CN116407057A - Method and system for quick cleaning of hair and dust in clothes applied in car - Google Patents

Abstract

The invention relates to the field of vehicle cleaning, in particular to a method and a system for quickly cleaning hair and dust of clothes in a vehicle, wherein the method comprises the following steps: identifying a parameter level of a target feature of the laundry to be cleaned; determining the cleaning force of the cleaning device according to the parameter grade; and cleaning the clothes to be cleaned according to the cleaning force. Judging whether the clothes of the user need cleaning or not through image recognition; the cleaning device is arranged in the seat, the seat has strong wrapping property on a human body, and hair and dust can be cleaned more quickly, conveniently and efficiently; the user can do the hair removal cleaning without spending time before commuting, and can finish the hair removal cleaning in the way of commuting, thereby saving time.

Description

Quick cleaning method and system for hair and dust in clothes applied in car

technical field

The invention relates to the field of vehicle self-cleaning, in particular to a method and system for quickly cleaning hair and dust in clothes in a vehicle.

Background technique

With the development of the economy and the popularization of the concept of keeping pets, the phenomenon of keeping pets is becoming more and more common, but pet hair often sticks to clothes and is difficult to remove. In vehicles, the existing hair removal tools are generally manual hair removal cylinders, and users need to manually remove hair, and it will take extra time.

DMS (Driver Monitoring System)/OMS (Occupant Monitoring System): Driver monitoring is DMS (Drive Monitoring System), which belongs to the main function of early cockpit monitoring. Now, DMS has become one of the key configurations that major auto giants consider on new cars. DMS can help judge the driving status of the driver, and is also an indispensable part of the automatic driving system. The Occupant Monitoring System (OMS, Occupancy Monitoring System) is an extension of the DMS system, which can monitor the perception data of passengers in the cockpit To further improve the safety performance of the car. The seat belt warning function is one of the most traditional OMS functions. OMS can also help to judge whether the passengers in the car are safe, whether there are children or pets left alone, whether the passengers are wearing seat belts, and detecting the position of the passengers in the car. analysis to achieve the desired result. Image processing can be divided into analog image processing and digital image processing, and image processing generally refers to digital image processing, most of which rely on software implementation. Its purpose is to remove interference and noise, and program the original image into a form suitable for computer feature extraction, mainly including image sampling, image enhancement, image restoration, image coding and compression, and image segmentation. In the prior art, the manual hair removal cylinder is used in the car, and the hair removal efficiency of the clothes is low.

Contents of the invention

For this reason, the present invention provides a method and system for quickly cleaning the hair and dust of the clothes in the car, which can solve the problem of low hair removal efficiency for the user's clothes in the prior art.

In order to achieve the above object, the present invention provides a quick cleaning method for clothes hair and dust applied in a car, the method comprising:

identifying the parameter level of the target feature of the laundry to be cleaned;

determining the cleaning power of the cleaning device according to the parameter level;

Clean the laundry to be cleaned according to the cleaning strength described.

Further, the cleaning device includes a fixing mechanism and a cleaning mechanism, and the fixing mechanism is arranged in the car seat to fix the cleaning mechanism and drive the cleaning mechanism to move up and down along the extending direction of the seat back;

The cleaning structure is connected with the fixing mechanism, and is used for cleaning the clothes to be cleaned when the fixing mechanism drives the cleaning mechanism to a predetermined working state.

Further, the fixing mechanism includes a crawler belt, a first motor and a connecting piece;

The track is fixed on the seat through a pulley;

The first motor is connected to the crawler belt to drive the crawler belt to run;

The connecting piece is fixedly connected with the crawler belt, and the connecting piece is used to realize the connection between the crawler belt and the cleaning mechanism, so as to realize the operation of the cleaning mechanism driven by the first motor through the crawler belt.

Further, the cleaning mechanism includes a driving assembly and a cleaning head, the driving assembly is fixedly connected to the connecting member, and the driving assembly is used to realize the cleaning head moving in a direction perpendicular to the extending direction of the seat back. Move and turn.

