Washing method and washing apparatus for a washing machine

Abstract

The present disclosure provides a washing method and a washing device of a washing machine, and relates to the field of household appliances. The washing machine comprises a clothes fixing frame and a cleaning assembly. The clothes fixing frame is positioned in the washing machine, and the cleaning assembly comprises a first driving mechanism, a second driving mechanism, a third driving mechanism, a first sliding rail, a second sliding rail, a third sliding rail and a cleaning mechanism. The cleaning mechanism is slidably positioned on the third sliding rail. In the present disclosure, the edge information of the clothes to be washed is determined according to the first clothes image of the clothes to be washed, and then the cleaning mechanism is controlled to move in the area corresponding to the clothes to be washed (the orthographic projection of the clothes to be washed in the length direction of the first sliding rail) according to the edge information of the clothes to be washed, so as to realize the washing of the clothes to be washed. In this way, the moving range of the cleaning mechanism can be reduced, thereby facilitating the improvement of the washing efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of home appliance technology, and more specifically, to a washing method and washing apparatus for a washing machine. Background Technology

[0002] Nowadays, washing machines are increasingly accepted by families due to their simple operation, convenience, and good washing results. However, most washing machines use a pile-up mixing washing method. While this method can effectively remove stains, the pile-up method can easily cause wrinkles and tangles in clothes, requiring them to be ironed again later. Furthermore, the pile-up method can easily cause wear and tear on clothes during the washing process.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this disclosure is to provide a washing method and washing device for a washing machine that can prevent clothes from piling up, thereby preventing clothes from wrinkling, abrasion, etc.

[0005] According to one aspect of this disclosure, a washing method for a washing machine is provided, the washing machine comprising:

[0006] Clothes rack for hanging laundry;

[0007] A cleaning assembly, comprising a first drive mechanism, a second drive mechanism, a third drive mechanism, a first slide rail, a second slide rail, a third slide rail, and a cleaning mechanism;

[0008] The first slide rail is fixed to the bottom of the washing machine along the width direction, the second slide rail is limited on the first slide rail, the first drive mechanism is used to drive the second slide rail to move along the first slide rail, the third slide rail is limited on the second slide rail along the length direction of the washing machine, the second drive mechanism is used to drive the third slide rail to slide along the second slide rail, the cleaning mechanism is limited on the third slide rail, and the third drive mechanism is used to drive the cleaning mechanism to move along the third slide rail;

[0009] The washing method includes: acquiring first-side images of multiple garments to be washed; determining edge information of multiple garments to be washed based on the multiple first-side images; and controlling the first driving mechanism, the second driving mechanism, and the third driving mechanism based on the multiple edge information to drive the washing mechanism to move and wash the multiple garments to be washed.

[0010] According to any embodiment of the washing method, the washing mechanism includes a mounting block and a camera, the mounting block is slidably limited on the third slide rail, and the camera is limited on the mounting block;

[0011] Obtain multiple first-side images of the garments to be washed, including:

[0012] Determine multiple location information and multiple point information corresponding to each location information;

[0013] The first drive mechanism is controlled according to the first position information to drive the second slide rail to move, wherein the first position information is any one of the plurality of position information;

[0014] The second drive mechanism and the third drive mechanism are controlled according to the multiple point information corresponding to the first position information to drive the mounting block to move, while acquiring multiple first images captured by the camera.

[0015] Generate a first image corresponding to the first position information based on multiple first images;

[0016] Multiple images of the first garment are obtained by filtering from the multiple first images corresponding to the location information.

[0017] According to any embodiment of the washing method, the washing machine is provided with a distance sensor, and the distance detection direction of the distance sensor is parallel to the length direction of the first slide rail;

[0018] The determination of multiple location information includes:

[0019] Obtain multiple initial position information, as well as a first distance and a second distance;

[0020] Multiple location information is obtained by filtering from multiple initial location information based on the first distance and the second distance.

