Cleaning equipment control method, cleaning equipment and cleaning equipment control device

Abstract

The invention relates to a cleaning equipment control method, cleaning equipment and a cleaning equipment control device. The cleaning equipment comprises an ultrasonic transceiving device, an image acquisition device, an execution mechanism and a cleaning device, and the method comprises the steps that in response to a partition cleaning instruction, the image acquisition device is controlled to acquire image data of a to-be-cleaned object, and the ultrasonic transceiving device is controlled to transmit ultrasonic waves to the to-be-cleaned object; acquiring image data and ultrasonic reflection data of the to-be-cleaned article, determining the dirty degree of the to-be-cleaned article based on the image data and the ultrasonic reflection data, and determining a cleaning area matched with the dirty degree according to the dirty degree of the to-be-cleaned article, and the execution mechanism is controlled to place the to-be-cleaned article in a cleaning area matched with the dirt degree, and the cleaning device is controlled to execute a preset partition cleaning strategy until the ultrasonic reflection data of the to-be-cleaned article represents that the surface of the to-be-cleaned article is free of dirt. By adopting the method, the cleaning quality can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of article cleaning, and in particular to a cleaning equipment control method, cleaning equipment, a cleaning equipment control device, a computer device, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the development of technology, cooking utensils are becoming more and more diversified and more intelligent. The emergence of cleaning equipment such as dishwashers has brought more convenience to people's lives, and more and more people are starting to use dishwashers and other cleaning equipment.

[0003] During use, traditional cleaning equipment often requires users to place the items to be cleaned reasonably. Moreover, due to the different levels of dirtiness of the items to be cleaned, in order to ensure that the items with the highest dirtiness are cleaned thoroughly, the most powerful cleaning program is generally selected, which prolongs the cleaning time.

[0004] However, in order to ensure the cleaning effect, the above-mentioned traditional cleaning equipment requires the user to start a strong cleaning program, which easily wastes energy and causes wear and tear on the items to be cleaned with a low degree of dirtiness. In other words, the cleaning quality of the traditional cleaning equipment is low. Summary of the Invention

[0005] Based on this, it is necessary to provide a cleaning equipment control method, cleaning equipment, cleaning equipment control device, computer equipment, computer-readable storage medium and computer program product that can improve cleaning quality in response to the above technical problems.

[0006] In a first aspect, the present application provides a method for controlling a cleaning device, wherein the cleaning device includes an ultrasonic transceiver, an image acquisition device, an actuator, and a cleaning device, including:

[0007] In response to the partition cleaning instruction, controlling the image acquisition device to acquire image data of the items to be cleaned, and controlling the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, to obtain the image data and ultrasonic reflection data of the items to be cleaned;

[0008] determining the degree of contamination of the item to be cleaned based on the image data and the ultrasonic reflection data;

[0009] Determining a cleaning area that matches the degree of dirtiness of the items to be cleaned according to the degree of dirtiness of the items to be cleaned, and controlling the actuator to place the items to be cleaned in the cleaning area that matches the degree of dirtiness;

[0010] The cleaning device is controlled to execute a preset zoned cleaning strategy until ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned.

[0011] In a second aspect, the present application further provides a cleaning device, comprising a control module, and a cleaning device, an image acquisition device, an ultrasonic transceiver, and an actuator connected to the control module, wherein the image acquisition device, the ultrasonic transceiver, and the actuator are all disposed in the cleaning device;

[0012] The image acquisition device is configured to acquire image data of the object to be cleaned in response to the image acquisition signal sent by the control module;

[0013] The ultrasonic transceiver is configured to transmit ultrasonic waves to the items to be cleaned in response to the ultrasonic transmission signal sent by the control module, and receive and transmit ultrasonic reflection data of the items to be cleaned to the control module;

[0014] The execution mechanism is configured to place the items to be cleaned in a cleaning area that matches the degree of dirtiness of the items to be cleaned in response to the execution signal sent by the control module;

[0015] The cleaning device is configured to execute a preset partition cleaning strategy in response to a cleaning signal sent by the control module;

[0016] The control module is configured to clean the items to be cleaned based on the cleaning equipment control method in the above embodiment.

[0017] In a third aspect, the present application further provides a cleaning equipment control device, wherein the cleaning equipment includes an ultrasonic transceiver, an image acquisition device, an actuator, and a cleaning device, and the cleaning equipment control device includes:

[0018] a data acquisition module, configured to control the image acquisition device to acquire image data of the items to be cleaned, and to control the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, in response to a partition cleaning instruction, to acquire the image data and ultrasonic reflection data of the items to be cleaned;

[0019] a soiling degree determination module, configured to determine the soiling degree of the article to be cleaned based on the image data and the ultrasonic reflection data;

[0020] An article placement module is used to determine a cleaning area that matches the degree of dirtiness of the articles to be cleaned, and to control the actuator to place the articles to be cleaned in the cleaning area that matches the degree of dirtiness;

[0021] The cleaning module is used to control the cleaning device to execute a preset zone cleaning strategy until the ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned.

[0022] In a fourth aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned embodiment of the cleaning device control method when executing the computer program.

[0023] In a fifth aspect, the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned embodiment of the cleaning equipment control method are implemented.

[0024] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps in the above-mentioned embodiment of the cleaning equipment control method.

[0025] The above-mentioned cleaning equipment control method, cleaning equipment, cleaning equipment control device, computer equipment, computer-readable storage medium and computer program product, in response to the partition cleaning instruction, control the image acquisition device to acquire image data of the items to be cleaned, control the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, obtain image data and ultrasonic reflection data of the items to be cleaned, and then determine the degree of contamination of the items to be cleaned based on the image data and ultrasonic reflection data. It can utilize the characteristics of ultrasonic waves propagating and reflecting in different media, and combine the image data to preliminarily perceive the contamination of the surface of the items to be cleaned from multiple dimensions, and can more accurately quantify the degree of contamination of the items to be cleaned, compared with the traditional method of relying solely on the user's subjective judgment of the items to be cleaned. The degree of contamination of the items is more accurate. Furthermore, according to the degree of contamination of the items to be cleaned, a cleaning area that matches the degree of contamination is determined, and the actuator is controlled to place the items to be cleaned in the cleaning area that matches the degree of contamination. In this way, items to be cleaned with similar degrees of contamination can be classified and concentrated in the same area, and the cleaning device is controlled to execute a preset zoning cleaning strategy until the ultrasonic reflection data of the items to be cleaned indicates that there is no contaminant on the surface of the items to be cleaned. In this way, the items to be cleaned can be cleaned in a targeted manner, which can not only ensure that the items to be cleaned with high contamination levels are cleaned, but also reduce energy waste and wear of the items to be cleaned caused by excessive cleaning of the items to be cleaned with low contamination levels, thereby effectively improving the cleaning quality of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is an application environment diagram of a cleaning equipment control method in one embodiment;

