Cleaning method and device, washing tank and storage medium

Abstract

The invention discloses a cleaning method and device, a washing tank and a storage medium, and relates to the technical field of intelligent cleaning. The method comprises the steps of obtaining a target image of a to-be-cleaned article in a washing tank, and determining the category of the to-be-cleaned article and the dirt degree of the surface of the to-be-cleaned article based on the target image; determining a target detergent container and a target dosage of a target detergent based on the dirt degree and category; a target temperature range matched with the target detergent is obtained, and a target cleaning temperature is determined based on the target temperature range and the dirt degree of the surface of the to-be-cleaned object; and the temperature of the cleaning water is adjusted through the temperature adjusting device, and after the cleaning water reaches the target cleaning temperature, the target detergent and the temperature-adjusted cleaning water are controlled to be synchronously supplied to the rotary spray head and sprayed to the surface of the to-be-cleaned object through the rotary spray head. According to the scheme, precise agent feeding, temperature control according to needs and efficient and reliable cleaning are achieved, and the use experience of a user is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning technology, and in particular to a cleaning method, apparatus, washing tank and storage medium. Background Technology

[0002] In the home kitchen setting, with increasing awareness of healthy eating and a faster pace of life, users' cleaning needs for everyday items such as fruits, vegetables, and tableware have upgraded from "basic cleaning" to a comprehensive experience of "efficiency, safety, and convenience." They not only require effective removal of pesticide residues, cooking oil, dirt particles, and common microorganisms (such as E. coli and Salmonella), but also expect the entire process to be simple to operate, requiring no repeated intervention, truly achieving a "placing in and washing clean" intelligent experience. Currently, common kitchen sink cleaning methods still rely on manual operation: users need to assess the stains themselves, add cleaning solution, and then rinse with a faucet or handheld spray gun. While some sinks with integrated automatic cleaning modules have heating and fixed spray functions, their cleaning programs are preset modes, unable to sense the type of item or the state of dirt. The type and amount of detergent are preset by the user, and the water temperature is adjusted to fixed levels (e.g., room temperature, 40℃, 60℃). The entire cleaning process lacks the ability to perceive the actual object being cleaned and cannot dynamically adjust the cleaning strategy based on the material, stacking status, or localized dirt distribution of the items.

[0003] In existing solutions, the cleaning temperature is usually set based on a fixed setting or experience with the material of the item, without taking into account the effective active temperature range of the detergent used. When the water temperature is below the activation threshold, the cleaning ingredients are difficult to function. On the other hand, if the water temperature is too high, enzymes or surfactants may become inactive, which will weaken the cleaning effect and make it difficult to achieve efficient and reliable cleaning of the items to be washed. Summary of the Invention

[0004] This invention provides a cleaning method, apparatus, washing tank, and storage medium to solve the technical problems in existing cleaning technologies, such as the mismatch between the cleaning temperature and the active temperature range of the detergent, and the inability to dynamically optimize cleaning parameters according to the type of item and the degree of dirt. It achieves precise dosing, on-demand temperature control, and efficient and reliable cleaning, significantly improving the user experience.

[0005] According to one aspect of the present invention, a cleaning method is provided for use in a washing tank, the washing tank including an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle, the method comprising: The image acquisition device acquires a target image of the item to be cleaned in the washing tank, and determines the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image. The target detergent container and the target amount of target detergent are determined based on the degree of soiling and the type of the items to be cleaned, and the target amount of target detergent is released from the target detergent container. Obtain a target temperature range that matches the target detergent, and determine a target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned; The temperature of the cleaning water is adjusted by the temperature regulating device. After the cleaning water reaches the target cleaning temperature, the target detergent and the temperature-adjusted cleaning water are synchronously supplied to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle.

[0006] According to another aspect of the present invention, a cleaning apparatus is provided, deployed in a washing tank, the washing tank including an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle, the apparatus comprising: The first determining module is used to acquire a target image of the item to be cleaned located in the washing tank through the image acquisition device, and determine the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image. The second determining module is used to determine the target detergent container and the target amount of target detergent based on the degree of soiling and the category of the item to be cleaned, and to release the target amount of target detergent from the target detergent container; The third determining module is used to obtain a target temperature range that matches the target detergent, and to determine a target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned. The cleaning module is used to adjust the temperature of the cleaning water through the temperature regulating device. After the cleaning water reaches the target cleaning temperature, it controls the target detergent and the temperature-adjusted cleaning water to be supplied synchronously to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle.

[0007] According to another aspect of the present invention, a washing tank is provided, the washing tank comprising: The washing tank includes an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle; At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the cleaning method described in any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the cleaning method described in any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the cleaning method described in any embodiment of the present invention.

[0010] The technical solution of this invention can be applied to a washing tank, which includes an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle. The image acquisition device acquires a target image of the item to be cleaned in the washing tank, and determines the category of the item and the degree of dirt on its surface based on the target image. Based on the degree of dirt and the category of the item, a target detergent container and a target dosage of detergent are determined, and the target dosage of detergent is released from the target detergent container. A target temperature range matching the target detergent is obtained. The target cleaning temperature is determined based on the target temperature range and the degree of dirt on the surface of the item to be cleaned. The temperature of the cleaning water is adjusted by the temperature regulating device. After the cleaning water reaches the target cleaning temperature, the target detergent and the temperature-adjusted cleaning water are simultaneously supplied to the rotating nozzle and sprayed onto the surface of the item to be cleaned. This solves the technical problems in existing cleaning technologies, such as the mismatch between the cleaning temperature and the active temperature range of the detergent, and the inability to dynamically optimize cleaning parameters according to the type of item and the degree of dirt. It achieves precise dosing, on-demand temperature control, and efficient and reliable cleaning, significantly improving the user experience.

[0011] 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

[0012] 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.

[0013] Figure 1 This is a flowchart of a cleaning method provided according to Embodiment 1 of the present invention; Figure 2 This is a front view of a washing tub provided according to Embodiment 1 of the present invention; Figure 3 This is a cross-sectional view of a washing tank according to Embodiment 1 of the present invention. Figure 4 This is a cross-sectional view of another washing tank provided according to Embodiment 1 of the present invention; Figure 5 This is a flowchart of a cleaning method provided according to Embodiment 2 of the present invention; Figure 6 This is a flowchart of another cleaning method provided in Embodiment 2 of the present invention; Figure 7 This is a schematic diagram of a cleaning device according to Embodiment 3 of the present invention; Figure 8 This is a schematic diagram of the structure of a washing tank for implementing the cleaning method of this embodiment of the invention. Detailed Implementation

[0014] 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.

[0015] 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.

[0016] Example 1 Figure 1 This is a flowchart of a cleaning method according to Embodiment 1 of the present invention. This embodiment is applicable to the efficient cleaning of items to be cleaned in a washing tank. The method can be executed by a cleaning device, which can be implemented in hardware and / or software and can be configured in the washing tank.

[0017] In this embodiment, the washing tank may include an image acquisition device, a temperature control device, a rotating nozzle, and multiple detergent containers, each containing a different type of detergent. To facilitate understanding of the specific structure of the washing tank involved in this embodiment, structural schematic diagrams of the washing tank at different angles are provided. Figure 2 This is a front view of a washing tub provided according to Embodiment 1 of the present invention; Figure 3 This is a cross-sectional view of a washing tank according to Embodiment 1 of the present invention. Figure 4 This is a cross-sectional view of another washing tank provided according to Embodiment 1 of the present invention.

