A cleaning machine water outlet control method and device, a cleaning machine and a storage medium

Abstract

The application discloses a kind of cleaning machine water outlet control method, device, cleaning machine and storage medium.The cleaning machine water outlet control method includes: starting cleaning machine, cleaning is placed in the article to be cleaned in the water tank of cleaning machine, and obtaining the image of article in the water tank of cleaning machine;According to the shape profile of the article to be cleaned determined by image, and according to the shape profile, the centroid coordinates of the article to be cleaned are determined;Based on centroid coordinates, the position where the water outlet hole of cleaning machine is located and the water outlet range are adjusted, to control the water outlet hole of cleaning machine to be located in the position and the water outlet range of article to be cleaned are carried out water outlet cleaning.The present application realizes the accurate control of cleaning machine water outlet flow, can cover multiple articles, improve cleaning efficiency and reduce water resource waste.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment control technology, and in particular to a method, device, cleaning machine, and storage medium for controlling the water output of a cleaning machine. Background Technology

[0002] Fruit and vegetable washing machines, as a type of mechanized device specifically designed to remove stains, pesticide residues, and microorganisms from the surface of items, significantly improve cleaning efficiency through multiple technological pathways such as physical agitation, ultrasonic cavitation effect, or electrolytic water oxidation-reduction reaction. They are mainly used in food processing plants, central kitchens, and home settings. Through scientific selection and standardized use, they can effectively reduce food safety risks and curb excessive pesticide residues, thus building a solid barrier for family health.

[0003] Existing fruit and vegetable washing machines use fixed water flow or a single vortex for cleaning. First, fixed water flow has limitations: the water flow path is fixed and cannot cover the central area of ​​stacked fruits and vegetables. For example, it can easily create cleaning dead spots for densely packed fruits and vegetables (such as grapes and strawberries), requiring longer cleaning time or repeated rinsing, which increases water consumption. Second, the coverage of a single vortex is insufficient. If only a single vortex is used, the water flow intensity cannot be dynamically adjusted according to the position of the fruits and vegetables. For example, although it can handle a large number of vegetables, if the density of the ingredients is uneven (such as a mixture of carrots and spinach), some areas may not be cleaned properly due to insufficient water flow, requiring additional water to rinse. This results in low cleaning efficiency and high water consumption. Summary of the Invention

[0004] This invention provides a water outlet control method, device, cleaning machine, and storage medium for a cleaning machine, in order to solve the problems of current cleaning machines having fixed water outlet positions, which prevent water flow from focusing on the central area of ​​multiple items, resulting in low cleaning efficiency and high water consumption.

[0005] According to one aspect of the present invention, a water outlet control method for a cleaning machine is provided, the water outlet control method for a cleaning machine comprising: Start the cleaning machine, clean the items to be cleaned placed in the cleaning machine's water tank, and acquire images of the items in the cleaning machine's water tank; The shape and outline of the item to be cleaned are determined based on the image of the item, and the centroid coordinates of the item to be cleaned are determined based on the shape and outline. The location and water outlet range of the cleaning machine are adjusted based on the centroid coordinates to control the location and water outlet range of the cleaning machine's water outlet for cleaning the items to be cleaned.

[0006] Optionally, the shape outline of the item to be cleaned is determined based on the item image, including: Morphological operations are performed on the image of the object to form a clustered contour envelope, and pixels inside the clustered contour envelope are deleted to obtain the shape contour of the object to be cleaned.

[0007] Optionally, the centroid coordinates of the item to be cleaned can be determined based on its shape and outline, including: Generate an aggregated contour with multiple vertices based on the shape outline, and calculate the centroid coordinates of the item to be cleaned based on the vertex coordinates of the multiple vertices of the aggregated contour.

[0008] Optionally, when calculating the centroid coordinates of the item to be cleaned based on the vertex coordinates corresponding to multiple vertices of the aggregated contour, the method further includes: Obtain the pixel weight of each vertex; The centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates of multiple vertices of the aggregated contour, including: The centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates and pixel weights of the aggregated contour.

[0009] Optionally, the centroid coordinates of the item to be cleaned can be calculated based on the following formula: Where (Gx, Gy) are the centroid coordinates of the items to be cleaned; x i Let x be the x-coordinate of the i-th vertex of the aggregated contour; y be the x-coordinate of the i-th vertex. i w is the y-coordinate of the i-th vertex of the aggregated contour; i Pixel weights.