[0028] Figure 2 Schematic diagram of a flow chart of a cleaning equipment control method in one embodiment;

[0029] Figure 3 A schematic flow chart of a cleaning device control method according to another embodiment;

[0030] Figure 4 Schematic diagram of the washing and rinsing steps in one embodiment;

[0031] Figure 5 A schematic flow chart of a cleaning equipment control method in a detailed embodiment;

[0032] Figure 6 A structural block diagram of a cleaning device in one embodiment;

[0033] Figure 7 It is a structural block diagram of a cleaning device in another embodiment;

[0034] Figure 8 A front view of a cleaning device in one embodiment;

[0035] Figure 9 This is a structural block diagram of a cleaning equipment control device in one embodiment;

[0036] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0038] The cleaning equipment control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the cleaning device 100 includes a control module 110, a cleaning device 120 connected to the control module 110, an image acquisition device 130, an ultrasonic transceiver 140, and an actuator 150. The image acquisition device 130, the ultrasonic transceiver 140, and the actuator 150 are all disposed on the cleaning device 120.

[0039] Specifically, a user can send a partition cleaning instruction to the control module 110 of the cleaning device 100 through the terminal 200. In response to the partition cleaning instruction, the control module 110 controls the image acquisition device 130 to collect image data of the items to be cleaned, controls the ultrasonic transceiver 140 to transmit ultrasonic waves to the items to be cleaned, obtains image data and ultrasonic reflection data of the items to be cleaned, and then determines the degree of contamination of the items to be cleaned based on the image data and ultrasonic reflection data. Furthermore, the control module 110 determines a cleaning area that matches the degree of contamination of the items to be cleaned, and controls the actuator 150 to place the items to be cleaned in the cleaning area that matches the degree of contamination. Finally, the control module 110 controls the cleaning device 120 to execute the preset partition cleaning strategy until the ultrasonic reflection data of the items to be cleaned indicates that there is no contaminant on the surface of the items to be cleaned.

[0040] The terminal 200 can communicate with the control module 110 through a network. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The control module 110 can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0041] In an exemplary embodiment, Figure 2 As shown, a control method for a cleaning device is provided, wherein the cleaning device includes an ultrasonic transceiver, an image acquisition device, an actuator and a cleaning device. Figure 1 The control module 120 in FIG. 1 is taken as an example to illustrate, including the following steps:

[0042] S100, in response to a partition cleaning instruction, controlling an image acquisition device to acquire image data of the objects to be cleaned, and controlling an ultrasonic transceiver to transmit ultrasonic waves to the objects to be cleaned, to obtain image data and ultrasonic reflection data of the objects to be cleaned.

[0043] Among them, the cleaning device can be a device for washing tableware, washing fruits and vegetables, washing seafood, etc., such as a dishwasher. The partition cleaning instruction is a command signal triggered by the user to start the partition cleaning process. The user can send a partition cleaning instruction to the cleaning device through a mobile phone terminal connected to the cleaning device to trigger the partition cleaning function. The image acquisition device includes but is not limited to a camera, an image sensor, etc., which can collect image data such as pictures and videos of the items to be cleaned. The ultrasonic transceiver device includes an ultrasonic transmitter and an ultrasonic receiver, which can emit ultrasonic waves of a specific frequency and receive ultrasonic signals reflected back by the items to be cleaned.

[0044] For example, when the cleaning device receives a zone cleaning instruction, the control module sends control signals to an image acquisition device and an ultrasonic transceiver, respectively. The image acquisition device and ultrasonic transceiver can be mounted on the door of the cleaning device and fixed in a 360-degree rotating scanning format to comprehensively capture image data and ultrasonic reflection data of the items to be cleaned placed in the cleaning device by the user. The image acquisition device starts working, using optical imaging principles to capture image data of the surface of the items to be cleaned and sends it to the control module. At the same time, the ultrasonic transceiver transmits ultrasonic waves toward the items to be cleaned. When the ultrasonic waves encounter different media (such as dirt and the item itself) during propagation, they are reflected. The ultrasonic receiver receives this ultrasonic reflection data and sends it to the control module.

[0045] S200 , determining the degree of contamination of the object to be cleaned based on the image data and the ultrasonic reflection data.

[0046] The degree of soiling is an indicator used to quantify the amount and distribution of dirt, impurities and other pollutants on the items to be cleaned, and can be expressed in different levels (such as light, moderate, and heavy) or numerical ranges.

[0047] Following the above steps, the control module receives the image data collected by the image acquisition device and the ultrasonic reflection data obtained by the ultrasonic transceiver. With respect to the image data, a specific image processing algorithm can be used to identify dirty areas in the image data and calculate characteristic parameters such as the area and shape of the dirty areas. For example, the image data can be preprocessed by denoising and grayscale to improve the accuracy of subsequent analysis, and then the color, texture and other features in the processed image data can be extracted. For example, the surface of a dirty item may show more dark tones or specific colors. An edge detection algorithm can also be used to identify the outline of the item to be cleaned and further analyze the detailed changes on the surface. Finally, a machine learning algorithm (such as a convolutional neural network (CNN)) can be used to train a model to determine the degree of dirtiness of the item to be cleaned based on the extracted features. For example, the degree of dirtiness of the item to be cleaned can be classified as heavy, moderate, or light by setting a threshold.

[0048] For ultrasonic reflection data, the attenuation and propagation time of the received ultrasonic reflection data can be analyzed. This is because on the surface of a clean object, the ultrasonic signal will be reflected back relatively completely, while on the surface of a stained object, the ultrasonic signal may be absorbed or scattered, resulting in a weakening of the ultrasonic reflection data. Then, by comparing the difference between the ultrasonic emission data and the ultrasonic reflection data (such as the intensity change), the degree of contamination of the item to be cleaned can be inferred. Generally, the more severe the signal attenuation, the higher the degree of contamination of the item to be cleaned. Furthermore, the analysis results of the image data and the ultrasonic reflection data can be combined in a weighted or corrected manner. For example, the analysis results of the ultrasonic reflection data can be used to correct the analysis results based on the image data, and finally the degree of contamination of the item to be cleaned can be determined.