[0018] refer to Figures 2-4 The washing basin may include a water tank, a temperature control device, a rotating spray nozzle, and multiple detergent containers. The water tank is a holding space for accommodating items to be washed, and its interior has an installation area to accommodate detergent containers and control components. The temperature control device may include a cold water supply pipe, a hot water supply pipe, and a hot and cold water electric mixing valve.

[0019] like Figure 2 As shown, the rotating nozzle includes an elbow 210, a rotating straight pipe 211, an outer pipe 212, a water outlet pipe 213, a water outlet regulating valve 214, and a manual control valve 215. The rotating straight pipe 211 is connected above the outer pipe 212 and to the elbow 210, forming a rotatable water outlet path; the water outlet pipe 213 is located at the end of the elbow 210 and has a water outlet hole 223 for spraying water into the water tank 200; the water outlet regulating valve 214 is located on the side wall of the water outlet pipe 213 and is used to adjust the opening and closing degree of the water outlet hole, thereby controlling the water flow or water outlet pattern.

[0020] like Figure 3 As shown, the washing tank includes a water tank 200 and a rotating nozzle mounted above it. The rotating nozzle is driven by a rotary motor to rotate, allowing cleaning water to be sprayed at multiple angles onto the surfaces of items to be cleaned at different locations within the water tank, increasing the cleaning coverage. The rotating nozzle also includes a rotary motor 230; a rotating straight pipe 211 is coaxially sleeved with an outer pipe 212 and is driven by the rotary motor 230 to rotate around a vertical axis, thereby changing the water outlet direction. A detergent outlet 215 is located below the rotating straight pipe 211 for delivering detergent into the water tank. The detergent outlet 215 is connected to different detergent containers 216, and the opening and closing of each container is controlled by a solenoid valve 217, thereby enabling selective dispensing of different types of detergent.

[0021] It should be noted that, in this embodiment, the cleaning agent outlet 215 refers to a functional fluid outlet that discharges and sprays the cleaning agent in a directional manner onto the surface of the item to be cleaned. Its physical form and structural implementation are not limited to the embodiment shown in the accompanying drawings, and may include, but are not limited to: a dedicated outlet port of a distribution valve (e.g., a three-way valve, a four-way solenoid valve), an independent nozzle, an outlet hole integrated into a spray arm or spray frame, an opening at the end of a delivery pipeline, or a spray unit integrated with an atomizing or guiding structure.

[0022] The bottom of the sink 200 is equipped with a cold water supply pipe 218 and a hot water supply pipe 219, which are connected to the water source and the household water heater, respectively. Both the cold water supply pipe 218 and the hot water supply pipe 219 are connected to a cold and hot water electric mixing valve 220, which is used to adjust the mixing ratio of cold and hot water to achieve precise control of the temperature of the washing water.

[0023] Pump 221 provides pressure for the cleaning water. Its inlet is connected to the outlet of the hot and cold water electric mixing valve 220, and its outlet is connected to a rotary straight pipe 211 to deliver the temperature-controlled cleaning water to the rotary nozzle. A detection probe 222 is installed at the bend to acquire image information of the items to be cleaned and to determine the type of items and the degree of surface dirt through image recognition technology. Simultaneously, the outlet regulating valve 214 adjusts the opening of the outlet to control the water flow intensity.

[0024] like Figure 4 As shown, the bottom of the washing tank is equipped with multiple detergent containers 216, each used to store different types of detergents, such as fruit and vegetable cleaners, dishwashing detergents, and degreasers. Each detergent container is connected to a detergent outlet 215 via an independent pipe. This outlet is connected to the main pipeline and controlled by a solenoid valve 217. When a specific detergent needs to be added, the control system opens the corresponding solenoid valve, allowing the detergent to be transported from the designated container through the pipeline to the detergent outlet 215, and finally mixed into the water supply system, achieving precise dosing on demand.

[0025] like Figure 1 As shown, the method includes: Step 110: Acquire a target image of the item to be cleaned in the washing tank using an image acquisition device, and determine the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image.

[0026] The image acquisition device is an optical imaging device, such as a color camera, depth camera, or infrared sensor, installed inside or above the washing tub. It is used to capture visual information of the items to be cleaned. The items to be cleaned are various objects placed in the washing tub that require cleaning. These items can be categorized based on their material, purpose, and surface condition. Examples include: fruits and vegetables, tableware, or other kitchen utensils, such as cutting boards or cookware. It should be noted that... Figures 2-4 The image acquisition device is not shown in the figure. It may be installed inside or above the washing tub, but this is not a limitation of this embodiment.

[0027] The target image is the image data containing the item to be cleaned, acquired by the image acquisition device. The category of the item to be cleaned refers to its category attribute; the degree of dirt on the item refers to the quantitative indicator of the coverage and severity of contaminants on the item's surface, such as light dust, moderate oil stains, or heavy mud.

[0028] In one optional implementation of this embodiment, acquiring a target image of the item to be cleaned in the washing tank using an image acquisition device, and determining the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image, may include: preprocessing the target image to separate the foreground region of the item to be cleaned; determining the category of the item to be cleaned using an image recognition method based on the image features of the foreground region; and simultaneously evaluating the degree of dirt on the surface of the item to be cleaned based on the surface visual characteristics of the foreground region.

[0029] Optionally, in this embodiment, the image acquisition device triggers a shot before the washing program starts or at the initial stage of water filling to acquire a target image containing the items to be washed. Further, the target image can be preprocessed, including noise reduction, white balance correction, and region of interest (ROI) cropping, to eliminate water surface reflections or background interference. Further, image recognition technology can be used to determine the category of the items. This recognition process can be implemented in various ways, such as matching using a pre-built item template library, or using a machine learning model (e.g., support vector machine, random forest, or deep neural network) to classify image features and output the most likely category label, such as apple, porcelain bowl, or stainless steel spoon.

[0030] Simultaneously, surface condition analysis can be performed on the target image to assess the degree of soiling. This analysis can be based on visual features of the image, such as detecting color shifts on the surface of the item (e.g., brown patches on fruit and vegetable peels), changes in texture roughness (e.g., tableware surfaces changing from smooth to granular), or abnormal local contrast (e.g., increased reflectivity in oily areas), to comprehensively determine the severity of soiling. In this embodiment, the degree of soiling can be quantified into discrete levels (e.g., light, moderate, heavy) or continuous values ​​for subsequent cleaning parameter decisions.

[0031] Step 120: Determine the target detergent container and the target amount of target detergent based on the degree of soiling and the type of items to be cleaned, and release the target amount of target detergent from the target detergent container.

[0032] The target detergent container is... Figure 4The detergent container shown is one of the multiple different detergent containers 216 arranged at the bottom of the washing tank, but this embodiment does not limit the type of detergent container. The amount of target detergent refers to the volume or mass of detergent calculated according to the cleaning requirements, usually in milliliters (mL), which is positively correlated with the degree of dirtiness and is subject to the constraints of adaptability to the type of item.

[0033] In one optional implementation of this embodiment, after determining the category and degree of surface dirt of the items to be cleaned, a detergent type suitable for the material and purpose of the items can be further selected from multiple detergent containers according to the category of the items to be cleaned, and the container storing this detergent type is designated as the target detergent container; the corresponding amount of target detergent is determined according to the degree of dirt and the detergent tolerance constraints imposed by the category of the items to be cleaned; furthermore, the target amount of target detergent can be released from the target detergent container. For example, a metering pump connected to the target detergent container can pump the target detergent out and deliver it to the cleaning area according to the drive time or stroke corresponding to the target amount.

