A fruit and vegetable cleaning apparatus and method

Abstract

The application discloses a fruit and vegetable cleaning device and a fruit and vegetable cleaning method. The method comprises the following steps: obtaining the fruit and vegetable category of the fruit and vegetable to be cleaned; determining a target vibration parameter set matched with the fruit and vegetable category of the fruit and vegetable to be cleaned, wherein the target vibration parameter set comprises a target vibration frequency range; in the pre-washing stage, obtaining the first turbidity of the pre-washing cleaning water monitored by a turbidity sensor, and controlling a vibration motor to execute sweep frequency vibration in the target vibration frequency range with a first preset vibration amplitude for a first preset time length; in the main washing stage, obtaining the second turbidity of the main washing cleaning water monitored by the turbidity sensor, and controlling the vibration motor to execute sweep frequency vibration in the target vibration frequency range with a second preset vibration amplitude until the second turbidity meets a preset turbidity condition or the sweep frequency round reaches a target sweep frequency round, wherein the target sweep frequency round is determined based on the first turbidity. The application can reduce mechanical damage to the fruit and vegetable to be cleaned and improve the cleaning effect.

Description

Technical Field

[0001] This application relates to the field of kitchen appliance technology, and in particular to a fruit and vegetable cleaning device and a fruit and vegetable cleaning method. Background Technology

[0002] With the development of washing technology, dishwashers are usually equipped with a fruit and vegetable washing mode. The current mainstream fruit and vegetable washing mode is essentially a simpler, cooler and lower-pressure version of the dishwashing program. Specifically, this type of solution uses the same fixed-frequency vibration method to wash various fruits and vegetables.

[0003] However, different types of fruits and vegetables vary significantly in terms of skin thickness, tissue strength, and the type of dirt adhering to them, often resulting in poor cleaning effects or damage to the produce. Therefore, there is an urgent need for a fruit and vegetable cleaning method that can balance effective cleaning with minimizing damage to fruits and vegetables. Summary of the Invention

[0004] This application provides a fruit and vegetable cleaning device and a fruit and vegetable cleaning method. The method can control the vibration motor to reciprocate within the safe vibration frequency range that the fruit and vegetable to be cleaned can withstand, so as to clean the fruit and vegetable to be cleaned, thereby reducing mechanical damage to the fruit and vegetable to be cleaned and improving the cleaning effect.

[0005] Firstly, a fruit and vegetable washing device is provided, comprising: The washing chamber contains a basket rack for holding fruits and vegetables. A vibration motor is used to generate vibrations, which are then transmitted to the surface of the fruits and vegetables through the basket frame. Turbidity sensor, used to monitor the turbidity of cleaning water; The controller is configured as follows: Obtain the types of fruits and vegetables to be cleaned; Determine a set of target vibration parameters that matches the type of fruit and vegetable to be cleaned, wherein the set of target vibration parameters includes a target vibration frequency range; During the pre-washing stage, the first turbidity of the pre-washing water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range at a first preset vibration amplitude for a first preset duration. During the main wash phase, the second turbidity of the main wash water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range with a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity.

[0006] Secondly, a method for washing fruits and vegetables is provided, including: Obtain the types of fruits and vegetables to be cleaned; Determine a set of target vibration parameters that matches the type of fruit and vegetable to be cleaned, wherein the set of target vibration parameters includes a target vibration frequency range; During the pre-washing stage, the first turbidity of the pre-washing water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range at a first preset vibration amplitude for a first preset duration. During the main wash phase, the second turbidity of the main wash water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range with a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity.

[0007] In the above embodiments, a fruit and vegetable cleaning device and method are provided, which can employ sweep frequency vibration technology. That is, the vibration motor does not operate at a fixed vibration frequency, but rather sweeps the frequency repeatedly within the safe vibration frequency range that the types of fruits and vegetables to be cleaned can withstand, reducing mechanical damage to the fruits and vegetables. Since mud and dirt of different particle sizes and adhesion states have different inherent frequencies, during the sweep frequency vibration process, various types of mud and dirt will be excited, loosened, and detached layer by layer at their respective corresponding resonant frequencies, thereby achieving efficient decontamination with relatively small vibration force and improving the cleaning effect. The method includes: acquiring the fruit and vegetable category to be cleaned; determining a target vibration parameter set matching the fruit and vegetable category to be cleaned, wherein the target vibration parameter set includes a target vibration frequency range; in the pre-wash stage, acquiring the first turbidity of the pre-wash water monitored by a turbidity sensor, and controlling a vibration motor to perform frequency sweep vibration within the target vibration frequency range at a first preset vibration amplitude for a first preset duration; in the main wash stage, acquiring the second turbidity of the main wash water monitored by a turbidity sensor, and controlling a vibration motor to perform frequency sweep vibration within the target vibration frequency range at a second preset vibration amplitude until the second turbidity meets a preset turbidity condition or the frequency sweep cycle reaches a target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the internal structure of the first type of fruit and vegetable washing equipment provided in this application embodiment; Figure 2 This is a schematic diagram of the internal structure of the second type of fruit and vegetable washing equipment provided in this application embodiment; Figure 3 This is a schematic diagram of the internal structure of the third type of fruit and vegetable cleaning equipment provided in this application embodiment; Figure 4 This is a schematic diagram of the internal structure of the fourth type of fruit and vegetable cleaning equipment provided in this application embodiment; Figure 5This is a schematic diagram of the internal structure of the fifth type of fruit and vegetable cleaning equipment provided in this application embodiment; Figure 6 This is a flowchart of a fruit and vegetable cleaning method provided in an embodiment of this application; Figure 7 This is a logic diagram of a sweep frequency vibration and amplitude limiting control provided in an embodiment of this application; Figure 8 This is a flowchart of another fruit and vegetable cleaning method provided in the embodiments of this application; Figure 9 This is a logical diagram of a fruit and vegetable draining process provided in an embodiment of this application; Figure 10 This is a flowchart illustrating an example of fruit and vegetable cleaning provided in an embodiment of this application. Detailed Implementation

[0009] To make the objectives and implementation methods of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the exemplary embodiments described are only some embodiments of this application, and not all embodiments.

[0010] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0011] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0012] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0013] With the development of washing technology, dishwashers are typically equipped with a fruit and vegetable washing mode. The applicant's research found that the current mainstream fruit and vegetable washing mode is essentially a simple, lowered-temperature, lower-pressure version of the dishwashing program, with the following shortcomings: the spray pressure is still designed for dishwashing, only reducing the water temperature without re-optimizing for the mechanical properties of fruits and vegetables, still posing a risk of damage to delicate leafy greens and berries; it uses a fixed program open-loop control, without sensor feedback on the washing effect, resulting in either insufficient or excessive washing; it lacks a vibration-assisted mechanism, making it ineffective at removing sticky dirt embedded in the texture and pores of fruit and vegetable skins, and water rinsing alone is insufficient; it lacks an immediate draining function, leaving a large amount of residual water on the surface of the fruit and vegetables, which can only drip off naturally by gravity, taking a long time and leaving a lot of residue, easily breeding microorganisms and affecting freshness; it does not differentiate between fruit and vegetable categories, using the same water pressure and time parameters from hard root vegetables to soft berries, failing to provide differentiated adaptation; and it lacks intelligent interaction capabilities, preventing users from selecting the washing intensity based on the actual dirt level, and it does not have the ability to learn and optimize. In short, existing dishwashers lack a vibration control system and closed-loop feedback mechanism specifically for cleaning dirt from fruits and vegetables. In view of this, this application provides a fruit and vegetable cleaning device and a fruit and vegetable cleaning method. The fruit and vegetable cleaning device will be described in detail below.

[0014] The fruit and vegetable cleaning equipment provided in this application can have various implementation forms. For example, it can be a standalone fruit and vegetable cleaning machine, a sink-type fruit and vegetable cleaning machine, or a fruit and vegetable cleaning module integrated into a dishwasher, smart sink, or refrigerator. This application does not limit the specific implementation form.