[0049] S300 , determining a cleaning area that matches the degree of dirtiness of the items to be cleaned according to the degree of dirtiness of the items to be cleaned, and controlling an actuator to place the items to be cleaned in the cleaning area that matches the degree of dirtiness.

[0050] The cleaning area is a pre-defined area designed to clean items of varying degrees of soiling. Each cleaning area has unique cleaning parameters and strategies. The actuator, which can consist of a motor, transmission, and other components, is responsible for moving and placing items to a designated cleaning area. For example, the actuator could be a retractable mechanical gripper installed within the cleaning device, capable of grabbing and moving items to a specific cleaning area.

[0051] For example, the control module searches for a matching cleaning area based on the degree of dirtiness of the items to be cleaned from a pre-set table of corresponding cleaning areas and dirtiness levels. For example, light dirtiness corresponds to cleaning area A (light cleaning area), moderate dirtiness corresponds to cleaning area B (medium cleaning area), and heavy dirtiness corresponds to cleaning area C (heavy cleaning area). The control module then sends a control instruction to the actuator, which drives a transmission device, such as a mechanical claw, through a motor to accurately move and place the items to be cleaned into the corresponding cleaning area. In addition, the control module can also determine the type of items to be cleaned based on image data. For example, when the cleaning device is a dishwasher, the user puts all the tableware into the dishwasher at once, adds dishwashing powder to the dishwashing powder box, turns on the dishwasher, and selects "zone cleaning" on the screen. The control module can classify the tableware placed in the dishwasher into plates, bowls, cups, chopsticks, etc. based on the image data. While controlling the actuator to place the items to be cleaned into the cleaning area that matches the degree of dirtiness, it can also place the same type of tableware together in each cleaning area. For example, the control module identifies the type and soiling status of the tableware, identifying that the tableware includes 10 plates, 5 bowls, 5 cups, and 5 pairs of chopsticks. It then further determines the degree of soiling of each tableware based on the ultrasonic reflection data, such as 6 plates and 2 bowls are heavily soiled, 4 cups and 1 pair of chopsticks are lightly soiled, and 3 bowls, 4 plates, and 4 pairs of chopsticks are moderately soiled. The control module then sends a control signal to the robotic gripper, which, upon receiving the control signal, begins to place the tableware in different areas. For example, in the heavily cleaned area, the robotic gripper places 6 heavily soiled plates and 2 bowls, placing the plates and bowls together, reducing the inconvenience of cleaning caused by the staggered placement of plates and bowls.

[0052] S400: Control the cleaning device to execute a preset zoned cleaning strategy until the ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned.

[0053] The cleaning device can include water outlets, nozzles, brushes, and other cleaning components to clean items. Zoned cleaning strategies are developed for different cleaning areas and include parameters such as wash time and intensity to achieve precise and targeted cleaning results.

[0054] After the items to be cleaned are placed in a specific cleaning area, the control module calls the preset partition cleaning strategy and sends a control signal to the cleaning device. The cleaning device starts working according to the preset partition cleaning strategy. For example, in the heavy cleaning area where heavily soiled items are placed, a longer washing time and a higher washing intensity can be used. During the cleaning process, the ultrasonic transceiver will continuously collect ultrasonic reflection data of the items to be cleaned and transmit it to the control module. The control module analyzes the ultrasonic reflection data in real time. When the ultrasonic reflection data shows that the echo characteristics of the surface of the item to be cleaned are consistent with the echo characteristics in the clean state or are within the preset error range, it is determined that there is no dirt on the surface of the item, and the control module can control the cleaning device to stop working.

[0055] The above-mentioned cleaning equipment control method, in response to the partition cleaning instruction, controls the image acquisition device to collect image data of the items to be cleaned, controls the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, obtains image data and ultrasonic reflection data of the items to be cleaned, and then determines the degree of contamination of the items to be cleaned based on the image data and ultrasonic reflection data. It can utilize the characteristics of ultrasonic waves propagating and reflecting in different media, and combine the image data to preliminarily perceive the contamination of the surface of the items to be cleaned from multiple dimensions, and can more accurately quantify the degree of contamination of the items to be cleaned. Compared with the traditional method of relying solely on the user's subjective judgment of the degree of contamination of the items to be cleaned, it is more accurate. Furthermore, according to The degree of dirtiness of the items to be cleaned is determined, and the cleaning area that matches the degree of dirtiness is determined. The actuator is controlled to place the items to be cleaned in the cleaning area that matches the degree of dirtiness. In this way, items to be cleaned with similar degrees of dirtiness can be classified and concentrated in the same area, and the cleaning device is controlled to execute the preset zoning cleaning strategy until the ultrasonic reflection data of the items to be cleaned indicates that there is no dirt on the surface of the items to be cleaned. In this way, the items to be cleaned can be cleaned in a targeted manner, which can not only clean the items to be cleaned with high dirtiness, but also reduce the energy waste and wear of the items to be cleaned caused by excessive cleaning of the items to be cleaned with low dirtiness, thereby effectively improving the cleaning quality of the cleaning equipment.

[0056] In an exemplary embodiment, the cleaning device further comprises a laser transceiver device, such as Figure 3 As shown, after S400, the method further includes:

[0057] S510, controlling the cleaning device to execute a preset rinsing strategy.

[0058] S520, controlling the laser transceiver to emit laser light to the object to be cleaned, acquiring laser scattering data sent by the laser transceiver, and controlling the image acquisition device to acquire image data of the object to be cleaned again.

[0059] S530 , based on the laser scattering data and the re-collected image data, detecting whether there is chemical residue on the item to be cleaned.

[0060] S540 , when it is detected that the residual amount of the chemical substance on the item to be cleaned is lower than a preset residual amount threshold, the cleaning device is controlled to stop executing the preset rinsing strategy.

[0061] Among them, the rinsing strategy is a personalized rinsing plan for different cleaning areas, which includes a combination of parameters such as rinsing water flow, rinsing time, number of rinses, and water flow pressure, and is used to efficiently remove residual chemicals during the cleaning process. The laser transceiver consists of a laser transmitter and a laser receiver, which can emit a laser beam of a specific wavelength and receive laser scattering data after being scattered by the surface of the item to be cleaned or residual substances. During the cleaning process, chemical substances such as cleaning agents and dirt decomposition products may still be attached to the surface of the item to be cleaned or in the internal pores. The laser scattering data is the data captured by the laser receiver after the laser interacts with the surface of the item to be cleaned and the residual substances, and contains information such as scattered light intensity, scattering angle, and scattering spectrum. It is used to analyze the composition, concentration, and distribution of chemical substances remaining on the items.