[0034] Optionally, in this embodiment, after obtaining the category and degree of soiling of the items to be cleaned, suitable detergent types can be selected based on the category. This process can be achieved by querying preset category-detergent association rules. For example, only food-grade detergents are allowed for fruits and vegetables, neutral or mildly alkaline detergents can be used for stainless steel, and strongly alkaline formulas are prohibited for aluminum utensils. This allows for the selection of one or more candidate containers from multiple detergent containers, and the most suitable one is chosen as the target detergent container.

[0035] Furthermore, the specific amount of detergent can be determined based on the degree of soiling. This amount can be dynamically generated based on empirical rules or control strategies. For example, for the same type of item, the higher the degree of soiling, the greater the amount of detergent required; however, if the item is made of fragile materials (e.g., glass, fine ceramics), even if the soiling is heavy, the amount may be limited to avoid damage. In this embodiment, the final output target detergent amount is an executable value used for subsequent control of the solenoid valve opening duration or the metering pump stroke.

[0036] In one example of this embodiment, when the item to be cleaned is identified as a ceramic bowl with a heavy level of dirt, it is determined that it can withstand strong detergents. Therefore, a container containing a strong degreasing detergent is selected as the target detergent container, and the dosage is set to 30 mL. When the item is identified as a strawberry with a moderate level of dirt, because the strawberry skin is delicate, only food-grade fruit and vegetable cleaners are allowed. Therefore, a corresponding container is selected, and the dosage is limited to less than 15 mL to ensure food safety and surface integrity.

[0037] Step 130: Obtain the target temperature range that matches the target detergent, and determine the target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned.

[0038] The target detergent is selected from multiple detergent containers based on the type and degree of soiling of the items to be cleaned, and is the most suitable detergent for the current cleaning task. For example, for stainless steel cookware with oil stains, the system may select an alkaline degreasing detergent; while for glassware with protein stains, it may select a neutral detergent containing protease.

[0039] The target temperature range is the water temperature range in which the target detergent is chemically stable and has the best detergency activity; it is also called the effective activity temperature range. For example, biological detergents containing proteases usually have the highest activity in the range of 30℃-55℃, and are prone to inactivation above 60℃; while strongly alkaline inorganic detergents can work efficiently in the range of 60℃-80℃.

[0040] The target cleaning temperature can be a specific execution temperature value determined within the aforementioned target temperature range, further considering the degree of soiling (e.g., light, medium, heavy). For example, the same enzyme-containing detergent can be used at 40°C for light stains and at 55°C for heavy stains.

[0041] In one optional implementation of this embodiment, once the target detergent is determined, the active temperature range corresponding to the detergent can be read from a detergent-temperature parameter table stored locally or in the cloud. This range reflects the water temperature range in which the detergent can exert its optimal cleaning efficiency while maintaining chemical stability. Further, based on the degree of dirtiness identified by the image acquisition device, a specific temperature value within the active temperature range is selected as the target cleaning temperature. For example, light dirt corresponds to a lower temperature value, heavy dirt corresponds to a higher temperature value, and moderate dirt corresponds to a middle temperature value. This target cleaning temperature is then sent to a temperature control device to regulate the mixing ratio of hot and cold water, thereby ensuring that the cleaning water reaches the required temperature before entering the spray system.

[0042] For example, when the item to be cleaned is a ceramic bowl with heavy oil stains on its surface, the system identifies it as a high-temperature resistant ceramic and the degree of dirt as heavy, and selects a strong alkaline degreasing detergent accordingly. The effective active temperature range of the detergent is 60℃-80℃. Based on the heavy dirt, the target cleaning temperature can be set to 78℃. The temperature regulating device then adjusts the mixing ratio of hot and cold water to stabilize the outlet water temperature at 78℃, so as to give full play to the saponification and emulsification capabilities of the detergent at high temperatures.

[0043] Step 140: Adjust the temperature of the cleaning water using a temperature control device. After the cleaning water reaches the target cleaning temperature, control the target detergent and the temperature-adjusted cleaning water to be supplied synchronously to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle.

[0044] The temperature control device is a hardware module used to regulate the temperature of the cleaning water. It includes a cold water supply pipe, a hot water supply pipe, and a hot and cold water electric mixing valve. The target water temperature is achieved by adjusting the ratio of hot and cold water. For example, when the target cleaning temperature is 50°C, the device can mix 60°C hot water and 15°C cold water at a specific flow rate to obtain a stable 50°C cleaning water.

[0045] The temperature-controlled cleaning water is water that has been treated by a temperature regulating device and whose temperature has reached the target cleaning temperature. It is used as the main cleaning medium in the spraying process.

[0046] Optionally, in this embodiment, when the temperature of the cleaning water is detected to have stabilized at the target cleaning temperature, the cleaning process is initiated: on the one hand, the water supply path is opened, and the temperature-adjusted cleaning water is introduced into the rotary nozzle, so that it forms a rotating high-pressure water flow through the water outlet; on the other hand, the metering pump connected to the target detergent container is started simultaneously, and the determined amount of target detergent is sent to the independently set three-channel detergent outlet through a dedicated delivery pipeline, and sprayed out from the outlet; in this embodiment, the rotary nozzle and the three-channel detergent outlet are arranged adjacent to each other in the washing tank and spray in the same direction, so that although the cleaning water and the target detergent are not mixed inside the equipment, they can achieve a synergistic effect of time and space synchronization on the surface area of ​​the item to be cleaned, thereby completing efficient cleaning under the dual mechanism of physical rinsing and chemical decomposition.

[0047] For example, when cleaning a heavily greasy stainless steel pot placed at the bottom of a washing tank, an alkaline degreasing detergent has been selected and the target cleaning temperature has been set to 75°C. Once the temperature control device outputs hot water at 75°C and confirms that the target has been met, the rotating nozzle is immediately turned on to supply water. At the same time, the metering pump is driven to spray 5mL of alkaline detergent from the three-channel outlet located below the rotating nozzle. The fan-shaped rotating water flow generated by the rotating nozzle covers the upper part of the pot, while the detergent flow is precisely sprayed onto the heavily greasy area at the bottom of the pot. The two meet on the surface of the pot, quickly emulsifying the grease and washing it away with the water flow.

[0048] The technical solution of this embodiment can be applied to a washing tank, which includes an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle. The image acquisition device acquires a target image of the item to be cleaned in the washing tank, and determines the category of the item and the degree of dirt on its surface based on the target image. Based on the degree of dirt and the category of the item, the target detergent container and the target dosage of the target detergent are determined, and the target dosage of the target detergent is released from the target detergent container. A target temperature range matching the target detergent is acquired, and a target cleaning temperature is determined based on the target temperature range and the degree of dirt on the surface of the item. The temperature control device adjusts the temperature of the cleaning water. After the cleaning water reaches the target cleaning temperature, the target detergent and the temperature-adjusted cleaning water are simultaneously supplied to the rotating nozzle and sprayed onto the surface of the item. This solves the technical problems in existing cleaning technologies where the cleaning temperature and detergent activity temperature range are mismatched, and cleaning parameters cannot be dynamically optimized according to the item category and degree of dirt. It achieves precise dosing, on-demand temperature control, and efficient and reliable cleaning, significantly improving the user experience.

[0049] Example 2 Figure 5 This is a flowchart of a cleaning method according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 5 As shown, the method includes: Step 510: Acquire a target image of the item to be cleaned located in the washing tank using an image acquisition device.

[0050] Step 520: Extract the edge point set of the target image and perform morphological closure processing on the edge point set to obtain the target contour region. The target contour region is determined as the contour information of the item to be cleaned. The contour information is matched with the preset item contour template library, and the category of the item to be cleaned is determined according to the matching result.