[0015] Figure 1 This is a schematic diagram of the internal structure of the first type of fruit and vegetable washing equipment provided in this application embodiment. (See attached diagram.) Figure 1 As shown, the fruit and vegetable washing equipment includes: The washing chamber 10 is equipped with a basket rack, which is used to hold fruits and vegetables. Vibration motor 20 is used to generate vibration and transmit it to the surface of fruits and vegetables through the basket frame; Turbidity sensor 30 is used to monitor the turbidity of the cleaning water; Controller 40 is configured as follows: Obtain the types of fruits and vegetables to be cleaned; Determine a set of target vibration parameters that matches the type of fruit and vegetable to be cleaned, wherein the set of target vibration parameters includes a target vibration frequency range; During the pre-washing stage, the first turbidity of the pre-washing water monitored by the turbidity sensor 30 is obtained, and the vibration motor 20 is controlled to perform frequency sweep vibration within the target vibration frequency range at a first preset vibration amplitude for a first preset duration. During the main wash phase, the second turbidity of the main wash water monitored by the turbidity sensor 30 is obtained, and the vibration motor 20 is controlled to perform frequency sweep vibration within the target vibration frequency range with a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity.

[0016] For example, the cleaning chamber 10 can be located inside the housing of the fruit and vegetable cleaning equipment. The cleaning chamber 10 can be a container with an opening at the top, that is, a receiving space formed by the bottom wall and the side wall, but it is not limited to this.

[0017] Specifically, the basket rack can be detachably or fixedly placed in the washing chamber 10, but is not limited to this. When washing fruits and vegetables, users can place them in the basket rack.

[0018] For example, the vibration motor 20 can be installed at the bottom of the outer wall of the washing chamber 10 or below the basket frame, and mechanically connected to the basket frame. For instance, the housing of the vibration motor 20 is fixed to the bottom of the washing chamber 10 by a shock-absorbing support, and the vibration output end of the vibration motor 20 is abutted or fixedly connected to the force-bearing part at the bottom of the basket frame through a transmission component, but it is not limited to this. When the vibration motor 20 vibrates, the vibration it generates is transmitted to the basket frame, thereby causing the basket frame and the fruits and vegetables it carries to vibrate together. Through this vibration, on the one hand, the mud and impurities on the surface of the fruits and vegetables are loosened and fall into the washing water under the stimulation of vibration; on the other hand, the vibration causes slight disturbances in the washing water, enhancing the contact and rinsing effect between the washing water and the surface of the fruits and vegetables.

[0019] For example, the turbidity sensor 30 can be installed at the bottom, side wall or drain pipe of the cleaning chamber 10, with its detection end in contact with the cleaning water in the cleaning chamber 10 to collect the turbidity value of the cleaning water in real time, but it is not limited to this.

[0020] In some embodiments, Figure 2 This is a schematic diagram of the internal structure of the second type of fruit and vegetable washing equipment provided in this application embodiment. For example... Figure 2 As shown, the fruit and vegetable washing equipment also includes a heating module 60, used to heat the washing water; Image acquisition module 50 is used to acquire images of fruits and vegetables to be cleaned; Before the pre-wash phase begins, controller 40 is also configured as follows: The image acquisition module 50 acquires the first image of the fruits and vegetables to be cleaned, identifies the first degree of mud and dirt on the fruits and vegetables to be cleaned based on the first image, and determines the target soaking time based on the first degree of mud and dirt. During the softening stage, the heating module 60 heats the softened cleaning water to a preset temperature range for soaking the fruits and vegetables to be cleaned, and controls the vibration motor 20 to perform frequency sweeping vibration with a third preset vibration amplitude within a first preset vibration frequency range until the actual soaking time reaches the target soaking time. After the pre-wash stage ends, controller 40 is also configured as follows: If the first turbidity of the pre-wash water at the end of the pre-wash stage is detected to be greater than the first preset turbidity threshold, the drain valve is controlled to discharge the pre-wash water in the cleaning chamber 10, and the softening stage and pre-wash stage are re-executed until the first turbidity at the end of the pre-wash stage is less than or equal to the first preset turbidity threshold, or the number of re-executions reaches the preset number of cycles.

[0021] For example, the heating module 60 can be installed on the outer wall of the cleaning chamber 10 or on the water inlet pipe outside the cleaning chamber 10. The heating module 60 can be a heating pump or an electric heating tube, but is not limited to these.

[0022] For example, the image acquisition module 50 can be positioned above the washing chamber 10, inside the lid, or above the basket rack, with its field of view facing the fruits and vegetables to be washed inside the basket rack. For instance, the image acquisition module 50 includes at least one camera, which can be one or more combinations of a visible light camera, an infrared camera, or a depth camera, but is not limited thereto. The image acquisition module 50 can be used to acquire image information of the surface of the fruits and vegetables.

[0023] In some embodiments, the second turbidity of the main washing water monitored by the turbidity sensor 30 is acquired, and the vibration motor 20 is controlled to perform frequency sweep vibration within the target vibration frequency range at a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle. The controller 40 is further configured to: The main wash yields the mud and dirt removal rate of the fruits and vegetables to be washed; If the mud removal rate is less than the preset removal rate threshold, increase the second preset vibration amplitude, and return to the main washing stage according to the new second preset vibration amplitude until the mud removal rate is greater than the preset removal rate threshold.

[0024] In some embodiments, Figure 3 This is a schematic diagram of the internal structure of the third type of fruit and vegetable washing equipment provided in this application embodiment. For example... Figure 3 As shown, the target vibration parameter set also includes the upper limit of the target safe vibration amplitude, and the fruit and vegetable washing equipment also includes: Accelerometer 70 is used to monitor the vibration acceleration of the basketball hoop; When the vibration motor 20 is controlled to perform frequency sweep vibration within the target vibration frequency range at a second preset vibration amplitude, the controller 40 is also configured to: The vibration acceleration of the basketball hoop monitored by the accelerometer 70 is obtained, and the actual vibration amplitude of the basketball hoop is calculated based on the vibration acceleration. If the actual vibration amplitude is greater than the target safe vibration amplitude limit, the driving intensity of the vibration motor 20 is reduced to reduce the actual vibration amplitude of the vibration motor 20. If the actual vibration amplitude is less than or equal to the target safe vibration amplitude limit, the driving strength of the vibration motor 20 remains unchanged.

[0025] For example, the accelerometer 70 can be mounted on the bottom of the basketball hoop or on the housing of the vibration motor 20. The accelerometer 70 can be a MEMS accelerometer or a piezoelectric accelerometer, with its three-axis detection directions corresponding to one vertical vibration direction and two mutually perpendicular horizontal vibration directions of the basketball hoop, but is not limited to these. The accelerometer 70 is used to acquire the vibration acceleration of the basketball hoop in real time.

[0026] In some embodiments, Figure 4 This is a schematic diagram of the internal structure of the fourth type of fruit and vegetable washing equipment provided in this application embodiment. For example... Figure 4 As shown, the fruit and vegetable cleaning equipment also includes: a water pump 80 and a water inlet pipe, used to draw cleaning water from the water source and transport it to the cleaning chamber 10 through the water inlet pipe; Air pump 90 is used to inject air bubbles into the cleaning water; During the main wash phase, controller 40 is also configured as follows: The water pump 80 is controlled to operate alternately in the forward and reverse directions at the first alternating frequency.

[0027] The air pump 90 is controlled to add air bubbles to the main washing water at a first preset gas flow rate.

[0028] For example, the water pump 80 can be located outside the cleaning chamber 10, with its inlet connected to an external water source via a pipe (part of the inlet pipe) and its outlet connected to the inlet of the cleaning chamber 10 via a pipe (another part of the inlet pipe). The water pump 80 can be a diaphragm pump, centrifugal pump, or gear pump, but is not limited to these.

[0029] For example, the air pump 90 can be located outside the cleaning chamber 10, with its air outlet connected to the bottom of the cleaning chamber 10 via a pipe. The air pump 90 can be a miniature diaphragm air pump 90 or an electromagnetic vibration air pump 90, but is not limited to these. The air pump 90 is used to add air bubbles to the cleaning water.