[0010] Optionally, the location and range of the water outlet of the cleaning machine can be adjusted based on the centroid coordinates, including: Adjust the position of the water outlet of the cleaning machine based on the centroid coordinates, and adjust the water outlet range of the cleaning machine with the position of the water outlet as the center.

[0011] Optionally, the water outlet range of the cleaning machine can be adjusted with the location of the water outlet as the center, including: Calculate the distance from the location of the water outlet of the cleaning machine to each vertex, and adjust the water outlet range of the cleaning machine based on the distance, with the location of the water outlet as the center.

[0012] According to another aspect of the present invention, a water outlet control device for a cleaning machine is provided, the water outlet control device for a cleaning machine comprising: The item image acquisition module is used to start the cleaning machine, clean the items to be cleaned placed in the water tank of the cleaning machine, and acquire images of the items in the water tank of the cleaning machine. The centroid coordinate determination module is used to determine the shape outline of the item to be cleaned based on the item image, and to determine the centroid coordinates of the item to be cleaned based on the shape outline. The water outlet control module is used to adjust the position and water outlet range of the cleaning machine's water outlet based on the centroid coordinates, so as to control the position and water outlet range of the cleaning machine's water outlet to clean the items to be cleaned.

[0013] According to another aspect of the present invention, a cleaning machine is provided, which includes a water tank, a water outlet pipe, an adjustable valve installed on the water outlet pipe, a water outlet hole on the water outlet pipe, and a detection probe disposed at the water outlet hole; The cleaning machine also includes: At least one processor; and, A memory that is communicatively connected to at least one processor; wherein, The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the cleaning machine water outlet control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the cleaning machine water outlet control method of any embodiment of the present invention.

[0015] The technical solution of this invention involves starting a cleaning machine, cleaning items placed in the cleaning machine's water tank, and acquiring images of the items in the water tank. Further, the shape and outline of the items to be cleaned are determined based on the images, and the centroid coordinates of the items are determined based on the shape and outlines. This allows for the calculation of the corresponding geometric center by identifying the outlines of multiple items in the cleaning machine's water tank. Based on the above, the position and water outlet range of the cleaning machine are adjusted according to the centroid coordinates. This controls the position and water outlet range of the cleaning machine's water outlet to clean the items, thereby controlling the optimal spray distance of the cleaning machine's water outlet to the centroid coordinates. This achieves precise control of the cleaning machine's water flow, enabling coverage of multiple items, improving cleaning efficiency, and reducing water waste.

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

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

[0018] Figure 1 This is a flowchart of a water outlet control method for a cleaning machine according to an embodiment of the present invention; Figure 2 This is a flowchart of a water outlet control method for a cleaning machine according to an embodiment of the present invention; Figure 3 This is a flowchart of a water outlet control method for a cleaning machine according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a water outlet control device for a cleaning machine according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a cleaning machine that implements the water outlet control method of the cleaning machine according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a water tank in a cleaning machine according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a water tank in a cleaning machine according to an embodiment of the present invention. Detailed Implementation

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

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

[0021] Figure 1This invention provides a flowchart of a water outlet control method for a washing machine. This embodiment is applicable to situations where the water outlet position of the washing machine is dynamically positioned to accurately cover the washing of multiple items. This water outlet control method can be executed by a water outlet control device, which can be implemented in hardware and / or software. This water outlet control device can be configured in various fruit and vegetable washing machines. Figure 1 As shown, the water outlet control method of this cleaning machine includes: S110. Start the cleaning machine, clean the items to be cleaned placed in the cleaning machine's water tank, and acquire images of the items in the cleaning machine's water tank.

[0022] The washing machine can be a household washing device with a fruit and vegetable washing sink, or a dedicated fully automatic fruit and vegetable washing device. This embodiment does not impose any special restrictions on the specific type of washing machine.

[0023] The items to be cleaned can be, but are not limited to, vegetables, fruits, or tableware. The items to be cleaned can be a single item or a combination of two or more items. This embodiment does not impose any special restrictions on this.