Further, the target characteristics include the number of hairs and the number of dust, the parameter levels of the clothes to be cleaned include the first level, the second level and the third level, and the target number in the first level is greater than the target number in the second level The quantity is greater than the target quantity of the third level.

Further, determining the cleaning strength of the cleaning device according to the parameter level includes:

When the parameter level is the first level, select the first cleaning strength;

When the parameter level is the second level, select the second cleaning strength;

When the parameter level is the third level, select the third cleaning strength.

Further, the cleaning head includes a hair removal barrel and bristles, the hair removal barrel is an internal hollow structure, the bristles are evenly arranged on the barrel wall of the hair removal barrel, and the internal control structure of the hair removal barrel It is used for accommodating the telescopic rod to extend or limit the extension range of the cleaning head.

Further, the parameter levels for identifying the target features of the clothes to be cleaned include:

Shoot and scan the user through the DMS/OMS camera installed in the car, and capture the picture of the user's clothing;

Divide the user's clothing picture according to the unit area;

Calculate the amount of dust and hair in any unit area;

The total area in the user's clothing picture is summed to obtain the total amount of dust and hair on the user's clothing.

Further, before dividing the user's clothing picture according to the unit area, it also includes:

Light correction and compensation are performed on the clothes picture and image enhancement is performed on the set interest area.

On the other hand, the present invention also provides a fast cleaning system for clothes hair and dust in a car using the above-mentioned fast cleaning method for clothes hair and dust in a car, which includes:

An identification module, used to identify the parameter level of the target feature of the laundry to be cleaned;

A determining module, configured to determine the cleaning strength of the cleaning device according to the parameter level;

The cleaning module is used to clean the clothes to be cleaned according to the cleaning force.

Compared with the prior art, the present invention has the beneficial effect of judging whether the user's clothes need to be cleaned through image recognition; the cleaning device is placed in the seat, and the seat has a strong wrapping ability on the human body, which can clean hair and clothes more quickly, conveniently and efficiently. Dust; users do not need to spend extra time for hair removal and cleaning before commuting, and can be done during commuting, saving time.

Description of drawings

FIG. 1 is a schematic flow diagram of a quick cleaning method for hair and dust in clothes provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a quick cleaning system for clothes hair and dust in a car provided by an embodiment of the present invention;

Fig. 3 is a schematic flow diagram of quick cleaning combined with actual application scenarios provided by the embodiment of the present invention

Fig. 4 is a schematic diagram of multiple states of the cleaning bucket in an embodiment of the present invention;

Fig. 5 is a schematic structural view of a cleaning device in an embodiment of the present invention;

Fig. 6 is a schematic structural view of the seat back in the embodiment of the present invention.

Detailed ways

In order to make the objects and advantages of the present invention clearer, the present invention will be further described below in conjunction with the examples; it should be understood that the specific examples described here are only for explaining the present invention, and are not intended to limit the present invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.

It should be noted that, in the description of the present invention, terms such as "upper", "lower", "left", "right", "inner", "outer" and other indicated directions or positional relationships are based on the terms shown in the accompanying drawings. The direction or positional relationship shown is only for convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, it should be noted that, in the description of the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a It is a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary, and it may be the internal communication of two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

See also shown in Fig. 1, the fast cleaning method that is applied to the clothing hair and dust in the car that the embodiment of the present invention provides comprises:

Step S100: identifying the parameter level of the target feature of the laundry to be cleaned;

Step S200: Determine the cleaning strength of the cleaning device according to the parameter level;

Step S300: Clean the clothes to be cleaned according to the cleaning strength.

The embodiment of the present invention judges whether the user's clothes need to be cleaned through image recognition; the cleaning device is placed in the seat, and the seat has a strong wrapping effect on the human body, which can clean hair and dust more quickly, conveniently and efficiently; the user does not need to spend extra money before commuting Time to clean hair removal, can be done on the commute, save time.

Specifically, the cleaning device includes a fixing mechanism and a cleaning mechanism, and the fixing mechanism is arranged in the car seat to fix the cleaning mechanism and drive the cleaning mechanism to move up and down along the extending direction of the seat back;

The cleaning structure is connected with the fixing mechanism, and is used for cleaning the clothes to be cleaned when the fixing mechanism drives the cleaning mechanism to a predetermined working state.