[0030] In some embodiments, after the main wash phase ends, the controller 40 is further configured to: During the rewashing stage, the third turbidity of the rewashing water monitored by the turbidity sensor 30 is obtained. The water pump 80 is controlled to operate alternately in the forward and reverse directions at the second alternating frequency. The air pump 90 is controlled to add air bubbles to the rewashing water at the second preset gas flow rate. The inlet valve and outlet valve are controlled to open and close alternately at the third alternating frequency. The vibration motor 20 is controlled to perform frequency sweep vibration at the fourth preset vibration amplitude within the target vibration frequency range until the fruits and vegetables to be washed meet the preset washing standards. The second alternating frequency is greater than the first alternating frequency, the second preset gas flow rate is greater than the first preset gas flow rate, and the preset washing standards include the third turbidity of the rewashing water being less than the second preset turbidity threshold and / or the second degree of dirt and grime of the fruits and vegetables to be washed being less than the preset degree of dirt and grime threshold during the rewashing stage.

[0031] In some embodiments, the target vibration parameter set also includes a target upper limit for water pressure; During the pre-wash, main wash, and / or rewash stages, the water pressure is controlled to be below the target upper limit.

[0032] In some embodiments, Figure 5 This is a schematic diagram of the internal structure of the fifth type of fruit and vegetable washing equipment provided in this application embodiment. (See attached diagram.) Figure 5 As shown, the fruit and vegetable washing equipment also includes: a stepper motor 100, used to drive the basket rack to tilt; Fan 110 is used to supply air into cleaning chamber 10; After the wash phase is completed, controller 40 is also configured as follows: During the draining stage, the vibration motor 20 is controlled to vibrate at a fifth preset vibration amplitude and a preset vibration frequency, the stepper motor 100 is controlled to drive the basket frame to tilt sequentially at multiple angles, and the fan 110 is controlled to send air into the cleaning chamber 10 at a first preset temperature.

[0033] For example, the stepper motor 100 may be located below or to the side of the cleaning chamber 10, and its output shaft may be connected to the bottom or side of the basket frame via a transmission mechanism. The stepper motor 100 may be a two-phase or five-phase hybrid stepper motor 100, but is not limited thereto.

[0034] For example, the fan 110 can be located on the side wall of the washing chamber 10, inside the cover, or outside the washing chamber 10 and connected to the washing chamber 10 via an air duct, with its air outlet facing the fruits and vegetables to be washed inside the basket. The fan 110 can be an axial flow fan 110, a centrifugal fan 110, or a crossflow fan 110, but is not limited to these.

[0035] In some embodiments, after the draining stage is completed, the controller 40 is further configured to: Summarize the cleaning data from this cleaning operation. The cleaning data includes cleaning parameters and cleaning results. The cleaning parameters include a set of vibration parameters. Output the cleaning results and obtain the user's satisfaction with the cleaning process; If the satisfaction level is greater than the preset satisfaction threshold, increase the weight of the cleaning data in this cleaning process. If the satisfaction level is less than the preset satisfaction threshold, the weight of the cleaning data for this cleaning is reduced, and at least one cleaning parameter is corrected. The cleaning data and its weight are used to optimize the cleaning parameters for subsequent cleaning of fruits and vegetables of the same type.

[0036] The following is a detailed description of the fruit and vegetable cleaning method provided in the embodiments of this application. Figure 6 This is a flowchart of a fruit and vegetable cleaning method provided in an embodiment of this application. Figure 6 As shown, the method includes the following steps: S610. Obtain the types of fruits and vegetables to be cleaned.

[0037] Specifically, the category of fruits and vegetables refers to the type of fruits and vegetables to be washed. For example, the category of fruits and vegetables may include leafy vegetables (such as spinach, lettuce, cabbage, etc.), root vegetables (such as potatoes, carrots, lotus root, etc.), berries (such as strawberries, blueberries, grapes, etc.), melons and fruits (such as tomatoes, cucumbers, green peppers, etc.), and mushrooms, but is not limited to these.

[0038] Specifically, there are various methods for "obtaining the specific types of fruits and vegetables to be cleaned." Typical examples are given below, but these do not constitute a limitation of this application. For instance, the user can manually input or select the type of fruit or vegetable to be cleaned through a user terminal; for example, the user can directly select the type of fruit or vegetable to be cleaned from the fruit and vegetable list on the APP interface. Another example is that a third image of the fruit or vegetable to be cleaned is acquired through an image acquisition module, and the controller analyzes the third image using a preset image recognition algorithm (such as a convolutional neural network classification model based on deep learning) to automatically determine the type of fruit or vegetable to be cleaned.

[0039] S620. Determine a target vibration parameter set that matches the type of fruit and vegetable to be cleaned, wherein the target vibration parameter set includes a target vibration frequency range.

[0040] Specifically, a vibration parameter set refers to a set of vibration-related parameters set to control the operation of a vibration motor. For example, a vibration parameter set may include a vibration frequency range, and may also include at least one of the following: a safe upper limit for vibration amplitude, a recommended vibration amplitude, and a water pressure upper limit.

[0041] The vibration frequency range refers to the permissible interval between vibration frequencies, including a lower and upper frequency limit. During the cleaning phase, the vibration motor sweeps its vibrations within this frequency range without causing mechanical damage to the surface or internal tissues of fruits and vegetables (or the damage is within acceptable limits). Different types of fruits and vegetables have different vibration frequency ranges. For example, the vibration frequency range covers as many frequencies of dirt and grime as possible without causing mechanical damage to the surface or internal tissues of fruits and vegetables (or with the damage being within acceptable limits). When the vibration motor operates within the vibration frequency range, its vibration frequency can continuously vary between the lower and upper frequency limits (i.e., linear sweep) or jump (i.e., step sweep).

[0042] The upper limit of safe vibration amplitude refers to the maximum permissible vibration amplitude threshold. During the cleaning stage, the vibration motor will not cause mechanical damage to the skin or internal tissue of fruits and vegetables when vibrating within this upper limit of safe vibration amplitude (or the damage is within an acceptable range). Different types of fruits and vegetables have different upper limits of safe vibration amplitude.

[0043] Specifically, the upper limit of water pressure refers to the maximum allowable water pressure in the cleaning chamber during the cleaning process. Exceeding this upper limit may excessively inhibit the operation of the vibration motor. Different types of fruits and vegetables have different upper limits of water pressure.

[0044] Specifically, for each type of fruit and vegetable, a set of vibration parameters matching that type of fruit and vegetable can be pre-calibrated and stored in the controller or the cloud.

[0045] Specifically, if the fruits and vegetables to be cleaned include only one type, the controller can directly use the pre-calibrated vibration parameter set corresponding to that type as the target vibration parameter set. If the fruits and vegetables to be cleaned include at least two types, the controller can first obtain the pre-calibrated vibration parameter set corresponding to each type as a candidate vibration parameter set. Then, for each vibration parameter, the controller selects the minimum value of that vibration parameter in the candidate vibration parameter set to obtain the target vibration parameter set; or, for each vibration parameter, the controller can perform a weighted average of the vibration parameters corresponding to each type of fruit and vegetable in the candidate vibration parameter set according to the mass proportion of different types of fruits and vegetables in the fruits and vegetables to be cleaned to obtain the target vibration parameter set.

[0046] S630. In the pre-washing stage, the first turbidity of the pre-washing water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range with a first preset vibration amplitude for a first preset duration.

[0047] Specifically, the first preset vibration amplitude can be a fixed vibration amplitude set for the pre-washing stage, that is, a fixed amplitude value is uniformly set for all types of fruits and vegetables; or it can be determined according to the degree of dirt and grime of the fruits and vegetables to be washed in the pre-washing stage, and the two are positively correlated, that is, the greater the degree of dirt and grime, the greater the first preset vibration amplitude, but it must always be less than the upper limit of the safe vibration amplitude corresponding to the type of fruits and vegetables to be washed. But it is not limited to this.

[0048] Specifically, performing frequency sweep vibration within the target vibration frequency range means that the controller continuously and monotonically changes the frequency of the vibration motor between the lower and upper limits of the target vibration frequency range (it can change from low frequency to high frequency or from high frequency to low frequency), completing one complete rise or fall process, i.e., one sweep cycle. The rate of change of the frequency sweep vibration can be linear (i.e., the frequency changes uniformly with time); it can also be slower in the low-frequency range and faster in the high-frequency range; the rate of change of the frequency sweep vibration can also be adjusted based on the shedding frequency of various types of dirt and grime on the fruits and vegetables to be cleaned during the pre-washing stage: reducing the sweep rate and extending the excitation time to enhance the desorption effect in frequency bands where the shedding frequency is relatively concentrated, and increasing the sweep rate and shortening the ineffective sweep time in frequency bands where the shedding frequency is sparse or there is no shedding response, but it is not limited to these methods.