[0024] Specifically, the items to be cleaned are placed in the cleaning machine, the machine is started, and the items are cleaned. A detection probe can be installed at the water outlet of the cleaning machine to collect images of the items to be cleaned in real time. This allows for accurate identification of the type, distribution, and degree of dirt on the items, thereby intelligently adjusting cleaning parameters (such as water volume, detergent dosage, and cleaning time) to achieve efficient and energy-saving targeted cleaning.

[0025] As can be seen, the object image can be the clearest image among multiple images collected by the detection probe over a period of time, or it can be multiple frames of images over a period of time. The object image only needs to accurately reflect the actual object to be cleaned. The selection is based on the principle of displaying the actual object to be cleaned as much as possible. This embodiment does not impose any special restrictions on the specific selection method of the object image.

[0026] S120. Determine the shape and outline of the item to be cleaned based on the item image, and determine the centroid coordinates of the item to be cleaned based on the shape and outline.

[0027] Specifically, before determining the shape and outline of the item to be cleaned based on the item image, the item image can be pre-processed using existing image processing methods to automatically identify the item's material, shape, and stain characteristics to determine the shape and outline of the item to be cleaned, thereby accurately determining the shape and outline of the item to be cleaned and improving cleaning efficiency. For example, the item image can be processed into grayscale, and the grayscale processed item image can be normalized and standardized, and then the shape and outline of the item to be cleaned can be determined based on the above-processed item image.

[0028] For example, using morphological operations to process object images can effectively improve image quality, highlight target features, and simplify subsequent analysis. Specifically, morphological operations on object images can be performed on the contours of overlapping objects to be cleaned, merging adjacent contours to form a cluster contour envelope, and deleting pixels inside the cluster contour envelope to obtain the shape contour of the object to be cleaned.

[0029] Since an aggregated contour with multiple vertices can be generated based on the shape contour, the specific number of vertices is determined by the number of items to be cleaned, and this embodiment does not impose any restrictions on it. Furthermore, the pixel weight of each vertex is obtained, and the pixel weight of each vertex can be determined by the contour area ratio and the type of items to be cleaned, and this embodiment does not impose any restrictions on it.

[0030] Furthermore, the centroid coordinates of the items to be cleaned are calculated based on the vertex coordinates and pixel weights of multiple vertices of the aggregated contour. Specifically, the fuzzy contour aggregation algorithm identifies the superimposed contours of multiple items to be cleaned within the sink, calculates the geometric center of the contour cluster, and obtains the centroid coordinates of the items to be cleaned. The centroid coordinates of the items to be cleaned are calculated based on the following formula: Where (Gx, Gy) are the centroid coordinates of the items to be cleaned; x i Let x be the x-coordinate of the i-th vertex of the aggregated contour; y be the x-coordinate of the i-th vertex. i w is the y-coordinate of the i-th vertex of the aggregated contour; i Pixel weights.

[0031] For example, taking an aggregated contour with 3 vertices and each vertex having a pixel weight of 1, the coordinates of the first vertex are (2,3) and w1 is 1, the coordinates of the second vertex are (4,7) and w2 is 1, and the coordinates of the first vertex are (6,5) and w3 is 1. Based on the formula for calculating the centroid coordinates of the item to be cleaned, Gx=12 / 3=4 and Gy=15 / 3=5, so the centroid coordinates of the item to be cleaned can be calculated as (4,5).

[0032] S130. Adjust the position and water outlet range of the cleaning machine based on the centroid coordinates to control the position and water outlet range of the cleaning machine's water outlet for cleaning the items to be cleaned.

[0033] Specifically, after determining the centroid coordinates, the drive motor rotates the water outlet pipe, moving the water outlet on the water outlet pipe to the line connecting the centroid coordinates and the rotation center of the water outlet pipe. This determines that the position of the water outlet of the cleaning machine is located on the line connecting the centroid coordinates and the rotation center of the water outlet pipe. At this point, the position of the water outlet of the cleaning machine is the optimal spray distance of the water outlet. This means that the water outlet can accurately cover multiple items to be cleaned, improving cleaning efficiency and reducing water waste. Furthermore, the water outlet range of the cleaning machine is adjusted with the position of the water outlet of the cleaning machine as the center.

