WO2022148473A1 - 用于洗碗机的清洗方法、清洗装置以及洗碗机 - Google Patents

用于洗碗机的清洗方法、清洗装置以及洗碗机 Download PDF

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Publication number
WO2022148473A1
WO2022148473A1 PCT/CN2022/071288 CN2022071288W WO2022148473A1 WO 2022148473 A1 WO2022148473 A1 WO 2022148473A1 CN 2022071288 W CN2022071288 W CN 2022071288W WO 2022148473 A1 WO2022148473 A1 WO 2022148473A1
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WO
WIPO (PCT)
Prior art keywords
dishwasher
image
washing mode
cleaning
tableware
Prior art date
Application number
PCT/CN2022/071288
Other languages
English (en)
French (fr)
Inventor
范志恒
全永兵
魏中科
陈蔚
王彩霞
Original Assignee
佛山市顺德区美的洗涤电器制造有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202110032060.1A external-priority patent/CN112869680A/zh
Priority claimed from CN202110032057.XA external-priority patent/CN112869674A/zh
Application filed by 佛山市顺德区美的洗涤电器制造有限公司 filed Critical 佛山市顺德区美的洗涤电器制造有限公司
Priority to DE112022000130.5T priority Critical patent/DE112022000130T5/de
Priority to US18/031,148 priority patent/US20230371779A1/en
Publication of WO2022148473A1 publication Critical patent/WO2022148473A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/4295—Arrangements for detecting or measuring the condition of the crockery or tableware, e.g. nature or quantity
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/0018—Controlling processes, i.e. processes to control the operation of the machine characterised by the purpose or target of the control
    • A47L15/0021—Regulation of operational steps within the washing processes, e.g. optimisation or improvement of operational steps depending from the detergent nature or from the condition of the crockery
    • A47L15/0028—Washing phases
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/46—Devices for the automatic control of the different phases of cleaning ; Controlling devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2401/00—Automatic detection in controlling methods of washing or rinsing machines for crockery or tableware, e.g. information provided by sensors entered into controlling devices
    • A47L2401/04—Crockery or tableware details, e.g. material, quantity, condition
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2401/00—Automatic detection in controlling methods of washing or rinsing machines for crockery or tableware, e.g. information provided by sensors entered into controlling devices
    • A47L2401/30—Variation of electrical, magnetical or optical quantities
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2501/00—Output in controlling method of washing or rinsing machines for crockery or tableware, i.e. quantities or components controlled, or actions performed by the controlling device executing the controlling method
    • A47L2501/04—Water pressure or flow rate
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2501/00—Output in controlling method of washing or rinsing machines for crockery or tableware, i.e. quantities or components controlled, or actions performed by the controlling device executing the controlling method
    • A47L2501/06—Water heaters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2501/00—Output in controlling method of washing or rinsing machines for crockery or tableware, i.e. quantities or components controlled, or actions performed by the controlling device executing the controlling method
    • A47L2501/07—Consumable products, e.g. detergent, rinse aids or salt
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2501/00—Output in controlling method of washing or rinsing machines for crockery or tableware, i.e. quantities or components controlled, or actions performed by the controlling device executing the controlling method
    • A47L2501/30—Regulation of machine operational steps within the washing process, e.g. performing an additional rinsing phase, shortening or stopping of the drying phase, washing at decreased noise operation conditions

Definitions

  • the present application relates to the technical field of kitchen and bathroom appliances, in particular to a cleaning method, a cleaning device and a dishwasher for a dishwasher.
  • the existing cleaning methods of dishwashers usually use image recognition to cooperate.
  • image recognition various characteristics of tableware and pollutants need to be identified first. According to the characteristics
  • several modes are usually preset, and then the corresponding washing modes are matched according to the characteristics, and the washing is carried out according to the matching washing modes.
  • the above traditional cleaning methods have the following disadvantages: in terms of image recognition, it is difficult for image recognition to distinguish the contaminants attached to the tableware from the patterns on the tableware itself. It is difficult to achieve accuracy only by image recognition, resulting in inaccurate subsequent matching washing modes, and it is difficult to determine the effectiveness of washing modes, so the final washing effect is not ideal.
  • the purpose of the present application is to provide a cleaning method, a cleaning device and a dishwasher for a dishwasher.
  • a cleaning method for a dishwasher comprising:
  • the second image is compared according to the first image to determine the type of contaminant removed
  • the type of contaminants removed is matched by wash mode to determine the effectiveness of the wash mode.
  • the pollutant types include one of the following:
  • determining the corresponding washing mode according to the pollutant type includes:
  • the washing mode includes any one of detergent, temperature and pressure.
  • identifying the type of contaminants on the tableware according to the first image includes:
  • the acquired first image is input to a pre-trained image recognition model to determine the type of pollutant.
  • the washing mode includes any one of the following: adjusting the detergent, adjusting the washing temperature, and adjusting the washing pressure.
  • the cleaning method further includes:
  • configuring the washing mode according to the image includes:
  • an effective washing mode is configured, wherein the configuration includes any one of a cleaning speed, a cleaning time, a cleaning position, and a cleaning angle.
  • the first feature includes at least one of the following: the number of utensils, the location of the utensils;
  • the second characteristic includes at least one of the following: area of contamination, location of contamination.
  • configuring an effective washing mode includes:
  • the washing time of the washing mode is configured according to the area.
  • configuring an effective washing mode includes:
  • a second aspect of the present application provides a cleaning device for a dishwasher, comprising:
  • an image acquisition device configured to acquire an image of the tableware
  • a spray arm for spraying cleaning medium to wash dishes in the washing area in the dishwasher
  • a processor configured to the above-described cleaning method for a dishwasher.
  • a third aspect of the present application provides a dishwasher, including the above-mentioned cleaning device for a dishwasher.
  • a fourth aspect of the present application provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, the instructions are used to enable the processor to execute the above-mentioned cleaning method for a dishwasher when executed by the processor .
  • a fifth aspect of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above-mentioned cleaning method for a dishwasher.
  • the cleaning method for a dishwasher by acquiring a first image, and predetermining a corresponding washing mode according to the type of contamination in the first image, the dishes are sequentially washed according to the washing mode. , according to the comparison between the first image and the second image, so as to determine the effectiveness of the washing mode; this method can solve the problem that the existing technology cannot accurately identify the type of pollutants, and match the appropriate washing mode for the current type of pollutants, thereby To achieve clean and thorough cleaning, time-consuming and high-efficiency, and save water and electricity.
  • FIG. 1A schematically shows a schematic structural diagram of a dishwasher according to an embodiment of the present application
  • FIG. 1B schematically shows a front view of the structure of a dishwasher according to an embodiment of the present application
  • FIG. 1C schematically shows a schematic structural diagram of a cleaning mechanism of a dishwasher according to an embodiment of the present application
  • FIG. 1D schematically shows a partial structural schematic diagram of the cleaning mechanism of FIG. 1C
  • FIG. 2 schematically shows a schematic flowchart of a cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 3 schematically shows a schematic flowchart of step S13 in the cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 4 schematically shows a schematic diagram of a cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 5 schematically shows a further schematic flow chart of the cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 6 schematically shows a schematic flowchart of step S16 in the cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 7 schematically shows a schematic flowchart of step S162 in the cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 8 schematically shows another schematic flowchart of step S162 in the cleaning method for a dishwasher according to an embodiment of the present application
  • FIG. 9 schematically shows a schematic flowchart of a cleaning method for a dishwasher provided according to another embodiment of the present application.
  • FIG. 10 schematically shows a schematic flowchart of step S22 in the cleaning method provided according to another embodiment of the present application.
  • FIG. 11 schematically shows a schematic flowchart of step S23 in the cleaning method provided according to another embodiment of the present application.
  • FIG. 12 schematically shows a schematic flowchart of step S26 in the cleaning method provided according to another embodiment of the present application.
  • FIG. 1A schematically shows a schematic structural diagram of a dishwasher according to an embodiment of the present application, in which a control method for a dishwasher according to an embodiment of the present application can be applied.
  • FIG. 1B schematically shows a front view of the structure of a dishwasher according to an embodiment of the present application. It should be understood that, FIG. 1A and FIG. 1B only show one embodiment of the dishwasher 100 for further cleaning to illustrate the cleaning method provided by the present application, and are not intended to limit the dishwasher and the present application.
  • the dishwasher 100 may include a casing 1 and a cleaning mechanism 2 disposed inside the casing 1 .
  • the outer contour of the housing 1 may include, but is not limited to, rectangular and cylindrical.
  • the cleaning mechanism 2 may include an image acquisition device 21 , a shelf 22 , a processor 24 and a spray arm 25 .
  • the racks 22 may be fixed inside the dishwasher 100 for holding tableware, and the image capturing device 21 may include a camera or an image sensor (eg, an infrared sensor).
  • the image capture device 21 may be arranged in multiple orientations within the dishwasher 100 .
  • the processor 24 may be electrically connected to the image capture device 21 .
  • the image acquisition device 21 can be used to acquire images in the dishwasher 100, and the processor 24 can be used to process the acquired images.
  • the image capturing device 21 may acquire an image of the tableware on the shelf 22 .
  • the processor 24 can acquire the image, determine the characteristics of the tableware placed in the dishwasher 100, and control the spray arm 25 to wash the tableware according to the characteristics of the tableware.
  • processor 24 may include, but are not limited to, a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), multiple microprocessors, one or more microprocessors associated with a DSP core, a control microcontrollers, application specific integrated circuits (ASIC), field programmable gate array (FPGA) circuits, any other type of integrated circuit (IC), and state machines, among others.
  • DSP digital signal processor
  • ASIC application specific integrated circuits
  • FPGA field programmable gate array
  • the spray arm 25 may take a rotatable form.
  • FIG. 1C schematically shows a schematic structural diagram of a cleaning mechanism of a dishwasher according to an embodiment of the present application
  • FIG. 1D schematically shows a partial structural schematic diagram of the cleaning mechanism in FIG. 1C .