[0049] Specifically, the first preset time can be a fixed time set for the pre-washing stage, that is, a fixed amplitude value is uniformly set for all types of fruits and vegetables; or it can be determined according to the degree of dirt and grime of the fruits and vegetables to be washed in the pre-washing stage, and the two are positively correlated, that is, the greater the degree of dirt and grime, the longer the first preset time. But it is not limited to this.

[0050] In some embodiments, before the pre-washing stage begins, the method further includes: acquiring a first image of the fruits and vegetables to be washed by the image acquisition module, identifying a first degree of mud and dirt on the fruits and vegetables to be washed based on the first image, and determining a target soaking time based on the first degree of mud and dirt. During the softening stage, the heating control module heats the softened cleaning water to a preset temperature range for soaking the fruits and vegetables to be cleaned, and controls the vibration motor to perform frequency sweeping vibration with a third preset vibration amplitude within a first preset vibration frequency range until the actual soaking time reaches the target soaking time. After the pre-washing stage ends, the method further includes: if the first turbidity of the pre-washing water at the end of the pre-washing stage is detected to be greater than the first preset turbidity threshold, controlling the drain valve to discharge the pre-washing water in the cleaning chamber, and returning to re-execute the softening stage and the pre-washing stage until the first turbidity at the end of the pre-washing stage is less than or equal to the first preset turbidity threshold, or the number of re-executions reaches the preset number of cycles.

[0051] Specifically, there are several ways to identify the degree of mud staining. For example, the controller performs image recognition processing on the acquired first image to extract the mud stain coverage rate (i.e., the proportion of mud stain area to the surface area of ​​fruits and vegetables) and the mud stain distribution area (such as concentrated in depressions or flat areas). The degree of mud staining is comprehensively evaluated by combining the two characteristics. The degree of mud staining is positively correlated with the mud stain coverage rate and also positively correlated with the concentration of mud staining in depressions, but it is not limited to these.

[0052] Specifically, the degree of mud and sludge is positively correlated with the target soaking time.

[0053] Specifically, the preset temperature range can be a single, uniform temperature range set for all types of fruits and vegetables; it can also be determined based on the type of fruits and vegetables to be washed, for example: 30℃~35℃ for leafy vegetables, 35℃~40℃ for root vegetables, and 25℃~30℃ for berries; or it can be determined based on the degree of soiling, with a positive correlation between the two, but it is not limited to these. Thus, soaking the fruits and vegetables in softening water at the preset temperature can improve the efficiency of soil softening and pesticide residue dissolution, while avoiding heat damage to the fruits and vegetables caused by excessively high water temperatures.

[0054] Specifically, the third preset vibration amplitude can be a fixed vibration amplitude set for the softening stage, that is, a fixed amplitude value is uniformly set for all types of fruits and vegetables; it can also be determined according to the type of fruits and vegetables to be cleaned; or it can be determined according to the degree of mud and dirt in the first stage, and the two are positively correlated and less than the upper limit of the safe vibration amplitude corresponding to the type of fruits and vegetables to be cleaned.

[0055] Optionally, the third vibration amplitude is less than the first preset vibration amplitude threshold. It is understandable that during the softening stage, the mud and dirt are not yet fully moistened and loosened, and are still firmly attached to the surface of the fruits and vegetables to be washed. If the vibration amplitude is too large at this time, the fixed mud and dirt particles can easily cause an abrasive effect on the surface of the fruits and vegetables, damaging the surface or causing micro-scratches. Using a smaller amplitude can reduce the abrasive effect between the mud and dirt and the surface of the fruits and vegetables to be washed during gentle wetting, thus reducing damage to the fruits and vegetables to be washed.

[0056] Specifically, the first preset vibration frequency range can be a fixed vibration frequency range set for the softening stage, that is, a fixed, small vibration frequency range (such as 2-5 Hz) is uniformly set for all types of fruits and vegetables. It can be understood that low-frequency vibration helps water molecules fully penetrate into the interface between the mud and the fruits and vegetables, so that the dried or sticky mud softens naturally and helps the mud to fall off.

[0057] Specifically, performing frequency sweep vibration within the first preset vibration frequency range means that the controller continuously and monotonically changes the frequency of the vibration motor between the lower and upper limits of the target vibration frequency range (it can change from low frequency to high frequency, or from high frequency to low frequency), completing one complete rise or fall process, i.e., one scan cycle. After completing one scan cycle, if the actual soaking time does not reach the target soaking time, the next scan cycle continues until the actual soaking time does not reach the target soaking time. The rate of change of the frequency sweep vibration can be linear (i.e., the frequency changes uniformly with time), but it is not limited to this.

[0058] Specifically, during the softening stage, the controller activates the heating module to heat the softened cleaning water. A temperature sensor located inside the cleaning chamber collects the water temperature in real time and feeds it back to the controller, forming a closed-loop temperature control to keep the temperature of the softened cleaning water within a preset temperature range. Simultaneously, the controller controls the vibration motor to perform sweep frequency vibration at a third preset vibration amplitude within a first preset vibration frequency range. After the softening stage ends, the drain valve discharges the softened cleaning water from the cleaning chamber, initiating the pre-wash stage. After the pre-wash stage ends, if the first turbidity of the pre-wash cleaning water at the end of the pre-wash stage is detected to be greater than a first preset turbidity threshold, the drain valve is controlled to discharge the pre-wash cleaning water from the cleaning chamber, and the process returns to re-execute the softening stage and subsequent pre-wash stages until the first turbidity at the end of a certain pre-wash stage is less than or equal to the first preset turbidity threshold, or until the number of consecutive cycles of the "softening stage and pre-wash stage" reaches a preset number of cycles.

[0059] Understandably, using low-frequency, low-amplitude vibration in conjunction with warm water soaking during the softening stage can promote the rapid softening and loosening of dried or sticky mud without damaging the surface of the fruits and vegetables to be washed; subsequently, using vibration with a slightly larger amplitude and a wider frequency range during the pre-washing stage can efficiently remove various types of softened mud.

[0060] S640. During the main wash phase, the second turbidity of the main wash water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range with a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity.

[0061] Specifically, the second preset vibration amplitude can be a fixed vibration amplitude set for the main washing stage, that is, a fixed amplitude value is uniformly set for all types of fruits and vegetables; or it can be determined according to the type of fruits and vegetables to be washed or the third degree of dirt in the main washing stage, and the two are positively correlated, that is, the greater the third degree of dirt, the greater the second preset vibration amplitude, but it must always be less than the upper limit of the safe vibration amplitude corresponding to the type of fruits and vegetables to be washed.

[0062] Specifically, for an understanding of performing sweep vibration within the target vibration frequency range, please refer to the previous text, which will not be repeated here. The rate of change of the sweep vibration can be linear (i.e., the frequency changes uniformly with time); it can also be slow in the low-frequency range and fast in the high-frequency range; the rate of change of the sweep vibration can also be adjusted according to the shedding frequency of various types of mud and dirt on the fruits and vegetables to be washed during the main washing stage: reducing the sweep rate and extending the excitation time in frequency bands where the shedding frequency is relatively concentrated to enhance the desorption effect, and increasing the sweep rate and shortening the ineffective sweep time in frequency bands where the shedding frequency is sparse or there is no shedding response, but it is not limited to these methods.

[0063] Specifically, there are various implementation methods for preset turbidity conditions. Typical examples are described below, but these do not constitute a limitation of this application. For instance, during the main wash stage, due to phased drainage and / or circulating filtration through a filter (such as a three-stage filter), the second turbidity gradually decreases. Therefore, the preset turbidity conditions may include: the rate of turbidity change is less than a preset rate of change threshold, and / or the second turbidity is less than a third preset turbidity threshold. When the second turbidity meets the preset turbidity conditions, it indicates that the desorption process is essentially complete, and the main wash stage can be ended.