[0034] As can be seen, the water outlet range of the cleaning machine can be adjusted by calculating the distance between the location of the cleaning machine's water outlet and each vertex, i.e., the distance is sufficient to cover a preset proportion of vertices. Then, the water outlet range of the cleaning machine can be adjusted based on the distance with the location of the cleaning machine's water outlet as the center.

[0035] The preset ratio of vertices can be selected and adjusted according to the type of items to be cleaned. This embodiment does not impose any restrictions on it, and the preset ratio of vertices can be selected as 80% of the vertices.

[0036] For example, taking 80% of the vertices as a preset ratio, an aggregated contour with multiple vertices can be generated based on the shape contour. The distance from the vertex of each aggregated contour to the centroid coordinate is calculated. The water pressure value that satisfies the requirement of covering 80% of the vertices is calculated with the location of the water outlet of the cleaning machine as the center. The water outlet range is then obtained by adjusting the flow valve to control the water outlet range.

[0037] The technical solution of this invention involves starting a cleaning machine, cleaning items placed in the cleaning machine's water tank, and acquiring images of the items in the water tank. The shape and outline of the items to be cleaned are determined based on the image, and the centroid coordinates of the items are determined based on the shape and outline. The position and water outlet range of the cleaning machine are adjusted based on the centroid coordinates to control the position and water outlet range of the cleaning machine for effectively cleaning the items. This invention solves the problem of current cleaning machines having fixed water outlet positions, resulting in water flow that cannot focus on the central area of ​​multiple items, leading to low cleaning efficiency and high water consumption. It achieves precise control of the water flow from the cleaning machine, can cover multiple items, improves cleaning efficiency, and reduces water waste.

[0038] Based on the same inventive concept Figure 2 This is a flowchart illustrating a water outlet control method for a cleaning machine according to an embodiment of the present invention. Based on the previous embodiments, this embodiment uses a fuzzy contour aggregation algorithm to identify the superimposed contours of multiple items to be cleaned within the cleaning machine's water tank, calculates the geometric center of the contour cluster, and thus obtains the centroid coordinates of the items to be cleaned, providing an optional implementation method. For example... Figure 2 As shown, the water outlet control method of this cleaning machine includes: S210. Start the cleaning machine and clean the items to be cleaned placed in the water tank of the cleaning machine.

[0039] S220: Obtain an image of the items inside the water tank of the cleaning machine.

[0040] S230. Perform morphological operations on the image of the item to form a cluster contour envelope, and delete the pixels inside the cluster contour envelope to obtain the shape contour of the item to be cleaned.

[0041] S240. Generate an aggregated contour with multiple vertices based on the shape contour, and calculate the centroid coordinates of the item to be cleaned based on the vertex coordinates corresponding to the multiple vertices of the aggregated contour.

[0042] Based on the above, when calculating the centroid coordinates of the item to be cleaned according to the vertex coordinates of multiple vertices of the aggregated contour, the pixel weight of each vertex is obtained. Furthermore, the centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates of multiple vertices of the aggregated contour and the pixel weights. Specifically, the centroid coordinates of the item to be cleaned are calculated based on the following formula: Where (Gx, Gy) are the centroid coordinates of the items to be cleaned; x i Let x be the x-coordinate of the i-th vertex of the aggregated contour; y be the x-coordinate of the i-th vertex. i w is the y-coordinate of the i-th vertex of the aggregated contour; i Pixel weights.

[0043] S250: Adjust the position of the water outlet of the cleaning machine based on the centroid coordinate, and adjust the water outlet range of the cleaning machine with the position of the water outlet of the cleaning machine as the center, so as to control the position and water outlet range of the water outlet of the cleaning machine for cleaning the items to be cleaned.

[0044] Specifically, the location of the water outlet of the cleaning machine is adjusted based on the centroid coordinates. The distance between the location of the water outlet and each vertex is calculated. Based on the distance, the water outlet range of the cleaning machine is adjusted with the location of the water outlet as the center, so as to control the location and water outlet range of the water outlet to clean the items.