[0051] In this context, the edge point set is the set of pixels in an image where the brightness or color changes significantly, typically corresponding to object boundaries. For example, the pixels where an apple meets the background in an image constitute its edge points.

[0052] The item outline template library is a collection of standardized outline data for a variety of typical items that are stored in advance. For example, the library contains templates such as round bowls, long-handled spoons, oval lettuce leaves, or irregular potatoes, and each template comes with a category label (e.g., tableware - bowls, fruits and vegetables - leafy greens, etc.).

[0053] In one optional implementation of this embodiment, after acquiring the target image, edge detection can be further performed on the target image to obtain an edge point set; morphological closure operation is performed on the edge point set to fill the internal voids and connect the broken edges to form a closed target contour region; the target contour region is used as contour information, its shape features are calculated, and similarity matching is performed with the shape features of each template in the preset item contour template library; the category of the item to be cleaned is determined according to the category label associated with the template with the highest matching degree.

[0054] Optionally, in this embodiment, after acquiring the target image, edge detection can be further performed on the target image. For example, operators such as Canny, Sobel, or Laplacian can be used to extract the edge point set in the image to obtain a preliminary, possibly discontinuous, set of boundary pixels. Further, a morphological closure operation is performed on the binary image corresponding to this edge point set: by selecting a structuring element of appropriate size (e.g., a 3×3 or 5×5 circular kernel), first dilation is used to connect adjacent edge segments and fill small holes, then erosion is performed to restore the original edge scale, thereby generating one or more closed connected regions, i.e., the target contour region. This region is determined as the contour information of the item to be cleaned.

[0055] Furthermore, shape features (e.g., normalized contour coordinates, Hu moments, Zernike moments, or contour polygon approximations) are extracted from the contour information, and these features are compared with the similarity of each template in a pre-defined item contour template library. The matching algorithm can employ minimum distance, correlation coefficient, Hausdorff distance, or a support vector machine classifier. When the matching score of a template exceeds a preset threshold, the category label corresponding to that template can be output as the category of the item to be cleaned. If multiple items exist, matching can be performed separately for each contour region.

[0056] For example, when a user puts a ceramic bowl and a head of lettuce into the sink, the image acquisition device acquires the target image; by extracting the edges, it is found that the edge of the bowl is approximately circular but locally broken due to water stains, and the edge of the lettuce is irregularly serrated and has holes; after morphological closure processing of 5×5 circular structural elements, the outline of the bowl is restored to a complete circular area, and the outline of the lettuce forms a closed irregular polygon; further, these two outlines are matched with circular tableware and leafy vegetable templates in the template library, and finally the categories are determined to be tableware and fruits and vegetables, respectively.

[0057] The solution in this embodiment effectively repairs contour breaks or holes caused by light reflection, water stains, or complex surface textures of objects by extracting edge point sets of the target image and performing morphological closure processing, thereby obtaining a complete and closed target contour area. Based on this, the contour information is matched with a preset object contour template library, which can accurately identify the category of the object to be cleaned, avoiding the defects of relying solely on color or texture features, which are easily interfered with by contamination.

[0058] Step 530: For each pixel in the target image, calculate the brightness difference with adjacent pixels in the horizontal and vertical directions to obtain the horizontal gradient component and the vertical gradient component, and generate the gradient amplitude distribution based on the horizontal gradient component and the vertical gradient component; determine the degree of dirt on the surface of the item to be cleaned based on the gradient amplitude distribution.

[0059] Among them, the brightness difference refers to the numerical difference between adjacent pixels in the grayscale or brightness channel, reflecting the intensity of local changes in brightness. For example, the surface of a clean apple is smooth, and the brightness of adjacent pixels is similar, with a small difference; while in areas with mud and sand, due to the rough texture, the brightness of adjacent pixels jumps more, resulting in a high difference.

[0060] The horizontal gradient component represents the rate of change of brightness in the horizontal direction of an image, typically calculated by a convolution kernel using the difference between each pixel and its left and right neighbors. The vertical gradient component represents the rate of change of brightness in the vertical direction of an image, typically calculated by a convolution kernel using the difference between each pixel and its upper and lower neighbors. The gradient magnitude is determined by the horizontal and vertical gradient components, respectively. It can be understood that a higher gradient magnitude and a more uneven distribution correspond to more severe dirt.

[0061] Optionally, in this embodiment, the target image acquired by the image acquisition device can be converted into a grayscale image to eliminate the interference of color on brightness change analysis. Further, for each pixel in the grayscale image, the brightness difference between it and its left and right adjacent pixels in the horizontal direction is calculated to obtain the horizontal gradient component. Simultaneously, the brightness difference between it and its upper and lower adjacent pixels in the vertical direction is calculated to obtain the vertical gradient component. Then, based on the gradient components in these two directions, the gradient amplitude of each pixel is synthesized to generate a gradient amplitude distribution map of the entire image. Based on this, the area corresponding to the item to be cleaned is extracted, and the proportion of pixels with gradient amplitudes higher than a preset threshold within this area is counted as the coverage area of ​​the contaminants. At the same time, the dispersion of the gradient amplitudes of high-gradient pixels within this area is calculated as the roughness of the surface contamination. Finally, based on the coverage area and roughness, and in accordance with preset dirt level rules, the degree of dirt on the surface of the item to be cleaned is determined.

[0062] In practical implementation, the calculated contaminant coverage area and surface roughness can be used as two input parameters, compared with pre-defined dirt level rules, to map a specific dirt level. The dirt level rules can be stored in the device's control unit, for example, in the form of a lookup table, conditional logic, or threshold range.

[0063] For example, if an apple has only a small amount of water stains on its surface, with high gradient pixels accounting for 10% and the gradient values ​​of these pixels concentrated between 30 and 40 (small fluctuations), then the coverage area is small and the roughness is low, and it is judged as light dirt; if a porcelain plate is partially stained with dried oil stains, with high gradient pixels accounting for 35% and the gradient values ​​between 50 and 120 (large fluctuations), then the coverage area is medium and the roughness is high, and it is judged as moderate dirt; if a potato is covered with a large amount of mud, with high gradient pixels accounting for 60% and the gradient values ​​changing drastically between 80 and 200 (extreme fluctuations), then the coverage area is large and the roughness is high, and it is judged as heavy dirt.

[0064] Optionally, in this embodiment, determining the degree of dirt on the surface of the item to be cleaned based on the gradient amplitude distribution may include: identifying the set of pixels with amplitudes greater than a preset amplitude in the gradient amplitude distribution as high gradient regions; calculating the area ratio of high gradient regions in the region where the item to be cleaned is located; calculating the overall level of the absolute value of the amplitude difference between adjacent pixels in the gradient amplitude distribution; and determining the degree of dirt on the surface of the item to be cleaned based on the area ratio and the overall level.

[0065] In an optional implementation of this embodiment, each pixel in the gradient amplitude distribution can be traversed, and its amplitude can be compared with a preset threshold. If it exceeds the threshold, it is marked as a high gradient pixel, and all marked pixels together constitute a high gradient region. Further, the area ratio of the high gradient region in the image region corresponding to the item to be cleaned, that is, the ratio of the number of high gradient pixels to the total number of pixels in the item region, is calculated to characterize the coverage of contaminants on the item surface. At the same time, the absolute value of the amplitude difference between adjacent pixels in the gradient amplitude distribution is calculated, and an overall statistic (e.g., average or root mean square) is taken for these differences to obtain an overall level reflecting the severity of gradient changes, which is used to characterize the non-uniformity of contaminant distribution or the complexity of surface texture. Finally, the area ratio and the overall level are used as two judgment criteria, compared with preset dirt level rules. For example, when the area ratio is large and the overall level is high, it is judged as heavy dirt; when the area ratio is small and the overall level is low, it is judged as light dirt; and the rest are judged as moderate dirt, thereby determining the degree of dirt on the surface of the item to be cleaned.