[0064] Specifically, the target scan rounds can be determined based on at least one of the following: the average value of the first turbidity, the rate of increase of the first turbidity, and the peak turbidity.

[0065] For example, during the pre-washing stage, a turbidity sensor collects the suspended solids concentration change curve in the pre-wash water (i.e., the first turbidity change curve) and transmits it to the controller in real time. The controller analyzes the rate of increase of the first turbidity (reflecting the speed of mud and dirt detachment) and the peak turbidity (reflecting the total amount detached) to comprehensively determine the initial total amount of mud and dirt on the surface of the fruits and vegetables to be washed. Based on this initial total amount of mud and dirt, the target number of scan cycles is determined, and the two are positively correlated. Thus, for cases with a large amount of mud and dirt, the vibration motor can scan repeatedly within the target frequency range to ensure thorough cleaning; for cases with a small amount of mud and dirt, the number of scan cycles is reduced to prevent unnecessary mechanical vibration and energy waste.

[0066] Understandably, during the main washing stage, multiple rounds of scanning vibration can repeatedly excite vibration responses at different frequencies, which helps mud and dirt with different shedding frequencies to obtain multiple accumulations of vibration energy at their respective resonance or desorption frequency points, thereby increasing the removal probability and uniformity, and improving the reliability of cleaning or decontamination.

[0067] In some embodiments, the method further includes acquiring the second turbidity of the main washing water monitored by a turbidity sensor, and controlling a vibration motor to perform frequency sweep vibration within a target vibration frequency range at a second preset vibration amplitude until the second turbidity meets a preset turbidity condition or the number of frequency sweep cycles reaches the target number of frequency sweep cycles. Obtain the mud and dirt removal rate of the fruits and vegetables to be cleaned; If the mud removal rate is less than the preset removal rate threshold, the second preset vibration amplitude is increased, and the main washing stage is re-executed according to the new second preset vibration amplitude until the mud removal rate is greater than the preset removal rate threshold.

[0068] Specifically, mud removal rate refers to the proportion of mud removed from the surface of fruits and vegetables during the washing process to the total amount of mud originally attached. For example, mud removal rate can be assessed in two ways: one is to acquire second images of the surface of the fruits and vegetables before and after the main washing stage using an image acquisition module, and then use image recognition algorithms to calculate the change in mud coverage, thereby directly obtaining the removal rate; the other is to assess the mud removal rate based on the rate of change in the second turbidity during the washing process, but this is not the only method.

[0069] Specifically, during the main wash phase, the controller first sweeps the frequency at the currently set second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the sweep frequency reaches the target sweep frequency. After the sweep ends, the vibration is paused, and the sludge removal rate is checked to see if it is greater than or equal to the preset removal rate threshold (e.g., 50%). If the sludge removal rate is less than the preset removal rate threshold, it means that the vibration amplitude is insufficient. The second preset vibration amplitude needs to be increased, and then the main wash phase is executed again until the sludge removal rate is greater than or equal to the preset removal rate threshold.

[0070] Understandably, by setting a second preset vibration amplitude based on the mud removal rate, when the removal rate is low, the amplitude can be appropriately increased to enhance the mechanical impact and accelerate the removal of stubborn mud; when the removal rate is high, the amplitude can be kept constant to avoid excessive vibration that could damage the surface of the fruits and vegetables to be cleaned, while also reducing unnecessary energy consumption.

[0071] In other embodiments, controlling the vibration motor to perform frequency sweep vibration within a target vibration frequency range at a second preset vibration amplitude includes: The vibration acceleration of the basketball hoop monitored by the accelerometer is obtained, and the actual vibration amplitude of the basketball hoop is calculated based on the vibration acceleration. If the actual vibration amplitude is greater than the target safe vibration amplitude limit, the driving intensity of the vibration motor is reduced to reduce the actual vibration amplitude of the vibration motor. If the actual vibration amplitude is less than or equal to the target safe vibration amplitude limit, the driving strength of the vibration motor remains unchanged.

[0072] Specifically, the controller acquires the actual vibration amplitude of the vibration motor in real time and compares it with the target safe vibration amplitude limit. If the actual vibration amplitude exceeds the target safe vibration amplitude limit, the drive power of the vibration motor is reduced to bring the vibration amplitude back to within the allowable range; if the actual vibration amplitude does not exceed the target safe vibration amplitude limit, the current drive power remains unchanged.

[0073] For example, Figure 7 This is a logic diagram illustrating a sweep frequency vibration and amplitude limiting control provided in an embodiment of this application. For example... Figure 7 As shown, the controller initiates linear frequency sweep vibration by driving the PWM output frequency lower limit value f_start via DMA. During the frequency sweep, the vibration frequency changes linearly with time, satisfying the functional relationship f(t) = f_start + rate × t, where rate is the frequency sweep rate. Simultaneously, an accelerometer collects the vibration acceleration of the basket frame in real time and transmits it to the controller. The controller calculates the actual vibration amplitude based on the vibration acceleration. The controller compares the actual vibration amplitude with the target safe vibration amplitude threshold: when the actual vibration amplitude is less than 70% of the target safe vibration amplitude threshold, it indicates that the controller can increase the PWM duty cycle to amplify the amplitude; when the actual vibration amplitude is greater than 90% of the target safe vibration amplitude threshold, it indicates that the current vibration intensity has approached or exceeded the safety boundary, and the controller immediately interrupts the current frequency sweep and resets the drive parameters to zero, causing the vibration motor to stop operating to protect the fruits and vegetables from mechanical damage; when the actual vibration amplitude is between 70% and 90% of the target safe vibration amplitude threshold, the controller activates the PID controller, dynamically adjusting the PWM duty cycle based on the deviation between the actual vibration amplitude and the target value, stabilizing the actual vibration amplitude within the safe range. When the vibration frequency linearly rises to the upper frequency limit f_end, one round of frequency sweep vibration is completed. After each round of scanning, the controller automatically switches the frequency sweep direction, i.e., from forward frequency sweep (frequency rising) to reverse frequency sweep (frequency falling), or from reverse frequency sweep to forward frequency sweep, realizing alternating forward and reverse frequency sweep. Each time a round of frequency sweep vibration is completed, the controller increments the scan completion counter by 1 and determines whether the current cumulative number of scan rounds has reached the target round: if not, the next round of frequency sweep vibration is started, and the above frequency change and amplitude adjustment process continues; if the target has been reached, one main wash stage is completed.

[0074] Understandably, this closed-loop amplitude control can effectively prevent mechanical damage to fruits and vegetables being washed, such as abrasions on the skin, internal bruises, or cracks in dents, caused by excessive vibration.

[0075] Optionally, during the main wash phase, the method further includes: when controlling the vibration motor to perform frequency sweep vibration within the target vibration frequency range at a second preset vibration amplitude, the controller is further configured to: The water pump is controlled to operate alternately in the forward and reverse directions at the first alternating frequency.

[0076] The air pump is controlled to add air bubbles to the main washing water at a first preset gas flow rate.

[0077] Specifically, during the main wash phase, the controller also controls the water pump to operate alternately in both forward and reverse directions at a first alternating frequency. This causes the pump to periodically change its rotation direction according to the first alternating frequency, so that the water flows in one direction first, then in the opposite direction, and this switching is repeated. In this way, bidirectional alternating water flow can be generated, which can repeatedly rinse the surface of the fruits and vegetables to be cleaned from both directions, producing a water flow rinsing effect similar to manual scrubbing, effectively preventing dirt and sand from accumulating or re-adhering on one side. At the same time, the periodic reversal of the water flow can create turbulence and local eddies, enhancing the ability to remove stubborn dirt and eliminating cleaning dead spots that may be left by a single-direction water flow.

[0078] Specifically, during the main wash stage, the controller also controls the air pump to add air bubbles to the main wash water at a first preset gas flow rate, so that there are a large number of rising or drifting air bubbles in the main wash water. In this way, the air bubbles burst after reaching the surface of the fruits and vegetables to be washed with the water flow, generating a gentle micro-scale scouring force to help remove stubborn dirt embedded in crevices. Its force is much lower than that of ultrasonic cavitation cleaning and will not damage the surface tissue of the fruits and vegetables to be washed.