[0045] The technical solution of this invention identifies the superimposed contours of multiple items to be cleaned in the water tank of a cleaning machine through a fuzzy contour aggregation algorithm. Specifically, morphological operations are performed on the item images to form a clustered contour envelope, and pixels inside the clustered contour envelope are deleted to obtain the shape contour of the items to be cleaned. Further, an aggregated contour with multiple vertices is generated based on the shape contour, and the centroid coordinates of the items to be cleaned are calculated based on the vertex coordinates of the multiple vertices of the aggregated contour. Based on the centroid coordinates, the position of the water outlet of the cleaning machine is adjusted, and the water outlet range of the cleaning machine is adjusted with the position of the water outlet as the center. This controls the position and water outlet range of the cleaning machine to clean the items, achieving precise control of the water flow from the cleaning machine, covering multiple items, improving cleaning efficiency, and reducing water waste.

[0046] Based on the same inventive concept Figure 3 This is a flowchart illustrating a water outlet control method for a cleaning machine according to an embodiment of the present invention. Based on the above embodiments, this embodiment considers whether there are no items to be cleaned in the cleaning machine's water tank for an extended period, and provides an optional implementation method. Figure 3 As shown, the water outlet control method of this cleaning machine includes: S310. Start the cleaning machine and clean the items to be cleaned placed in the water tank of the cleaning machine.

[0047] S320: Obtain an image of the items inside the water tank of the cleaning machine.

[0048] S330. Perform morphological operations on the object image to form a cluster contour envelope, and delete the pixels inside the cluster contour envelope to obtain the shape contour of the object to be cleaned.

[0049] S340. Generate an aggregated contour with multiple vertices based on the shape contour, and calculate the centroid coordinates of the item to be cleaned based on the vertex coordinates corresponding to the multiple vertices of the aggregated contour.

[0050] S350: Adjust the position and water outlet range of the cleaning machine based on the centroid coordinates to control the position and water outlet range of the cleaning machine's water outlet for cleaning the items to be cleaned.

[0051] S360. Determine whether there are any items to be cleaned in the water tank of the cleaning machine for a long time. If yes, proceed to step S370; otherwise, proceed to step S320.

[0052] Specifically, whether there are no items to be cleaned in the water tank of the cleaning machine for a long time can be determined by the end of the previous cleaning and the removal of the items to be cleaned, or by considerations for the protection of the cleaning machine, whether the cleaning machine has not been used for a long time but the cleaning mode has not ended. This embodiment does not impose special restrictions on specific application scenarios.

[0053] If it is determined that there are no items waiting to be cleaned in the water tank of the cleaning machine for a long time, then the image of the items in the water tank of the cleaning machine is acquired again, and then the process returns to steps S320 to S350 to control the water output of the cleaning machine.

[0054] S370, the cleaning machine enters standby mode.

[0055] Specifically, if it is determined that there are no items to be cleaned in the water tank of the cleaning machine for a long time, in order to save resources and extend the service life of the cleaning machine, the cleaning machine can be put into standby mode to wait for the next cleaning task.

[0056] The technical solution of this invention, after adjusting the position and water outlet range of the cleaning machine based on the centroid coordinates to control the position and water outlet range of the cleaning machine to clean the items to be cleaned, further considers whether there are no items to be cleaned in the cleaning machine's water tank for a long time, so as to achieve accurate judgment of the working status of the cleaning machine, avoid ineffective operation, and save water and electricity resources.

[0057] Based on the same inventive concept Figure 4 This is a schematic diagram of a water outlet control device for a cleaning machine provided in an embodiment of the present invention. Figure 4 As shown, the water outlet control device of the cleaning machine includes: The item image acquisition module 410 is used to start the cleaning machine, clean the items to be cleaned placed in the water tank of the cleaning machine, and acquire the item image in the water tank of the cleaning machine. The centroid coordinate determination module 420 is used to determine the shape outline of the item to be cleaned based on the item image, and to determine the centroid coordinates of the item to be cleaned based on the shape outline. The water outlet control module 430 is used to adjust the position and water outlet range of the cleaning machine's water outlet based on the centroid coordinates, so as to control the position and water outlet range of the cleaning machine's water outlet to clean the items to be cleaned.

[0058] Optionally, the shape and outline of the item to be cleaned can be determined based on the item image, specifically for: Morphological operations are performed on the image of the object to form a clustered contour envelope, and pixels inside the clustered contour envelope are deleted to obtain the shape contour of the object to be cleaned.