  • the cleaning mechanism 2 may further include a drive motor 23 , which may be disposed on the lower side of the dishwasher 100 or on the back of the dishwasher 100 , that is, the side away from the user placing tableware.
  • the drive motor 23 can be connected to the spray arm 25 .
  • the spray arm 25 is provided with water spray holes 251 that communicate with the inside of the spray arm 25 .
  • the spray holes 251 can be arranged at intervals on the spray arm 25 so that the spray arm 25 sprays a wider range.
  • the spray arm 25 may be cylindrical, and the water spray holes 251 are spaced and arranged in an array on the cross section of the spray arm 25 , so that the water sprayed by the water spray holes 251 is sprayed at an angle.
  • the dishwasher 100 may further include a water pressure transmitter (not shown), a water heater (not shown), and a water valve (not shown).
  • the water pressure transmitter and the water heater can be electrically connected to the processor 24 , and the water pressure transmitter mechanism, the water heater and the water valve can be connected to and communicated with the spray arm 25 inside.
  • the connection between the spray arm 25 and the water pressure transmitter, the water heater, the water valve, and the driving motor 23 may be a direct connection or an indirect connection through an intermediate piece.
  • the water valve can be used to control the water output of the sprayed water
  • the water pressure transmitter can be used to control the water pressure
  • the water heater can be used to control the water temperature
  • the drive motor 23 can be used to drive the spray arm 25 to rotate.
  • the spray arm 25 may be centrally located within the dishwasher. The central position may be defined as the middle position of the multiple racks 22 in the dishwasher 100 , so that when the spray arm 25 is rotated, the dishes on the multiple racks 22 can be covered, thereby saving the space inside the dishwasher 100 . Only a single spraying arm 25 can be used to spray the tableware on the multiple racks 22, which saves the cost of design and materials, and brings more space for use.
  • the water valve, water pressure transmitter, water heater and drive motor 23 may be controlled by the processor 24 .
  • the area where the tableware is placed on the shelf 22 can be divided into four quadrants, namely the first, second, third and fourth quadrants.
  • the processor 24 may control the driving motor 23 to drive the spray arm 25 to rotate, so that the water spray holes 251 face any quadrant among the four quadrants.
  • the processor 24 can also control the water valve to adjust the water output from the water spray hole 251 (or stop the water output).
  • the drive motor 23 may also drive the spray arm 25 to translate.
  • the dishwasher 100 may further include a conversion mechanism (not shown), the conversion mechanism is connected between the drive motor 23 and the spray arm 25, and can convert the rotation of the drive motor 23 into spray Translation of the arm 25.
  • the storage rack 22 may include one or more layers of storage racks, for example, two upper and lower layers of storage racks.
  • the spray arm 25 can be located in the middle of the two racks 22, so that when the spray arm 25 is rotated, it can spray all the two racks 22. tableware.
  • the dishwasher 100 may further include a mounting bracket 26 , and the spray arm 25 is rotatably connected to the mounting bracket 26 .
  • the position of the mounting bracket 26 is fixed so that the spray arm 25 can rotate relative to the mounting bracket 26 , and the manner in which the position of the mounting bracket 26 is fixed is not limited.
  • the mounting bracket 26 can be fixedly connected to the rack 22 or other positions.
  • the spray arm 25 is driven by the driving motor 23 to move, and the movement includes rotation and translation.
  • the spray arm 25 can spray cleaning medium to clean the dishes in the washing area of the dishwasher.
  • the image capturing device 21 is used to capture images of dishes in the washing area in the dishwasher, and the images are not limited to images of dishes or images of contaminants.
  • the embodiment of the present application also provides a cleaning method for a dishwasher, which is an integral embodiment.
  • a cleaning method for a dishwasher which is an integral embodiment.
  • FIG. 2 schematically shows a flow chart of a cleaning method for a dishwasher according to an embodiment of the present application.
  • Embodiments of the present application include methods for selecting and configuring washing modes in a washing method for a dishwasher.
  • a cleaning method for a dishwasher is provided. Specifically, it is a method for spraying by the spray arm of the dishwasher. The method aims to solve the problem that the existing dishwasher only sprays according to a fixed pattern, and the spray arm is used for spray cleaning. In medium, no matter whether the contaminants on the tableware can be washed off, the cleaning will end after the set cleaning time, such as some sticky rice balls, egg custards, and pastes. The problem of less than the user's expected experience effect.
  • the cleaning method provided by the embodiment of the present application is realized by the structure of the above-mentioned dishwasher.
  • the term "cleaning medium” mentioned above can be a cleaning solution formed by connecting the spray arm to the city water supply end to provide clean water, or a cleaning solution mixed with other cleaning substances.
  • the cleaning method includes:
  • Step S11 controlling the dishwasher to wash the tableware of the dishwasher respectively in at least one washing mode
  • Step S12 acquiring an image of the cleaned tableware
  • Step S13 determining whether the contaminants on the washed tableware are removed according to the image
  • Step S14 in the case that the pollutants are not removed, change the washing mode
  • Step S15 controlling the dishwasher to wash the tableware again in the replaced washing mode.
  • a plurality of washing modes can be pre-configured by coding in the processor of the dishwasher, and each washing mode can process one type of contaminant corresponding to the washing mode.
  • the wash modes are mainly set based on the wash sensitivity of different contaminant types on the dishes.
  • washing modes may include: washing mode A, adjusting detergent; washing mode B, adjusting washing temperature; washing mode C, adjusting washing pressure; washing mode D, default washing mode.
  • detergent-sensitive types can be, for example, viscous lipids or oil-based contaminants, temperature-sensitive types such as oil-based contaminants, and pressure-sensitive types such as vegetable leaves, bones, soup, and eggs attached to tableware. Soup, paste, etc.
  • washing mode A can be further subdivided into washing mode A1, washing mode A2 and washing mode A3. The difference between the washing mode A1, the washing mode A2 and the washing mode A3 lies in the type or dosage of the detergent.
  • washing mode B may include washing mode B1 , washing mode B2 and washing mode B3 with different washing temperatures.
  • the washing mode C may be the washing mode C1, the washing mode C2, the washing mode C3, etc. under different pressures, wherein the washing mode D is the washing mode in which the cleaning medium is clean water or the default washing liquid, the initial pressure, and the initial temperature. .
  • step S11 the following methods may be included: firstly, the dishwasher is controlled to wash the dishes in the dishwasher in a default washing mode.
  • the dishwasher can clean the contaminants on the dishes in the default washing mode. Because the default washing mode has a certain temperature and pressure, the tableware will not appear unclean contaminants every time, so the normal process is: wash in the default washing mode D through the dishwasher, and get the cleaned After the image of the tableware, it is determined according to the image that the contaminants on the cleaned tableware are removed, thereby ending the cleaning.
  • washing mode A1 and the washing mode A2 are sequentially executed for a preset time, such as once every 5s. Check whether the contaminants are removed after each cleaning. Until the pollutants are removed, the current washing mode is determined to be valid, and the current washing mode is continued to be used, so as to completely remove the pollutants.
  • step S11 may include:
  • step S12 an image of the washed tableware can be acquired, and the image is used to perform step S13, that is, it is determined whether the contaminants on the washed tableware have been removed according to the image.
  • the contamination mentioned in the embodiment of the present application Whether the object has been removed refers to the traces of contaminants that have been washed away, and is not limited to complete washing.
  • Step S13 may include the following methods:
  • Step S131 acquiring a first image of the tableware before cleaning
  • Step S132 acquiring a second image of the tableware after cleaning
  • Step S133 comparing the first image and the second image to determine that the pollutants are removed.
  • the first image and the second image can be converted into gray (256 grayscale images) by reading the image data of the first image and the second image before and after cleaning respectively.
  • the first contour of the contaminant in a picture and the second contour of the contaminant in the second image are compared according to the first contour and the second contour, so as to determine whether the contaminant is reduced, and to determine that the contaminant is removed.
  • the comparison between the first contour and the second contour may be the comparison of pixel histograms, and it is determined whether the pollutants are removed by observing whether the pixel points of the pollutants change.
  • FIG. 4 schematically shows a logical schematic diagram of a cleaning method for a dishwasher according to an embodiment.
  • the current wash mode is invalid for the contaminant type corresponding to this contaminant.
  • the dishwasher is controlled to wash the dishes again in the replaced washing mode.
  • steps S14 and S15 the dishes can be thoroughly washed.
  • the contaminants on the tableware are cleaned only after they are cleaned, so as to achieve a better cleaning effect and give users a better experience.
  • FIG. 5 schematically shows a further schematic flow chart of the cleaning method for a dishwasher according to an embodiment; in the embodiment of the present application, the cleaning method further includes:
  • Step S16 configure the washing mode according to the image when the pollutants are removed
  • Step S17 controlling the dishwasher to wash the tableware in the configured washing mode.
  • Steps S16 and S17 can be understood that after the pollutants are removed, the washing mode is considered to be effective.
  • step S14 is not executed at this time. , that is, without changing the washing mode, and then configure the effective washing mode, including any one of the washing time and the washing position. After the configuration, the dishes are washed according to the configured washing mode.
  • step S16 configuring the washing mode according to the image may include:
  • Step S161 according to the image, determine the first feature of the tableware, or the second feature of the contaminants remaining on the tableware;
  • Step S162 configure the washing mode according to the first feature or the second feature, wherein the configuration includes any one of cleaning time and cleaning position.
  • step S11 when cleaning is performed in the washing mode, that is, when step S11 is performed, all the water outlet holes 251 on the spray arm 25 can be opened first, and the spray arm
  • the rotation speed of 25 can be a constant speed, and other parameters such as water pressure and temperature can be constant values, the purpose is to test the effectiveness of the washing mode only with the washing mode as a variable amount.
  • the washing mode in order to perform the cleaning faster and more efficiently, can be further configured according to the first characteristic of the tableware and the second characteristic of the contaminants, so as to speed up the cleaning efficiency.
