Cleaning machine and cleaning control method thereof

Abstract

The invention discloses a cleaning machine and a cleaning control method thereof.The cleaning machine comprises a water tank, a water outlet valve and at least one cleaning device, the water tank is used for containing objects to be cleaned, the water outlet valve is located above the water tank, and the cleaning device is installed below the water tank in an attached mode; the cleaning control method of the cleaning machine comprises the steps that when it is determined that a to-be-cleaned article is placed in a water tank, the type of the to-be-cleaned article and the stain thickness of the to-be-cleaned article are obtained; when it is determined that the stain thickness is larger than the first preset thickness, the water outlet valve is controlled to be opened, and the cleaning device is controlled to operate according to the type and the stain thickness, so that various pollutants including stubborn pesticide residues, microorganisms and embedded dirt can be efficiently removed; fruit and vegetable epidermis damage, tissue damage or nutritional ingredient loss caused by improper cleaning force is avoided to the maximum extent, and the dual purposes of efficient and deep cleaning and maximum protection of fruit and vegetable form integrity, taste and nutritional value can be achieved.

Description

Technical Field

[0001] This invention relates to the field of smart home cleaning, and more particularly to a cleaning machine and its cleaning control method. Background Technology

[0002] In current home kitchens and commercial food processing, the cleaning process for fruits and vegetables still largely relies on mechanized operations based on fixed procedures or human experience. Typical cleaning methods include: users placing the items to be cleaned in a sink or cleaning container and manually turning on the water to rinse them, or using automated equipment with preset cleaning times that complete the cleaning operation according to a pre-defined program after starting.

[0003] Fixed cleaning procedures may result in insufficient or excessive cleaning when dealing with different items or varying degrees of soiling. This can lead to food safety hazards or damage to items, as well as wasting water, electricity, and other energy resources. While methods relying on manual experience offer some flexibility, they are heavily influenced by the operator's subjective judgment, resulting in low efficiency and difficulty in standardization and large-scale application. Summary of the Invention

[0004] This invention provides a cleaning machine and its cleaning control method to effectively clean fruits and vegetables without damaging their skin or tissues.

[0005] According to one aspect of the present invention, a cleaning control method for a cleaning machine is provided. The cleaning machine includes a water tank, a water outlet valve, and at least one cleaning device. The water tank is used to place items to be cleaned, the water outlet valve is located above the water tank, and the cleaning device is fitted and installed below the water tank. The cleaning control method for the cleaning machine includes: When it is determined that the item to be cleaned is placed in the water tank, the type of the item to be cleaned and the thickness of the stain on the item to be cleaned are obtained; When the thickness of the stain is determined to be greater than a first preset thickness, the water outlet valve is opened, and the vibration frequency output by the cleaning device is controlled according to the type and the thickness of the stain.

[0006] Optionally, obtaining the stain thickness of the item to be cleaned includes: Obtain ultrasonic testing information of the items to be cleaned; The thickness of the stain on the item to be cleaned is obtained based on the ultrasonic detection information.

[0007] Optionally, the type of the items to be cleaned can be obtained, including: Obtain the first image information of the item to be cleaned; The type of the item to be cleaned is obtained based on the first image information.

[0008] Optionally, after controlling the outlet valve to open, the system further includes: Continuously acquire the water level height in the tank; When the water level is higher than the preset height, the outlet valve is controlled to close.

[0009] Optionally, the vibration frequency output by the cleaning device is controlled according to the type and thickness of the stain, including: The first vibration frequency and the second vibration frequency are obtained according to the type described; Determine whether the thickness of the stain is greater than the second preset thickness; If so, the vibration frequency output by the cleaning device is controlled to be the second vibration frequency; If not, then the vibration frequency output by the ultrasonic cleaning device is controlled to be the first ultrasonic vibration frequency. The second preset thickness is greater than the first preset thickness, and the first vibration frequency is greater than the second vibration frequency.

[0010] Optionally, in the process of controlling the vibration frequency output by the cleaning device to be the second ultrasonic vibration frequency, the method further includes: Continuously obtain the stain thickness of the item to be cleaned; When the stain thickness is less than or equal to the second preset thickness, the cleaning device is controlled to operate at the first vibration frequency.

