Object detection method, apparatus, and laundry treatment apparatus

Abstract

The application provides a detection method and device of an object and a clothes processing device. The method comprises: if target information of a first object is included in a first target image collected by an image collection unit, outputting prompt information to prompt the first object to start throwing a second object into a washing tub of the clothes processing device; acquiring trajectory information of the second object; and determining whether the second object falls into the washing tub according to the trajectory information and the washing tub of the clothes processing device. Through the method, the clothes processing device can detect whether the object thrown to the clothes processing device is thrown into the washing tub, increase the diversity of the functions of the clothes processing device, improve the resource utilization rate, and provide better services for the user.

Description

Technical Field

[0001] This application relates to smart electrical appliance technology, and more particularly to a method, apparatus, and clothing processing device for detecting objects. Background Technology

[0002] With the development of technology, home appliances are becoming increasingly intelligent. In order to enjoy more diversified services, single-function home appliances can no longer meet the needs of users.

[0003] However, traditional washing machines typically only have functions related to washing clothes, such as washing, spinning, and drying, and their functions are relatively simple. Summary of the Invention

[0004] This application provides a method, apparatus, and garment processing device for detecting objects, enabling the garment processing device to detect whether an object thrown at it has been put into the washing tub, increasing the functionality of the garment processing device, improving resource utilization, and enabling it to provide better services to users.

[0005] In a first aspect, this application provides a method for detecting an object, applied to a clothing processing device, the clothing processing device including an image acquisition unit, the method including: if a first target image acquired by the image acquisition unit includes target information of a first object, then outputting a prompt message to prompt the first object to start throwing a second object into the washing tub of the clothing processing device; acquiring trajectory information of the second object; and determining whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing processing device.

[0006] Optionally, determining whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing handling device includes: determining the position information corresponding to the intersection of the movement trajectory of the second object and the plane where the opening of the washing tub of the clothing handling device is located based on the trajectory information and the plane where the opening of the washing tub is located; and determining whether the second object has fallen into the washing tub based on the position information corresponding to the intersection and a preset area.

[0007] Optionally, the garment handling device further includes a sound acquisition unit; determining whether the second object falls into the washing tub based on the location information corresponding to the intersection point and a preset area, including: if the location information corresponding to the intersection point belongs to the preset area, then acquiring the sound information inside the washing tub after the second object passes through the opening of the washing tub through the sound acquisition unit; determining whether the second object falls into the washing tub based on the sound information.

[0008] Optionally, determining whether the second object has fallen into the washing tub based on the sound information includes: determining the frequency corresponding to the sound information, and / or the loudness corresponding to the sound information; and determining whether the second object has fallen into the washing tub based on the frequency and a preset first sound threshold, and / or the loudness and a preset second sound threshold.

[0009] Optionally, determining whether the second object has fallen into the washing tub based on the frequency and a preset first sound threshold and loudness and a preset second sound threshold includes: if the frequency is greater than or equal to the first sound threshold and the loudness is greater than or equal to the preset second sound threshold, then determining that the second object has fallen into the washing tub.

[0010] Optionally, obtaining the motion trajectory information of the second object includes: obtaining multiple images of the second object corresponding to the second object; and determining the trajectory information of the second object based on the multiple images of the second object.

[0011] Optionally, if the first target image acquired by the image acquisition unit includes target information of the first object, the method further includes, before outputting the prompt information, controlling the image acquisition unit to acquire an image when a control command triggered by the user is received.

[0012] Secondly, this application provides an object detection device, the device comprising:

[0013] If the first target image acquired by the image acquisition unit includes target information of the first object, the acquisition module outputs a prompt message to prompt the first object to start throwing the second object into the washing tub of the clothing processing device.

[0014] The acquisition module is also used to acquire trajectory information of the second object;

[0015] The processing unit is used to determine whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing processing device.

[0016] Optionally, the processing unit is specifically used to determine the position information corresponding to the intersection of the movement trajectory of the second object and the plane where the opening of the washing tub of the clothing processing device is located, based on the trajectory information and the plane where the opening of the washing tub is located; and to determine whether the second object falls into the washing tub based on the position information corresponding to the intersection and the preset area.

[0017] Optionally, the processing unit is further configured to, if the location information corresponding to the intersection point belongs to a preset area, collect the sound information inside the washing tub after the second object passes through the opening of the washing tub through the sound acquisition unit; and determine whether the second object has fallen into the washing tub based on the sound information.