[0066] For example, when a potato covered in dried mud is placed in a washing tank, the level of dirt is identified by analyzing the gradient amplitude distribution generated from its image. A threshold of 50 is set; all pixels exceeding this threshold are marked as high-gradient regions, and these regions account for 58% of the potato's total area. Simultaneously, the average absolute value of the gradient amplitude difference between all adjacent pixel pairs is calculated to be 32, indicating complex and drastically varying surface texture. Based on the high area proportion and high overall level difference, the potato's surface dirt level is determined to be heavy, and a powerful rinsing mode is automatically activated, along with an appropriate increase in the amount of fruit and vegetable cleaner used to effectively remove the stains.

[0067] This embodiment calculates the horizontal and vertical gradient components of an image and generates a gradient amplitude distribution, which can objectively and quantitatively reflect the texture complexity and edge density of the surface of the item to be cleaned, thereby effectively distinguishing clean areas from dirty areas. Compared with methods that rely on color or manually set rules, this method is more robust to changes in lighting and water stains, requires no training samples, has low computational overhead, and is suitable for embedded cleaning equipment. The degree of dirt determined in this way is closer to the actual pollution state, providing a reliable basis for precise control of detergent dosage and rinsing intensity, significantly improving cleaning efficiency and avoiding resource waste.

[0068] Step 540: Determine the target detergent container and the target amount of target detergent based on the degree of soiling and the type of items to be cleaned, and release the target amount of target detergent from the target detergent container.

[0069] Optionally, in this embodiment, determining the target detergent container and the target dosage of the target detergent based on the degree of soiling and the category of the item to be cleaned, and releasing the target dosage of the target detergent from the target detergent container, may include: querying a preset detergent-item category mapping table for a suitable detergent type based on the category of the item to be cleaned, and determining the corresponding target detergent container; querying a preset soiling level-dosage mapping table for the basic dosage of detergent corresponding to the soiling level based on the degree of soiling; if the category of the item to be cleaned is a fragile material, then adjusting the basic dosage of detergent by reducing it; if the degree of soiling is heavy and the category is a stain-resistant material, then adjusting the basic dosage of detergent by increasing it; and controlling the dispensing mechanism of the target detergent container to release the adjusted target dosage of detergent.

[0070] The detergent-item category mapping table is a pre-stored data table in the control system, recording the appropriate detergent type for different item materials or types (e.g., glass, plastic, stainless steel, ceramic, etc.). For example, glassware corresponds to neutral low-foaming enzyme preparations, while stainless steel cookware corresponds to alkaline degreasers.

[0071] The dirt level-dosage mapping table is another pre-set data table that maps the degree of dirt (e.g., light, moderate, heavy) obtained from image recognition to the baseline detergent dosage. For example, light dirt corresponds to 2 mL, moderate dirt corresponds to 4 mL, and heavy dirt corresponds to 6 mL.

[0072] In one optional embodiment of this example, after identifying the category and degree of soiling of the item to be cleaned, the appropriate detergent type can be retrieved from the locally stored detergent-item category mapping table, and the corresponding physical target detergent container can be determined accordingly. Further, the corresponding basic detergent dosage is read from the soiling level-dosage mapping table based on the degree of soiling. Based on this, the material properties of the item are further determined: if the category belongs to a fragile material (e.g., aluminum or coated products), the basic dosage is reduced to lower the risk of corrosion; if the degree of soiling is heavy and the item category is a stain-resistant material (e.g., ceramic or stainless steel), an incremental adjustment is performed to enhance the cleaning ability. Finally, the control system drives the dispensing mechanism (e.g., a stepper metering pump) connected to the target detergent container to release detergent that corresponds exactly to the adjusted target dosage, ensuring that the dosing process balances safety, effectiveness, and resource conservation.

[0073] For example, when the system identifies a glass beaker with protein residue (category: glass, fragile material; degree of dirt: moderate) as the item to be washed, it can select a neutral protease detergent from the mapping table and locate container number 3. The table shows that the basic dosage for moderate dirt is 4 mL. Since glass is a fragile material, the system reduces the dosage by 20% to 3.2 mL. Furthermore, it controls the metering pump in container number 3 to run for the corresponding duration, precisely releasing 3.2 mL of detergent, ensuring both cleaning effect and avoiding potential corrosion of the glass surface by strong ingredients.

[0074] The solution in this embodiment dynamically adjusts the basic dosage based on material characteristics, effectively avoiding the risk of excessive chemical corrosion to fragile items and improving the safety and applicability of the equipment. When faced with heavy stains and items with high tolerance, the cleaning intensity is enhanced by reasonably increasing the dosage to ensure that stubborn stains are completely removed.

[0075] Step 550: Obtain the target temperature range that matches the target detergent, and determine the target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned.

[0076] Optionally, in this embodiment, obtaining the target temperature range matching the target detergent and determining the target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned may include: querying the target temperature range corresponding to the target detergent from a preset detergent-temperature parameter table; if the degree of dirt is light, then the lower limit of the target temperature range is determined as the target cleaning temperature; if the degree of dirt is moderate, then the middle value of the target temperature range is determined as the target cleaning temperature; if the degree of dirt is heavy, then the upper limit of the target temperature range is determined as the target cleaning temperature.

[0077] The preset detergent-temperature parameter table is a data structure in a pre-existing local database, recording the effective active temperature range (referred to as the target temperature range in this embodiment) for each detergent. For example, protease-containing biological detergents correspond to 30℃-55℃, and strongly alkaline degreasers correspond to 60℃-80℃. This range can be determined by both the chemical stability and detergency of the detergent.

[0078] In an optional implementation of this embodiment, once the target detergent is determined, the target temperature range corresponding to the detergent can be read from a preset detergent-temperature parameter table. This range reflects its effective working window between chemical stability and detergency. Further, based on the degree of soiling obtained from image recognition, a specific target cleaning temperature is determined within this range: if the soiling degree is light, the lower limit of the target temperature range is used as the target cleaning temperature; if it is moderate, the midpoint between the upper and lower limits is used as the target cleaning temperature; if it is heavy, the upper limit is used as the target cleaning temperature. This target cleaning temperature is then sent to a temperature control device to drive a hot and cold water electric mixing valve to adjust the ratio of hot and cold water flow, so that the temperature of the mixed cleaning water accurately reaches the set value, thereby ensuring that the detergent functions at its optimal activity temperature.

[0079] It should be noted that setting the target cleaning temperature as the lower limit, middle value, or upper limit of the target temperature range in this embodiment is only a preferred implementation. In practical applications, a reasonable temperature value close to the target temperature range can be selected based on the equipment's temperature control accuracy, detergent activity curve characteristics, or user preferences. For example, for lightly soiled surfaces, any temperature can be selected within the range from the lower limit to 5°C above the lower limit of the target temperature range; for heavily soiled surfaces, a temperature can be selected between 5°C below the upper limit and the upper limit; and for moderately soiled surfaces, a temperature can be flexibly set within the range of ±3°C of the middle value. Such selection of close values ​​still constitutes a reasonable adjustment based on the degree of soiling within the target temperature range, which can balance the detergent's activity and cleaning needs, without departing from the technical concept of this invention.