[0059] Optionally, the centroid coordinates of the item to be cleaned can be determined based on its shape and outline, specifically for: Generate an aggregated contour with multiple vertices based on the shape outline, and calculate the centroid coordinates of the item to be cleaned based on the vertex coordinates of the multiple vertices of the aggregated contour.

[0060] Optionally, the water outlet control device for the cleaning machine may also include: The pixel weight acquisition module is used to acquire the pixel weight of each vertex. The centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates of multiple vertices of the aggregated contour. This is specifically used for: The centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates and pixel weights of the aggregated contour.

[0061] Optionally, the centroid coordinates of the item to be cleaned can be calculated based on the following formula: Where (Gx, Gy) are the centroid coordinates of the items to be cleaned; x i Let x be the x-coordinate of the i-th vertex of the aggregated contour; y be the x-coordinate of the i-th vertex. i w is the y-coordinate of the i-th vertex of the aggregated contour; i Pixel weights.

[0062] Optionally, the location and range of the water outlet of the cleaning machine can be adjusted based on the centroid coordinates, specifically for: Adjust the position of the water outlet of the cleaning machine based on the centroid coordinates, and adjust the water outlet range of the cleaning machine with the position of the water outlet as the center.

[0063] Optionally, the water outlet range of the cleaning machine can be adjusted with the location of the water outlet as the center, specifically for: Calculate the distance from the location of the water outlet of the cleaning machine to each vertex, and adjust the water outlet range of the cleaning machine based on the distance, with the location of the water outlet as the center.

[0064] The cleaning machine water outlet control device provided in the embodiments of the present invention can execute the cleaning machine water outlet control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the cleaning machine water outlet control method.

[0065] Based on the same inventive concept Figure 6 and Figure 7 A schematic diagram of the cleaning machine according to an embodiment of the present invention is shown. See also Figure 6 and Figure 7As shown, the cleaning machine includes a water tank 10, a water outlet pipe 20, an adjustable valve 30 installed on the water outlet pipe 20, a water outlet hole 40 on the water outlet pipe 20, and a detection probe 50 set at the water outlet hole 40. The detection probe 50 can be used to collect images of items in the water tank of the cleaning machine in real time, so as to facilitate the contour analysis of the items to be cleaned, determine the centroid coordinates of the items to be cleaned, and then flexibly adjust the position of the water outlet hole of the cleaning machine to achieve precise water flow coverage of multiple items and improve cleaning efficiency. It can be seen that the cleaning machine also includes a rotary motor 70, which moves the water outlet pipe and changes the position of the water outlet hole of the cleaning machine. The cleaning machine also includes a manual control valve 60, which controls whether the water outlet pipe 20 of the cleaning machine is dispensing water. It can be seen that the cleaning machine also includes other commonly used components, which will not be described in detail in this embodiment.

[0066] Figure 5 A schematic diagram of the structure of a cleaning machine 510 that can be used to implement an embodiment of the present invention is shown. Figure 4 As shown, the cleaning machine 510 includes at least one processor 511 and a memory, such as a read-only memory (ROM 512) or a random access memory (RAM 513), communicatively connected to the at least one processor 511. The memory stores computer programs executable by the at least one processor. The processor 511 can perform various appropriate actions and processes based on the computer program stored in the ROM 512 or loaded from storage unit 518 into the RAM 513. The RAM 513 can also store various programs and data required for the operation of the cleaning machine 510. The processor 511, ROM 512, and RAM 513 are interconnected via a bus 514. An I / O (input / output) interface 515 is also connected to the bus 514.

[0067] Multiple components in the cleaning machine 510 are connected to the I / O interface 515, including: an input unit 516, such as a keyboard, mouse, etc.; an output unit 517, such as various types of displays, speakers, etc.; a storage unit 518, such as a disk, optical disk, etc.; and a communication unit 519, such as a network card, modem, wireless transceiver, etc. The communication unit 519 allows the cleaning machine 510 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0068] Processor 511 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 511 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 511 performs the various methods and processes described above, such as the water outlet control method for a washing machine.

[0069] In some embodiments, the water outlet control method for the cleaning machine can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 518. In some embodiments, part or all of the computer program can be loaded and / or installed on the cleaning machine 510 via ROM 512 and / or communication unit 519. When the computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the water outlet control method for the cleaning machine described above can be performed. Alternatively, in other embodiments, processor 511 can be configured to perform the water outlet control method for the cleaning machine by any other suitable means (e.g., by means of firmware).