[0018] Optionally, the processing unit is specifically used to determine the frequency corresponding to the sound information, and / or the loudness corresponding to the sound information; and to determine whether the second object has fallen into the washing tub based on the frequency and a preset first sound threshold, and / or the loudness and a preset second sound threshold.

[0019] Optionally, the processing unit is specifically configured to determine that the second object has fallen into the washing tub if the frequency is greater than or equal to a first sound threshold and the loudness is greater than or equal to a preset second sound threshold.

[0020] Optionally, the acquisition unit is specifically used to acquire multiple images of the second target corresponding to the second object; and to determine the trajectory information of the second object based on the multiple images of the second target.

[0021] Optionally, the processing module is also configured to control the image acquisition unit to acquire an image when it receives a control command triggered by the user.

[0022] Thirdly, this application provides a garment processing apparatus, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a method as described in the first aspect or an alternative method of the first aspect.

[0023] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a method as described in the first aspect or an alternative method of the first aspect.

[0024] Fifthly, this application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement a method as described in the first aspect or an alternative method of the first aspect.

[0025] This application provides a method, apparatus, and clothing processing device for object detection. The method outputs a prompt message if the first target image acquired by the image acquisition unit includes target information of a first object, prompting the first object to begin throwing a second object into the washing tub of the clothing processing device. It then acquires the trajectory information of the second object and determines whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing processing device. This increases the interactivity between the clothing processing device and the user, allowing the user to control the image acquisition process. Furthermore, it enables the clothing processing device to detect whether an object thrown towards it has entered the washing tub, increasing the device's functional versatility, improving resource utilization, enhancing its appeal, and providing better service to users to meet their diverse needs. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A flowchart illustrating an object detection method provided in this application;

[0028] Figure 2 A flowchart illustrating another object detection method provided in this application;

[0029] Figure 3 A schematic diagram of a display unit for a garment handling device provided in this application;

[0030] Figure 4 A schematic diagram of the structure of an object detection device provided in this application;

[0031] Figure 5 This is a schematic diagram of a garment processing device provided in this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] Washing machines are a common household appliance. However, they typically have a single function, and users only use them when washing clothes, leaving them idle at other times. This, to some extent, leads to a waste of resources.

[0034] The washing machine's lid is structured similarly to a basketball hoop. When open, the lid acts as a backboard, and the washing tub acts as the basket, allowing users to simulate a basketball shot by throwing objects into the tub. When a user throws an object, the washing machine uses its image acquisition unit to capture the object's trajectory. It then determines whether the object lands in the tub by detecting whether the intersection of the trajectory and the plane of the tub falls within a preset area. If it lands, the shot is considered successful; otherwise, it's considered a failed shot. To further enhance the user experience, a score can be displayed on the screen when a shot is successful.

[0035] Whether an object is placed in the washing machine tub will affect the sound produced within it. If the object is placed in the tub, it may collide multiple times with the inner wall or bottom. Due to the limited range of movement of the object inside the tub and the fact that the tub is made of metal, the sound produced after these collisions is relatively loud. If the object is not placed in the tub but instead directly impacts the washing machine or falls to the ground without impacting the washing machine, the sound from inside the tub will be quieter. Another scenario is that the object is initially placed in the tub but is ejected due to collisions and eventually falls to the ground instead of re-entering the tub. In this case, the object spends a shorter time in the tub, resulting in a greater variation in the sound produced.

[0036] Based on this, in order to further improve the accuracy of the detection results, the sound in the washing tub can also be collected. Combined with the image collected by the image acquisition unit and the sound collected by the sound acquisition unit, the system can detect whether the object thrown by the user has fallen into the washing tub.

[0037] This increases the functionality and utilization of the garment processing device. Users can also exercise through this activity, enhancing the device's appeal and enabling it to provide better service, meet diverse user needs, and improve the user experience.

[0038] Figure 1 This is a flowchart illustrating an object detection method provided in this application. The method is applied to a clothing processing device, specifically a pulsator washing machine, which includes an image acquisition unit. Figure 1 As shown, the method includes:

[0039] S101. If the first target image acquired by the image acquisition unit includes target information of the first object, then a prompt message is output.