  • the first feature may include at least one of the following: the number of tableware, the material of the tableware, and the position of the tableware; it can be understood that the "number" of the tableware can be obtained by performing target extraction and analysis according to the tableware image, such as The outline of the tableware can be extracted, and it can also be input by the user.
  • the "position" of the tableware can be obtained according to the cleaning position in the dishwasher where the contour of the tableware image falls. For example, a coordinate system is established for the cleaning area of the dishwasher, and the coordinate position of the tableware image is obtained, that is, the position of the tableware.
  • the parts with contaminants on the tableware are separated by binarizing the grayscale of the tableware image and separating the local threshold values, and then the area and the location of the contaminants are calculated.
  • the cleaning time of the washing mode can be configured by the number of tableware, the more the number of tableware, the longer the cleaning time, thereby ensuring the thoroughness of cleaning.
  • the cleaning range of the washing mode can also be configured by the position of the tableware, for example, the water outlet holes used in the dishwasher can be configured. Specifically, by using the water outlet holes corresponding to the tableware positions to spray the cleaning medium, and closing other water outlet holes, so that the other water outlet holes do not spray the cleaning medium, thereby realizing water saving and centralized cleaning.
  • the second feature includes at least one of the following: the area of the pollutant and the location of the pollutant.
  • the washing mode can also be configured to make cleaning more efficient.
  • step S162 according to the first feature or the second feature, configuring the effective washing modes includes:
  • Step S1621 obtaining the area corresponding to the pollutant on the tableware
  • Step S1622 configure the cleaning time of the washing mode according to the area.
  • the cleaning time of the required washing mode can be obtained.
  • the washing time of the washing mode can be configured in the following ways: 1. By binarizing the grayscale of the tableware image; 2. Separating the contaminants on the tableware by local threshold separation; 3. Calculate the area of pollutants; 4. Set the corresponding cleaning time according to the area. Specifically, the user can set a threshold value. When the area of contaminants is within the threshold value, the cleaning time is the first time, and when the area exceeds the threshold value, it is the second time, that is, it is considered difficult to clean. At this time, the current time is set to the second time. time.
  • step S162 according to the first feature or the second feature, configuring the effective washing modes includes:
  • Step S1621' obtaining the position of the contaminants on the tableware
  • Step S1621' configure the cleaning position of the washing mode according to the position.
  • the cleaning range of the washing mode can be configured according to the position of the pollutants, the water outlet holes used are configured, and the other water outlet holes are closed by spraying the cleaning medium at the water outlet holes corresponding to the positions with pollutants; Realize water saving and centralized cleaning.
  • the embodiments of the present application provide a cleaning method, specifically a method for spraying by the spray arm of the dishwasher.
  • the dishwasher is controlled to wash the dishes in the dishwasher respectively in at least one washing mode, so as to find a washing mode that can thoroughly clean the contaminants.
  • the embodiments of the present application aim to solve the problem that the existing dishwashers spray according to a fixed mode.
  • the spray arm sprays the cleaning medium, no matter whether the contaminants on the tableware can be washed off, the set cleaning time is reached.
  • the fixed pattern is difficult to clean, which leads to the problem of not reaching the product experience expected by users, improving the thoroughness of cleaning and the user experience.
  • FIG. 9 schematically shows a schematic flowchart of a cleaning method for a dishwasher provided according to another embodiment of the present application.
  • the embodiments of the present application include an image recognition method used in a cleaning method of a dishwasher.
  • a cleaning method for a dishwasher is provided, specifically a method for spraying by the spray arm of the above-mentioned dishwasher, the method is based on the above-mentioned method. improvement on the basis.
  • the embodiment of the present application can also identify the type of contamination according to the image of the dishes in the dishwasher, and determine the washing mode by comparing the images before and after washing. effectiveness.
  • an improved cleaning method is provided, and the cleaning method may include:
  • Step S21 acquiring a first image of tableware in the dishwasher
  • Step S22 identifying the type of contaminants on the tableware according to the first image
  • Step S23 determining the corresponding washing mode according to the pollutant type
  • Step S24 controlling the dishwasher to sequentially clean the tableware according to the washing mode
  • Step S25 acquiring a second image of the tableware in the dishwasher after each cleaning is completed
  • Step S26 comparing the first image and the second image to determine the effectiveness of the washing mode.
  • step S21 a first image of the dishware that has not been cleaned in the dishwasher is obtained first, for example, the image acquisition device provided in the dishwasher can be used to obtain the image.
  • the acquisition of the first image may be triggered when cleaning starts, and the method may be implemented by editing the job properties of the image capturing device.
  • Step S21 is a common method for those skilled in the art, and will not be described too much.
  • the existing cleaning methods of dishwashers are usually matched with image recognition.
  • image recognition it is first necessary to identify various features of tableware and contaminants, and start different washing modes according to the features.
  • the dishwasher will preset several modes, and then match the corresponding washing mode according to the characteristics, and wash according to the matching washing mode.
  • the above traditional cleaning methods have the following disadvantages: in terms of image recognition, it is difficult for image recognition to distinguish the contaminants attached to the tableware from the patterns on the tableware itself. It is difficult to achieve accuracy only by image recognition, resulting in inaccurate subsequent matching washing modes, and it is difficult to determine the effectiveness of washing modes, so the final washing effect is not ideal.
  • the cleaning method provided by the embodiment of the present application first obtains a first image of the tableware in the dishwasher, selects a washing mode according to the first image, controls the washing mode to clean the tableware, and compares the second image before and after cleaning with the first image , thus directly determining the effectiveness of the washing mode.
  • a plurality of washing modes can be pre-configured by coding in the processor of the dishwasher, and each washing mode can process one type of contaminant corresponding to the washing mode.
  • the washing mode is mainly set based on the washing sensitivity of different types of contaminants on the dishes, wherein the types of contaminants may include: detergent-sensitive type, temperature-sensitive type, and pressure-sensitive type.
  • washing modes provided in the embodiments of the present application may include: washing mode A, adjusting detergent; washing mode B, adjusting washing temperature in washing mode; washing mode C, adjusting washing pressure; washing mode D, default mode .
  • detergent-sensitive types can be, for example, viscous lipids or oil-based contaminants, temperature-sensitive types such as oil-based contaminants, and pressure-sensitive types such as vegetable leaves, bones, soup, and eggs attached to tableware. Soup, paste, etc.
  • washing mode A can be further subdivided into washing mode A1, washing mode A2 and washing mode A3. The difference between the washing mode A1, the washing mode A2 and the washing mode A3 lies in the type or dosage of the detergent.
  • washing mode B may include washing mode B1 , washing mode B2 and washing mode B3 with different washing temperatures.
  • the washing mode C may be the washing mode C1 , the washing mode C2 , and the washing mode C3 under different pressures
  • the washing mode D is a fixed washing mode.
  • steps S21 to S23 are to preliminarily formulate a washing mode combination required for cleaning by identifying the type of contaminants on the tableware of the dishwasher through images in advance.
  • step S22 identifies the type of contamination of the tableware according to the first image. Since there may be patterns on the tableware, the pollutants are difficult to be segmented, and the type of pollutants identified by the first image may be inaccurate. Therefore, identifying the type of pollutants on the tableware according to the first image is a fuzzy algorithm, which only selects several types of pollutants.
  • the washing mode has the advantage of being more efficient and quicker than running all the washing modes in sequence.
  • the types of contaminants on the tableware may be identified as a1 and b1.
  • a combination of washing modes required for washing can be preliminarily formulated as: : Wash Mode A1 and Wash Mode B1.
  • the washing mode A1 corresponds to the pollutant type a1
  • the washing mode B1 corresponds to the pollutant type b1.
  • the dishes of the dishwasher are cleaned by the washing mode A1 and the washing mode B1.
  • the cleaning method is the same as the above embodiment, which can be a washing mode A1 and washing mode B1 wash the dishes in the dishwasher in sequence, for example, washing mode A1 washes for 5s, then washing mode B1 washes for 5s.
  • washing mode A1 After washing in the washing mode A1, perform image recognition on the tableware once to determine whether the contaminant type a1 has been removed. Therefore, after washing in the washing mode B1, image recognition is performed on the tableware again, and the same steps are used to determine whether the washing mode B1 is effective.
  • FIG. 10 schematically shows a schematic flowchart of step S22 in the cleaning method provided according to another embodiment of the present application.
  • Step S22, identifying the type of contaminants on the tableware according to the first image may include:
  • Step S221 establishing a database according to the pre-collected pollutant images and the pollutant type labels of the pollutant images;
  • Step S222 pre-training the image recognition model through the database
  • Step S223 Input the acquired first image into the pre-trained image recognition model to determine the pollutant type.
  • the processor of the dishwasher can pre-collect some contaminant images and contaminant type labels, such as label: oil, to pre-train the pre-created image recognition model.
  • the image recognition model may be a neural network model or other models.
  • the dishwasher can be triggered to collect the tableware image of the cleaning area, and the first image of the tableware can be input into the pre-trained image recognition model to determine the type of contaminants.
  • a cloud database can be established for the pollutant images and the pollutant type labels of the pollutant images.
  • the acquired first image can also be uploaded to a cloud database through a mobile communication network, and used as a training sample for an image recognition model, so as to increase the accuracy of the recognition.
  • the dishwasher by connecting the dishwasher to the cloud database through the mobile communication network, the pollutant images taken by each user will be uploaded to the cloud database, so as to be used as the training samples of the image recognition model, so that the image recognition model can be continuously updated and improved.
  • the image is the accuracy of the model.
  • the cloud can download the updated image recognition model to the dishwasher of each client through OTA (OTA: Over-the-Air Technology), so as to improve the recognition accuracy of the dishwasher and bring more convenience to users. good experience.
  • OTA Over-the-Air Technology
  • step S23 includes:
  • Step S231 establishing a mapping relationship between pollutant types and washing modes
  • Step S232 matching the washing mode corresponding to the pollutant type according to the mapping relationship.
  • the processor of the dishwasher can establish a mapping relationship between the pollutant type and the washing mode in the corresponding database, for example, the washing mode A1 corresponds to the pollutant type a1, and the washing mode B1 corresponds to the pollutant type b1.