[0070] 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), payload-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.

[0071] 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.

[0072] 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, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0073] To provide interaction with the user, the systems and techniques described herein can be implemented on a cleaning machine having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the cleaning machine. Other types of devices can also be used to provide interaction with the user; 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).

[0074] 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.

[0075] 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 to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0076] 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 this is not limited herein.

[0077] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the water output of a cleaning machine, characterized in that, include: Start the cleaning machine, clean the items to be cleaned placed in the water tank of the cleaning machine, and acquire images of the items in the water tank of the cleaning machine; The shape outline of the item to be cleaned is determined based on the item image, and the centroid coordinates of the item to be cleaned are determined based on the shape outline. The location and water outlet range of the cleaning machine are adjusted based on the centroid coordinates to control the location and water outlet range of the cleaning machine to clean the items to be cleaned.

2. The water outlet control method for a cleaning machine according to claim 1, characterized in that, Determining the shape outline of the item to be cleaned based on the item image includes: Morphological operations are performed on the image of the item to form a clustered contour envelope, and pixels inside the clustered contour envelope are deleted to obtain the shape contour of the item to be cleaned.

3. The water outlet control method for a cleaning machine according to claim 1, characterized in that, Determining the centroid coordinates of the item to be cleaned based on its shape profile includes: Generate an aggregated contour with multiple vertices based on the shape contour, and calculate the centroid coordinates of the item to be cleaned based on the vertex coordinates corresponding to the multiple vertices of the aggregated contour.

4. The water outlet control method for a cleaning machine according to claim 3, characterized in that, When calculating the centroid coordinates of the item to be cleaned based on the vertex coordinates corresponding to multiple vertices of the aggregated contour, the method further includes: Obtain the pixel weight of each vertex; The centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates of multiple vertices of the aggregated contour, including: The centroid coordinates of the item to be cleaned are calculated based on the vertex coordinates of the multiple vertices of the aggregated contour and the pixel weights.

5. The water outlet control method for a cleaning machine according to claim 4, characterized in that, The centroid coordinates of the item to be cleaned are calculated based on the following formula: Where (Gx, Gy) are the centroid coordinates of the item to be cleaned; x i Let x be the x-coordinate of the i-th vertex of the aggregated contour; y be the x-coordinate of the i-th vertex. i w is the y-coordinate of the i-th vertex of the aggregated contour; i The pixel weight is denoted as .

6. The water outlet control method for a cleaning machine according to any one of claims 3-5, characterized in that, Adjusting the position and water outlet range of the cleaning machine based on the centroid coordinates includes: The position of the water outlet of the cleaning machine is adjusted based on the centroid coordinates, and the water outlet range of the cleaning machine is adjusted with the position of the water outlet of the cleaning machine as the center.

7. The water outlet control method for a cleaning machine according to claim 6, characterized in that, Adjusting the water outlet range of the cleaning machine with the location of the water outlet as the center includes: Calculate the distance from the location of the water outlet of the cleaning machine to each vertex, and adjust the water outlet range of the cleaning machine with the location of the water outlet of the cleaning machine as the center based on the distance.

8. A water outlet control device for a cleaning machine, characterized in that, include: The item image acquisition module is used to start the cleaning machine, clean the items to be cleaned placed in the water tank of the cleaning machine, and acquire images of the items in the water tank of the cleaning machine. The centroid coordinate determination module is used to determine the shape outline of the item to be cleaned based on the item image, and to determine the centroid coordinates of the item to be cleaned based on the shape outline. The water outlet control module is used to adjust the position and water outlet range of the cleaning machine's water outlet based on the centroid coordinates, so as to control the position and water outlet range of the cleaning machine's water outlet to clean the items to be cleaned.

9. A cleaning machine, characterized in that, The cleaning machine includes a water tank, a water outlet pipe, an adjustable valve installed on the water outlet pipe, a water outlet hole on the water outlet pipe, and a detection probe installed at the water outlet hole. The cleaning machine also includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the cleaning machine water outlet control 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, when executed by a processor, implement the water outlet control method for a cleaning machine as described in any one of claims 1-7.

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