of setting the priority of the washing and care task based on the interference evaluation degree is to sort all the washing and care tasks in sequence according to the calculated interference evaluation degree, set the priority of the washing and care task with the highest interference evaluation degree to the lowest, and finally process it, and set the priority of the washing and care task with the lowest interference evaluation degree to the highest.

[0051] Such as Figure 4As shown in the figure, the way to determine the decision execution order of the laundry and care tasks can be as follows: regarding all the laundry and care tasks as laundry and care nodes by using the shortest path method, connecting all the laundry and care nodes according to the dependency relationship between the laundry and care tasks first, setting the laundry and care node with the lowest interference evaluation degree as the initial node, calculating the shortest path between the initial node and the laundry and care nodes, and outputting the shortest path between the initial node and the laundry and care nodes as the decision execution order of the laundry and care tasks.

[0052] When calculating the shortest path between the initial node and the laundry and care nodes, use the task time corresponding to the laundry and care task as the distance value of the edge between the laundry and care nodes, and the interference evaluation degree as the weight of the edge. The final shortest path obtained requires the sum of the products of the distance value of the edge and the weight of the edge to be minimized.

[0053] In an embodiment of the present invention, the adaptation and adjustment module is used to set the cleaning level of the clothes according to the working stage of the laundry and care task execution, and based on the cleaning level, set the parameter adjustment range corresponding to the laundry and care task.

[0054] The cleaning level set at this time is a parameter set for the periodic reminder of the current laundry and care robot. The cleaning level is used to express the factors set for the current cleaning, and this parameter can be set by the cleaning frequency and the task time interval to describe whether the current cleaning is effective and the corresponding energy consumption situation of the cleaning, so as to adjust the range of the initial working parameters that the laundry and care task needs to adjust.

[0055] For example, some clothes of the user are often cleaned, and the cleaning frequency reaches once a day. At the same time, no stains or the like can be recognized on the surface of the clothes. Then the cleaning level of this piece of clothing can be set to a low level, indicating that the value of the initial working parameters of the cleaning can be slightly reduced at present. If some clothes are not cleaned for a long time, a larger value of the initial working parameters can be used for this piece of clothing, so as to adjust the current working parameters in real time, and set the cleaning level for the corresponding clothes according to the cleaning frequency and the task time interval of the clothes in each working stage.

[0056] For example, the cleaning level is expressed as obtaining the cleaning frequency, dirtiness degree and task time interval of the corresponding clothes in the working stage of the laundry and care task execution, and calculating to obtain the cleaning level.

[0057] The cleaning level is expressed as: ; where represents the cleaning level, represents the cleaning frequency, represents the dirtiness degree, represents the task time interval, represents the standard value of the cleaning frequency, represents the maximum value of the dirtiness degree, Represents the standard value of the task time interval, Represents the weight of the cleaning frequency, Represents the weight of the degree of dirt, Represents the exponential constant. For the standard values of the cleaning frequency and task time interval set at this time, it can be obtained by calculating the corresponding average value in the historical data. The purpose of quantifying using the maximum value of the degree of dirt is to determine the relative impact of the current dirt level of the clothes on the cleaning frequency, so as to identify the pattern of the user's clothes washing.

[0058] The cleaning level refers to an index in the control system that comprehensively considers the cleaning frequency, degree of dirt, and task time interval to quantitatively evaluate the overall performance and reliability of the system. This index can help users understand the performance of the system when executing control instructions and decide whether further optimization or maintenance is required; based on this obtained value, it can be judged whether the current cleaning degree is appropriate and the situation of subsequent processing and identification can be judged.

[0059] For the cleaning frequency, it can be obtained according to the frequency of identifying the current clothes when the current washing and care robot is washing clothes. For the degree of dirt, it is obtained by acquiring the initial working parameters at the working stage of the current washing and care task execution. For the task time interval, it represents the time interval between washing and care tasks at the current working node. The task time interval obtained at this time is used to judge the time for the current task to be executed under the condition of the washing and care task execution.

[0060] At the same time, the weight of the cleaning frequency will be set according to the proportion of the number of clothes in the current category of clothes being washed in all clothes, or it can also be set as the proportion of the corresponding category of clothes in the total number of clothes within a fixed period for the corresponding washing and care task. This fixed period is set to 1 week; the weight of the degree of dirt is set according to the probability of the corresponding degree of dirt occurring; at this time, the degree of dirt is set according to the area of the current stain.

[0061] The implementation method of setting the parameter adjustment range corresponding to the washing and care task can be to set the parameter adjustment range according to the grade coefficient and occurrence probability corresponding to the cleaning level.

[0062] The parameter adjustment range is expressed as: ; where, Represents the index value of the parameter adjustment range. Here, the index value represents the interval corresponding to the upper limit value and the lower limit value of the parameter adjustment range; Represents the index value of the working range of the initial working parameters. At this time, the expressed index value is the upper limit value and the lower limit value corresponding to the initial working range; Represents the exponential constant, Represents the grade coefficient of the cleaning level, Represents the occurrence probability of the cleaning level, An exponential factor representing the grading coefficient, where the exponential factor takes values between 0 and 1; for example, the cleaning grades are divided into five grades, such as extremely light cleaning, light cleaning, standard cleaning, heavy cleaning, and extremely heavy cleaning.