[0062] Specifically, the control module can send a control signal to the cleaning device to drive the regulating pump in the cleaning device to adjust the water flow pressure and the water outlet to adjust the water outlet angle and flow rate to execute the preset rinsing strategy. For example, if the item to be cleaned has been in a heavily contaminated cleaning area, a high-flow, multiple-rinsing strategy can be adopted. If it is in a lightly contaminated cleaning area, a low-flow, single-rinsing strategy can be adopted. During the rinsing process. The control module sends a corresponding control signal to the laser transceiver, and the laser transmitter emits a laser beam to illuminate the surface of the item to be cleaned. When the laser encounters residual chemicals or tiny particles, scattering occurs. The laser receiver captures these scattered lights, generates laser scattering data and transmits it to the control module. At the same time, the control module can control the image acquisition device again to capture images of the rinsed items to be cleaned, obtain new image data and transmit it to the control module.

[0063] Furthermore, the control module performs a collaborative analysis on the received laser scattering data and the re-collected image data. For the laser scattering data, Raman spectroscopy analysis can be performed on the laser scattering data. By comparing the analysis results with the Raman spectroscopy database of known chemical substances, it is determined whether specific chemical substances are present and their concentrations. For the image data, image recognition algorithms (such as convolutional neural networks) can also be used to detect whether there are abnormal colors, spots, and other features on the surface of the object that may indicate residues. Image data is mainly used to evaluate the physical cleanliness of the surface of the object, while laser scattering data is mainly used to detect whether there are chemical residues on the surface of the object. The two analysis results are fused and decided. For example, based on the two analysis results, if the laser scattering data indicates that no chemical substances are detected on the surface of the object and the image data indicates that the surface of the object is clean, it is determined that there are no chemical residues on the object; otherwise, it is determined that there are residues. When the control module determines that there are no chemical residues on the object to be cleaned, it can send a stop command to the cleaning device, and the cleaning device stops rinsing, such as closing the water outlet and the nozzle. The two analysis results can also be combined to calculate the residual amount of chemical substances on the items to be cleaned. When the control module detects that the residual amount of chemical substances on the items to be cleaned is lower than a preset residual amount threshold, a stop command can be sent to the cleaning device, and the cleaning device stops rinsing.

[0064] In this embodiment, the limitations of a single detection method are overcome through multimodal data fusion analysis of image data and light scattering data. For example, it may be difficult to detect colorless and transparent chemical residues relying solely on image data, while laser scattering detection can make up for this limitation. Conversely, laser scattering detection may have difficulty locating large areas of residues with low concentrations, while image analysis can effectively identify them. This multimodal data fusion analysis effectively improves the accuracy and comprehensiveness of chemical residue detection, thereby enabling the rinsing operation to be performed at the appropriate actual stop, thereby improving the cleaning quality and work efficiency of the cleaning equipment.

[0065] In an exemplary embodiment, Figure 4 As shown, S530 includes:

[0066] S531 , extracting color feature data and texture feature data of the object to be cleaned from the re-collected image data.

[0067] S532: Extract Raman scattering spectrum characteristic data of the object to be cleaned from the laser scattering data.

[0068] S533 , based on the color feature data, the texture feature data, and the Raman scattering spectrum feature data, detecting whether there are chemical residues on the item to be cleaned.

[0069] Among them, color feature data is used to characterize the surface color information of the items to be cleaned. When there are still stains remaining on the items, specific colors may appear on the surface of the items, such as brown, yellow, etc. Texture feature data is used to characterize the microscopic geometric structure of the surface of the object, and is used to identify changes in surface roughness or crystal lines caused by chemical residues. In addition, other visual feature data besides color feature data and texture feature data can also be extracted from the image data to facilitate subsequent analysis. Raman scattering spectrum is an inelastic scattering spectrum generated by the interaction between laser and material molecules. Different chemical substances have unique Raman characteristic peaks, which can be used to identify the composition of residual substances. Raman scattering spectrum characteristic data includes but is not limited to characteristic peak position, peak intensity, peak width and other parameters extracted from the Raman spectrum, which are used to compare with the standard spectrum database to identify whether there are chemical substances on the surface of the object.

[0070] For example, the control module can perform pre-processing such as noise reduction and grayscale conversion on the received image data, and extract the color feature data of the items to be cleaned from the pre-processed image data through a specific color space conversion algorithm. At the same time, a specific texture analysis algorithm can be used to perform sliding window scanning on the pre-processed image data, calculate the texture feature parameters of each local area, and form a texture feature data of the items to be cleaned. For laser scattering data, the collected laser scattering data can be spectroscopically processed by a spectrometer to form a wavelength-intensity distribution curve. The wavelength-intensity distribution curve can also be pre-processed by baseline correction, smoothing and denoising, and then a specific peak detection algorithm can be used to identify the characteristic peak position of the distribution curve, calculate the half-height width and integrated intensity of each peak, and generate Raman scattering spectrum feature data.

[0071] Furthermore, the color feature data, texture feature data, and Raman scattering spectrum feature data are correlated and analyzed, and the surface color, texture, and Raman scattering spectrum of the item are combined to comprehensively determine whether there are chemical residues on the item to be cleaned. For example, a multi-feature fusion model is trained using a convolutional neural network (CNN). After inputting the three types of feature data into the multi-feature fusion model, the model outputs a chemical residue probability value.

[0072] In this embodiment, color features can capture visible chemical residues on the surface of an object, such as dyes and rust. Texture features can capture surface structural changes caused by microscopic residues on the surface of an object, such as crystalline salt deposition. Raman spectroscopy can achieve high-precision identification of chemical substances from a microscopic perspective. Detecting the presence of chemical substances on the surface of an object based on the above-mentioned multimodal features overcomes the limitations of a single detection method and improves the detection accuracy and efficiency of residual substances.

[0073] In an exemplary embodiment, Figure 4 As shown, S400 includes:

[0074] S410 , based on a preset first washing time and a preset first washing intensity, controlling the water outlet of the heavy washing area to discharge water until the items to be washed in the heavy washing area are changed from heavily soiled to moderately soiled.