[0011] Optionally, the process of controlling the vibration frequency output by the cleaning device according to the type and thickness of the stain further includes: Continuously obtain the stain thickness of the item to be cleaned; When the thickness of the stain is less than or equal to the first preset thickness, the cleaning device is controlled to stop.

[0012] Optionally, before determining that the items to be cleaned are placed in the sink, the method further includes: Real-time acquisition of the second image information of the water tank; The system detects whether the item to be cleaned is placed in the water tank based on the second image information.

[0013] According to another aspect of the present invention, a cleaning machine is also provided, comprising: a water tank, a water outlet valve, at least one cleaning device, and a controller; The water tank is used to place items to be cleaned, the water outlet valve is located above the water tank, and the cleaning device is fitted and installed below the water tank. The controller is used to execute the cleaning control method of the cleaning machine described above.

[0014] Optionally, the cleaning machine further includes an image acquisition device and an ultrasonic detection probe; Both the image acquisition device and the ultrasonic detection probe are located on the side of the water outlet valve facing the water tank.

[0015] The cleaning control method of the cleaning machine provided by this invention detects the type of item to be cleaned and the thickness of the stains. When the stain thickness is greater than a first preset thickness, the item to be cleaned is cleaned. This avoids energy waste caused by opening the water valve and cleaning device when the item to be cleaned is not stained. During the cleaning process, the vibration frequency output of the cleaning device is controlled according to the type and stain thickness. The vibration frequency can be adaptively adjusted based on the type and stain thickness of the item to be cleaned. While efficiently removing various pollutants, including stubborn pesticide residues, microorganisms and embedded dirt, it minimizes damage to the skin, tissue damage or loss of nutrients of fruits and vegetables caused by improper cleaning force. It can achieve the dual goals of efficient deep cleaning and maximum protection of the integrity, taste and nutritional value of fruits and vegetables.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a cleaning machine provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of another cleaning machine provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of another cleaning machine provided in an embodiment of the present invention; Figure 4 This is a flowchart of a cleaning control method for a cleaning machine provided in an embodiment of the present invention; Figure 5 This is a flowchart of another cleaning control method for a cleaning machine provided in an embodiment of the present invention; Figure 6 This is a control system diagram of a cleaning machine provided in an embodiment of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] Figure 1 This is a schematic diagram of the structure of a cleaning machine provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of another cleaning machine provided in an embodiment of the present invention, in conjunction with reference to the following: Figure 1 and Figure 2 The cleaning machine 1 includes a water tank 11, a water outlet valve 12, and at least one cleaning device 13. The water tank 11 is used to place items to be cleaned, the water outlet valve 12 is located above the water tank 11, and the cleaning device 13 is fitted and installed below the water tank 11.

[0022] Specifically, the water tank 11 constitutes the main supporting component of the washing machine 1, used to contain the cleaning liquid (e.g., clean water) and place the items to be cleaned (e.g., various fruits and vegetables) during the cleaning process. A water outlet valve 12 is located above the water tank 11. By controlling the opening and closing of the water outlet valve 12, cleaning liquid can be injected into the water tank 11, thereby creating a soaking or rinsing cleaning environment. The cleaning device 13 is installed in a close-fitting manner below the water tank 11. This installation method allows the vibration energy generated by the cleaning device 13 to be effectively transmitted to the inside of the water tank 11, acting on the items to be cleaned in the water to achieve the cleaning function.

[0023] For example, the cleaning device 13 may include a power module 131 and a vibration output device 132. When the cleaning device 13 is running, the power module 131 can be turned on first to supply power to the vibration output device 132. The vibration frequency output by the vibration output device 132 can be adjusted by adjusting the output power or power frequency of the power module 131.

[0024] In an exemplary embodiment, the cleaning device 13 can be an ultrasonic device. In this case, the power module 131 can be an ultrasonic power supply, and the vibration output device 132 can be an ultrasonic transducer. The vibration output by the cleaning device 13 is the vibration generated by ultrasonic waves, and the vibration frequency can also be understood as the ultrasonic frequency. Therefore, when controlling the operation of the cleaning device 13, the ultrasonic power supply can be turned on first to supply power to the ultrasonic transducer. The vibration frequency output by the ultrasonic transducer can be adjusted by adjusting the output power or power frequency of the ultrasonic power supply.