[0079] Figure 8 This is a flowchart of another fruit and vegetable cleaning method provided in an embodiment of this application. For example... Figure 8 As shown, optionally, after the main washing stage ends, the method further includes: S650, in the rewashing stage, acquiring the third turbidity of the rewashing water monitored by the turbidity sensor, controlling the water pump to operate alternately in the forward and reverse directions at a second alternating frequency, controlling the air pump to add air bubbles to the rewashing water at a second preset gas flow rate, controlling the inlet valve and the outlet valve to open and close alternately at a third alternating frequency, and controlling the vibration motor to perform frequency sweep vibration within the target vibration frequency range at a fourth preset vibration amplitude until the fruits and vegetables to be washed meet the preset washing standards, wherein the second alternating frequency is greater than the first alternating frequency, the second preset gas flow rate is greater than the first preset gas flow rate, and the preset washing standards include the third turbidity of the rewashing water being less than the second preset turbidity threshold and / or the second mud and dirt degree of the fruits and vegetables to be washed being less than the preset mud and dirt degree threshold in the rewashing stage.

[0080] Specifically, "controlling the water pump to operate alternately in the forward and reverse directions at a second alternating frequency" is similar to "controlling the water pump to operate alternately in the forward and reverse directions at a second alternating frequency," and will not be repeated here. By setting the second alternating frequency to be greater than the first alternating frequency, the water pump can switch between forward and reverse directions at a faster speed during the rewashing phase, generating a higher frequency bidirectional alternating water flow, which more effectively removes stubborn or softened mud and dirt; at the same time, the denser water flow reversal can reduce the chance of mud and sand accumulating on the surface of fruits and vegetables or in the dead corners of the washing chamber, improving the uniformity of washing.

[0081] Specifically, "controlling the air pump to add air bubbles to the replenishment cleaning water at a second preset gas flow rate" is similar to "controlling the air pump to add air bubbles to the main cleaning water at a first preset gas flow rate," and will not be elaborated here. By setting the second preset gas flow rate to be greater than the first preset gas flow rate, more air bubbles can be introduced into the replenishment cleaning water by the air pump. The larger gas flow rate can generate a stronger bubble bursting jet and local micro-vibration, improving the ability to remove stubborn mud and sand, especially mud and dirt in depressions or crevices.

[0082] Specifically, controlling the inlet and outlet valves to alternately open and close at a third alternating frequency means that the inlet and outlet valves periodically switch on and off at set time intervals, causing the liquid level in the cleaning chamber to rise and then fall, generating a dynamic liquid level change scouring force. In this way, during the rapid rise and fall of the liquid level, the water flow repeatedly washes and draws water from the surface and crevices of the fruits and vegetables to be cleaned, forming a breathing-like pulsating water flow that can effectively remove stubborn mud and sand attached to the crevices.

[0083] Specifically, the third preset vibration amplitude can be a fixed vibration amplitude set for the rewashing stage, that is, a fixed amplitude value is uniformly set for all fruit and vegetable categories; or it can be determined according to the second degree of dirt and grime of the fruit and vegetables to be washed in the rewashing stage, and the two are positively correlated, that is, the greater the degree of second dirt and grime, the greater the third preset vibration amplitude, but it must always be less than the upper limit of the safe vibration amplitude corresponding to the fruit and vegetable category to be washed.

[0084] Specifically, for an understanding of performing sweep vibration within the target vibration frequency range, please refer to the previous text, which will not be repeated here. The rate of change of the sweep vibration can be linear (i.e., the frequency changes uniformly with time); it can also be slow in the low-frequency range and fast in the high-frequency range; the rate of change of the sweep vibration can also be adjusted according to the shedding frequency of various types of mud and dirt on the fruits and vegetables to be cleaned during the rewashing stage: reducing the sweep rate and extending the excitation time in frequency bands where the shedding frequency is relatively concentrated to enhance the desorption effect, and increasing the sweep rate and shortening the ineffective sweep time in frequency bands where the shedding frequency is sparse or there is no shedding response, but it is not limited to these methods.

[0085] Optionally, the target vibration parameter set also includes a target upper limit for water pressure; during the pre-wash, main wash, and / or rewash stages, the water pressure is controlled to be below the target upper limit. This avoids excessively high water pressure suppressing the effective mechanical excitation generated by the vibration motor; and the low-pressure water flow prevents high-pressure impacts from directly damaging the surface of the fruits and vegetables being washed or causing cracks in dents.

[0086] In this embodiment, a sweeping frequency vibration technology is employed. This means the vibration motor does not operate at a fixed frequency, but rather sweeps continuously within a safe vibration frequency range that the fruits and vegetables being cleaned can withstand, reducing mechanical damage. Because mud and dirt of different particle sizes and adhesion states have different inherent frequencies, during the sweeping frequency vibration process, various types of mud and dirt are progressively excited, loosened, and detached at their respective resonant frequencies. This achieves efficient cleaning with relatively low vibration intensity, improving the cleaning effect.

[0087] In another embodiment of this disclosure, after the rewashing stage is completed, the method further includes: during the draining stage, controlling the vibration motor to vibrate with a fifth preset vibration amplitude and a preset vibration frequency, controlling the stepper motor to drive the basket to tilt sequentially at multiple angles, and controlling the fan to send air into the cleaning chamber at a first preset temperature.

[0088] Specifically, the fifth preset vibration amplitude can be a fixed vibration amplitude set for the draining stage, that is, a fixed amplitude value is uniformly set for all types of fruits and vegetables; or it can be an amplitude value set according to the type of fruits and vegetables to be washed, and it is less than the critical value of vibration amplitude that will damage the surface of the fruits and vegetables during the draining stage.

[0089] Specifically, the preset vibration frequency can be a fixed vibration frequency set for the draining stage, that is, a fixed vibration frequency is uniformly set for all types of fruits and vegetables; or it can be a vibration frequency set according to the type of fruits and vegetables to be washed, and it is less than the critical value of vibration frequency that will cause damage to the surface of fruits and vegetables during the draining stage.

[0090] Specifically, the vibration motor is controlled to vibrate at a fifth preset vibration amplitude and preset vibration frequency, causing the water droplets on the surface of fruits and vegetables to break and slide off quickly.

[0091] Specifically, controlling the stepper motor to drive the basket to tilt sequentially at multiple angles means utilizing the precise angle control capability of the stepper motor to gradually change the tilt direction and degree of inclination of the basket according to a preset sequence and angle value. In this way, the fruits and vegetables to be washed can roll or shift relative to each other within the basket as the tilt angle changes, allowing different areas of the surface of the fruits and vegetables to be washed to be exposed to the hot air blown by the fan in sequence, and the tilted basket guides the water flow out.

[0092] Specifically, the fan is controlled to deliver air into the cleaning chamber at a first preset temperature. This allows the fan to continuously or intermittently blow heated air into the cleaning chamber to dry, dehumidify, or evaporate surface moisture from the washed fruits and vegetables, achieving a draining effect. The first preset temperature can be a fixed temperature uniformly set for all types of fruits and vegetables; or it can be a temperature set according to the type of fruit or vegetable to be cleaned, but lower than the upper temperature limit that the type of fruit or vegetable can withstand.

[0093] For example, Figure 9 This is a logical diagram illustrating a fruit and vegetable draining process provided in an embodiment of this application. Figure 9 As shown, during the draining stage, the controller first controls the vibration motor to smoothly increase the vibration frequency to a high-frequency pulse vibration frequency (i.e., the preset vibration frequency), while simultaneously raising the target safe vibration amplitude threshold to the safe upper limit corresponding to the draining stage (this upper limit is higher than the upper limit of the washing stage to accommodate the inertial water-spinning requirements under high-frequency vibration). Subsequently, the controller controls the stepper motor to drive the basket to sequentially execute the following tilting and vibration sequence: the basket tilts forward by +30°, while the vibration motor vibrates in high-frequency pulse mode for 10 seconds; then the basket tilts forward by +15°, and vibrates with high-frequency pulses for 10 seconds; then the basket tilts backward by -15°, and vibrates with high-frequency pulses for 10 seconds; then the basket tilts backward by -30°, and vibrates with high-frequency pulses for 10 seconds; finally, the basket returns to its upright position. At each of the above tilt angles, the inertial water-spinning force generated by the high-frequency pulse vibration causes the residual water accumulated on the surface of the fruits and vegetables and in the depressions in various directions to be discharged sequentially under the combined action of gravity and inertial force. After completing the above tilting and vibration sequence, the controller determines whether there is still water residue on the surface of the fruits and vegetables: if there is no water residue, the draining stage is completed; if there is still water residue, the above tilting and vibration sequence is repeated until the water residue is eliminated or the number of repetitions reaches the preset upper limit.