  • the processor of the dishwasher can establish a mapping relationship between the pollutant type and the washing mode in the corresponding database, for example, the washing mode A1 corresponds to the pollutant type a1, and the washing mode B1 corresponds to the pollutant type b1.
  • the corresponding washing mode is matched according to the pollutant type through the mapping relationship.
  • step S25 that is, after washing, the second image of the tableware can be recognized.
  • the second image is used to determine in step S26 whether the type of contamination corresponding to the washing mode has been washed away after washing.
  • FIG. 12 schematically shows a schematic flowchart of step S26 in the cleaning method provided according to another embodiment of the present application.
  • Step S26, comparing the first image and the second image to determine the effectiveness of the washing mode may include:
  • Step S261 comparing the first image and the second image to determine the type of pollutants to be removed;
  • Step S262 Match the types of contaminants to be removed through the washing mode to determine the effectiveness of the washing mode.
  • the type of contaminants removed after cleaning can be analyzed.
  • the contaminant type is identified and determined in the first image in step S22, and the type of contaminant removed is matched by the washing mode to determine the effectiveness of the washing mode, that is, the secondary determination of step S23.
  • the contaminant type of a certain area on the tableware identified by the first image before washing is contaminant type b1, wherein the contaminant type b1 corresponds to the temperature-sensitive type of oil stains.
  • the contaminant type b1 identified according to the first image in step S22 is not necessarily correct, but is only a preliminary identification result.
  • the above-mentioned contaminant type b1 matches the washing mode B1, However, the washing mode B1 must be aimed at the temperature-sensitive contaminants b1. Therefore, after washing in the washing mode B1 in step S24, if the first image is compared with the second image, it is found that the contaminants on the dishes correspond to the contaminants b1.
  • the effectiveness of the washing mode B1 is determined. If, by comparing the first image and the second image, it is found that the area corresponding to the contaminant type b1 on the tableware has not been completely removed, then it is determined that the effectiveness of the current washing mode B1 is low, and the washing mode corresponding to the current contaminant type needs to be changed .
  • this method can solve the problem that the existing technology cannot accurately identify the type of pollutants and find a suitable washing mode, so as to achieve thorough cleaning, short time consumption, high efficiency, and save water and electricity.
  • the embodiment of the present application also provides a cleaning device, and the cleaning device may include:
  • an image acquisition device configured to acquire an image of the tableware
  • a spray arm for spraying cleaning medium to wash dishes in the washing area in the dishwasher
  • the processor may be configured as the above-described cleaning method for a dishwasher.
  • the processor can be configured to:
  • the second image is compared according to the first image to determine the type of contaminant removed
  • the type of contaminants removed is matched by wash mode to determine the effectiveness of the wash mode.
  • the types of pollutants may include at least one of the following: temperature-sensitive, pressure-sensitive, and detergent-sensitive.
  • the processor may also be configured to:
  • the washing mode includes any one of detergent, temperature and pressure.
  • the processor may also be configured to:
  • the acquired first image is input to a pre-trained image recognition model to determine the type of pollutant.
  • the processor may also be configured to:
  • the washing mode may include any one of the following: adjusting detergent, adjusting washing temperature, and adjusting washing pressure;
  • the contaminant type includes at least one of the following: temperature sensitive, pressure sensitive, and detergent sensitive.
  • the processor may also be configured to:
  • an effective washing mode is configured, wherein the configuration includes any one of cleaning speed, cleaning time, cleaning position, cleaning angle, and cleaning range;
  • the dishes are washed through the configured washing mode.
  • the first feature may include at least one of the following: the number of tableware and the position of the tableware; the second feature may include at least one of the following: the area of contaminants and the position of contaminants.
  • the processor may also be configured to:
  • the washing time of the effective washing mode is configured according to the area.
  • the processor may also be configured to:
  • the wash positions of the effective wash modes are configured according to the position.
  • Embodiments of the present application further provide a dishwasher, including the above cleaning device. It should be understood that the dishwasher is not limited in size and outline, and only needs to use the corresponding components of the cleaning device to achieve the same or similar functions, which should also fall within the scope of protection of the present application.
  • the cleaning device further includes a memory, and the above-mentioned cleaning method for a dishwasher may be stored in the memory as a program unit, and the processor executes the above-mentioned program unit stored in the memory to realize corresponding functions.
  • the processor includes a kernel, and the kernel calls the corresponding program unit from the memory.
  • the kernel can be set to one or more, by adjusting the kernel parameters to control the spray arm of the dishwasher to wash the dishes according to the image of the dishes.
  • Memory may include non-persistent memory in computer-readable media, in the form of random access memory (RAM) or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip .
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Embodiments of the present application also provide a machine-readable storage medium, on which a program is stored, and when the program is executed by a processor, a cleaning method for a dishwasher is implemented.
  • Embodiments of the present application further provide a processor, where the processor is configured to run a program, wherein when the program runs, a cleaning method for a dishwasher is executed.
  • Embodiments of the present application further provide a computer program product, including a computer program, which, when executed by a processor, implements the above-mentioned cleaning method for a dishwasher.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processor to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-persistent memory in computer readable media, random access memory (RAM), or forms of nonvolatile memory, such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

Abstract

一种用于洗碗机的清洗方法、清洗装置以及洗碗机（100），用于洗碗机（100）的清洗方法，包括：获取洗碗机（100）内餐具的第一图像（S21）；根据第一图像识别餐具上的污染物类型（S22）；根据污染物类型确定对应的洗涤模式（S23）；控制洗碗机（100）按照洗涤模式依次对餐具进行清洗（S24）；在每次清洗完成后，获取洗碗机（100）内餐具的第二图像（S25）；将第一图像和第二图像进行对比，以确定洗涤模式的有效性（S26）；这种方式可以解决现有技术无法精确识别污染物类型的问题，以为当前的污染物类型匹配合适的洗涤模式，从而实现清洗干净彻底，耗时短效率高，且节省水能和电能。

Description

用于洗碗机的清洗方法、清洗装置以及洗碗机
相关申请的交叉引用
本申请要求2021年01月11日提交的中国专利申请202110032060.1和202110032057.X的权益，该申请的内容通过引用被合并于本文。
技术领域
本申请涉及厨卫电器技术领域，具体涉及一种用于洗碗机的清洗方法、清洗装置以及洗碗机。
背景技术
随着生活水平的提高，洗碗机的使用越来越多。智能化的应用越来越广泛，相应的对洗碗机的要求也越来越高。
现有洗碗机的清洗方法为了实现更节能以及更精准高效的清洗，通常采用图像识别予以配合，洗碗图像识别的应用中，首先就需要识别出餐具和污染物的各种特征，根据特征启动不同的洗涤模式，通常会预设几种模式，然后根据特征予以匹配对应的洗涤模式，根据所匹配的洗涤模式进行清洗。以上的传统清洗方法存在以下弊端：在图像识别方面，图像识别很难将附着在餐具上面的污染物与其自身的餐具上的花纹区分开。仅靠图像识别很难实现精确，导致后续匹配的洗涤模式不精准，很难确定洗涤模式的有效性，从而最终的洗涤效果不理想。
发明内容
为解决上述技术问题，本申请的目的是提供一种用于洗碗机的清洗方法、清洗装置以及洗碗机。
为了实现上述目的，在本申请第一方面提供一种用于洗碗机的清洗方法，包括：
获取洗碗机内餐具的第一图像；
根据第一图像识别餐具上的污染物类型；
根据污染物类型确定对应的洗涤模式；
控制洗碗机按照洗涤模式依次对餐具进行清洗；
在每次清洗完成后，获取洗碗机内餐具的第二图像；
根据第一图像第二图像进行对比，以确定被去除的污染物类型；
通过洗涤模式对被去除的污染物类型进行匹配，以确定洗涤模式的有效性。
在本申请实施例中，污染物类型包括以下的一种：
温度敏感型、压力敏感型、以及洗涤剂敏感型。
在本申请实施例中，根据污染物类型确定对应的洗涤模式包括：
建立污染物类型和洗涤模式的映射关系；
根据映射关系匹配与污染物类型对应的洗涤模式；
其中洗涤模式包括洗涤剂、温度、压力的任一种。
在本申请实施例中，根据第一图像识别餐具上的污染物类型包括：
根据预先采集的污染物图像和污染物图像的污染物类型标签建立数据库；
通过数据库对图像识别模型进行预训练；
将获取的第一图像输入到预训练后的图像识别模型以确定污染物类型。
在本申请实施例中，还包括：
控制洗碗机以至少一种洗涤模式分别对洗碗机的餐具进行清洗；
获取经清洗后餐具的图像；
根据图像确定经清洗后餐具污染物是否被清除；
在污染物未被清除的情况下，更换洗涤模式；
控制洗碗机以更换后的洗涤模式对餐具再次清洗。
在本申请实施例中，洗涤模式包括以下任一种：调节洗涤剂、调节洗涤温度、调节洗涤的压力。
在本申请实施例中，清洗方法还包括：
在污染物被清除的情况下，根据图像对洗涤模式进行配置；
控制洗碗机以配置后的洗涤模式对餐具进行清洗。
在本申请实施例中，根据图像对洗涤模式进行配置包括：
获取经清洗后餐具的图像；
根据图像，确定餐具的第一特征，或餐具剩余的污染物的第二特征；
根据第一特征或第二特征，对有效的洗涤模式进行配置，其中配置包括清洗速度、清洗时间、清洗位置、清洗角度的任一种。
在本申请实施例中，
第一特征包括以下的至少一种：餐具的数量、餐具的位置；
第二特征包括以下的至少一种：污染物的面积、污染物的位置。
在本申请实施例中，根据第一特征或第二特征，对有效的洗涤模式进行配置包括：
获取餐具上污染物对应的面积；
根据面积对洗涤模式的清洗时间进行配置。
在本申请实施例中，根据第一特征或第二特征，对有效的洗涤模式进行配置包括：
获取餐具上污染物的位置；
根据位置对洗涤模式的清洗位置进行配置。
本申请第二方面提供一种用于洗碗机的清洗装置，包括：
图像获取设备，被配置成获取餐具的图像；
喷淋臂，用于喷淋清洗介质对洗碗机内的清洗区域中的餐具进行清洗；
处理器，被配置成上述的用于洗碗机的清洗方法。
本申请第三方面提供一种洗碗机，包括上述的用于洗碗机的清洗装置。
本申请第四方面提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于在被处理器执行时使得处理器能够执行上述的用于洗碗机的清洗方法。
本申请第五方面提供一种计算机程序产品，包括计算机程序，计算机程序在被处理器执行时实现上述的用于洗碗机的清洗方法。
通过上述技术方案，通过上述技术方案，即用于洗碗机的清洗方法，通过获取第一图像，并根据第一图像的污染物类型预先制定对应的洗涤模式，根据洗涤模式依次对餐具进行清洗，根据第一图像和第二图像进行对比，从而确定洗涤模式的有效性；这种方式可以解决现有技术无法精确识别污染物类型的问题，为当前的污染物类型匹配合适的洗涤模式，从而实现清洗干净彻底，耗时短效率高，且节省水能和电能。
本申请实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本申请的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请，但并不构成对本申请的限制。在附图中：
图1A示意性示出了根据本申请实施例的洗碗机的结构示意图；
图1B示意性示出了根据本申请实施例的洗碗机的结构的主视图；
图1C示意性示出了根据本申请实施例的洗碗机的清洗机构的结构示意图；
图1D示意性示出了图1C的清洗机构的部分结构示意图；
图2示意性示出了根据本申请一实施例的用于洗碗机的清洗方法的流程示意图；
图3示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S13的流程示意图；
图4示意性示出了根据本申请一实施例的用于洗碗机的清洗方法的逻辑示意图；
图5示意性示出了根据本申请一实施例的用于洗碗机的清洗方法进一步的流程示意图；
图6示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S16的流程示意图；
图7示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S162的流程示意图；