[0025] Figure 3 This is a schematic diagram of another cleaning machine provided in an embodiment of the present invention, for reference. Figure 3 In one feasible embodiment, the cleaning machine 1 may include a plurality of cleaning devices 13, each of which is fitted to the bottom of the water tank 11, so as to clean items located in different areas of the water tank 11.

[0026] This embodiment, through the combination of the above-described basic structures, provides the necessary hardware foundation for subsequent intelligent cleaning control. The placement of the water outlet valve 12 above the water tank 11 facilitates top-down water injection, aiding in the initial wetting or rinsing of the item's surface. The design of the cleaning device 13, fitted snugly below the water tank 11, optimizes the transmission efficiency of vibration energy and reduces energy loss, thus laying the structural foundation for precise control of the cleaning intensity based on the item's condition.

[0027] It should be noted that in other optional embodiments of the present invention, the specific installation position, connection method and structural form of the above-mentioned components can be adapted and changed, but these adjustments and changes are all equivalent substitutions or obvious modifications of the technical concept of the present invention, and should be included within the protection scope of the present invention.

[0028] Figure 4 This is a flowchart of a cleaning control method for a cleaning machine provided in an embodiment of the present invention, such as... Figure 4 As shown, the cleaning control methods of the cleaning machine include: S110. When it is determined that there are items to be cleaned in the water tank, obtain the type of items to be cleaned and the thickness of the stains on the items to be cleaned.

[0029] Specifically, the types of items to be cleaned can include fruits (such as apples, pears, grapes, etc.), vegetables (such as cabbage, pumpkin, radishes, etc.), and other food items that can be washed in the sink, or other non-edible items (such as cookware or tableware). When determining that there are items to be cleaned in the sink, you can first check the type of items and the thickness of the stains on them.

[0030] For example, when obtaining the type of item to be cleaned, one can first obtain the first image information of the item to be cleaned, and then obtain the type of item to be cleaned based on the first image information.

[0031] Specifically, refer to the following: Figure 1 The cleaning machine 1 may also include an image acquisition device 14, which may be installed on the water outlet valve 12 to acquire image information within the water tank 11. For example, when there are items to be cleaned in the water tank 11, image information (i.e., first image information) of the items to be cleaned may be acquired, so that the first image information can be analyzed and processed to determine the type of items to be cleaned. The image acquisition device 14 may be a camera.

[0032] In a feasible embodiment, after acquiring the first image information, the first image information can be processed in grayscale to obtain the corresponding grayscale data. Then, the grayscale data can be normalized and standardized to obtain denoised grayscale data. The outline of the item to be cleaned can be determined based on the denoised grayscale data. The outline can be matched with the outlines corresponding to various categories in the database to determine the type of item to be cleaned.

[0033] For example, when obtaining the stain thickness of an item to be cleaned, one can first obtain the ultrasonic testing information of the item to be cleaned, and then obtain the stain thickness of the item to be cleaned based on the ultrasonic testing information.

[0034] Specifically, refer to the following: Figure 1 The cleaning machine 1 may also include an ultrasonic detection probe 15, which can be mounted on the water outlet valve 12. Because it is located above the water tank 11, the ultrasonic detection probe 15 can perform ultrasonic detection within the area of ​​the water tank 11. When items to be cleaned are placed in the water tank 11, the ultrasonic detection probe 15 can detect the ultrasonic detection information of the items to be cleaned, and analyze and process the ultrasonic detection information to obtain the thickness of the stains on the items to be cleaned.

[0035] S120. When it is determined that the thickness of the stain is greater than the first preset thickness, the water outlet valve is opened, and the vibration frequency output by the cleaning device is controlled according to the type and thickness of the stain.