[0080] The solution in this embodiment strictly limits the target cleaning temperature to the effective active temperature range of the target detergent, and selects the lower, middle, or upper limit within this range according to the degree of dirt. This ensures that the cleaning process always operates under the thermodynamic conditions where the chemical performance of the detergent is optimal, effectively preventing the problem of thermal deactivation of active ingredients due to excessively high temperature or insufficient reaction rate due to excessively low temperature. In this embodiment, a low temperature is used for light dirt to save energy and protective materials, while a high temperature is used for heavy dirt to enhance stain removal, avoiding the over-cleaning or under-cleaning phenomena of traditional fixed temperature modes.

[0081] Step 560: Obtain the first inlet water temperature of the cold water supply pipe and the second inlet water temperature of the hot water supply pipe respectively; based on the target cleaning temperature, the first inlet water temperature and the second inlet water temperature, determine the ratio of cold and hot water flow rates required to make the mixed water temperature reach the target cleaning temperature; according to the ratio of cold and hot water flow rates, determine the target opening degree of the cold and hot water electric mixing valve, and control the cold and hot water electric mixing valve to operate to the target opening degree to output cleaning water.

[0082] The target opening refers to a specific position of the mixing valve core (e.g., rotation angle or stroke percentage), which corresponds to the previously calculated ratio of hot and cold water flow rates.

[0083] In an optional implementation of this embodiment, the temperature regulating device collects the first inlet water temperature and the second inlet water temperature respectively through temperature sensors installed on the cold water supply pipe and the hot water supply pipe. Further, based on these two measured temperature values ​​and the determined target cleaning temperature, the ratio of cold and hot water flow rates required to accurately reach the target cleaning temperature is calculated according to the heat balance equation. Subsequently, according to the pre-calibrated mapping relationship between the opening degree of the cold and hot water electric mixing valve and the flow rate ratio, the flow rate ratio is converted into a target opening value, and a control signal is sent to the driving device of the mixing valve to make its valve core run to the target opening degree. At this opening degree, cold water and hot water are mixed according to the calculated ratio, and the output cleaning water with a stable temperature that meets the target requirements is provided with thermal guarantee for subsequent precise cleaning.

[0084] In this embodiment, the water temperature is regulated by mixing hot and cold water. The temperature and flow rate of the cold water are fixed, while the temperature and flow rate of the hot water are fixed but adjustable. When temperature adjustment is needed, the overall water output is adjusted by changing the flow rate of the hot water. In specific implementation, the adjustment can be based on the following formula: ; in, The water temperature in the cold water pipe. This represents the flow rate of the cold water pipe. The water temperature in the hot water pipe. This represents the flow rate of the hot water pipe. The temperature of the mixed water.

[0085] For example, when the target cleaning temperature is 45°C, the detected cold water inlet temperature is 20°C and the hot water inlet temperature is 70°C. After calculation, the required flow ratio of hot water to cold water is 5:5 (i.e., 1:1). According to the calibration data of the mixing valve, this ratio corresponds to 60% opening of the hot water side. Furthermore, the electric mixing valve is driven to adjust to this opening, so that the 20°C cold water and the 70°C hot water are mixed in equal amounts, and the cleaning water at 45°C is output, with the error controlled within ±1°C.

[0086] The solution in this embodiment obtains the actual inlet temperatures of cold and hot water in real time, dynamically calculates the required ratio of cold and hot water flow based on the principle of thermodynamic balance, and then converts this ratio into the precise target opening degree of the cold and hot water electric mixing valve, thereby achieving high-precision and adaptive control of the cleaning water temperature. It effectively overcomes the problem of mixed water temperature deviation caused by seasonal fluctuations in water source temperature or unstable output of water heater, and can ensure that each cleaning is carried out at the set target temperature.

[0087] Optionally, in this embodiment, after outputting the cleaning water, the cleaning method may further include: detecting the actual temperature of the output cleaning water using a temperature sensor installed at the outlet of the hot and cold water electric mixing valve, and comparing the actual temperature with the target cleaning temperature; if the actual temperature is lower than the target cleaning temperature, increasing the opening of the hot water passage of the hot and cold water electric mixing valve; if the actual temperature is higher than the target cleaning temperature, decreasing the opening of the hot water passage of the hot and cold water electric mixing valve.

[0088] In one optional implementation of this embodiment, a temperature sensor is provided at the outlet of the hot and cold water electric mixing valve, which can be used to detect the actual temperature of the output cleaning water in real time; the actual temperature can be compared with a predetermined target cleaning temperature; when the actual temperature is lower than the target cleaning temperature, a command is sent to the drive unit of the electric mixing valve to increase the opening of its hot water passage to increase the proportion of hot water in the mixed water; when the actual temperature is higher than the target cleaning temperature, the opening of the hot water passage is reduced to decrease the proportion of hot water.

[0089] For example, if the target cleaning temperature is set to 50°C, the actual measured water temperature after initial mixing is 48°C. If the temperature is determined to be too low, the electric mixing valve is then controlled to increase the opening of the hot water passage from 50% to 55%. After about 2 seconds of mixing response, the temperature sensor reports that the water temperature has risen to 50.2°C. The opening is then finely adjusted to 54%, and finally the water temperature is stabilized within the range of 50°C ± 0.5°C.

[0090] The solution in this embodiment, by setting a temperature sensor at the outlet of the hot and cold water electric mixing valve and dynamically adjusting the opening of the hot water passage based on the comparison between the actual temperature and the target cleaning temperature, effectively overcomes the water temperature deviation problem caused by inlet water temperature drift, valve aging, or pipeline heat loss in open-loop control; it can sense and correct the deviation of the mixed water temperature in real time, significantly improving the accuracy and robustness of temperature control.

[0091] Step 570: After the cleaning water reaches the target cleaning temperature, control the target detergent and the temperature-adjusted cleaning water to be supplied synchronously to the rotating nozzle, and spray it onto the surface of the item to be cleaned through the rotating nozzle.

[0092] Optionally, in this embodiment, after the cleaning water reaches the target cleaning temperature, controlling the target detergent and the temperature-adjusted cleaning water to be synchronously supplied to the rotary nozzle and sprayed onto the surface of the item to be cleaned through the rotary nozzle may include: delivering the temperature-adjusted cleaning water to the rotary nozzle and spraying it onto the surface of the item to be cleaned through the water outlet of the rotary nozzle; delivering the target detergent to the detergent outlet and spraying it onto the surface of the item to be cleaned through the detergent outlet; wherein the rotary nozzle and the detergent outlet are arranged adjacent to each other in space, so that the cleaning water and the target detergent are synchronously sprayed onto the surface of the item to be cleaned in the form of separate streams, and a synergistic cleaning effect is achieved on the surface of the item to be cleaned.

[0093] In a preferred embodiment of this invention, after the temperature regulating device has adjusted the temperature of the cleaning water and confirmed that the water temperature has stabilized at the determined target cleaning temperature, the cleaning execution phase is initiated. At this time, two independent fluid delivery paths are controlled simultaneously: the first path introduces the temperature-adjusted cleaning water through the main water supply pipeline into a rotating nozzle installed on the top or side wall of the washing tank; the rotating nozzle has a hollow flow channel inside and multiple water outlets are evenly distributed around its circumference. When the water flows through, it rotates around its axis under the action of recoil force or built-in drive mechanism, thereby forming a dynamic rotating jet water flow with a wide coverage and uniform impact force, which is used to physically rinse the surface of the items to be cleaned in all directions.