Specifically, the fixing mechanism includes a crawler belt, a first motor and a connecting piece;

The track is fixed on the seat through a pulley;

The first motor is connected to the crawler belt to drive the crawler belt to run;

The connecting piece is fixedly connected with the crawler belt, and the connecting piece is used to realize the connection between the crawler belt and the cleaning mechanism, so as to realize the operation of the cleaning mechanism driven by the first motor through the crawler belt.

Specifically, the cleaning mechanism includes a drive assembly and a cleaning head, the drive assembly is fixedly connected to the connecting piece, and the drive assembly is used to realize that the cleaning head cleans in a direction perpendicular to the direction in which the seat back extends. movement and rotation.

Specifically, the target feature includes the amount of hair and the amount of dust, the parameter levels of the laundry to be cleaned include a first level, a second level and a third level, and the target number in the first level is greater than that in the second level. The number of targets is greater than that of the third level.

Specifically, determining the cleaning strength of the cleaning device according to the parameter level includes:

When the parameter level is the first level, select the first cleaning strength;

When the parameter level is the second level, select the second cleaning strength;

When the parameter level is the third level, select the third cleaning strength.

Specifically, the cleaning head includes a hair removal barrel and bristles, the hair removal barrel is an internal hollow structure, the bristles are evenly arranged on the barrel wall of the hair removal barrel, and the inner center control of the hair removal barrel The structure is used for accommodating the telescopic rod to extend or limit the extension range of the cleaning head.

Specifically, the parameter levels for identifying the target features of the laundry to be cleaned include:

Shoot and scan the user through the DMS/OMS camera installed in the car, and capture the picture of the user's clothing;

Divide the user's clothing picture according to the unit area;

Calculate the amount of dust and hair in any unit area;

The total area in the user's clothing picture is summed to obtain the total amount of dust and hair on the user's clothing.

Specifically, before dividing the user's clothing picture according to the unit area, it also includes:

Light correction and compensation are performed on the clothes picture and image enhancement is performed on the set interest area.

Specifically, as shown in FIG. 2 , an embodiment of the present invention also provides a fast cleaning system for clothes hair and dust in a car using the above-mentioned fast cleaning method for clothes hair and dust in a car ,include:

Identification module 10, used to identify the parameter level of the target feature of the clothes to be cleaned;

A determining module 20, configured to determine the cleaning strength of the cleaning device according to the parameter level;

The cleaning module 30 is configured to clean the clothes to be cleaned according to the cleaning force.

As shown in Figure 3, the embodiment of the present invention is further described in conjunction with specific application scenarios. The cleaning method in the embodiment of the present invention includes:

After the user clicks I V I to clean the clothes, dust and hair, and confirm the start, enter this program;

1. Image input: The DMS/OMS camera in the car scans the user and captures the image of the user's clothing; converts it into a digital image, and image input is the first step in converting an image into a form suitable for computer processing;

2. The image recognition system performs image processing: that is, correcting and compensating for illumination, correcting and compensating for the color of the user's clothing, avoiding the influence of dark or strong light on the accuracy and the effect of the color of the user's clothing on the accuracy; The quality of the image will be more or less degraded in the process of copying, etc., and the visual effect of the digitized image is not very satisfactory. In order to highlight the interesting part of the image and make the main structure of the image clearer, the image must be improved, that is, image enhancement. Through image processing, to reduce the noise of the image in the image, change the brightness, color distribution, contrast and other parameters of the original image. Image processing improves the clarity and quality of the image, making the outline of the object in the image clearer and the details more obvious. Image enhancement does not consider the cause of image degradation, and the enhanced image is more pleasing to the eye, laying the foundation for later image analysis and image understanding;