[0036] Specifically, when the stain thickness is determined to be greater than a first preset thickness, it can be determined that the stain on the item to be cleaned is relatively thick and requires cleaning. At this time, the water outlet valve can be opened to inject cleaning solution (such as water or an aqueous solution containing cleaning agent) into the water tank. Furthermore, the cleaning device can be started simultaneously with or after the water outlet valve is opened, and its operation can be controlled according to the type and thickness of the stain to output a vibration frequency. The vibration generated by the cleaning device can then clean the stain on the item to be cleaned. It can be understood that when the cleaning device is an ultrasonic device, the ultrasonic waves output by the ultrasonic device can generate a vibration frequency, and its cavitation effect can achieve a cleaning effect on the stain.

[0037] Different types of fruits and vegetables exhibit significant differences in their epidermal structure, mechanical strength, and tolerance. For fruits and vegetables with fragile and easily damaged epidermis (such as strawberries, grapes, and other delicate berries), higher vibration frequencies (e.g., 80kHz or higher) can be used for cleaning. High-frequency vibration generates smaller, denser cavitation bubbles, with gentler but more penetrating energy, effectively cleaning folds and capillary structures without damaging the peel. For fruits and vegetables with thick epidermis, deep folds, or tightly adhered dirt (such as broccoli, the back of spinach leaves, and ginger with mud), lower vibration frequencies (e.g., 28kHz-40kHz) can be used for cleaning. Low-frequency vibration has a greater cavitation intensity, and the generated microjets and shock waves can more effectively remove embedded mud and peel off stubborn wax and agricultural residues.

[0038] Furthermore, the vibration frequency of the cleaning device can be further controlled based on the thickness of the stain. For thicker, more noticeable stains (such as heavy dirt, solidified mud spots, or thick layers of grease and dust), the cleaning device can be controlled to operate at a lower vibration frequency or in a composite frequency mode with enhanced low-frequency components. This allows for effective breaking and peeling of thicker stain layers with stronger cavitation and shear forces. Within the permissible vibration frequency range of the item to be cleaned, the corresponding vibration frequency of the cleaning device can be controlled according to the stain thickness to achieve a cleaning effect without damaging the surface or structure of the item.

[0039] Understandably, when it is determined that the thickness of the stains on the item to be cleaned is less than the first preset thickness, it can be determined that the cleanliness of the item to be cleaned meets the usage standard. At this time, the water outlet valve and the ultrasonic cleaning device do not need to be turned on, that is, the cleaning procedure does not need to be executed.

[0040] The cleaning control method of the cleaning machine provided in this invention detects the type and thickness of the stains on the items to be cleaned. When the stain thickness is greater than a first preset thickness, the items to be cleaned are cleaned. This avoids energy waste caused by opening the water valve and cleaning device when the items to be cleaned are not stained. During the cleaning process, the vibration frequency output by the cleaning device is controlled according to the type and thickness of the stains. The vibration frequency can be adaptively adjusted based on the type and thickness of the items to be cleaned. While efficiently removing various pollutants, including stubborn pesticide residues, microorganisms and embedded dirt, it minimizes damage to the skin, tissue damage or loss of nutrients of fruits and vegetables caused by improper cleaning force. Thus, it achieves the dual goals of efficient deep cleaning and maximum protection of the appearance, taste and nutritional value of fruits and vegetables.

[0041] Optional, Figure 5 This is a flowchart of another cleaning control method for a cleaning machine provided in an embodiment of the present invention, such as... Figure 5 As shown, the cleaning control method of this cleaning machine includes: S211. When it is determined that there are items to be cleaned in the water tank, obtain the type of items to be cleaned and the thickness of the stains on the items to be cleaned.

[0042] For example, before determining that there are items to be cleaned in the sink, a second image of the sink can be acquired in real time, and then the presence of items to be cleaned in the sink can be detected based on the second image information.

[0043] Specifically, the situation inside the sink can be detected in real time using image detection methods. This involves acquiring image information (i.e., second image information) of the sink area in real time, and then analyzing and processing this second image information. Based on a visual detection model or image feature matching algorithm, it can be determined whether there are items to be cleaned in the sink. In this case, a coarse detection method can be used, without needing to detect the specific type of items to be cleaned, thus improving detection efficiency.

[0044] For example, in conjunction with reference Figure 1 and Figure 2 After confirming that there are items to be cleaned in the water tank 11, the position of the water outlet valve 12 can be adjusted so that the water outlet valve 12 can be aligned with the items to be cleaned, or at least with the water tank 11. When adjusting the position of the water outlet valve 12, the water pipe 17 can be rotated by the drive motor 16, thereby adjusting the position of the water outlet valve 12.