[0040] The prompt message is used to instruct the first object to begin throwing the second object into the washing tub of the laundry treatment device. Specifically, the prompt message can be an audible alert such as a buzzer, or it can be a voice message.

[0041] The image acquisition unit includes at least one camera. To expand the image acquisition range, the camera can be a wide-angle camera. The camera can be mounted on the cover of the garment handling device to capture images above the washing tub, thereby obtaining the movement trajectory of the second object above the washing tub. For example, the garment handling device can record video or take photos using the camera. It is understood that to acquire higher quality and more effective images, the first object and the camera should maintain a certain distance; for example, the distance can be no greater than 3 meters and no less than 1 meter.

[0042] Optionally, the first object can be a user. The target information of the first object can be the facial information of the first object. When the first target image includes the facial information of the first object, it indicates that the user is facing the garment processing device, and the garment processing device outputs a prompt message, prompting the user to start throwing the second object into the washing tub of the garment processing device.

[0043] Optionally, the first object can also be other targets such as a hand. The target information of the first object can be the posture information of the first object. When the first object is a hand, the clothing processing device outputs a prompt message based on the acquired posture information of the hand. For example, if the gesture included in the first target image acquired by the clothing processing device through the image acquisition unit is consistent with a preset gesture, then a prompt message is output. Optionally, the preset gesture can be five fingers spread apart with the palm facing the camera.

[0044] The second object can be any object that can be put into the washing tub, for example, a ping-pong ball, a glass marble, a badminton shuttlecock, a tennis ball, a beanbag, etc.

[0045] To improve detection accuracy and prevent false triggering, optionally, if the first target image acquired by the image acquisition unit includes target information of the first object, a prompt message is output, including: if at least one first target image acquired by the image acquisition unit within a preset time period includes target information of the first object, then a prompt message is output.

[0046] S102. Obtain the trajectory information of the second object.

[0047] The trajectory information of the second object specifically includes information about the motion trajectory of the second object.

[0048] In one possible implementation, obtaining the trajectory information of the second object includes: tracking the second object with a camera to obtain the trajectory information of the second object.

[0049] The camera can track a second object using motion tracking technology. Motion tracking technology, based on intelligent recognition, performs differential calculations on the image to automatically identify the direction of movement of the target within the visual range and automatically track the moving target.

[0050] In one possible implementation, obtaining the trajectory information of the second object includes: obtaining a video image corresponding to the second object; and determining the trajectory information of the second object based on the video image.

[0051] This method can directly obtain relatively complete trajectory information.

[0052] In one possible implementation, obtaining the trajectory information of the second object includes: obtaining multiple images of the second object corresponding to the second object; and determining the trajectory information of the second object based on the multiple images of the second object.

[0053] This method acquires multiple images of a second target to obtain discrete position information corresponding to multiple second objects, and then determines the motion trajectory of the second objects through calculation. This method acquires relatively little image data, has high processing speed, and high operating efficiency.

[0054] It should be noted that when the camera is positioned on the cover of the garment handling device to obtain an image above the washing tub, the acquired trajectory information of the second object may only include the movement trajectory of the second object above the washing tub; alternatively, it may include a portion of the movement trajectory of the second object inside the washing tub. Specifically, the portion of the movement trajectory inside the washing tub is estimated based on the movement trajectory of the second object above the washing tub. This portion of the movement trajectory may be the trajectory information corresponding to the movement process of the second object from entering the washing tub until it first touches the inner wall or bottom of the washing tub.

[0055] S103. Based on the trajectory information and the washing tub of the clothing processing device, determine whether the second object has fallen into the washing tub.

[0056] In one possible implementation, determining whether a second object has fallen into the washing tub based on trajectory information and the washing tub of the clothing handling device includes: determining a function corresponding to the motion trajectory of the second object based on the acquired trajectory information of the second object, and determining whether the second object has fallen into the washing tub based on the function and the position of the washing tub.

[0057] In another possible implementation, determining whether the second object has fallen into the washing tub based on trajectory information and the washing tub of the clothing handling device includes: determining the position information corresponding to the intersection of the second object's motion trajectory and the plane where the washing tub opening of the clothing handling device is located based on trajectory information and the plane where the washing tub opening is located; and determining whether the second object has fallen into the washing tub based on the position information corresponding to the intersection and a preset area.