3. Subsequent image compression: The remarkable feature of digital images is the huge amount of data, which requires a considerable storage space. However, based on the network bandwidth and large-capacity memory of the computer, the processing, storage and transmission of data images cannot be performed. In order to transmit images or videos quickly and conveniently in the network environment, the images must be encoded and compressed. Image coding and compression can reduce the amount of redundant data and memory capacity of images, improve image transmission speed, and shorten processing time. Image coding can reduce the amount of redundant data and memory capacity of images, improve image transmission speed, and shorten processing time;

4. Divide the image according to the unit area to facilitate the calculation of the number of dust and hair in the unit area;

5. Image feature extraction, after judging the number of dust and hairs per unit area, average and sum; image recognition extracts features from images obtained from image processing, and the recognition methods include but are not limited to: statistical methods (or decision theory methods), syntax (or structural ) method, neural network method, template matching method and geometric transformation method.

1) Statistical method (Stat i st i cMethod)

This method is to carry out a large number of statistical analysis on the researched images, find out the rules and extract the features reflecting the essential characteristics of the images for image recognition. It is based on the decision theory in mathematics and establishes a statistical identification model, so it is a method with the smallest classification error. Common image statistical models include Bayesian (Bayes) model and Markow (Markov) random field (MRF) model. However, although the commonly used Bayesian decision rule solves the problem of optimal classifier design theoretically, its application is largely limited by the more difficult probability density estimation problem. At the same time, it is precisely because the statistical method is based on a strict mathematical basis that it ignores the spatial structure of the recognized image. When the image is very complex and has a large number of categories, it will lead to a surge in the number of features, which will cause difficulties in feature extraction and classification. hard to accomplish. Especially when the main features of the image to be recognized (such as fingerprints, chromosomes, etc.) are structural features, it is difficult to identify them using statistical methods.

2) Syntax recognition method (Syntact i c Recogni i t i on)

This method is a supplement to the statistical recognition method. When the statistical method is used to recognize the image, the image features are described by numerical features, while the syntactic method is used to describe the image features by symbols. It imitates the hierarchical structure of syntax in linguistics, adopts the method of hierarchical description, decomposes complex images into single-layer or multi-layer relatively simple sub-images, and mainly highlights the spatial structure relationship information of the recognized objects. Pattern recognition comes from statistical methods, while syntax method expands the ability of pattern recognition, so that it can be used not only for image classification, but also for scene analysis and object structure recognition. However, when there is a large amount of interference and noise, it is difficult for the syntax recognition method to extract sub-images (primitives), which is prone to misjudgment rate, and it is difficult to meet the requirements of classification recognition accuracy and reliability.

3) Neural Network Method (Neural Network)

This method refers to the method of using neural network algorithm to recognize the image. The neural network system is a complex network system formed by a large number of simple processing units (called neurons) that are widely connected to each other in a certain way. Although the structure and function of each neuron are very simple, But the behavior of the network system composed of a large number of neurons is rich and colorful and very complex. It reflects many basic features of the human brain function, and is the simplification, abstraction and simulation of the human brain neural network system. The syntactic method focuses on simulating human logical thinking, while the neural network focuses on simulating and realizing the perceptual process, image thinking, distributed memory, and self-learning and self-organizing process in the human cognitive process, which is complementary to symbol processing. relation. Because the neural network has nonlinear mapping approximation, large-scale parallel distributed storage and comprehensive optimization processing, strong fault tolerance, unique associative memory and self-organization, self-adaptation and self-learning capabilities, it is especially suitable for processing that needs to consider many factors and conditions at the same time. and the problem of information uncertainty (vague or imprecise). In practical application, due to the slow convergence speed, large amount of training, long training time, and local minima, the neural network method has insufficient recognition and classification accuracy, and is difficult to apply to occasions where new patterns often appear, so its practicability needs to be further improved.