[0075] S420 , based on a preset second washing time and a preset second washing intensity, controlling the water outlets of the heavy washing area and the medium washing area to discharge water until the items to be washed in the heavy washing area and the medium washing area change from moderately soiled to lightly soiled.

[0076] S430, based on a preset third washing time and a preset third washing intensity, controlling the water outlets of the heavy washing area, the medium washing area, and the light washing area to discharge water until the ultrasonic reflection data of the items to be washed indicates that there is no dirt on the surface of the items to be washed.

[0077] The degree of soiling includes descending levels of heavy soiling, moderate soiling, and light soiling; the cleaning areas include heavy cleaning areas, moderate cleaning areas, and light cleaning areas; and the preset zoned cleaning strategies include multiple cleaning strategies determined based on different washing times and washing intensities: the first washing time is greater than the second washing time, the second washing time is greater than the third washing time, the first washing intensity is greater than the second washing intensity, and the second washing intensity is greater than the third washing intensity. It is understood that heavily soiled items to be cleaned are placed in the heavy cleaning area, moderately soiled items to be cleaned are placed in the moderate cleaning area, and lightly soiled items to be cleaned are placed in the light cleaning area.

[0078] The preset first washing time and the preset first washing intensity are cleaning parameters set for heavily soiled items. The preset first washing intensity includes but is not limited to a combination of parameters such as water flow pressure, detergent concentration, and water flow impact frequency. The water outlet of the heavy cleaning area can be a honeycomb water outlet. The control module can first adjust the flow control valve and pressure pump of the water outlet of the heavy cleaning area so that it discharges water according to the first washing intensity, and at the same time start the timer to start timing the first washing time. During the cleaning process, the ultrasonic transceiver collects the ultrasonic reflection data of the items to be cleaned in real time and transmits it to the control module. The control module continuously analyzes the ultrasonic reflection data. When the ultrasonic reflection data shows that the degree of contamination of the items to be cleaned has reached moderate contamination, the water outlet of the heavy cleaning area can be controlled to stop discharging water. It should be noted that the first wash time is adjustable. If the water outlet duration has reached the first wash time, but the items to be washed have not yet reached moderate soiling, the first wash time can be extended until the items to be washed reach moderate soiling. If the water outlet duration has not yet reached the first wash time, but the items to be washed have reached moderate soiling, the water outlet in the heavy cleaning area can be immediately controlled to stop discharging water, or the water outlet can continue to be controlled to discharge water until the water outlet duration has not yet reached the first wash time. It is understandable that the second and third wash times are similar to the first wash time and will not be described in detail below.

[0079] The preset second washing time and the preset second washing intensity are cleaning parameters set for moderately soiled items. The second washing time is shortened compared to the first washing time, and the preset second washing intensity reduces the water flow pressure, detergent concentration and other parameter values ​​based on the first washing intensity. After the items to be cleaned in the heavy cleaning area change from being heavily soiled to being moderately soiled, the water outlet of the moderate cleaning area and the water outlet of the heavy cleaning area work together so that the water outlets of the two areas discharge water at the second washing intensity at the same time, and a new timer is started to start counting the second washing time. During the cleaning process, the ultrasonic transceiver continues to collect ultrasonic reflection data of the items to be cleaned in the two areas, and the control module analyzes the ultrasonic reflection data in real time. When the ultrasonic reflection data indicates that the degree of soiling of the items reaches light soiling, the control module controls the water outlets of the two areas to stop discharging water.

[0080] The preset third washing time and the preset third washing intensity are cleaning parameters set for lightly soiled items. The third washing time is shortened compared to the second washing time. The preset third washing intensity reduces the water flow pressure, detergent concentration and other parameter values ​​based on the second washing intensity. The items are mainly rinsed with a relatively low-pressure water flow and a small amount of detergent (or clean water), which plays the role of rinsing and surface cleaning. When the items reach a lightly soiled state, the control module controls the water outlets of the heavy cleaning area, the medium cleaning area and the light cleaning area to discharge water at the third washing intensity at the same time, and starts the timer to start timing the third washing time. During the cleaning process, the ultrasonic transceiver continuously collects ultrasonic reflection data of the items to be cleaned, and the control module analyzes the ultrasonic reflection data in real time. When the analysis results show that the ultrasonic reflection data on the surface of the items to be cleaned is consistent with the standard data in the non-contaminated state, it can be determined that there is no contaminant on the surface of the item. The control module controls the water outlets of the three areas to stop discharging water, completing the entire cleaning process.

[0081] In this embodiment, by gradually reducing the washing intensity and washing time, a step-by-step precise cleaning from heavy dirt to light dirt is achieved, so that the items to be cleaned can be properly cleaned at different stages, and the cleaning intensity is matched with the degree of dirtiness of the items to be cleaned as much as possible. While improving the cleaning efficiency, it can also reduce the over-cleaning and under-cleaning of the items, effectively improving the cleaning quality.

[0082] In an exemplary embodiment, S200 includes: determining the initial soiling degree of the items to be cleaned based on the image data, and correcting the initial soiling degree of the items to be cleaned based on the ultrasonic reflection data to determine the soiling degree of the items to be cleaned.

[0083] The initial soiling level is a preliminary assessment of the soiling of the item being cleaned based solely on image data. It quantifies the visible soiling on the item's surface and serves as the basis for subsequent corrections. Because ultrasonic reflection data is less susceptible to water on the item's surface than image data, it can be used to adjust the initial soiling level based solely on image data, achieving a more accurate soiling level assessment.

[0084] For example, after receiving image data from the image acquisition device, the control module first pre-processes the image, including noise reduction and contrast enhancement, to improve image quality. It then applies specific image processing algorithms, such as threshold segmentation, to identify dirty areas, dirty areas, and dirt distribution within the items to be cleaned, thereby determining the initial degree of dirtiness. For example, if the dirty area accounts for more than 50%, it is considered severely dirty; if it accounts for between 20% and 50%, it is considered moderately dirty; and if it accounts for less than 20%, it is considered lightly dirty.