图8示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S162的另一流程示意图；
图9示意性示出了根据本申请另一实施例所提供的用于洗碗机的清洗方法的流程示意图；
图10示意性示出了根据本申请另一实施例所提供的清洗方法中步骤S22的流程示意图；
图11示意性示出了根据本申请另一实施例所提供的清洗方法中步骤S23的流程示意图；以及
图12示意性示出了根据本申请另一实施例所提供的清洗方法中步骤S26的流程示意图。
图中：100、清洗装置；1、外壳；2、清洗机构；21、图像采集装置；22、置物架；23、驱动电机；24、处理器；25、喷淋臂；26、安装支架；251、出水孔。
具体实施方式
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
需要说明，若本申请实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本申请中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中出现的“或”的含义为，包括三个并列的方案，以“A或B”为例，包括A方案，或B方案，或A和B同时满足的方案。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
图1A示意性示出了根据本申请实施例的洗碗机的结构示意图，其中可以应用根据本申请实施例的用于洗碗机的控制方法。图1B示意性示出了根据本申请实施例的洗碗机的结构的主视图。应当理解的是，图1A和图1B示出的仅为展示洗碗机100的一个实施例，以用于更清洗阐述本申请所提供的清洗方法，并不用于限定该洗碗机与本申请非相关的部件的外形、位置、安装方式以及连接关系；
如图1A和图1B所示，洗碗机100可以包括外壳1和设置在外壳1内部的清洗机构2。外壳1的外形轮廓可以包括但不限于，矩形、圆筒形。
清洗机构2可以包括图像采集装置21，置物架22、处理器24以及喷淋臂25。
置物架22(例如碗篮)可以固定在洗碗机100内侧，以用于盛放餐具，图像采集装置21可以包括相机或者图像传感器(例如红外传感器)。图像采集装置21可以在洗碗机100内多个方位布置。处理器24可以与图像采集装置21电连接。
图像采集装置21可以用于获取洗碗机100内的图像，处理器24可以用于对获取的图像进行处理。
例如一个示例中，当餐具放置在置物架22上后，图像采集装置21可以获取置物架22上的餐具图像。处理器24可以获取该图像，确定洗碗机100内放置的餐具的特征，以根据餐具的特征来控制喷淋臂25对餐具进行清洗。
处理器24的示例可以包括但不限于通用处理器、专用处理器、常规处理器、数字信号处理器(DSP)、多个微处理器、与DSP核心关联的一个或多个微处理器、控制器、微控制器、专用集成电路(ASIC)、现场可编程门阵列(FPGA)电路、其他任何类型的集成电路(IC)以及状态机等等。
在一个示例中，喷淋臂25可以采用可旋转的形式。
图1C示意性示出了根据本申请实施例的洗碗机的清洗机构的结构示意图；图1D示意性示出了图1C的清洗机构的部分结构示意图。参考图1B-1D，清洗机构2还可以包括驱动电机23，驱动电机23可以设置于洗碗机100内的下侧，也可以设置于洗碗机100的背面，即远离用户放置餐具的一面。驱动电机23可以与喷淋臂25连接。喷淋臂25上设置有与喷淋臂25内部导通的喷水孔251，喷水孔251可以在喷淋臂25上间隔设置，以使得喷淋臂25喷淋更大的范围。在一个示例中，喷淋臂25可以为圆柱形，喷水孔251在喷淋臂25的截面间隔且阵列设置，以使得喷水孔251所喷出的水呈角度喷射。
在本申请实施例中，洗碗机100还可以包括水压变送器(未图示)、热水器(未图示)、水阀(未图示)。水压变送器和热水器可以与处理器24电连接，水压变送机构、热水器以及水阀可以与喷淋臂25内部连接并导通。喷淋臂25与水压变送器、热水器、水阀、以及驱动电机23的连接可以为直接连接，也可以为通过中间件间接连接。
水阀可以用于控制喷出的水的出水量，水压变送器可以用于控制出水压力，热水器可以用于控制出水温度，驱动电机23可以用于驱动喷淋臂25转动。在一个示例中，喷淋臂25可以设置于洗碗机内的中央位置。中央位置可以定义为洗碗机100内多个置物架22的中间位置，以在喷淋臂25旋转时，可覆盖多个置物架22上的餐具，从而节省洗碗机100内部的空间。仅需采用单一喷淋臂25即可喷淋多个置物架22上的餐具，在节省设计和材料的成本的同时，带来更大的使用空间。
水阀、水压变送器、热水器以及驱动电机23可以由处理器24来控制。例如，可以将置物架22放置餐具的区域分为四个象限，即第一、第二、第三、第四象限。处理器24可以控制驱动电机23驱动喷淋臂25旋转，以使得喷水孔251朝向四个象限中的任意象限。另外，处理器24还可以控制水阀以调节喷水孔251的出水量(或者停止出水)。
在本申请实施例中，驱动电机23还可以驱动喷淋臂25平移。当喷淋臂25可平移时，洗碗机100还可以包括转换机构(未图示)，转换机构连接于驱动电机23与喷淋臂25之间，可以将驱动电机23的转动转换成喷淋臂25的平移。
在本申请实施例中，置物架22可以包括一层或多层置物架，例如上下两层置物架。在图中示出的两层置物架的示例中，喷淋臂25可以位于两个置物架22的中间位置，从而当喷淋臂25旋转时，可喷淋到两个置物架22上的所有餐具。
在本申请实施例中，洗碗机100还可以包括安装支架26，喷淋臂25可旋转连接至安装支架26上。安装支架26位置固定，以使得喷淋臂25可相对安装支架26旋转，其安装支架26位置固定的方式不予限定，如安装支架26可以通过固定连接于置物架22上或者其他位置。
综上，本申请实施例所提供的洗碗机100的结构特征可以实现以下功能：
1、通过驱动电机23驱动喷淋臂25进行运动，运动包括旋转、平移，喷淋臂25可以喷洒清洗介质对洗碗机内清洗区域中的餐具进行清洗。
2、通过图像采集装置21对洗碗机内的清洗区域中的餐具进行图像采集，图像不限定于餐具的图像或者污染物的图像。
以上是本申请实施例所提供的洗碗机所拥有的基础结构以及所能执行的功能，其他结构暂未阐述，在后文的方法实施例进一步补充。本领域技术人员应当理解，在以上结构上做出和本申请实施例所提供的发明构思相同或者等同的改进，仍属于本申请实施例所保护的范围内。
本申请实施例还提供一种用于洗碗机的清洗方法，该清洗方法为一个整体的实施例。该实施例中有多个方案，分别包括对洗碗机中清洗区域餐具的图像识别，洗涤模式的选择，以及洗涤模式的配置等多个方面。下面具体阐述本清洗方法所包含的内容。
请参阅图2，图2示意性示出了根据本申请一实施例的用于洗碗机的清洗方法的流程示意图本申请。本申请实施例包括用于洗碗机的清洗方法中的洗涤模式的选择和配置的方法。在本申请一实施例中，提供一种用于洗碗机的清洗方法。具体来说为一种用于上述洗碗机的喷淋臂所进行喷淋的方法，该方法旨在解决现有的洗碗机仅按照固定的模式进行喷淋，喷淋臂在喷淋清洗介质时，不管餐具上的污染物是否可以被洗掉，到了所设定的清洗时 间就结束清洗，如一些粘稠的饭团、鸡蛋羹、糊巴，固定的模式很难清洗掉，从而导致达不到用户所预期的体验效果的问题。
对于本申请实施例所提供的清洗方法，通过上述的洗碗机的结构予以实现。上述所提到的术语“清洗介质”可以是让喷淋臂连通市水供应端提供清水，也可以是混合其他清洗物质所组成的清洗液。该清洗方法包括：
步骤S11、控制洗碗机以至少一种洗涤模式分别对洗碗机的餐具进行清洗；
步骤S12、获取经清洗后餐具的图像；
步骤S13、根据图像确定经清洗后餐具上的污染物是否被清除；
步骤S14、在污染物未被清除的情况下，更换洗涤模式；
步骤S15、控制洗碗机以更换后的洗涤模式对餐具再次清洗。
其中，在步骤S11中，可以通过在洗碗机的处理器中进行编码以预先配置好多种洗涤模式，每种洗涤模式可以处理与该洗涤模式对应的一种污染物类型。洗涤模式主要是基于不同污染物类型在餐具上的洗涤敏感性所设定的。
其中污染物类型可以包括但不限于：洗涤剂敏感型、温度敏感型和压力敏感型。因此对应地，在本申请实施例中提供的洗涤模式可以包括：洗涤模式A、调节洗涤剂；洗涤模式B、调节洗涤温度；洗涤模式C、调节洗涤的压力；洗涤模式D、默认洗涤模式。
可以理解，洗涤剂敏感型可以是如粘稠的脂类或者油类污染物，温度敏感性如油类污染物，压力敏感型可以是如附着在餐具上的菜叶、骨头、汤汁、鸡蛋羹、糊巴等。对于洗涤模式A、洗涤模式B以及洗涤模式C为大类的洗涤模式，可以继续将洗涤模式A细分包括洗涤模式A1、洗涤模式A2以及洗涤模式A3。其中洗涤模式A1、洗涤模式A2以及洗涤模式A3的区别在于洗涤剂的种类或者剂量不同。同理，洗涤模式B可以包括不同洗涤温度的洗涤模式B1、洗涤模式B2以及洗涤模式B3。对应地，洗涤模式C可以是不同压力下的洗涤模式C1、洗涤模式C2以及洗涤模式C3等，其中洗涤模式D为清洗介质为清水或者默认的洗涤液、初始压力下、初始温度下的洗涤模式。
在步骤S11的具体实现方案中，可以包括以下方式：先控制洗碗机以默认洗涤模式对洗碗机内的餐具进行清洗。
可以理解，大部分的情况下，洗碗机在默认洗涤模式下即可以将餐具上的污染物洗干净。因为默认洗涤模式是有一定温度和压强的，餐具不会每次都出现洗不干净的污染物，因此正常情况下的流程即为：通过洗碗机以默认洗涤模式D进行清洗，获取经清洗后餐具的图像，根据图像确定经清洗后餐具上的污染物被清除，从而结束清洗。
而当餐具上出现其他污染物时，如餐具上粘稠的糊巴，则在默认洗涤模式洗完后，更换其他洗涤模式。更换其他洗涤模式的方式可以是依次性更换洗涤模式，也可以是随机不重复的更换。例如，将洗涤模式A1和洗涤模式A2依次执行清洗预设的时间，如每5s一次。每次清洗完均检测一次污染物是否被清除。直至污染物被清除时，认定当前洗涤模式有效，继续使用当前洗涤模式，从而实现彻底清除污染物。
因此，在一个具体的实施例中，步骤S11可以包括：
首先通过默认洗涤模式对餐具进行清洗；
在接收到更换洗地模式指令时，依次更换洗涤模式，或者随机(不重复)更换洗涤模式的更换洗涤模式；
控制洗碗机按照每种洗涤模式进行清洗预设的时间后停止。
请参阅图3，图3示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S13的流程示意图。步骤S12可以获取经清洗后餐具的图像，该图像用于执行步骤S13，即根据图像确定经清洗后餐具上的污染物是否被清除.需要说明的是，本申请实施例中所提到的污染物是否被清除，是指代污染物有被洗掉的痕迹，不是限定为完全洗干净。
步骤S13可以包括以下方式：
步骤S131、获取餐具在经清洗前的第一图像；
步骤S132、获取餐具在经清洗后的第二图像；
步骤S133、根据第一图像和第二图像进行对比，以确定污染物被清除。
其中，根据第一图像和第二图像的对比可以是：通过分别在清洗前后读取第一图像和第二图像的图像数据，将第一图像和第二图像转换为灰色(256灰阶图)，通过边界特征法识别第一图像和第二图像中餐具上的污染物的特征量，并根据污染物的边缘特征分割出污染物的轮廓(该步骤是考虑到在清洗过程中，可能污染物会在清洗区域非餐具上的其他位置，或者由于餐具晃动，从而导致第一图像和第二图像形成差异，而并不是污染物被清洗掉所形成的差异，从而导致误判)，分别提取第一图片污染物的第一轮廓和第二图像中污染物的第二轮廓，根据将第一轮廓和第二轮廓进行对比，从而确定污染物是否有减少，以确定污染物被清除。
在一个实施例中，第一轮廓和第二轮廓进行对比可以是像素直方图的对比，通过观测污染物的像素点是否发生变化，从而确定污染物是否被清除。