4) Template matching method (Temp l ateMatching)

It is one of the most basic image recognition methods. The so-called template is an array designed to detect certain regional features of the image to be recognized. It can be either a number or a symbol string, so it can be regarded as a special case of statistics or syntax. The so-called template matching method is to compare the template of the known object with all unknown objects in the image. If an unknown object matches the template, the object is detected and considered to be the same object as the template. Although the template matching method is simple and convenient, its application has certain limitations. Because it needs a large number of templates to indicate the various directions and sizes of all objects, and the matching process is uneconomical due to the large amount of storage and calculation required. At the same time, the recognition rate of this method depends too much on the template of the known object, if the template of the known object is deformed, it will lead to wrong recognition. In addition, due to the noise in the image and the uncertainty of the shape and structure of the detected object, the template matching method often cannot obtain ideal results in more complex situations, and it is difficult to be absolutely accurate. The matching measure between the template and the image, where the matching measure reaches a certain threshold, indicates that there is an object to be detected in the image. The classic image matching method uses cross-correlation to calculate the matching measure, or uses the sum of squares of absolute differences as the mismatch measure, but these two methods often do not match, so the matching method using geometric transformation helps to improve robustness .

5) Typical geometric transformation methods mainly include Hough Transform HT (Hough Transform)

Hough transform is a fast shape matching technology, which transforms the image in some form, and transforms all points on the curve of a given shape in the image to the Hough space to form peak points, so that the curve of a given shape The detection problem is transformed into the detection problem of the peak point in the Hough space, which can be used to detect the shape with defects, and it is a method with strong robustness. In order to reduce the amount of calculation and memory space to improve calculation efficiency, improved Hough algorithms are proposed, such as Fast Hough Transform (FHT), Adaptive Hough Transform (AHT) and Random Hough Transform (RHT). Among them, Randomized Hough Transform RHT (Randomized Houh Transform) is an exquisite transformation algorithm proposed in the 1990s. Get arbitrarily high resolutions.

6. Finally, carry out image classification, and classify into four levels according to the number of dust hairs per unit area, no dust hairs/several dust hairs/more dust hairs/very dust hairs; set function z=A×B×(x +y), x is the amount of dust per unit area, y is the number of hairs per unit area, A is the illumination compensation coefficient (to avoid the influence of dark or strong light on the accuracy), B is the user’s clothing color compensation coefficient (to avoid the user’s Clothing color affects accuracy), when z reaches a certain threshold range, it is judged as no dust hair/some dust hair/more dust hair/very much dust hair.

Judgment: When the amount of dust and hair is more than a certain number, the system prompts that hair and dust cleaning is about to take place; after the user expresses the confirmation intention (click the screen to confirm the intention or voice answer to confirm the intention); the hair and dust cleaning device starts to start, and starts to clean the user's clothes with a roller and select the cleaning strength, that is, the speed of the hair removal cylinder is based on the level of the number of dust and hairs in the area, that is, when there are a few dust and hairs, set it to level 1, when there are more dust and hairs, set it to level 2, and when there are a lot of dust and hairs, set it to level 3 Gears, 1 to 3, the rotation speed increases sequentially, and the cleaning strength increases sequentially. After the cleaning is completed, the cleaning device returns to its original state, and all processes are ended.

The user can also skip the image recognition part, directly operate on the IVI interface to start the hair cleaning device directly for cleaning.

As shown in Figure 4, the structure of the hair cleaning device is as follows:

Start state 1: clean the roller direction;

Inactive state: the cleaning roller stands beside the seat along the direction of oz;

Starting state 1: The cleaning roller moves from the oz direction to the ox direction, and finally parallel to the ox direction;

Starting state 2: The cleaning roller extends in the oz direction;

Starting state 3: The cleaning roller moves from the ox direction to the oy direction, and finally parallel to the oy direction;

Working state: the cleaning roller rotates to move up and down and cleans the dust and hair;

After the cleaning is completed, the user will be prompted that the cleaning has been completed.

After cleaning, the instrument is restored to the inactive state.

As shown in Figure 5, the motor 1 drives the hair removal cylinder to rotate; there are 3 speed gears, 1 to 3 gears, the speed increases sequentially, and the cleaning power increases sequentially; the telescopic rod can be accommodated in the telescopic rod storage container in the hair removal cylinder;

Driven by motor 2: Starting state 1: the cleaning roller moves from the oz direction to the ox direction, and finally parallel to the ox direction; starting state 2: the cleaning roller extends along the oz direction; starting state 3: the cleaning roller moves from the ox direction to the oy direction, Ultimately parallel to the oy direction; the cardan shaft 2 connects the hair removal device and the seat; the connecting piece fixed on the track is fixed to the outside of the track.