[0021] The washing method according to any embodiment further includes:

[0022] Obtain images of the second side of multiple garments to be washed;

[0023] Based on the first and second images of the garment to be washed, determine the first set of stain boundary information and the second set of stain boundary information of the garment to be washed, respectively.

[0024] Controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed according to the edge information of the multiple garments to be washed, the first set of stain boundary information, and the second set of stain boundary information, includes: controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed according to the edge information of the multiple garments to be washed, the first set of stain boundary information, and the second set of stain boundary information.

[0025] According to any embodiment of the washing method, a first set of stain boundary information and a second set of stain boundary information of the garment to be washed are determined based on a first image of the garment and a second image of the garment, respectively, including:

[0026] Obtain historical stain information of the garments to be washed;

[0027] Based on the first and second images of the garment to be washed, determine the first set of current stain information and the second set of current stain information for the garment to be washed, respectively.

[0028] Based on the historical stain information, the first group of stain boundary information and the second group of stain boundary information are obtained by filtering from the first group of current stain information and the second group of current stain information.

[0029] According to any embodiment of the washing method, the washing mechanism includes a mounting block and a camera, the mounting block is slidably limited on the third slide rail, and the camera is limited on the mounting block;

[0030] Acquire multiple images of the first and second sides of the garments to be washed, including:

[0031] Determine multiple location information and multiple point information corresponding to each location information;

[0032] The first drive mechanism is controlled to drive the second slide rail to move according to the first position information, wherein the first position information is any one of the plurality of position information;

[0033] The second driving mechanism and the third driving mechanism are controlled according to the multiple point information corresponding to the first location information to drive the mounting block to move, while acquiring multiple first images and multiple second side images captured by the camera at the positions of the multiple point information corresponding to the first location information;

[0034] Generate a first image and a second image corresponding to the first position information based on multiple first images and multiple second images respectively;

[0035] Multiple first-side clothing images and multiple second-side clothing images are obtained by filtering from the first-side images and the corresponding second-side images corresponding to the multiple location information.

[0036] According to any embodiment of the washing method, the mounting block is fixed with a first camera and a second camera on both sides along the length direction of the first slide rail.

[0037] Acquiring a first image and a second image captured by the camera at a location specified in the point information includes:

[0038] Acquire a first image captured by the first camera at a location specified in the location information, and a second image captured by the second camera at the same location specified in the location information.

[0039] According to any embodiment of the washing method, the camera is rotatably fixed on the mounting block;

[0040] Acquiring a first image and a second image captured by the camera at a location specified in the point information includes:

[0041] Acquire a first image captured by the camera at a location specified in the location information;

[0042] After controlling the camera to rotate by a first angle, a second image is acquired by the camera at a position of the specified point information.

[0043] According to any embodiment of the washing method, the first driving mechanism, the second driving mechanism, and the third driving mechanism are controlled based on multiple edge information to drive the washing mechanism to move, thereby washing multiple garments to be washed, including:

[0044] Obtain the location information corresponding to each of the multiple edge information, and at least one set of movement start and end parameters corresponding to each of the location information;

[0045] The first drive mechanism is controlled according to the first position information to drive the second slide rail to move, wherein the first position information is any one of the plurality of position information;

[0046] Based on at least one set of movement start and stop parameters corresponding to the first position information, the second drive mechanism and the third drive mechanism are controlled to drive the cleaning mechanism to move, and at the same time, the cleaning mechanism is controlled to wash the clothes to be washed.

[0047] According to any embodiment of the washing method, the washing machine further includes a fourth drive mechanism, which is fixed to the bottom of the washing machine and connected to the clothes holder.

[0048] After controlling the movement of the washing mechanism to wash the multiple garments to be washed based on the multiple edge information, the method further includes: controlling the fourth drive mechanism to drive the garment holder to rotate.