[0058] Specifically, if the intersection point is within the preset area, it is determined that the second object has fallen into the washing tub; if the intersection point is not within the preset area, it is determined that the second object has not fallen into the washing tub.

[0059] In this embodiment, if the first target image acquired by the image acquisition unit includes target information of the first object, a prompt message is output. Then, the trajectory information of the second object is obtained. Based on the trajectory information and the washing tub of the clothing processing device, it is determined whether the second object has fallen into the washing tub. This increases the interaction between the clothing processing device and the user, allowing the user to control the clothing processing device to acquire images. It also enables the clothing processing device to detect whether an object thrown at it has entered the washing tub, enriching the device's functionality and providing better service to the user. More diverse services are offered, resource utilization is improved, and different user needs are met. Furthermore, based on this function, users can use the clothing processing device to perform fitness activities similar to basketball shooting, enhancing the device's fun and improving the user experience.

[0060] To further improve the accuracy of the detection results, the clothing processing device also includes a sound acquisition unit, based on the above embodiments.

[0061] Figure 2 This is a flowchart illustrating another object detection method provided in this application. The method is applied to a clothing processing device, specifically a pulsator washing machine. The clothing processing device includes an image acquisition unit and a sound acquisition unit. Figure 2 As shown, the method includes:

[0062] Optionally, in step S200, when a control command triggered by the user is received, the image acquisition unit is controlled to acquire an image.

[0063] Users can trigger control commands by pressing the control buttons on the control panel of the garment handling device, or by using preset voice commands.

[0064] S201. If the first target image acquired by the image acquisition unit includes target information of the first object, then output a prompt message.

[0065] The prompt message is used to prompt the first object to start throwing the second object into the washing tub of the laundry treatment device.

[0066] S202, Obtain the trajectory information of the second object.

[0067] S201, S202 and S101, S102 have the same technical features. For a detailed description, please refer to S101 and S102. They will not be repeated here.

[0068] S203. Based on the trajectory information and the plane where the washing tub opening of the clothing processing device is located, determine the position information corresponding to the intersection point of the second object's motion trajectory and the plane where the washing tub opening is located.

[0069] Specifically, the position information corresponding to the intersection point of the second object's motion trajectory and the plane where the washing tub opening is located is determined based on the function corresponding to the motion trajectory of the second object and the function corresponding to the plane where the washing tub opening is located.

[0070] S204. If the location information corresponding to the intersection point belongs to the preset area, the sound information inside the washing tub after the second object passes through the opening of the washing tub is collected by the sound acquisition unit.

[0071] Lightweight objects such as ping-pong balls, after passing through the opening of the washing tub and entering the tub, may collide with the inner wall and / or bottom of the tub, causing them to be ejected from the tub again.

[0072] Specifically, if the location information corresponding to the intersection point belongs to a preset area, the second object may fall into the washing tub. Further, the sound acquisition unit collects sound information from inside the washing tub after the second object passes through the tub's opening to determine whether the second object has fallen into the tub. If the location information corresponding to the intersection point does not belong to the preset area, the second object has not fallen into the washing tub.

[0073] For example, sound information from inside the washing tub can be collected for a preset duration. Alternatively, a threshold can be set, and sound collection can stop when the loudness of the collected sound is less than the threshold.

[0074] S205. Based on the sound information, determine whether the second object has fallen into the washing tub.

[0075] In one possible implementation, determining whether a second object has fallen into the washing tub based on sound information includes: determining the frequency corresponding to the sound information, and determining whether the second object has fallen into the washing tub based on the frequency and a preset first sound threshold.

[0076] Specifically, if the frequency corresponding to the sound information is greater than or equal to the preset first sound threshold, it is determined that the second object has fallen into the washing tub; otherwise, it is determined that the second object has not fallen into the washing tub.

[0077] In one possible implementation, determining whether a second object has fallen into the washing tub based on sound information includes: determining the loudness corresponding to the sound information; and determining whether the second object has fallen into the washing tub based on the loudness and a preset second sound threshold.

[0078] Specifically, if the loudness corresponding to the sound information is greater than or equal to the preset second sound threshold, it is determined that the second object has fallen into the washing tub; otherwise, it is determined that the second object has not fallen into the washing tub.