[0094] Understandably, during the draining stage, no additional dehydration mechanism is needed. The same vibration motor smoothly switches from the low-frequency cleaning range to the high-frequency range, generating inertial water-spraying force. This, combined with a stepper motor driving the basket to tilt sequentially at multiple angles, drains water from the recessed areas in all directions. A low-temperature, gentle breeze then dries the water, completing the draining process in a short time. The entire cleaning and draining function uses a single vibration mechanism, resulting in a simple and compact structure that reduces costs and installation space requirements.

[0095] In another embodiment of this disclosure, after the draining stage is completed, the method further includes: summarizing the cleaning data of this cleaning, the cleaning data including cleaning parameters and cleaning effect, the cleaning parameters including a set of vibration parameters; Output the cleaning results and obtain the user's satisfaction with the cleaning process; If the satisfaction level is greater than the preset satisfaction threshold, increase the weight of the cleaning data in this cleaning process. If the satisfaction level is less than the preset satisfaction threshold, the weight of the cleaning data for this cleaning is reduced, and at least one cleaning parameter is corrected. The cleaning data and its weight are used to optimize the cleaning parameters for subsequent cleaning of fruits and vegetables of the same type.

[0096] Specifically, cleaning parameters refer to control variables set or adjusted by the controller during the fruit and vegetable cleaning process, and may include at least one of the following: Cleaning parameters related to the vibration motor, such as vibration parameter set, first preset vibration amplitude, target sweep frequency, second preset vibration amplitude, third preset vibration amplitude, first preset vibration frequency range, first preset turbidity threshold, first preset duration, preset removal rate threshold, fourth preset vibration amplitude, fifth preset vibration amplitude, preset vibration frequency, etc. Cleaning parameters related to the heating module, such as preset temperature range and target soaking time; Cleaning parameters related to the water pump, such as the first alternation frequency and the second alternation frequency; Cleaning parameters related to the air pump, such as the first preset gas flow rate and the second preset gas flow rate; Inlet valves and outlet valves, such as the third alternating frequency, etc.; Cleaning parameters related to stepper motors, such as tilt direction and tilt angle; Cleaning parameters related to the fan, such as the first preset temperature.

[0097] Specifically, the cleaning effect refers to quantifiable indicators that characterize the cleanliness and damage of fruits and vegetables to be cleaned, such as the mud removal rate and the degree of damage.

[0098] Specifically, the cleaning results can be shown to users so they can comprehensively rate their satisfaction based on the cleaning effect, the cleanliness of the fruit and vegetable surfaces (whether there is any damage), and other visual observations. For example, satisfaction can be represented by scores, levels, or star ratings, but it is not limited to these.

[0099] Specifically, after each cleaning cycle, the controller stores the cleaning parameters and results in memory and displays the results to the user. When the user rates their satisfaction with the cleaning effect, the controller compares this rating with a preset satisfaction threshold: if the satisfaction level is greater than or equal to the threshold, the cleaning parameters are considered effective, and the controller increases the weight of these parameters in subsequent optimization calculations, giving them a larger proportion in the weighted average; if the satisfaction level is less than the threshold, the cleaning parameters are considered flawed, and the controller not only reduces the weight of these parameters but also automatically corrects at least one parameter based on the cleaning effect and satisfaction level, generating corrected cleaning parameters and storing them in memory. For the same type of fruit and vegetables, the controller calculates a weighted average of all historical data for that type of fruit and vegetables (including high-scoring enhanced cleaning parameters and low-scoring corrected cleaning parameters) according to the weights of each set of cleaning parameters, resulting in optimized cleaning parameters. Thus, with increased usage, the cleaning parameters gradually converge to the optimal values ​​for that type of fruit and vegetables, facilitating a self-evolving cleaning effect that becomes smarter and cleaner with each use.

[0100] To illustrate the fruit and vegetable cleaning method provided in this application embodiment in detail, a specific example will be used for further explanation below. Figure 10 This is a flowchart illustrating an example of fruit and vegetable washing provided in an embodiment of this application. Figure 10As shown, Step 1: The user inputs the type of fruits and vegetables to be cleaned and the degree of mud on the user terminal: The user selects the type of fruits and vegetables (such as root vegetables, leafy vegetables, hard fruits, soft fruits, berries, etc.) and the degree of mud (such as light, medium, heavy, very heavy, etc.) through the APP or panel. Step 2: The controller loads the target vibration parameter set: The controller loads the corresponding target vibration parameter set (target vibration frequency range, target safe vibration amplitude upper limit, target water pressure upper limit, etc.) according to the type of fruits and vegetables selected by the user, completing the parameter initialization before cleaning. Step 3: The camera visually pre-assesses the mud: The camera (i.e., the image acquisition device) acquires a dry image of the fruits and vegetables to be cleaned (i.e., the first image), and estimates the mud coverage rate through color segmentation to obtain the first degree of mud, assisting in correcting the mud degree judgment input by the user. Step 4: Temperature-controlled water injection and softening: Temperature-controlled water (i.e., softened cleaning water) is injected to submerge the fruits and vegetables to be cleaned. Based on the target soaking time for the first level of sludge (e.g., 60s for light soaking, 120s for moderate soaking, 180s for heavy soaking, 300s for extremely heavy soaking), the vibration motor is controlled to perform low-frequency micro-vibration during this period. Specifically, it performs frequency sweeping vibration within the first preset vibration frequency range (e.g., 2-5Hz) at a third preset vibration amplitude to aid water penetration into the sludge crevices. Step five: Pre-wash vibration and first turbidity acquisition: The vibration motor starts low-amplitude frequency sweeping vibration, with the frequency gradually increasing. Simultaneously, it performs frequency sweeping vibration within the target vibration frequency range (e.g., 5-30Hz) at the first preset vibration amplitude. At the same time, the turbidity sensor acquires the change curve of suspended solids concentration in the water (i.e., the change curve of the first turbidity). The controller dynamically adjusts the target frequency sweeping cycles for the subsequent main wash stage based on the rate of increase and peak value of the first turbidity. If the first turbidity is extremely high, pre-drainage and water replacement are triggered, and the process returns to step four. Step Six, Main Wash Vibration and Second Turbidity Acquisition: The vibration motor performs frequency sweep vibration within the target vibration frequency range at the second preset vibration amplitude. The accelerometer performs real-time closed-loop amplitude limiting and simultaneously initiates pulsed bidirectional alternating water flow and gas-liquid mixed jet until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target number of sweep cycles. During this process, the three-stage filter circulates to reduce water consumption. Step Seven, Intermediate Effect Evaluation: Vibration is paused (at fixed intervals), and the camera takes pictures (or only based on the decreasing trend of the second turbidity) to evaluate the sludge removal rate. If the sludge removal rate is ≥50%, proceed to the next step; if the sludge removal rate is <50%, increase the second preset vibration amplitude and return to Step Six until the sludge removal rate is ≥50%.Step 8, Fine Washing: Obtain the third turbidity of the washing water monitored by the turbidity sensor. The vibration motor performs frequency sweeping vibration within the target vibration frequency range at the fourth preset vibration amplitude. The accelerometer limits the amplitude in real time with closed loop. Simultaneously, pulsed bidirectional alternating water flow (higher frequency than the water flow alternation in Step 6, with the bidirectional water flow cycle shortened to 3s) and gas-liquid mixed jet (larger bubble volume than in Step 6, such as increasing the output of the air pump for air injection and mud squeezing) are activated. The inlet and outlet valves are controlled to alternately open and close at the third alternating frequency (water injection generates liquid level changes and scouring force) until the fruits and vegetables to be washed meet the preset washing standards. If the turbidity sensor samples below the second preset turbidity threshold for 5 consecutive times, the preset washing standards are considered met. If the preset washing standards are not met within the time limit, an alarm can be triggered. Step 10, Vibration Draining: Control the vibration frequency of the vibration motor to smoothly climb from the washing frequency band to the 40-80Hz draining frequency band (climbing rate 5Hz / s). The stepper motor drives the basket to tilt at multiple angles, combined with high-frequency pulse vibration to remove surface moisture. Optional low-temperature fan (≤35°C) can be used to assist evaporation. Visual inspection or zero turbidity confirms drainage completion. Step 11: Data Recording and Self-Learning Optimization: Cleaning parameters and results are written to Flash. A cleaning report is sent to the user, and user satisfaction is collected. High satisfaction levels reinforce cleaning parameters; low satisfaction levels automatically correct at least one cleaning parameter. Long-term accumulation leads to continuous optimization of product category parameters.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0102] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A fruit and vegetable washing device, characterized in that, include: A washing chamber, wherein a basket rack is provided inside the washing chamber, and the basket rack is used to hold fruits and vegetables; A vibration motor is used to generate vibrations, which are then transmitted to the surface of the fruits and vegetables through the basket frame. Turbidity sensor, used to monitor the turbidity of cleaning water; The controller is configured as follows: Obtain the types of fruits and vegetables to be cleaned; Determine a target vibration parameter set that matches the type of fruit and vegetable to be cleaned, wherein the target vibration parameter set includes a target vibration frequency range; During the pre-washing stage, the first turbidity of the pre-washing water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range with a first preset vibration amplitude for a first preset duration. During the main wash phase, the second turbidity of the main wash water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration with a second preset vibration amplitude within the target vibration frequency range until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity.