[0049] This disclosure also provides a washing apparatus for a washing machine, the washing machine comprising:

[0050] Clothes rack for hanging laundry;

[0051] A cleaning assembly, comprising a first drive mechanism, a second drive mechanism, a third drive mechanism, a first slide rail, a second slide rail, a third slide rail, and a cleaning mechanism;

[0052] The first slide rail is fixed to the bottom of the washing machine along the width direction, the second slide rail is limited on the first slide rail, the first drive mechanism is used to drive the second slide rail to move along the first slide rail, the third slide rail is limited on the second slide rail along the length direction of the washing machine, the second drive mechanism is used to drive the third slide rail to slide along the second slide rail, the cleaning mechanism is limited on the third slide rail, and the third drive mechanism is used to drive the cleaning mechanism to move along the third slide rail;

[0053] The washing device is configured to acquire first-side images of multiple garments to be washed; determine edge information of multiple garments to be washed based on the multiple first-side images; and control the first driving mechanism, the second driving mechanism, and the third driving mechanism based on the multiple edge information to drive the washing mechanism to move and wash the multiple garments to be washed.

[0054] According to any embodiment of the washing apparatus, the washing apparatus is further used for:

[0055] Obtain images of the second side of multiple garments to be washed;

[0056] Based on the first and second images of the garment to be washed, determine the first set of stain boundary information and the second set of stain boundary information of the garment to be washed, respectively.

[0057] Controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed according to the edge information, the first set of stain boundary information, and the second set of stain boundary information, includes: controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the garments to be washed according to the edge information, the first set of stain boundary information, and the second set of stain boundary information.

[0058] The embodiments disclosed herein include at least the following technical effects:

[0059] In this embodiment, the edge information of the garment to be washed is determined based on a first image of the garment. Then, the washing mechanism is controlled to move within the area corresponding to the garment (the orthographic projection of the garment onto the length of the first slide rail) based on this edge information, thereby washing the garment. This reduces the range of movement of the washing mechanism, thus improving washing efficiency.

[0060] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0062] Figure 1 A schematic diagram illustrating the internal structure of a washing machine according to an embodiment of the present disclosure is provided.

[0063] Figure 2 A schematic diagram illustrating the structure of a cleaning assembly according to an embodiment of the present disclosure is provided.

[0064] Figure 3 A schematic diagram illustrating the external structure of a washing machine according to an embodiment of the present disclosure is provided.

[0065] Figure 4 A schematic diagram of the bottom structure of a washing machine according to an embodiment of the present disclosure is provided.

[0066] Figure 5 A cross-sectional structural schematic diagram of a washing machine according to an embodiment of the present disclosure is shown.

[0067] Figure 6 A schematic diagram illustrating the internal structure of another washing machine according to an embodiment of this disclosure is provided.

[0068] Figure 7 A schematic flowchart illustrating a washing method according to an embodiment of the present disclosure is provided.

[0069] Figure 8 A schematic flowchart illustrating another washing method according to an embodiment of the present disclosure is provided.

[0070] Figure label:

[0071] 10. Washing machine;

[0072] 1. Housing; 2. Clothes rack; 3. Washing assembly; 4. Drying assembly;

[0073] 11. Washing chamber; 12. Water inlet; 13. Drain outlet; 14. Body; 15. Cover; 16. Drying chamber; 17. Air duct; 18. Air outlet; 19. Air duct drain pipe;

[0074] 21. Turntable; 22. Support frame; 23. Clothes hanger;

[0075] 31. First drive mechanism; 32. Second drive mechanism; 33. Third drive mechanism; 34. First slide rail; 35. Second slide rail; 36. Third slide rail; 37. Cleaning mechanism; 38. Fourth drive mechanism;

[0076] 311. Drive motor; 312. Rack; 313. Auxiliary roller; 314. Conveyor belt;

[0077] 371. Mounting block; 372. Washing head; 373. Camera; 374. Fill light;

[0078] 41. Airflow fan; 42. Heating module; 43. Ventilation duct. Detailed Implementation

[0079] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.