[0045] S212. Determine whether the stain thickness is greater than the first preset thickness; if so, proceed to steps S213 and S216.

[0046] S213, control the water outlet valve to open and continuously obtain the water level height in the tank.

[0047] S214. Determine whether the water level is greater than the preset height; if yes, proceed to step S215; if no, return to step S213.

[0048] S215, Control the water outlet valve to close.

[0049] Specifically, the preset height can be level with or higher than the items to be cleaned, ensuring that the cleaning solution in the tank completely covers the items. When the water level in the tank exceeds the preset height, the outlet valve is closed promptly. This ensures sufficient water to cover and soak stubborn stains while completely avoiding resource waste and the risk of tank overflow due to excessive water intake.

[0050] S216. Obtain the first vibration frequency and the second vibration frequency according to the type.

[0051] S217. Determine whether the stain thickness is greater than the second preset thickness; if yes, proceed to step S218; if no, proceed to step S220.

[0052] S218. Control the vibration frequency output of the cleaning device to the second vibration frequency.

[0053] Specifically, given the significant differences in the tolerance of different types of items to vibration frequencies, frequency markings can be pre-assigned to different item types. Each item can be assigned a first vibration frequency and a second vibration frequency. The first vibration frequency can be the cleaning frequency corresponding to thinner or less soiled areas, while the second vibration frequency can be the cleaning frequency corresponding to thicker or more soiled areas. When the soiled area is thicker than a second preset thickness, the cleaning device can be controlled to operate at a lower second ultrasonic vibration frequency to achieve a higher cleaning intensity, ensuring effective removal of stubborn stains. When the soiled area is thicker than the first preset thickness but less than the second preset thickness, the cleaning device is controlled to operate at a higher first vibration frequency for standard-intensity cleaning. This achieves rapid cleaning through dense and uniform cavitation effects, effectively shortening cleaning time and optimizing energy efficiency while ensuring cleaning effectiveness.

[0054] Thus, by setting two thickness thresholds, namely the first preset thickness and the second preset thickness, the stains can be classified into at least two levels: light to moderate and heavy. By calling the corresponding ultrasonic vibration frequencies to match the cleaning intensity, the energy waste of "light stains, heavy cleaning" or the incomplete cleaning of "heavy stains, light cleaning" in the traditional single vibration frequency mode can be avoided.

[0055] S219. Continuously obtain the stain thickness of the item to be cleaned; proceed to step S217.

[0056] S220, Control the vibration frequency output of the cleaning device to the first vibration frequency.

[0057] Specifically, while controlling the vibration frequency output of the cleaning device to the second vibration frequency, the thickness of the stains on the item to be cleaned can be continuously acquired. When the stain thickness decreases from being greater than the second preset thickness to being less than or equal to the second preset thickness, the cleaning device can be switched to the first vibration frequency in a timely manner. This allows for precise cleaning by dynamically adjusting the vibration frequency, thereby further optimizing energy efficiency while ensuring the cleaning effect.

[0058] S221. Continuously obtain the stain thickness of the item to be cleaned.

[0059] S222. Determine whether the stain thickness is less than or equal to the first preset thickness; if yes, proceed to step S223; if no, return to step S220.

[0060] S223, Control the cleaning device to stop.

[0061] Specifically, while controlling the cleaning device to operate at the first vibration frequency, the thickness of the stains on the item to be cleaned can be continuously acquired. When the stain thickness decreases from being greater than the first preset thickness to being less than or equal to the first preset thickness, the cleaning device can be stopped in time to immediately terminate the cleaning action. Then, the process can proceed to drainage, drying, etc., to achieve intelligent optimization control of "stopping when the stain is clean".