请参阅图4，图4示意性示出了根据一实施例的用于洗碗机的清洗方法的逻辑示意图；本申请；步骤S14和步骤S15中阐述了在污染物未被清除的情况下，当前洗涤模式对于该污染物对应的污染物类型无效。通过执行更换洗涤模式，控制洗碗机以更换后的洗涤模式对餐具再次清洗。循环步骤S14和步骤S15，可以实现彻底将餐具洗干净。从而使得餐具上的污染物在洗干净的情况下才结束清洗，实现更好的清洗效果，给与用户更好的体验。
另一方面，请参阅图5，图5示意性示出了根据一实施例的用于洗碗机的清洗方法进一步的流程示意图；在本申请实施例中，清洗方法还包括：
步骤S16、在污染物被清除的情况下，根据图像对洗涤模式进行配置；
步骤S17、控制洗碗机以配置后的洗涤模式对餐具进行清洗。
步骤S16和步骤S17可以理解为在污染物被清除后，该洗涤模式则被认为是有效的，当确定洗涤模式清洗预设的时间后且对污染物为有效的后，此时不执行步骤S14，即不更换洗涤模式，进而对有效的洗涤模式对其进行配置，配置包括清洗时间、清洗位置的任一种，在配置完后，根据配置后的洗涤模式对餐具进行清洗。
请参阅图6，图6示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S16的流程示意图。在本申请实施例中，步骤S16、根据图像对洗涤模式进行配置可以包括：
步骤S161、根据图像，确定餐具的第一特征，或餐具剩余的污染物的第二特征；
步骤S162、根据第一特征或第二特征，对洗涤模式进行配置，其中配置包括清洗时间、清洗位置的任一种。
为了更进一步阐述步骤S161至步骤S162，可以参见图1D所示，在利用洗涤模式进行清洗的时候，即实施步骤S11的时候，喷淋臂25上的出水孔251可以先全部打开，喷淋臂25的转速可以是恒定速度，其他参数如水压，温度都可以是恒定数值，目的是仅以洗涤模式为可变量来测试该洗涤模式的有效性。但是在后续的正式清洗中，为了更快更有效地进行清洗，可以根据餐具的第一特征和污染物的第二特征进一步对洗涤模式进行配置，从而加快清洗效率。
在本申请实施例中，第一特征可以包括以下的至少一种：餐具的数量、餐具的材质、餐具的位置；可以理解，餐具的“数量”可以根据餐具图像进行目标提取分析得出，如提取餐具轮廓，也可根据用户自行输入。餐具的“位置”可以根据餐具图像轮廓所落在洗碗机内的清洗位置获取，例如：将洗碗机的清洗区域建立坐标系，获取餐具图像的坐标位置，即餐具的位置。进一步地，通过将餐具图像灰度二值化以及局部阀值分隔将餐具上有污染物的部分分离出来，再计算污染物的面积和所在的位置。更进一步地，可以通过餐具的数量对该洗涤模式的清洗时间进行配置，餐具数量越多，清洗时间越长，从而确保清洗的彻底性。
在本申请实施例中，还可以通过餐具的位置对洗涤模式的清洗范围进行配置，如对洗碗机中所使用的出水孔进行配置。具体地，通过使用餐具位置对应的出水孔喷淋清洗介质，关闭其他出水孔，使得其他出水孔不喷淋清洗介质，从而实现节约水能和集中清洗。
在本申请实施例中，第二特征包括以下的至少一种：污染物的面积、污染物的位置。根据污染物的面积和/或污染物的位置，也可以对洗涤模式进行配置，从而使得清洗效率更高。
请参阅图7，图7示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S162的流程示意图。在步骤S162中，根据第一特征或第二特征，对有效的洗涤模式进行配置包括：
步骤S1621、获取餐具上污染物对应的面积；
步骤S1622、根据面积对洗涤模式的清洗时间进行配置。
可以理解，将餐具图像灰度二值化后，将每种污染物类型作为轮廓提取。根据污染物所反映的黑像素点污染 物面积，从而得到所需配置的洗涤模式的清洗时间。在一个示例中，可以通过如下方式对洗涤模式的清洗时间进行配置：1、通过将餐具图像灰度二值化；2、通过局部阀值分隔将餐具上的污染物的部分分离出来；3、计算污染物的面积；4、根据面积设定对应的清洗时间。具体地，用户可以设定阀值，当污染物的面积在阈值内时清洗时间为第一时间，超过阈值则为第二时间，即认为较难清洗，此时将当前时间设定为第二时间。
请参阅图8，图8示意性示出了根据本申请一实施例的用于洗碗机的清洗方法中步骤S162的另一流程示意图。在步骤S162中，根据第一特征或第二特征，对有效的洗涤模式进行配置包括：
步骤S1621＇、获取餐具上污染物的位置；
步骤S1621＇、根据位置对洗涤模式的清洗位置进行配置。
本申请实施例可以通过污染物的位置对洗涤模式的清洗范围进行配置，所使用的出水孔进行配置，通过使用有污染物的位置对应的出水孔处喷淋清洗介质，关闭其他出水孔；从而实现节约水能和集中清洗。
综上，本申请实施例提供了一种清洗方法，具体来说为一种用于上述洗碗机的喷淋臂所进行喷淋的方法。该方法通过控制洗碗机以至少一种洗涤模式分别对洗碗机的餐具进行清洗，从而找到可以彻底清洗污染物的洗涤模式。本申请实施例旨在解决现有的洗碗机按照固定的模式进行喷淋，喷淋臂在喷淋清洗介质时，不管餐具上的污染物是否可以被洗掉，到了所设定的清洗时间就结束，如一些粘稠的饭团、鸡蛋羹、糊巴，固定的模式很难清洗掉，从而导致达不到用户所预期的产品体验的问题，提高清洗的彻底性，以及用户的使用体验。
请参阅图9，图9示意性示出了根据本申请另一实施例所提供的用于洗碗机的清洗方法的流程示意图。本申请实施例包括用于洗碗机的清洗方法中的图像识别方法。在本申请另一实施例中，提供一种用于洗碗机的清洗方法，具体来说为一种用于上述洗碗机的喷淋臂所进行喷淋的方法，该方法基于上述方法的基础上的改进。在选择洗涤模式和配置洗涤模式的基础上，本申请实施例还可以根据洗碗机内的餐具图像，对污染物类型进行识别，并且通过清洗前和清洗后的图像的比较，确定洗涤模式的有效性。
在本申请另一实施例中，提供一种改进的清洗方法，该清洗方法可以包括：
步骤S21、获取洗碗机内餐具的第一图像；
步骤S22、根据第一图像识别餐具上的污染物类型；
步骤S23、根据污染物类型确定对应的洗涤模式；
步骤S24、控制洗碗机按照洗涤模式依次对餐具进行清洗；
步骤S25、在每次清洗完成后，获取洗碗机内餐具的第二图像；
步骤S26、将第一图像和第二图像进行对比，以确定洗涤模式的有效性。
在步骤S21中，首先获取洗碗机餐具还未清洗的第一图像，例如，可以通过设置于洗碗机内的图像采集装置进行获取。在一个示例中，第一图像可以在开始清洗时被触发获取，该方法可以通过编辑图像采集装置的作业属性实现。步骤S21为本领域技术人员常见手段，不予过多阐述。
为了更清楚的阐述本申请实施例所提供的步骤S21至步骤S25的清洗方法，首先解释洗碗机的传统方式下的清洗方法以及所存在的弊端：
现有洗碗机的清洗方法为了实现更节能以及更精准高效的清洗，通常采用图像识别予以配合。在洗碗图像识别的应用中，首先就需要识别出餐具和污染物的各种特征，根据特征启动不同的洗涤模式。通常，洗碗机会预设几种模式，然后根据特征予以匹配对应的洗涤模式，根据所匹配的洗涤模式进行清洗。以上的传统清洗方法存在以下弊端：在图像识别方面，图像识别很难将附着在餐具上面的污染物与其自身的餐具上的花纹区分开。仅靠图像识别很难实现精确，导致后续匹配的洗涤模式不精准，很难确定洗涤模式的有效性，从而最终的洗涤效果不理想。
因此，本申请实施例提供的清洗方法首先获取洗碗机内餐具的第一图像，根据第一图像选取洗涤模式，控制洗涤模式餐具进行清洗，根据清洗前后的第二图像与第一图像进行对比，从而直接确定洗涤模式的有效性。
在上述步骤S22中，可以通过在洗碗机的处理器中进行编码以预先配置好多种洗涤模式，每种洗涤模式可以处理与该洗涤模式对应的一种污染物类型。洗涤模式主要是基于不同污染物类型在餐具上的洗涤敏感性所设定的，其中污染物类型可以包括：洗涤剂敏感型、温度敏感型、压力敏感型。
因此对应地，在本申请实施例中提供的洗涤模式可以包括：洗涤模式A、调节洗涤剂；洗涤模式B、洗涤模 式调节洗涤温度；洗涤模式C、调节洗涤的压力；洗涤模式D、默认模式。
可以理解，洗涤剂敏感型可以是如粘稠的脂类或者油类污染物，温度敏感性如油类污染物，压力敏感型可以是如附着在餐具上的菜叶、骨头、汤汁、鸡蛋羹、糊巴等。对于洗涤模式A、洗涤模式B以及洗涤模式C为大类的洗涤模式，可以继续细分将洗涤模式A包括洗涤模式A1、洗涤模式A2以及洗涤模式A3。其中洗涤模式A1、洗涤模式A2以及洗涤模式A3的区别在于洗涤剂的种类或者剂量不同。同理，洗涤模式B可以包括不同洗涤温度的洗涤模式B1、洗涤模式B2以及洗涤模式B3。对应地洗涤模式C可以是不同压力下的洗涤模式C1、洗涤模式C2以及洗涤模式C3等，其中洗涤模式D为固定的洗涤模式。
在本申请一实施例中，步骤S21至步骤S23是通过预通过图像识别洗碗机的餐具上的污染物类型，从而初步制定一个清洗所需的洗涤模式组合。
可以理解的是，步骤S22根据第一图像识别餐具的污染物类型。由于餐具可能存在花纹，污染物很难被分割出来，第一图像所识别的污染物类型可能是不准确的，因此根据第一图像识别餐具的污染物类型为一个模糊算法，仅仅为选取几个洗涤模式，从而相比所有的洗涤模式依次运行，具备更高效、快捷的优势。
为了更清楚的阐述步骤S21至步骤S24，在一个示例中，如根据第一图像，识别餐具上污染物类型可能是a1和b1，通过步骤S23可以先初步制定一个清洗所需的洗涤模式组合为：洗涤模式A1和洗涤模式B1。其中，洗涤模式A1对应污染物类型a1，洗涤模式B1对应污染物类型b1，通过洗涤模式A1和洗涤模式B1对洗碗机的餐具进行清洗，清洗的方式和上述实施例一样，可以是洗涤模式A1和洗涤模式B1依次对洗碗机的餐具进行清洗，如洗涤模式A1洗涤5s后洗涤模式B1再洗涤5s。在洗涤模式A1洗涤完后，对餐具进行一次图像识别，确定污染物类型a1是否有被清除的迹象，如果污染物类型a1被清除的情况下，则认定洗涤模式A1为有效的洗涤模式，同理，在洗涤模式B1洗涤完后对餐具再进行一次图像识别，以同样的步骤判定洗涤模式B1是否有效。
请参阅图10，图10示意性示出了根据本申请另一实施例所提供的清洗方法中步骤S22的流程示意图。步骤S22、根据第一图像识别餐具上的污染物类型可以包括：
步骤S221、根据预先采集的污染物图像和污染物图像的污染物类型标签建立数据库；
步骤S222、通过数据库对图像识别模型进行预训练；
步骤S223、将获取的第一图像输入到预训练后的图像识别模型以确定污染物类型。
可以理解，洗碗机的处理器可以预先采集一些污染物图像，以及污染物类型标签，如标签：油污，以对预先创建的图像识别模型进行模型预训练。其中，图像识别模型可以为神经网络模型，也可为其他模型。在实际使用过程中，用户每次放入餐具，可以触发洗碗机采集其清洗区域的餐具图像，并将其第一图像输入到预训练后的图像识别模型以确定污染物类型。
进一步地，可以将污染物图像和污染物图像的污染物类型标签建立云端数据库。其中。获取的第一图像还可以通过移动通信网络上传至云端数据库，以作为图像识别模型的训练样本，以增加识别的精准性。
可以理解，通过将洗碗机通过移动通信网络连接云端数据库，每个用户所实践拍摄的污染物图像会上传至云端数据库，从而作为图像识别模型的训练样本，以使得图像识别模型不断更新从而提高图像是被模型的精准性。到了一定时间周期，云端可以将更新后的图像识别模型通过OTA(OTA：空中下载技术)下载至每个用户端的洗碗机中，从而提高洗碗机的识别精准度，以给用户带来更好的体验。
请参阅图11，图11示意性示出了根据本申请另一实施例所提供的清洗方法中步骤S23的流程示意图。步骤S23中根据污染物类型确定所需的洗涤模式包括：
步骤S231、建立污染物类型和洗涤模式的映射关系；
步骤S232、根据映射关系匹配与污染物类型对应的洗涤模式。
可以理解，洗碗机的处理器可以在对应的数据库中建立污染物类型和洗涤模式的映射关系，如洗涤模式A1对应污染物类型a1，洗涤模式B1对应污染物类型b1。通过将步骤S22中所识别的污染物类型作为Key值(Key值：键值)输入至数据库，通过映射关系根据污染物类型匹配对应的洗涤模式。