[0085] Furthermore, the ultrasonic reflection data collected by the ultrasonic transceiver contains information about the surface and internal structure of the item to be cleaned. The control module can analyze the ultrasonic reflection data and, by calculating parameters such as the ultrasonic propagation time and reflection intensity, determine whether the item contains contaminants that are not easily identified by image data, as well as more detailed contamination information such as the thickness and density of the surface contaminants. For example, if the ultrasonic propagation time in a certain area is significantly prolonged and the reflection intensity is weakened, it indicates that the area may contain a thicker layer of contaminants or internal defects such as holes and cracks that allow contaminants to penetrate. Based on these analysis results, the previously determined initial contamination level can be corrected. If the initial judgment is light contamination, but the ultrasonic reflection data indicates the presence of a large amount of contaminants inside the item (for example, the inside of a bowl, which was not captured during the image acquisition process), the contamination level can be corrected to moderate or heavy contamination. After correcting the initial contamination level, the control module finally determines the contamination level of the item to be cleaned, providing an accurate basis for subsequent determination of the cleaning area and cleaning strategy.

[0086] In this embodiment, image data can intuitively reflect the visible dirt on the surface of the object, but it is difficult to detect the dirt hidden under the surface. Ultrasonic reflection data can make up for this deficiency. By analyzing the ultrasonic signal, the dirt condition inside the object can be detected. The combination of the two realizes comprehensive dirt level detection from the surface to the inside, breaking through the limitations of single data judgment, and greatly improving the accuracy of judging the dirt level of the items to be cleaned, thereby optimizing the allocation of cleaning resources and improving cleaning efficiency and cleaning quality.

[0087] In order to make a clearer description of the cleaning equipment control method provided by this application, a detailed embodiment and the attached Figure 5 To explain, a detailed embodiment includes the following steps:

[0088] S501 , in response to a partition cleaning instruction, controlling an image acquisition device to acquire image data of the objects to be cleaned, and controlling an ultrasonic transceiver to transmit ultrasonic waves to the objects to be cleaned, to obtain image data and ultrasonic reflection data of the objects to be cleaned.

[0089] S502: Determine the degree of dirtiness of the object to be cleaned based on the image data and the ultrasonic reflection data.

[0090] S503, based on the image data, determine the initial contamination level of the items to be cleaned, based on the ultrasonic reflection data, correct the initial contamination level of the items to be cleaned, determine the contamination level of the items to be cleaned, and control the actuator to place the items to be cleaned in a cleaning area that matches the contamination level.

[0091] S504 , based on a preset first washing time and a preset first washing intensity, controlling the water outlet of the heavy washing area to discharge water until the items to be washed in the heavy washing area are changed from heavily soiled to moderately soiled.

[0092] S505 , based on a preset second washing time and a preset second washing intensity, controlling the water outlets of the heavy washing area and the medium washing area to discharge water until the items to be washed in the heavy washing area and the medium washing area change from moderately soiled to lightly soiled.

[0093] S506 , based on the preset third washing time and the preset third washing intensity, controlling the water outlets of the heavy washing area, the medium washing area, and the light washing area to discharge water until the ultrasonic reflection data of the items to be washed indicates that there is no dirt on the surface of the items to be washed.

[0094] S507, controlling the cleaning device to execute a preset rinsing strategy, controlling the laser transceiver to emit laser light to the items to be cleaned, acquiring laser scattering data sent by the laser transceiver, and controlling the image acquisition device to acquire image data of the items to be cleaned again.

[0095] S508 , extracting color feature data and texture feature data of the object to be cleaned from the re-collected image data, and extracting Raman scattering spectrum feature data of the object to be cleaned from the laser scattering data.

[0096] S509, based on the color feature data, texture feature data and Raman scattering spectrum feature data, detect whether there are chemical residues on the items to be cleaned, and when it is detected that the residual amount of chemical substances on the items to be cleaned is lower than a preset residual amount threshold, control the cleaning device to stop executing the preset rinsing strategy.

[0097] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0098] Based on the same inventive concept, the embodiment of the present application also provides a cleaning device 100, such as Figure 6As shown, the cleaning device 100 includes a control module 110, and a cleaning device 120, an image acquisition device 130, an ultrasonic transceiver 140, and an actuator 150 connected to the control module 110. The image acquisition device 130, the ultrasonic transceiver 140, and the actuator 150 are all arranged in the cleaning device 120.

[0099] The image acquisition device 130 is configured to capture image data of the items to be cleaned in response to the image acquisition signal sent by the control module 110. The ultrasonic transceiver 140 is configured to transmit ultrasonic waves to the items to be cleaned in response to the ultrasonic transmission signal sent by the control module 110, and receive and transmit ultrasonic reflection data of the items to be cleaned to the control module 110. The actuator 150 is configured to place the items to be cleaned in a cleaning area that matches the degree of dirtiness of the items to be cleaned in response to the execution signal sent by the control module 110. The cleaning device 120 is configured to execute a preset zone cleaning strategy in response to the cleaning signal sent by the control module 110. The control module 110 is configured to clean the items to be cleaned based on the steps in the above-mentioned embodiment of the cleaning device control method.

[0100] It should be noted that the implementation solution provided by the cleaning equipment 100 to solve the problem is similar to the implementation solution recorded in the above-mentioned cleaning equipment control method. Therefore, the specific limitations in one or more cleaning equipment embodiments provided below can refer to the limitations on the cleaning equipment control method above and will not be repeated here.

[0101] In an exemplary embodiment, Figure 7 As shown, the cleaning device 100 also includes a laser transceiver 160 provided in the cleaning device. The laser transceiver 160 is connected to the control module 110. The laser transceiver 160 is configured to emit laser light to the items to be cleaned in response to the laser emission signal sent by the control module 110, and receive and send laser scattering data of the items to be cleaned to the control module 110. The control module 110 is also configured to control the cleaning device 120 to execute a preset rinsing strategy, send a laser emission signal to the laser transceiver 160, obtain the laser scattering data sent by the laser transceiver 160, and control the image acquisition device 130 to collect image data of the items to be cleaned again. Based on the laser scattering data and the image data collected again, it is detected whether there are chemical residues on the items to be cleaned. When it is detected that the residual amount of the chemical substance on the items to be cleaned is lower than the preset residual amount threshold, the cleaning device 120 is controlled to stop executing the preset rinsing strategy.

[0102] In an exemplary embodiment, the cleaning device 120 includes a plurality of honeycomb water outlet structures arranged in different cleaning areas. When the cleaning device 120 executes a preset partition cleaning strategy or a preset rinsing strategy, the honeycomb water outlet structures in different cleaning areas discharge water according to different washing times and washing intensities.

[0103] It should be noted that the honeycomb water outlet structure has a structural feature of an array of porous honeycomb distribution, and water is discharged through the honeycomb pores. In addition, each honeycomb water outlet structure can be independently controlled by the control module 110 to implement a zoned cleaning strategy.