[0062] In this embodiment of the invention, by setting two thickness thresholds—a first preset thickness and a second preset thickness—the stain condition can be classified into at least two levels: light to moderate and heavy. When the cleaning program is started, the stain thickness of the item to be cleaned is compared with these two thickness thresholds to determine the appropriate vibration frequency and cleaning intensity, thus improving cleaning efficiency while achieving the desired cleaning effect. Furthermore, the stain thickness of the item to be cleaned is monitored in real time during the cleaning process, and the vibration frequency output by the cleaning device is adjusted accordingly. This dynamic adjustment of the vibration frequency achieves precise cleaning results, further optimizing energy efficiency while ensuring cleaning effectiveness. The cleaning device can also be stopped promptly when the item reaches the cleanliness standard, precisely eliminating ineffective cleaning time and maximizing water, energy, and time savings.

[0063] It should be noted that the embodiments of the present invention only exemplarily use two thickness thresholds, the first preset thickness and the second preset thickness, to classify the stains into at least two levels: light to moderate and heavy. In other feasible embodiments of the present invention, more thickness thresholds can be set to classify the stains into more levels. In this way, when the cleaning program is executed, different ultrasonic vibration frequencies can be matched to achieve a more refined cleaning effect.

[0064] In other feasible embodiments of the present invention, during the dynamic monitoring of the stain thickness of the item to be cleaned, if the rate of decrease in stain thickness is too slow, the cleaning efficiency can be improved by increasing the water temperature or adding detergent. The embodiments of the present invention do not specifically limit this. For example, while controlling the vibration frequency output by the cleaning device to a second vibration frequency, the rate of change of stain thickness, i.e., the rate at which the stain thickness decreases, can also be detected. If the rate of change is lower than a preset rate, the water temperature can be increased and / or detergent can be added. Similarly, while controlling the vibration frequency output by the cleaning device to a first vibration frequency, the rate of change of stain thickness can also be detected. If the rate of change is lower than a preset rate, the water temperature can be increased and / or detergent can be added. A heating device can be additionally provided to heat the water in the tank, or hot water can be added to the tank through a water outlet valve; and a valve can be additionally provided to add detergent to the tank, or the user can be prompted to add detergent themselves. The embodiments of the present invention do not specifically limit this.

[0065] Based on the same inventive concept, embodiments of the present invention also provide a cleaning machine, in conjunction with reference to [reference needed]. Figure 1 and Figure 2 The cleaning machine 1 includes a water tank 11, a water outlet valve 12, and at least one cleaning device 13. The water tank 11 is used to place items to be cleaned, the water outlet valve 12 is located above the water tank 11, and the cleaning device 13 is fitted and installed below the water tank 11.

[0066] refer to Figure 3 The cleaning machine 1 may include multiple cleaning devices 13, each of which is fitted to the bottom of the water tank 11, so as to clean items located in different areas of the water tank 11.

[0067] Figure 6 This is a control system diagram of a cleaning machine provided in an embodiment of the present invention, in conjunction with reference to [reference needed]. Figure 1 , Figure 2 and Figure 6 The cleaning machine 1 also includes a controller 18, which is communicatively connected and / or electrically connected to the water outlet valve 12 and the cleaning device 13, respectively. The controller 18 is used to execute the cleaning control method of the cleaning machine provided in any embodiment of the present invention. Therefore, the cleaning machine provided in the embodiments of the present invention includes the technical features of the cleaning control method of the cleaning machine provided in any embodiment of the present invention, and can achieve the beneficial effects of the cleaning control method of the cleaning machine provided in any embodiment of the present invention. The similarities can be referred to the above description of the cleaning control method of the cleaning machine provided in the embodiments of the present invention, and will not be repeated here.

[0068] In the case where the cleaning device includes a power module and a vibration output device, the controller can be electrically connected to the power module to control the power module to supply power to the vibration output device, and can control the vibration frequency output by the vibration output device by controlling the output power and power frequency of the power module.

[0069] In an exemplary embodiment, the cleaning device 13 can be an ultrasonic device. In this case, the power module 131 can be an ultrasonic power supply, and the vibration output device 132 can be an ultrasonic transducer. When controlling the operation of the cleaning device 13, the ultrasonic power supply can be turned on first to supply power to the ultrasonic transducer. The ultrasonic vibration frequency output by the ultrasonic transducer can be adjusted by adjusting the output power or power frequency of the ultrasonic power supply.