步骤S25中即在清洗后，可以识别餐具的第二图像。第二图像用于在步骤S26中确定清洗后对应洗涤模式的污染物类型是否已经被清洗掉。
请参阅图12，图12示意性示出了根据本申请另一实施例所提供的清洗方法中步骤S26的流程示意图。步骤 S26、将第一图像和第二图像进行对比，以确定洗涤模式的有效性可以包括：
步骤S261、根据第一图像与第二图像进行对比，以确定被去除的污染物类型；
步骤S262、通过洗涤模式对被去除的污染物类型进行匹配，以确定洗涤模式的有效性。
可以理解，通过将第一图像与第二图像进行对比，可以分析出在经过清洗后，所被去除的污染物类型。该污染物类型是通过步骤S22在第一图像所识别判定的，通过洗涤模式对被去除的污染物类型进行匹配，以确定洗涤模式的有效性，即步骤S23的二次确定。
为了更好地理解上述内容，假定通过清洗前的第一图像识别出来餐具上某一区域的污染物类型为污染物类型b1，其中污染物类型b1对应为油污类的温度敏感型。此时，在执行步骤S22中根据第一图像所识别出来的污染物类型b1不一定是正确的，仅仅是一个初步识别的结果，在执行步骤S23中上述污染物类型b1匹配了洗涤模式B1，但是洗涤模式B1一定是针对温度敏感型的污染物b1的，因此，当步骤S24通过洗涤模式B1进行清洗后，如果通过第一图像与第二图像进行对比，发现对应餐具上污染物类型b1的区域被去除了，那么确定被去除的污染物类型就是污染物类型b1，即确定了洗涤模式B1的有效性。如果通过第一图像与第二图像进行对比，发现对应餐具上污染物类型b1的区域并没有被去除干净，则确定当前洗涤模式B1的有效性较低，需要改变当前污染物类型对应的洗涤模式。
综上，本申请实施例通过获取第一图像，并根据第一图像的污染物类型预先制定对应的洗涤模式，根据洗涤模式依次对餐具进行清洗，根据第一图像和第二图像进行对比，从而确定洗涤模式的有效性，这种方式可以解决现有技术无法精确识别污染物类型，找寻合适的洗涤模式的问题，从而实现清洗干净彻底，耗时短效率高，且节省水能和电能。
本申请实施例还提供一种清洗装置，该清洗装置可以包括：
图像获取设备，被配置成获取餐具的图像；
喷淋臂，用于喷淋清洗介质对洗碗机内的清洗区域中的餐具进行清洗；
处理器可以被配置成上述的用于洗碗机的清洗方法。
具体地，处理器可以被配置成：
获取洗碗机内餐具的第一图像；
根据第一图像识别餐具上的污染物类型；
根据污染物类型确定对应的洗涤模式；
控制洗碗机按照洗涤模式依次对餐具进行清洗；
在每次洗涤模式下清洗完后，获取洗碗机内餐具的第二图像；；
根据第一图像第二图像进行对比，以确定被去除的污染物类型；
通过洗涤模式对被去除的污染物类型进行匹配，以确定洗涤模式的有效性。
在本申请实施例中，污染物类型可以包括以下的至少一种：温度敏感型、压力敏感型、以及洗涤剂敏感型。
在本申请实施例中，处理器还可以被配置成：
建立污染物类型和洗涤模式的映射关系；
根据映射关系匹配与污染物类型对应的洗涤模式；
其中洗涤模式包括洗涤剂、温度、压力的任一种。
在本申请实施例中，处理器还可以被配置成：
根据预先采集的污染物图像和污染物图像的污染物类型标签建立数据库；
通过数据库对图像识别模型进行预训练；
将获取的第一图像输入到预训练后的图像识别模型以确定污染物类型。
在本申请实施例中，处理器还可以被配置成：
控制洗碗机以至少一种洗涤模式分别对洗碗机的餐具进行清洗；
获取经清洗后餐具的图像；
根据图像确定经清洗后餐具污染物是否被清除；
在污染物未被清除的情况下，更换洗涤模式；
控制洗碗机以更换后的洗涤模式对餐具再次清洗。
在本申请实施例中，洗涤模式可以包括以下任一种：调节洗涤剂、调节洗涤温度、调节洗涤的压力；
污染物类型包括以下的至少一种：温度敏感型、压力敏感型、以及洗涤剂敏感型。
在本申请实施例中，处理器还可以被配置成：
获取经清洗后餐具的图像；
根据图像，确定餐具的第一特征，或餐具剩余的污染物的第二特征；
根据第一特征或第二特征，对有效的洗涤模式进行配置，其中配置包括清洗速度、清洗时间、清洗位置、清洗角度、清洗范围的任一种；
通过配置后的洗涤模式对餐具进行清洗。
在本申请实施例中，第一特征可以包括以下的至少一种：餐具的数量、餐具的位置；第二特征可以包括以下的至少一种：污染物的面积、污染物的位置。
在本申请实施例中，处理器还可以被配置成：
获取餐具上污染物对应的面积；
根据面积对有效的洗涤模式的清洗时间进行配置。
在本申请实施例中，处理器还可以被配置成：
获取餐具上污染物的位置；
根据位置对有效的洗涤模式的清洗位置进行配置。
通过上述技术方案，通过上述技术方案，通过获取第一图像，并根据第一图像的污染物类型预先制定对应的洗涤模式，根据洗涤模式依次对餐具进行清洗，根据第一图像和第二图像进行对比，从而确定洗涤模式的有效性；这种方式可以解决现有技术无法精确识别污染物类型的问题，为当前的污染物类型匹配合适的洗涤模式，从而实现清洗干净彻底，耗时短效率高，且节省水能和电能。
本领域技术人员也应当理解，如果将本申请方法或者清洗装置经过简单变化，在其上述方法增添功能进行组合，或者在其装置上进行替换，如各组件进行型号材料上的替换、使用环境进行替换、各组件位置关系进行简单替换等；或者将其所构成的产品一体设置；或者可拆卸设计；凡组合后的组件可以组成具有特定功能的方法/设备/装置，用这样的方法/设备/装置替代本申请的方法和装置均同样落在本申请的保护范围内。
本申请实施例还提供一种洗碗机，包括如上述的清洗装置。应当理解的是，该洗碗机不限定尺寸、外形轮廓，仅需利用到了清洗装置对应的元件实现了相同或者相似的功能，均同样应属于本申请所保护的范围内。
清洗装置还包括存储器，上述用于洗碗机的清洗方法可作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。
处理器中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来针对餐具图像控制洗碗机的喷淋臂对餐具进行清洗。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
本申请实施例还提供了一种机器可读存储介质，其上存储有程序，该程序被处理器执行时实现用于洗碗机的清洗方法。
本申请实施例还提供了一种处理器，处理器用于运行程序，其中，程序运行时执行用于洗碗机的清洗方法。
本申请实施例还提供一种计算机程序产品，包括计算机程序，计算机程序在被处理器执行时实现上述的用于洗碗机的清洗方法。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图或方框图来描述的。应理解可由计算机程序指令实现流程图或方框图中的每一流程或方框、以及流程图或方框图中的流程或方框的结合。 可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理器的处理器以产生一个机器，使得通过计算机或其他可编程数据处理器的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理器以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理器上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (15)

  1. 一种用于洗碗机的清洗方法，其特征在于，包括：
    获取所述洗碗机内餐具的第一图像；
    根据所述第一图像识别所述餐具上的污染物类型；
    根据所述污染物类型确定对应的洗涤模式；
    控制所述洗碗机按照所述洗涤模式依次对所述餐具进行清洗；
    在每次清洗完成后，获取所述洗碗机内餐具的第二图像；
    根据所述第一图像所述第二图像进行对比，以确定被去除的污染物类型；
    通过所述洗涤模式对所述被去除的污染物类型进行匹配，以确定洗涤模式的有效性。
  2. 如权利要求1所述的清洗方法，其特征在于，所述污染物类型包括以下的一种：
    温度敏感型、压力敏感型、以及洗涤剂敏感型。
  3. 如权利要求1所述的清洗方法，其特征在于，所述根据所述污染物类型确定对应的洗涤模式包括：
    建立所述污染物类型和洗涤模式的映射关系；
    根据所述映射关系匹配与所述污染物类型对应的洗涤模式；
    其中所述洗涤模式包括洗涤剂、温度、压力的任一种。
  4. 如权利要求1所述的清洗方法，其特征在于，所述根据所述第一图像识别所述餐具上的污染物类型包括：
    根据预先采集的污染物图像和所述污染物图像的污染物类型标签建立数据库；
    通过所述数据库对图像识别模型进行预训练；
    将获取的第一图像输入到预训练后的图像识别模型以确定所述污染物类型。
  5. 如权利要求1所述的清洗方法，其特征在于，还包括：
    控制所述洗碗机以至少一种洗涤模式分别对洗碗机的餐具进行清洗；
    获取经清洗后所述餐具的图像；
    根据所述图像确定经所述清洗后餐具污染物是否被清除；
    在所述污染物未被清除的情况下，更换所述洗涤模式；
    控制洗碗机以更换后的洗涤模式对餐具再次清洗。
  6. 如权利要求5所述的清洗方法，其特征在于，所述洗涤模式包括以下任一种：调节洗涤剂、调节洗涤温度、调节洗涤的压力。
  7. 如权利要求6所述的清洗方法，其特征在于，所述清洗方法还包括：
    在所述污染物被清除的情况下，根据所述图像对所述洗涤模式进行配置；
    控制洗碗机以配置后的洗涤模式对餐具进行清洗。
  8. 如权利要求7所述的清洗方法，其特征在于，所述根据所述图像对所述洗涤模式进行配置包括：
    获取经所述清洗后餐具的图像；
    根据所述图像，确定所述餐具的第一特征，或所述餐具剩余的所述污染物的第二特征；
    根据所述第一特征或第二特征，对所述有效的洗涤模式进行配置，其中配置包括清洗速度、清洗时间、清洗位置、清洗角度的任一种。
  9. 如权利要求8所述的清洗方法，其特征在于，
    所述第一特征包括以下的至少一种：餐具的数量、餐具的位置；
    所述第二特征包括以下的至少一种：污染物的面积、污染物的位置。
  10. 如权利要求8所述的清洗方法，其特征在于，所述根据所述第一特征或第二特征，对所述有效的洗涤模式进行配置包括：
    获取所述餐具上污染物对应的面积；
    根据所述面积对所述洗涤模式的清洗时间进行配置。
  11. 如权利要求8所述的清洗方法，其特征在于，所述根据所述第一特征或第二特征，对所述有效的洗涤模式进行配置包括：
    获取所述餐具上污染物的位置；
    根据所述位置对所述洗涤模式的清洗位置进行配置。
  12. 一种用于洗碗机的清洗装置，其特征在于，包括：
    图像获取设备，被配置成获取餐具的图像；
    喷淋臂，用于喷淋清洗介质对所述洗碗机内的清洗区域中的餐具进行清洗；
    处理器，被配置成根据权利要求1至11中任意一项所述的用于洗碗机的清洗方法。
  13. 一种洗碗机，其特征在于，包括根据权利要求12所述的用于洗碗机的清洗装置。
  14. 一种机器可读存储介质，其特征在于，该机器可读存储介质上存储有指令，该指令用于在被处理器执行时使得所述处理器能够执行根据权利要求1至11中任意一项所述的用于洗碗机的清洗方法。
  15. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序在被处理器执行时实现根据权利要求1至11中任意一项所述的用于洗碗机的清洗方法。
PCT/CN2022/071288 2021-01-11 2022-01-11 用于洗碗机的清洗方法、清洗装置以及洗碗机 WO2022148473A1 (zh)

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