[0079] In one possible implementation, determining whether a second object has fallen into the washing tub based on sound information includes: determining the frequency and loudness corresponding to the sound information; and determining whether the second object has fallen into the washing tub based on the frequency, a preset first sound threshold, the loudness, and a preset second sound threshold.

[0080] Specifically, if the frequency corresponding to the sound information is greater than or equal to a preset first sound threshold, and the loudness corresponding to the sound information is greater than or equal to a preset second sound threshold, then it is determined that the second object has fallen into the washing tub; otherwise, it is determined that the second object has not fallen into the washing tub.

[0081] For any of the above possible implementations, the sound information collected by the clothing processing device may correspond to multiple frequencies. For example, the frequency corresponding to the sound information could be the average frequency of the collected sound information. The collected sound information may also correspond to multiple loudnesses. For example, the loudness corresponding to the sound information could be the average loudness of the collected sound information.

[0082] Optionally, the garment handling device further includes a display unit, and the method further includes: if the second object falls into the washing tub, determining a second score according to a preset scoring rule and a first score, and displaying the second score through the display unit.

[0083] The first score is the score before the second object falls into the washing tub.

[0084] Figure 3 A schematic diagram of the display unit of a garment handling device provided in this application, as shown below. Figure 3 As shown, when the user puts the second object into the washing tub, the laundry processing device determines the user's new score based on preset scoring rules and the score the user received the last time they put the object in, and displays the user's latest score as follows: Figure 3 This is shown to the user.

[0085] Of course, this display unit can also show the number of times the second object falls into the washing tub. It can also simultaneously display the user's score and the number of times the second object falls into the washing tub.

[0086] Based on the above embodiments, this application further determines the position information corresponding to the intersection of the second object's movement trajectory and the plane where the washing tub opening of the laundry handling device is located, according to the trajectory information and the plane where the washing tub opening is located. If the position information corresponding to the intersection point belongs to a preset area, the sound acquisition unit collects the sound information inside the washing tub after the second object passes through the washing tub opening. Based on the sound information, it is determined whether the second object has fallen into the washing tub. By combining image and sound, the accuracy of the detection results is further improved, enhancing the user experience. Optionally, when a control command triggered by the user is received, the image acquisition unit is controlled to acquire images. The image acquisition unit is activated according to the user's needs, avoiding continuous operation of the image acquisition unit or acquisition of images at unreasonable time periods, saving energy and avoiding infringement of user privacy. Optionally, displaying the user's score can further enhance the user experience.

[0087] Figure 4 A schematic diagram of the structure of an object detection device provided in this application is shown below. Figure 4 As shown, the device includes:

[0088] The acquisition module 41 is used to output a prompt message if the first target image acquired by the image acquisition unit includes the target information of the first object, so as to prompt the first object to start throwing the second object into the washing tub of the clothing processing device.

[0089] The acquisition module 41 is also used to acquire trajectory information of the second object;

[0090] The processing unit 42 is used to determine whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing processing device.

[0091] Optionally, the processing unit 42 is specifically used to determine the position information corresponding to the intersection of the movement trajectory of the second object and the plane where the opening of the washing tub of the clothing processing device is located, based on the trajectory information and the plane where the opening of the washing tub is located; and to determine whether the second object falls into the washing tub based on the position information corresponding to the intersection and the preset area.

[0092] Optionally, the processing unit 42 is further configured to, if the location information corresponding to the intersection point belongs to a preset area, collect the sound information inside the washing tub after the second object passes through the opening of the washing tub through the sound acquisition unit; and determine whether the second object has fallen into the washing tub based on the sound information.

[0093] Optionally, the processing unit 42 is specifically used to determine the frequency corresponding to the sound information and / or the loudness corresponding to the sound information; and to determine whether the second object has fallen into the washing tub based on the frequency and a preset first sound threshold, and / or the loudness and a preset second sound threshold.

[0094] Optionally, the processing unit 42 is specifically used to determine that the second object has fallen into the washing tub if the frequency is greater than or equal to a first sound threshold and the loudness is greater than or equal to a preset second sound threshold.

[0095] Optionally, the acquisition unit 41 is specifically used to acquire multiple second target images corresponding to the second object; and to determine the trajectory information of the second object based on the multiple second target images.

[0096] Optionally, the processing module 42 is also configured to control the image acquisition unit to acquire an image when it receives a control command triggered by the user.