[0104] In this embodiment, the micro jets generated by the honeycomb pores have a relatively large impact on the items to be cleaned, and have a better cleaning effect than traditional nozzles. In addition, this method of independently controlling multiple water outlets can effectively reduce the cleaning blind spots of the cleaning equipment and improve the cleaning quality.

[0105] In another embodiment, in order to explain the cleaning device 100 more clearly, a Figure 8 The cleaning device shown is in front view. Figure 8 The heavy dirty area, medium dirty area and light dirty area of ​​the cleaning device 100 are marked, as well as the honeycomb water outlet structure and the mechanical claw. It can be understood that the mechanical claw is only one type of actuator 150. Since the image acquisition device 130, the ultrasonic transceiver 140 and the laser transceiver 160 can all be installed on the door of the cleaning device 110, Figure 8 Not shown in .

[0106] In an exemplary embodiment, the ultrasonic transceiver 130 is further configured to transmit ultrasonic waves to the items to be cleaned when the cleaning device 120 executes a preset rinsing strategy, so as to rinse the items to be cleaned by the ultrasonic waves and the water discharged from the honeycomb water outlet structure.

[0107] Specifically, when the cleaning device 120 executes a preset rinsing strategy, the ultrasonic transceiver 130 can emit high-frequency ultrasonic waves to the items to be cleaned, generating a cavitation effect in the cleaning liquid. When the cavitation bubbles collapse, local shock waves are generated, which can help clean stubborn stains attached to the items.

[0108] In this embodiment, the ultrasonic generator generates high-frequency vibrations, which propagate in the water to form ultrasonic waves. When ultrasonic waves propagate in the water, tiny bubbles are generated. These bubbles will rapidly expand and burst under pressure changes, generating strong local shock waves. This cavitation effect can effectively remove stubborn stains attached to the surface of tableware and improve the cleaning efficiency and cleaning quality of the cleaning equipment.

[0109] Based on the same inventive concept, the present application also provides a cleaning device for implementing the aforementioned cleaning device control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more cleaning device control device embodiments provided below can be found in the above-mentioned limitations of the cleaning device control method and will not be repeated here.

[0110] In an exemplary embodiment, Figure 9 As shown, a cleaning equipment control device 900 is provided. The cleaning equipment includes an ultrasonic transceiver, an image acquisition device, an actuator, and a cleaning device. The cleaning equipment control device includes:

[0111] The data acquisition module 910 is used to control the image acquisition device to acquire image data of the items to be cleaned, and to control the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, in response to the partition cleaning instruction, to acquire image data and ultrasonic reflection data of the items to be cleaned;

[0112] a soiling degree determination module 920 for determining the soiling degree of the items to be cleaned based on the image data and the ultrasonic reflection data;

[0113] The article placement module 930 is used to determine a cleaning area that matches the degree of dirtiness of the articles to be cleaned, and control the actuator to place the articles to be cleaned in the cleaning area that matches the degree of dirtiness;

[0114] The cleaning module 940 is used to control the cleaning device to execute a preset zone cleaning strategy until the ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned.

[0115] In an exemplary embodiment, the cleaning equipment control device 900 is also used to control the cleaning device to execute a preset rinsing strategy, control the laser transceiver to emit laser to the items to be cleaned, obtain laser scattering data sent by the laser transceiver, and control the image acquisition device to acquire image data of the items to be cleaned again, and detect whether there are chemical residues on the items to be cleaned based on the laser scattering data and the image data acquired again. When it is detected that the residual amount of chemical substances on the items to be cleaned is lower than a preset residual amount threshold, the cleaning device is controlled to stop executing the preset rinsing strategy.

[0116] In an exemplary embodiment, the cleaning equipment control device 900 is also used to extract color feature data and texture feature data of the items to be cleaned from the re-collected image data, extract Raman scattering spectrum feature data of the items to be cleaned from the laser scattering data, and judge whether there are any chemical residues on the items to be cleaned based on the color feature data, texture feature data and Raman scattering spectrum feature data.

[0117] In an exemplary embodiment, the degree of soiling includes heavy soiling, moderate soiling and light soiling in descending order, the cleaning areas include heavy cleaning areas, moderate cleaning areas and light cleaning areas, the preset zone cleaning strategy includes multiple cleaning strategies determined according to different washing times and washing intensities, and the cleaning module 940 is further configured to control the water outlet of the heavy cleaning area based on a preset first washing time and a preset first washing intensity, until the items to be cleaned in the heavy cleaning area change from heavy soiling to moderate soiling, and control the water outlet of the heavy cleaning area based on a preset second washing time and a preset second washing intensity. Controlling the discharge of water from the water outlets of the heavy cleaning area and the medium cleaning area until the items to be cleaned in the heavy cleaning area and the medium cleaning area change from moderately soiled to lightly soiled; and controlling the discharge of water from the water outlets of the heavy cleaning area, the medium cleaning area, and the light cleaning area based on a preset third washing time and a preset third washing intensity until ultrasonic reflection data of the items to be cleaned indicates that there is no soil on the surfaces of the items to be cleaned, wherein the first washing time is greater than the second washing time, the second washing time is greater than the third washing time, the first washing intensity is greater than the second washing intensity, and the second washing intensity is greater than the third washing intensity.

[0118] In an exemplary embodiment, the soiling level determination module 920 is further configured to determine the initial soiling level of the items to be cleaned based on the image data, and to correct the initial soiling level of the items to be cleaned based on the ultrasonic reflection data to determine the soiling level of the items to be cleaned.

[0119] Each module in the cleaning equipment control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0120] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 10As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store data such as image data of items to be cleaned. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a cleaning device control method is implemented.

[0121] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0122] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above-mentioned embodiment of the cleaning device control method when executing the computer program.

[0123] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned embodiment of the cleaning device control method are implemented.

[0124] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps in the above-mentioned cleaning device control method embodiment when executed by a processor.

[0125] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0126] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a programmable logic unit (PLC), a data processing logic unit based on quantum computing, an artificial intelligence (AI) processor, and the like.