As shown in FIG. 6 , the motor 3 drives the crawler to move, driving the connecting piece fixed on the crawler to move up and down.

So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings, but those skilled in the art will easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to related technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention; for those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A method for quickly cleaning hair and dust from clothing applied to a vehicle, comprising:

identifying a parameter level of a target feature of the laundry to be cleaned;

determining the cleaning force of the cleaning device according to the parameter grade;

and cleaning the clothes to be cleaned according to the cleaning force.

2. A rapid cleaning method for hair and dust of clothes in a vehicle according to claim 1, wherein,

the cleaning device comprises a fixing mechanism and a cleaning mechanism, wherein the fixing mechanism is arranged in the automobile seat and is used for fixing the cleaning mechanism and driving the cleaning mechanism to move up and down along the extending direction of the chair back;

the cleaning structure is connected with the fixing mechanism and is used for completing the cleaning of clothes to be cleaned when the fixing mechanism drives the cleaning mechanism to reach a preset working state.

3. The method for rapid cleaning of hair and dust from clothing applied to a vehicle according to claim 2, wherein the stationary mechanism comprises a track, a first motor and a connecting member;

the crawler belt is fixed on the seat through a belt pulley;

the first motor is connected with the crawler belt and used for driving the crawler belt to run;

the connecting piece with track fixed connection, the connecting piece is used for realizing the track with cleaning mechanism's connection for realize that first motor passes through the track and drives cleaning mechanism operation.

4. A method for rapid cleaning of hair and dust from clothing applied to a vehicle according to claim 3 wherein the cleaning mechanism comprises a drive assembly and a cleaning head, the drive assembly being fixedly connected to the connecting member, the drive assembly being adapted to effect movement and rotation of the cleaning head in a direction perpendicular to the direction of extension of the seat back.

5. The rapid cleaning method for hair and dust of clothes in a vehicle according to claim 4, wherein,

the target features include a number of hairs and a number of dust, the parameter levels of the laundry to be cleaned include a first level, a second level, and a third level, and the target number within the first level is greater than the target number of the second level and is greater than the target number of the third level.

6. The rapid cleaning method for hair and dust of clothing applied to a vehicle according to claim 5, wherein determining the cleaning force of the cleaning device according to the parameter level comprises:

when the parameter level is the first level, selecting a first cleaning force;

when the parameter level is the second level, selecting a second cleaning force;

and when the parameter level is a third level, selecting a third cleaning force.

7. The method of claim 6, wherein the cleaning head comprises a hair removing drum Mao Tong and bristles, the hair removing drum is of an internal hollow structure, the bristles are uniformly distributed on the drum wall of the hair removing drum, and the internal central structure of the hair removing drum is used for accommodating a telescopic rod to extend or shrink the extension range of the cleaning head.

8. The method for rapid cleaning of hair and dust from clothing applied to a vehicle according to claim 7, wherein said identifying a parameter level of a target feature of the clothing to be cleaned comprises:

shooting and scanning a user through a DMS/OMS camera arranged in the vehicle, and capturing a clothing picture of the user;

dividing the user clothing picture according to a unit area;

calculating the number of dust and hair in any unit area;

and summing the total area in the user clothes picture to obtain the total amount of dust and hair on the user clothes.

9. The rapid cleaning method for hair and dust of clothing applied to a vehicle according to claim 8, further comprising, before dividing the user's clothing picture by unit area:

and carrying out illumination correction compensation on the clothes picture and carrying out image enhancement on the set region of interest.

10. A quick cleaning system for laundry in a vehicle, to which the quick cleaning method for laundry in a vehicle according to any one of claims 1 to 9 is applied, characterized by comprising:

the identification module is used for identifying the parameter grade of the target characteristic of the clothes to be cleaned;

the determining module is used for determining the cleaning force of the cleaning device according to the parameter grade;

and the cleaning module is used for cleaning clothes to be cleaned according to the cleaning force.

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