[0070] For example, in conjunction with reference Figure 2 and Figure 6 The cleaning machine 1 also includes an image acquisition device 14 and an ultrasonic detection probe 15; both the image acquisition device 14 and the ultrasonic detection probe 15 are located on the side of the water outlet valve 12 facing the water tank 11.

[0071] The image acquisition device 14 is used to acquire image information of the water tank area, such as first image information of the item to be cleaned and second image information of the water tank. The ultrasonic detection probe 15 detects ultrasonic signals in the water tank area to detect the thickness of stains on the item to be cleaned in the water tank 11. The controller 18 can also be communicatively connected and / or electrically connected to the image acquisition device 14 and the ultrasonic detection probe 15 respectively to acquire image information provided by the image acquisition device 14 and ultrasonic detection information provided by the ultrasonic detection probe 15.

[0072] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A cleaning control method for a cleaning machine, characterized in that, The cleaning machine includes a water tank, a water outlet valve, and at least one cleaning device. The water tank is used to place items to be cleaned, the water outlet valve is located above the water tank, and the cleaning device is fitted and installed below the water tank. The cleaning control method of the cleaning machine includes: When it is determined that the item to be cleaned is placed in the water tank, the type of the item to be cleaned and the thickness of the stain on the item to be cleaned are obtained; When the thickness of the stain is determined to be greater than a first preset thickness, the water outlet valve is opened, and the vibration frequency output by the cleaning device is controlled according to the type and the thickness of the stain.

2. The cleaning control method for the cleaning machine according to claim 1, characterized in that, Obtaining the stain thickness of the item to be cleaned includes: Obtain ultrasonic testing information of the items to be cleaned; The thickness of the stain on the item to be cleaned is obtained based on the ultrasonic detection information.

3. The cleaning control method for the cleaning machine according to claim 1, characterized in that, The types of items to be cleaned include: Obtain the first image information of the item to be cleaned; The type of the item to be cleaned is obtained based on the first image information.

4. The cleaning control method for the cleaning machine according to claim 1, characterized in that, After the outlet valve is opened, the system also includes: Continuously acquire the water level height in the tank; When the water level is higher than the preset height, the outlet valve is controlled to close.

5. The cleaning control method for the cleaning machine according to claim 1, characterized in that, Controlling the vibration frequency output by the cleaning device according to the type and thickness of the stain includes: The first vibration frequency and the second vibration frequency are obtained according to the type described; Determine whether the thickness of the stain is greater than the second preset thickness; If so, the vibration frequency output by the cleaning device is controlled to be the second vibration frequency; If not, then the vibration frequency output by the cleaning device is controlled to be the first vibration frequency; The second preset thickness is greater than the first preset thickness, and the first vibration frequency is greater than the second vibration frequency.

6. The cleaning control method for the cleaning machine according to claim 5, characterized in that, The process of controlling the vibration frequency output by the cleaning device to be the second vibration frequency also includes: Continuously obtain the stain thickness of the item to be cleaned; When the stain thickness is less than or equal to the second preset thickness, the cleaning device is controlled to operate at the first vibration frequency.

7. The cleaning control method for the cleaning machine according to claim 1, characterized in that, The process of controlling the vibration frequency output by the cleaning device according to the type and thickness of the stain also includes: Continuously obtain the stain thickness of the item to be cleaned; When the thickness of the stain is less than or equal to the first preset thickness, the cleaning device is controlled to stop.

8. The cleaning control method for the cleaning machine according to claim 1, characterized in that, Before confirming that the items to be cleaned are placed in the water tank, the process also includes: Real-time acquisition of the second image information of the water tank; The system detects whether the item to be cleaned is placed in the water tank based on the second image information.

9. A cleaning machine, characterized in that, include: A water tank, a water outlet valve, at least one cleaning device, and a controller; The water tank is used to place items to be cleaned, the water outlet valve is located above the water tank, and the cleaning device is fitted and installed below the water tank. The controller is used to execute the cleaning control method of the cleaning machine according to any one of claims 1 to 8.

10. The cleaning machine according to claim 9, characterized in that, It also includes an image acquisition device and an ultrasonic testing probe; Both the image acquisition device and the ultrasonic detection probe are located on the side of the water outlet valve facing the water tank.

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