2. The fruit and vegetable washing equipment according to claim 1, characterized in that, The fruit and vegetable washing equipment also includes: The heating module is used to heat the cleaning water; The image acquisition module is used to acquire images of the fruits and vegetables to be cleaned; Prior to the start of the pre-wash phase, the controller is further configured to: The first image of the fruit and vegetables to be cleaned is acquired by the image acquisition module, the first degree of mud and dirt on the fruit and vegetables to be cleaned is identified based on the first image, and the target soaking time is determined based on the first degree of mud and dirt. During the softening stage, the heating module is controlled to heat the softened cleaning water to a preset temperature range to soak the fruits and vegetables to be cleaned, and the vibration motor is controlled to perform frequency sweeping vibration with a third preset vibration amplitude within a first preset vibration frequency range until the actual soaking time reaches the target soaking time. After the pre-washing phase is completed, the controller is further configured to: If the first turbidity of the pre-wash water at the end of the pre-wash stage is detected to be greater than the first preset turbidity threshold, the drain valve is controlled to discharge the pre-wash water in the cleaning chamber, and the softening stage and the pre-wash stage are re-executed until the first turbidity at the end of the pre-wash stage is less than or equal to the first preset turbidity threshold, or the number of re-executions reaches the preset number of cycles.

3. The fruit and vegetable washing equipment according to claim 1, characterized in that, The controller acquires the second turbidity of the main washing water monitored by the turbidity sensor, and controls the vibration motor to perform frequency sweep vibration within the target vibration frequency range at a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle. The controller is further configured to: The main wash is used to obtain the mud and dirt removal rate of the fruits and vegetables to be cleaned; If the mud removal rate is less than the preset removal rate threshold, the second preset vibration amplitude is increased, and the main washing stage is re-executed according to the new second preset vibration amplitude until the mud removal rate is obtained again greater than the preset removal rate threshold.

4. The fruit and vegetable washing equipment according to claim 1, characterized in that, The target vibration parameter set also includes a target safe vibration amplitude upper limit, and the fruit and vegetable washing equipment also includes: An accelerometer is used to monitor the vibration acceleration of the basket frame; When the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range at a second preset vibration amplitude, the controller is further configured to: The vibration acceleration of the basketball hoop monitored by the acceleration sensor is obtained, and the actual vibration amplitude of the basketball hoop is calculated based on the vibration acceleration. If the actual vibration amplitude is greater than the target safe vibration amplitude limit, then reduce the driving intensity of the vibration motor to reduce the actual vibration amplitude of the vibration motor. If the actual vibration amplitude is less than or equal to the target safe vibration amplitude limit, the driving strength of the vibration motor remains unchanged.

5. The fruit and vegetable washing equipment according to claim 1, characterized in that, The fruit and vegetable washing equipment also includes: A water pump and an inlet pipe are used to draw cleaning water from a water source and deliver it to the cleaning chamber through the inlet pipe. An air pump is used to inject air bubbles into the cleaning water; During the main wash phase, the controller is also configured to: The water pump is controlled to operate alternately in the forward and reverse directions at a first alternating frequency; The air pump is controlled to add air bubbles to the main washing water at a first preset gas flow rate.

6. The fruit and vegetable washing equipment according to claim 5, characterized in that, After the main wash phase ends, the controller is further configured to: During the rewashing stage, the third turbidity of the rewashing water monitored by the turbidity sensor is obtained. The water pump is controlled to operate alternately in the forward and reverse directions at a second alternating frequency. The air pump is controlled to add air bubbles to the rewashing water at a second preset gas flow rate. The inlet valve and outlet valve are controlled to open and close alternately at a third alternating frequency. The vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range at a fourth preset vibration amplitude until the fruits and vegetables to be washed meet the preset washing standards. The second alternating frequency is greater than the first alternating frequency, the second preset gas flow rate is greater than the first preset gas flow rate, and the preset washing standards include the third turbidity of the rewashing water being less than a second preset turbidity threshold and / or the second mud and dirt degree of the fruits and vegetables to be washed being less than a preset mud and dirt degree threshold during the rewashing stage.

7. The fruit and vegetable washing equipment according to claim 6, characterized in that, The target vibration parameter set also includes the target water pressure upper limit; During the pre-wash stage, the main wash stage, and / or the replenishment wash stage, the water pressure is controlled to be lower than the target water pressure upper limit.

8. The fruit and vegetable washing equipment according to claim 6, characterized in that, The fruit and vegetable washing equipment also includes: A stepper motor is used to drive the basket frame to tilt; A fan is used to supply air into the cleaning chamber; After the rewashing phase is completed, the controller is further configured to: During the draining stage, the vibration motor is controlled to vibrate at a fifth preset vibration amplitude and a preset vibration frequency, the stepper motor is controlled to drive the basket frame to tilt sequentially at multiple angles, and the fan is controlled to send air into the cleaning chamber at a first preset temperature.

9. The fruit and vegetable washing equipment according to claim 8, characterized in that, After the draining stage is completed, the controller is further configured to: Summarize the cleaning data from this cleaning operation. The cleaning data includes cleaning parameters and cleaning results. The cleaning parameters include a set of vibration parameters. Output the cleaning results and obtain the user's satisfaction with the cleaning process; If the satisfaction level is greater than the preset satisfaction threshold, the weight of the cleaned data in this cleanup is increased. If the satisfaction level is less than the preset satisfaction threshold, the weight of the cleaning data for this cleaning is reduced, and at least one cleaning parameter is corrected. The cleaning data and its weight are used to optimize the cleaning parameters for subsequent cleaning of fruits and vegetables of the same type.

10. A method for washing fruits and vegetables, characterized in that, include: Obtain the types of fruits and vegetables to be cleaned; Determine a target vibration parameter set that matches the type of fruit and vegetable to be cleaned, wherein the target vibration parameter set includes a target vibration frequency range; During the pre-washing stage, the first turbidity of the pre-washing water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range at a first preset vibration amplitude for a first preset duration. During the main wash phase, the second turbidity of the main wash water monitored by the turbidity sensor is obtained, and the vibration motor is controlled to perform frequency sweep vibration within the target vibration frequency range with a second preset vibration amplitude until the second turbidity meets the preset turbidity condition or the frequency sweep cycle reaches the target frequency sweep cycle, wherein the target frequency sweep cycle is determined based on the first turbidity.

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