[0094] The second approach involves activating a metering pump (e.g., a peristaltic pump or diaphragm pump) connected to the target detergent container. The target detergent, the dosage determined in the preceding steps, is delivered via a dedicated, sealed detergent delivery line to a cleaning agent outlet located on the inner wall, bottom, or near the rotating nozzle area of ​​the washing tank. The detergent is then sprayed out from this outlet in a directional jet, its direction spatially overlapping with the main water flow coverage area of ​​the rotating nozzle. Within this area, the target detergent directly contacts the stains in water pre-temperatured to its optimal activity range, rapidly undergoing chemical decomposition. Simultaneously, the dynamic water flow from the rotating nozzle applies a mechanical scouring force, promptly stripping away and carrying away loosened or emulsified dirt.

[0095] In this embodiment, the temperature-controlled cleaning water and the target detergent are simultaneously sprayed onto the surface of the item to be cleaned in the form of separate streams through a rotating nozzle and an independent detergent outlet. This effectively avoids problems such as pipeline deposition, premature reaction of chemical components, or activity decay that may occur with traditional premixing methods.

[0096] To better understand the cleaning method involved in this embodiment, Figure 6 This is a flowchart of another cleaning method provided according to Embodiment 2 of the present invention, see reference. Figure 6 The process can include: acquiring surface images of the items to be cleaned through a detection probe, and sending the acquired image signals to a signal processing module for normalization and standardization; further, extracting feature values ​​based on the processed images to identify the category of the items to be cleaned, and determining the appropriate target detergent type from a preset detergent-item category mapping table; further, querying the active temperature range corresponding to the target detergent, and further determining the target cleaning temperature in conjunction with the item category; after the target cleaning temperature is set, activating the hot water regulating device to adjust the temperature of the cleaning water by adjusting the mixing ratio of hot and cold water; during the temperature adjustment process, a temperature sensor located at the water outlet detects the actual water temperature in real time and feeds the detection results back to the control unit to dynamically adjust the opening of the hot water passage to stabilize the actual water temperature at the target cleaning temperature; when the cleaning water reaches the target cleaning temperature, opening the solenoid valve connected to the target detergent container to inject the target detergent into the cleaning water flow path; finally, the temperature-adjusted cleaning water and the target detergent are sprayed together onto the surface of the items to be cleaned through the spray system to complete the cleaning operation.

[0097] In the specific implementation, the user places fruits and vegetables into the container, and the image recognition system determines the type of items to be cleaned, such as selecting the type of cleaning agent (e.g., baking soda). The activity range of the cleaning agent is obtained based on the type of items to be cleaned. By determining the cleaning type based on the image, for example, if the items are identified as "leafy vegetables," the upper limit of their temperature is 42℃. The activity temperature is adjusted according to the type to obtain the target temperature. The activity range of the baking soda cleaning agent is 20~60℃, with 20℃-40℃ being the optimal range. Combining the heat resistance and activity range, the target temperature is obtained as 40℃. The overall water output is adjusted by changing the hot water flow rate, and the water temperature at the outlet is detected. Feedback adjustment is used to adjust the hot water mixing amount to ensure that the temperature reaches the target temperature. Temperature sensor feedback closed-loop control (accuracy ±1℃) is used. After the hot and cold water are mixed to the target temperature and the water level reaches the target, the hot jet cleaning is started. During the drainage stage, the water temperature automatically drops to room temperature to reduce thermal shock damage.

[0098] The present invention uses image recognition to obtain the type of cleaning item and determine the type of cleaning agent. The water temperature is controlled by combining the chemical activity temperature of the cleaning agent and the heat resistance of the cleaning item, thereby improving cleaning efficiency and reducing energy consumption.

[0099] Example 3 Figure 7 This is a schematic diagram of a cleaning device according to Embodiment 3 of the present invention. The device is deployed in a washing tank, which includes an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle. Figure 7 As shown, the device includes: a first determining module 710, a second determining module 720, a third determining module 730, and a cleaning module 740.

[0100] The first determining module 710 is used to acquire a target image of the item to be cleaned in the washing tank through an image acquisition device, and to determine the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image. The second determining module 720 is used to determine the target detergent container and the target amount of target detergent based on the degree of soiling and the type of items to be cleaned, and to release the target amount of target detergent from the target detergent container. The third determining module 730 is used to obtain the target temperature range that matches the target detergent, and to determine the target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned. The cleaning module 740 is used to adjust the temperature of the cleaning water through a temperature regulating device. After the cleaning water reaches the target cleaning temperature, it controls the target detergent and the temperature-adjusted cleaning water to be supplied synchronously to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle.

[0101] In an optional implementation of this embodiment, the first determining module 710 is specifically used to extract the edge point set of the target image, perform morphological closure processing on the edge point set to obtain the target contour region, and determine the target contour region as the contour information of the item to be cleaned. The outline information is matched with a preset item outline template library, and the category of the item to be cleaned is determined based on the matching results.

[0102] In an optional implementation of this embodiment, the first determining module 710 is further specifically used to calculate the brightness difference between each pixel in the target image and its adjacent pixels in the horizontal and vertical directions, respectively, to obtain the horizontal gradient component and the vertical gradient component, and to generate a gradient magnitude distribution based on the horizontal gradient component and the vertical gradient component. The degree of dirt on the surface of the item to be cleaned is determined based on the gradient amplitude distribution.

[0103] In an optional implementation of this embodiment, the second determining module 720 is specifically used to query the appropriate detergent type from a preset detergent-item category mapping table according to the category of the item to be cleaned, and determine the corresponding target detergent container; Based on the degree of soiling, the basic detergent dosage corresponding to the degree of soiling is retrieved from the preset soiling level-dosage mapping table; If the items to be cleaned are made of fragile materials, the basic amount of detergent should be reduced. If the dirt is heavy and the material is stain-resistant, increase the basic amount of detergent used. The dispensing mechanism of the target detergent container controls the release of the target detergent at the adjusted target dosage.

[0104] In an optional implementation of this embodiment, the third determining module 730 is specifically used to query the target temperature range corresponding to the target detergent from a preset detergent-temperature parameter table; If the degree of dirt is light, the lower limit of the target temperature range is determined as the target cleaning temperature; If the level of dirt is moderate, then the midpoint of the target temperature range will be determined as the target cleaning temperature. If the level of dirt is heavy, the upper limit of the target temperature range will be set as the target cleaning temperature.

[0105] In one optional implementation of this embodiment, the temperature regulating device includes a cold water supply pipe, a hot water supply pipe, and a hot and cold water electric mixing valve; The cleaning module 740 is specifically used to obtain the first inlet water temperature of the cold water supply pipe and the second inlet water temperature of the hot water supply pipe, respectively. Based on the target cleaning temperature, the first inlet water temperature, and the second inlet water temperature, determine the ratio of hot and cold water flow rates required to bring the mixed water temperature to the target cleaning temperature. Based on the ratio of hot and cold water flow rates, determine the target opening degree of the hot and cold water electric mixing valve, and control the hot and cold water electric mixing valve to operate to the target opening degree to output cleaning water.

[0106] In an optional implementation of this embodiment, the cleaning device further includes: a temperature detection module, which detects the actual temperature of the output cleaning water by means of a temperature sensor installed at the outlet of the hot and cold water electric mixing valve, and compares the actual temperature with the target cleaning temperature; If the actual temperature is lower than the target cleaning temperature, increase the opening of the hot water passage of the hot and cold water electric mixing valve; If the actual temperature is higher than the target cleaning temperature, reduce the opening of the hot water passage of the hot and cold water electric mixing valve.