[0127] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0128] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device includes an ultrasonic transceiver, an image acquisition device, an actuator, and a cleaning device. The method includes: In response to the partition cleaning instruction, controlling the image acquisition device to acquire image data of the items to be cleaned, and controlling the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, to obtain the image data and ultrasonic reflection data of the items to be cleaned; determining the degree of contamination of the item to be cleaned based on the image data and the ultrasonic reflection data; Determining a cleaning area that matches the degree of dirtiness of the items to be cleaned according to the degree of dirtiness of the items to be cleaned, and controlling the actuator to place the items to be cleaned in the cleaning area that matches the degree of dirtiness; The cleaning device is controlled to execute a preset zoned cleaning strategy until ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned.

2. The method according to claim 1, characterized in that The cleaning device further includes a laser transceiver. After the ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned, the method further includes: Controlling the cleaning device to execute a preset rinsing strategy; controlling the laser transceiver to emit laser light toward the object to be cleaned, acquiring laser scattering data sent by the laser transceiver, and again controlling the image acquisition device to acquire image data of the object to be cleaned; detecting whether there are chemical residues on the item to be cleaned based on the laser scattering data and the re-collected image data; When it is detected that the residual amount of the chemical substance on the object to be cleaned is lower than a preset residual amount threshold, the cleaning device is controlled to stop executing the preset rinsing strategy.

3. The method according to claim 2, characterized in that The detecting whether there is chemical residue on the object to be cleaned based on the laser scattering data and the re-collected image data includes: Extracting color feature data and texture feature data of the object to be cleaned from the re-collected image data; Extracting Raman scattering spectrum characteristic data of the object to be cleaned from the laser scattering data; Based on the color feature data, the texture feature data and the Raman scattering spectrum feature data, it is detected whether there is chemical residue on the object to be cleaned.

4. The method according to any one of claims 1 to 3, characterized in that The degree of contamination includes heavy contamination, moderate contamination, and light contamination in descending order; the cleaning areas include heavy cleaning areas, moderate cleaning areas, and light cleaning areas; and the preset zoned cleaning strategies include multiple cleaning strategies determined according to different washing times and washing intensities; The step of executing the preset zoned cleaning strategy until the ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned includes: Based on a preset first washing time and a preset first washing intensity, controlling the water outlet of the heavy washing area to discharge water until the items to be washed in the heavy washing area change from being heavily soiled to being moderately soiled; Based on a preset second washing time and a preset second washing intensity, controlling the water outlets of the heavy washing area and the medium washing area to discharge water until the items to be washed in the heavy washing area and the medium washing area change from being moderately soiled to being lightly soiled; Based on a preset third washing time and a preset third washing intensity, controlling the water outlets of the heavy washing area, the medium washing area, and the light washing area to discharge water until ultrasonic reflection data of the items to be washed indicates that there is no dirt on the surfaces of the items to be washed; The first washing time is greater than the second washing time, the second washing time is greater than the third washing time, the first washing intensity is greater than the second washing intensity, and the second washing intensity is greater than the third washing intensity.

5. The method according to any one of claims 1 to 3, characterized in that The determining the degree of dirtiness of the article to be cleaned based on the image data and the ultrasonic reflection data includes: determining an initial degree of soiling of the item to be cleaned based on the image data; Based on the ultrasonic reflection data, the initial soiling degree of the article to be cleaned is corrected to determine the soiling degree of the article to be cleaned.

6. A cleaning device, characterized in that: The cleaning device includes a control module, and a cleaning device, an image acquisition device, an ultrasonic transceiver, and an actuator connected to the control module, wherein the image acquisition device, the ultrasonic transceiver, and the actuator are all arranged in the cleaning device; The image acquisition device is configured to acquire image data of the object to be cleaned in response to the image acquisition signal sent by the control module; The ultrasonic transceiver is configured to transmit ultrasonic waves to the items to be cleaned in response to the ultrasonic transmission signal sent by the control module, and receive and transmit ultrasonic reflection data of the items to be cleaned to the control module; The execution mechanism is configured to place the items to be cleaned in a cleaning area that matches the degree of dirtiness of the items to be cleaned in response to the execution signal sent by the control module; The cleaning device is configured to execute a preset partition cleaning strategy in response to a cleaning signal sent by the control module; The control module is configured to execute the steps of the cleaning equipment control method according to any one of claims 1 to 5 to clean the items to be cleaned.

7. The cleaning device according to claim 6, characterized in that The cleaning device further includes a laser transceiver device provided on the cleaning device, wherein the laser transceiver device is connected to the control module; The laser transceiver is configured to emit laser light toward the object to be cleaned in response to the laser emission signal sent by the control module, and receive and send laser scattering data of the object to be cleaned to the control module; The control module is further configured to control the cleaning device to execute a preset rinsing strategy, send a laser emission signal to the laser transceiver, obtain laser scattering data sent by the laser transceiver, and control the image acquisition device to acquire image data of the items to be cleaned again, and detect whether there are chemical residues on the items to be cleaned based on the laser scattering data and the image data acquired again, and control the cleaning device to stop executing the preset rinsing strategy when it is detected that the residual amount of the chemical substance on the items to be cleaned is lower than a preset residual amount threshold.

8. The cleaning device according to claim 7, characterized in that: The cleaning device includes multiple honeycomb water outlet structures arranged in different cleaning areas. When the cleaning device executes the preset partition cleaning strategy or the preset rinsing strategy, the honeycomb water outlet structures in different cleaning areas discharge water according to different washing times and washing intensities.

9. The device according to claim 8, characterized in that The ultrasonic transceiver is further configured to transmit ultrasonic waves to the items to be cleaned when the cleaning device executes the preset rinsing strategy, so as to rinse the items to be cleaned by the ultrasonic waves and the water discharged from the honeycomb water outlet structure.

10. A cleaning equipment control device, characterized in that: The cleaning device includes an ultrasonic transceiver, an image acquisition device, an actuator and a cleaning device. The cleaning device control device includes: a data acquisition module, configured to control the image acquisition device to acquire image data of the items to be cleaned, and to control the ultrasonic transceiver device to transmit ultrasonic waves to the items to be cleaned, in response to a partition cleaning instruction, to acquire the image data and ultrasonic reflection data of the items to be cleaned; a soiling degree determination module, configured to determine the soiling degree of the article to be cleaned based on the image data and the ultrasonic reflection data; An article placement module is used to determine a cleaning area that matches the degree of dirtiness of the articles to be cleaned, and to control the actuator to place the articles to be cleaned in the cleaning area that matches the degree of dirtiness; The cleaning module is used to control the cleaning device to execute a preset zone cleaning strategy until the ultrasonic reflection data of the object to be cleaned indicates that there is no dirt on the surface of the object to be cleaned.

Images