[0063] Applicable scenarios for extremely light cleaning: The clothes have almost no stains and only need simple cleaning, such as underwear and lightweight clothes for daily wear; Applicable scenarios for light cleaning: The clothes have slight stains and need moderate cleaning, such as T-shirts and socks for daily wear; Applicable scenarios for standard cleaning: The clothes have medium-level stains and need regular cleaning, such as shirts and pants for daily wear; Applicable scenarios for heavy cleaning: The clothes have heavy stains and need strong cleaning, such as clothes after outdoor activities and work uniforms; Applicable scenarios for extremely heavy cleaning: The clothes have severe stains and need particularly strong cleaning, such as clothes with serious oil stains and muddy work uniforms; The exponential factors set for these five grades can be represented as 0.2, 0.4, 0.5, 0.7, and 0.9 in sequence.

[0064] The execution formula for the above parameter adjustment range is calculated by calculating the index values of the corresponding working range obtained. At this time, the calculated parameter adjustment range is used to measure the maximum and minimum values of the working range of the initial working parameters. Under the settings of the current cleaning grade and exponential factor, the range of the final change of this maximum and minimum value represents the range value 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 an embodiment of the present invention, a control feedback module is used to obtain the parameters set by the user under the corresponding habits during the execution of the washing and care task, and obtain a habit feedback factor.

[0066] In this module, the parameters set by the user during clothing washing and care are mainly recorded, the parameters preferably set by the user in different situations are compared, and the evaluation of the user after the corresponding parameter setting is obtained to obtain the habit feedback factor at this time; for example, the habit feedback factor can be set by comparing the water temperature, rotation speed, detergent dosage, rinsing times, 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 setting the initial working parameters set by the current user as a parameter group. There are n elements in the parameter group. After normalizing the data in the parameter group, the habit feedback factor is calculated.

[0068] ; where represents the habit feedback factor It represents the index value of the i-th element in the parameter group. At this time, the elements in the parameter group all represent the values of initial working parameters, which are used to indicate the specific settings of the initial working parameters at this time. It represents the number of elements in the parameter group, and the value range of i is from 1 to n. It represents the smoothing factor, and the value of the smoothing factor ranges from 0 to 1. It represents the difference amount of the historical habit feedback factor corresponding to the i-th element. This difference amount can represent the average value of the differences between the habit feedback factors in the corresponding situations of the historical data when the value corresponding to the i-th element is adjusted; the obtained difference amount 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 a comprehensive habit feedback factor, so as to describe the differences between the currently set initial working parameters and the historical settings.

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

[0070] In an 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 habit feedback factor, and obtain the washing and care evaluation result based on the task execution degree and the adaptation interval.

[0071] This module is inclined to obtain the execution situation of the current robot for the washing and care task after the habit feedback factor is set. For example, it obtains the task execution degree of the current washing and care command and the adaptation interval corresponding to the task execution degree to quantify the execution situation of the robot for the washing and care command, so as to obtain an evaluation of the current washing and care command.

[0072] The task execution degree can be defined as a value between 0 and 1, which represents the quality and efficiency of task completion: the adaptation interval defines the parameter adjustment range under different task execution degrees; therefore, the adaptation interval is used to measure the content of the parameter adjustment range and verify whether the current initial working parameters can use the values corresponding to the parameter adjustment range. The task execution degree represents the completion situation of the current washing and care task after being set according to the current habit feedback factor under the condition of determining the execution order, so as to obtain the execution situation of the washing and care command; combining the task execution degree and the adaptation interval to complete the overall real-time evaluation, and timely detecting the working situation of the current washing and care robot to prevent abnormal set parameters from damaging 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 laundry and washing task. The cleaning effect score is obtained from the score set by the user after the clothing laundry and washing is completed. The energy consumption score is the ratio of the consumed power to the maximum consumed power. The task time score is the ratio of the time taken to complete the laundry and washing task to the maximum allowed time to complete the laundry and washing task; the task execution degree is calculated.

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

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

[0076] After the laundry and washing task is completed, the implementation method of obtaining the laundry and washing evaluation result based on the task execution degree and the adaptation interval is expressed as: comparing the adaptation interval corresponding to the task execution degree with the parameter adjustment range, sequentially comparing the upper and lower limit values of the adaptation interval and the parameter adjustment range, and calculating the current interval difference value. The interval difference value is the sum of the differences between the adaptation interval and the upper and lower limit values of the parameter adjustment range.

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

[0078] At this time, the first threshold is expressed as 0.1 times the range value of the adaptation interval of the current task execution degree, and the second threshold is expressed as 0.3 times the range value of the adaptation interval, to judge whether the adjusted parameter adjustment range exceeds the normal processing level and prevent the situation of abnormal numerical setting of the laundry and washing robot.

[0079] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention, and still be 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 decision execution order of the washing and care tasks is implemented by treating all washing and care tasks as washing and care nodes, connecting all washing and care nodes according to the dependency relationship between washing and care tasks, and setting the washing and care node with the lowest interference assessment value as the initial node; 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; A 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; 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 energy consumption score, represents the weight of the task time score; 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 work of the current washing and care robot is suspended; 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, and obtaining classification information of the clothes to be washed; 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.

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: Based on the classification information of the laundry to be washed, initial working parameters are set for the laundry 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 is 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, and calculating the interference assessment degree of the washing and care units under multiple working stages according to the number of clothes, clothing category, 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 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 task.

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.

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