[0107] In an optional implementation of this embodiment, the cleaning module 740 is further specifically used to deliver the temperature-controlled cleaning water to the rotary nozzle and spray it onto the surface of the item to be cleaned through the water outlet of the rotary nozzle. The target detergent is delivered to the cleaning agent outlet and sprayed onto the surface of the item to be cleaned through the cleaning agent outlet; The rotating nozzle and the cleaning agent outlet are arranged close to each other in space, so that the cleaning water and the target detergent are sprayed onto the surface of the item to be cleaned in the form of separate streams, and a synergistic cleaning effect is achieved on the surface of the item to be cleaned.

[0108] The cleaning apparatus provided in the embodiments of the present invention can perform the cleaning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for performing the method.

[0109] In the technical solutions of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information (such as facial information, voice information, etc.) all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0110] Example 4 Figure 8 A schematic diagram of a washing tank 10, which can be used to implement an embodiment of the present invention, is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0111] like Figure 8 As shown, the washing tub 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from the storage unit 18. The RAM 13 can also store various programs and data required for the operation of the washing tub 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] Multiple components in the washing tub 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the washing tub 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0113] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods described above, such as cleaning methods.

[0114] In some embodiments, the cleaning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted to the washing tank 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the cleaning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the cleaning method by any other suitable means (e.g., by means of firmware).

[0115] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM), optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0118] To provide user interaction, the systems and techniques described herein can be implemented on a washing tub having: a display device for displaying information to the user (e.g., a cathode ray tube (CRT) or liquid crystal display (LCD) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the washing tub. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0119] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0120] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and Virtual Private Servers (VPS) in terms of management difficulty and weak business scalability.

[0121] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0122] 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.

[0123] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements a database detection method as provided in any embodiment of this application.

[0124] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LANs or WANs—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the solution has been or necessarily used.

[0126] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A cleaning method applied to a washing tank, the washing tank comprising an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle, characterized in that, The method includes: The image acquisition device acquires a target image of the item to be cleaned in the washing tank, and determines the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image. The target detergent container and the target amount of target detergent are determined based on the degree of soiling and the type of the items to be cleaned, and the target amount of target detergent is released from the target detergent container. Obtain a target temperature range that matches the target detergent, and determine a target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned; The temperature of the cleaning water is adjusted by the temperature regulating device. After the cleaning water reaches the target cleaning temperature, the target detergent and the temperature-adjusted cleaning water are synchronously supplied to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle.

2. The cleaning method according to claim 1, characterized in that, Determining the category of the item to be cleaned based on the target image includes: The edge point set of the target image is extracted, and the edge point set is subjected to morphological closure processing to obtain the target contour region. The target contour region is determined as the contour information of the item to be cleaned. The outline information is matched with a preset item outline template library, and the category of the item to be cleaned is determined based on the matching result.

3. The cleaning method according to claim 1, characterized in that, Determining the degree of dirt on the surface of the item to be cleaned based on the target image includes: For each pixel in the target image, the brightness difference with adjacent pixels in the horizontal and vertical directions is calculated to obtain the horizontal gradient component and the vertical gradient component, and a gradient magnitude distribution is generated based on the horizontal gradient component and the vertical gradient component. The degree of dirt on the surface of the item to be cleaned is determined based on the gradient amplitude distribution.

4. The cleaning method according to claim 1, characterized in that, Determining the target detergent container and target dosage of the target detergent based on the degree of soiling and the type of items to be cleaned, and releasing the target dosage of the target detergent from the target detergent container, including: Based on the category of the item to be cleaned, the appropriate detergent type is queried from the preset detergent-item category mapping table, and the corresponding target detergent container is determined. Based on the degree of soiling, the basic detergent dosage corresponding to the degree of soiling is retrieved from the preset soiling level-dosage mapping table; If the item to be cleaned is made of a fragile material, the basic amount of detergent should be reduced. If the degree of soiling is heavy and the material is a stain-resistant material, then the basic amount of detergent should be increased. The dispensing mechanism of the target detergent container controls the release of the target detergent at the adjusted target dosage.

5. The cleaning method according to claim 1, characterized in that, Obtaining a target temperature range that matches the target detergent, and determining a target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned, including: Query the target temperature range corresponding to the target detergent from the preset detergent-temperature parameter table; If the degree of soiling is mild, then the lower limit of the target temperature range is determined as the target cleaning temperature; If the degree of soiling is moderate, then the median value of the target temperature range is determined as the target cleaning temperature; If the degree of soiling is severe, then the upper limit of the target temperature range is determined as the target cleaning temperature.

6. The cleaning method according to claim 1, characterized in that, The temperature control device includes a cold water supply pipe, a hot water supply pipe, and a cold and hot water electric mixing valve; Adjusting the temperature of the cleaning water using the temperature regulating device includes: The first inlet water temperature of the cold water supply pipe and the second inlet water temperature of the hot water supply pipe are obtained respectively. Based on the target cleaning temperature, the first inlet water temperature, and the second inlet water temperature, determine the ratio of hot and cold water flow rates required to bring the mixed water temperature to the target cleaning temperature. Based on the ratio of hot and cold water flow rates, the target opening degree of the hot and cold water electric mixing valve is determined, and the hot and cold water electric mixing valve is controlled to operate to the target opening degree to output cleaning water; After outputting the cleaning water, the method further includes: The actual temperature of the output cleaning water is detected by a temperature sensor installed at the outlet of the hot and cold water electric mixing valve, and the actual temperature is compared with the target cleaning temperature. If the actual temperature is lower than the target cleaning temperature, then increase the opening of the hot water passage of the hot and cold water electric mixing valve; If the actual temperature is higher than the target cleaning temperature, then reduce the opening of the hot water passage of the hot and cold water electric mixing valve.

7. The cleaning method according to claim 1, characterized in that, After the cleaning water reaches the target cleaning temperature, the target detergent and the temperature-adjusted cleaning water are simultaneously supplied to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle, including: The temperature-controlled cleaning water is delivered to the rotary nozzle and sprayed onto the surface of the item to be cleaned through the water outlet of the rotary nozzle. The target detergent is delivered to the cleaning agent outlet and sprayed onto the surface of the item to be cleaned through the cleaning agent outlet; The rotating nozzle and the cleaning agent outlet are arranged adjacent to each other in space, so that the cleaning water and the target detergent are sprayed synchronously onto the surface of the item to be cleaned in the form of separate streams, and a synergistic cleaning effect is achieved on the surface of the item to be cleaned.

8. A cleaning device, deployed in a washing tank, the washing tank comprising an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle, characterized in that, The device includes: The first determining module is used to acquire a target image of the item to be cleaned located in the washing tank through the image acquisition device, and determine the category of the item to be cleaned and the degree of dirt on the surface of the item to be cleaned based on the target image. The second determining module is used to determine the target detergent container and the target amount of target detergent based on the degree of dirt and the category of the item to be cleaned, and to release the target amount of target detergent from the target detergent container; The third determining module is used to obtain a target temperature range that matches the target detergent, and to determine a target cleaning temperature based on the target temperature range and the degree of dirt on the surface of the item to be cleaned. The cleaning module is used to adjust the temperature of the cleaning water through the temperature regulating device. After the cleaning water reaches the target cleaning temperature, it controls the target detergent and the temperature-adjusted cleaning water to be supplied synchronously to the rotating nozzle and sprayed onto the surface of the item to be cleaned through the rotating nozzle.

9. A washing tank, characterized in that, The washing tank includes: The washing tank includes an image acquisition device, a temperature control device, multiple detergent containers, and a rotating nozzle; At least one processor, and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the cleaning method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the cleaning method according to any one of claims 1-7.

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