[0097] Optionally, the processing module 42 is further configured to determine a second score based on a preset scoring rule and a first score if the second object falls into the washing tub, and display the second score through a display unit, wherein the first score is the score before the second object falls into the washing tub.

[0098] The detection device can perform the above-described object detection method. The details and effects can be found in the method implementation section, and will not be repeated here.

[0099] Figure 5 A schematic diagram of the garment processing device provided in this application is shown below. Figure 5 As shown, the electronic device in this embodiment includes a processor 51 and a memory 52; the processor 51 and the memory 52 are communicatively connected. The memory 52 is used to store computer programs. The processor 51 is used to call the computer programs stored in the memory 52 to implement the methods in the above embodiments.

[0100] Optionally, the electronic device also includes a transceiver 53 for communicating with other devices.

[0101] The garment processing device can perform the above-described object detection method, the details of which can be found in the method embodiment section, and will not be repeated here.

[0102] This disclosure also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods as described in any of the above method embodiments.

[0103] When the computer-readable storage medium stores the computer-executable instructions, it can implement the above-mentioned object detection method when executed by the processor. The content and effect can be referred to the method embodiment section, and will not be repeated here.

[0104] This disclosure also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the methods as described in any of the above method embodiments.

[0105] When the computer program is executed by the processor, it can implement the detection method for the above-mentioned objects. The content and effect can be found in the method embodiment section, and will not be repeated here.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for detecting an object, characterized in that, Applied to a garment processing device, the garment processing device including an image acquisition unit, the method includes: If the first target image acquired by the image acquisition unit includes target information of the first object, a prompt message is output to prompt the first object to start throwing the second object into the washing tub of the clothing processing device, wherein the first object is the user and the second object is a throwing object for non-washing purposes; Obtain the trajectory information of the second object; Based on the trajectory information and the washing tub of the clothing processing device, it is determined whether the second object has fallen into the washing tub.

2. The method according to claim 1, characterized in that, Determining whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing processing device includes: Based on the trajectory information and the plane where the washing tub opening of the clothing processing device is located, determine the position information corresponding to the intersection point of the second object's motion trajectory and the plane where the washing tub opening is located; Based on the location information corresponding to the intersection point and the preset area, it is determined whether the second object falls into the washing tub.

3. The method according to claim 2, characterized in that, The clothing processing device also includes a sound acquisition unit; The step of determining whether the second object has fallen into the washing tub based on the location information corresponding to the intersection point and the preset area includes: If the location information corresponding to the intersection point belongs to the preset area, then the sound information inside the washing tub after the second object passes through the opening of the washing tub is collected by the sound acquisition unit. Based on the sound information, determine whether the second object has fallen into the washing tub.

4. The method according to claim 3, characterized in that, The step of determining whether the second object has fallen into the washing tub based on the sound information includes: Determine the frequency corresponding to the sound information, and / or the loudness corresponding to the sound information; Based on the frequency and a preset first sound threshold, and / or the loudness and a preset second sound threshold, determine whether the second object has fallen into the washing tub.

5. The method according to claim 4, characterized in that, Determining whether the second object has fallen into the washing tub based on the frequency and a preset first sound threshold, and the loudness and a preset second sound threshold, includes: If the frequency is greater than or equal to the first sound threshold and the loudness is greater than or equal to the preset second sound threshold, then it is determined that the second object has fallen into the washing tub.

6. The method according to any one of claims 1-5, characterized in that, The step of obtaining the motion trajectory information of the second object includes: Acquire multiple images of the second target corresponding to the second object; Based on multiple images of the second target, the motion trajectory information of the second object is determined.

7. The method according to claim 6, characterized in that, If the first target image acquired by the image acquisition unit includes target information of the first object, the method further includes the following steps before outputting the prompt information: When a control command triggered by the user is received, the image acquisition unit is controlled to acquire an image.

8. An object detection device, characterized in that, The device includes: The acquisition module is used to output a prompt message if the first target image acquired by the image acquisition unit includes target information of the first object, so as to prompt the first object to start throwing the second object into the washing tub of the clothing processing device, wherein the first object is the user and the second object is a throwing object for non-washing purposes. The acquisition module is further configured to acquire trajectory information of the second object; The processing unit is used to determine whether the second object has fallen into the washing tub based on the trajectory information and the washing tub of the clothing processing device.

9. A garment processing device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 7.

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