[0080] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0081] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0082] This disclosure provides a washing machine 10. For example... Figure 1 and Figure 2 As shown, the washing machine 10 includes: a clothes holder 2 and a washing assembly 3. The clothes holder 2 is used to hang clothes to be washed. The washing assembly 3 includes a first drive mechanism 31, a second drive mechanism 32, a third drive mechanism 33, a first slide rail 34, a second slide rail 35, a third slide rail 36, and a washing mechanism 37. The first slide rail 34 is fixed to the bottom of the washing machine 10 along the width direction. The second slide rail 35 is limited on the first slide rail 34. The first drive mechanism 31 is used to drive the second slide rail 35 to move along the first slide rail 34. The third slide rail 36 is limited on the second slide rail 35 along the length direction of the washing machine 10. The second drive mechanism 32 is used to drive the third slide rail 36 to slide along the second slide rail 35. The washing mechanism 37 is limited on the third slide rail 36. The third drive mechanism 33 is used to drive the washing mechanism 37 to move along the third slide rail 36.

[0083] In this embodiment, the clothes to be washed can be suspended and fixed by the clothes fixing rack 2, thereby avoiding the stacking of the clothes to be washed and thus avoiding wrinkles, wear and tear, etc.; in addition, the first slide rail 34, the second slide rail 35, and the third slide rail 36 are combined to form a three-dimensional space, and the cleaning mechanism 37 can be driven to move in the three-dimensional space by the cooperation of the first drive mechanism 31, the second drive mechanism 32, and the third drive mechanism 33, so that the cleaning mechanism 37 can wash various points on the outside of the clothes to be washed, thus ensuring the washing effect.

[0084] In some implementations, such as Figure 2 As shown, the washing mechanism 37 includes a mounting block 371 and a camera 373. The mounting block 371 is slidably limited on the third slide rail 36, and the camera 373 is limited on the mounting block 371. Thus, after the clothes to be washed are hung on the clothes rack 2, the camera 373 can take pictures of multiple clothes to be washed by moving the mounting block 371 in three-dimensional space.

[0085] Optionally, a first camera 373 and a second camera 373 are fixed to both sides of the mounting block 371 along the length of the first slide rail 34, respectively. This allows for simultaneous photographing of the clothes to be washed on both sides of the mounting block 371 using both cameras. Alternatively, the camera 373 can be rotatably fixed to the mounting block 371. This allows for photographing the clothes on one side of the mounting block 371 after the camera 373 has taken a picture, then rotating the camera 373 180 degrees to photograph the clothes on the other side of the mounting block 371.

[0086] In some implementations, combined Figure 2 and Figure 3 As shown, the washing machine 10 also includes a fourth drive mechanism 38, which is fixed to the bottom of the washing machine 10 and connected to the clothes holder 2. Thus, the fourth drive mechanism 38 can drive the clothes holder 2 to rotate, thereby achieving the agitation, washing, and rinsing of multiple loads of laundry, and simultaneously enabling the subsequent spin-drying of the laundry.

[0087] In some embodiments, a distance sensor is provided inside the washing machine 10, and the distance detection direction of the distance sensor is parallel to the length direction of the first slide rail 34.

[0088] Thus, the distance sensor installed inside the washing machine 10 can detect the distance between the outermost clothes to be washed hanging on the clothes rack 2 and the drum wall of the washing machine 10, thereby determining the position of the outermost clothes to be washed hanging on the clothes rack 2, thereby reducing the movement of the washing mechanism 37 in areas where no clothes are hung, and improving washing efficiency.

[0089] In conjunction with the washing machine 10 described above, Figure 3 A schematic diagram illustrating the external structure of a washing machine 10 according to an embodiment of the present disclosure is provided. Figure 4 A schematic diagram illustrating the bottom structure of a washing machine 10 according to an embodiment of this disclosure is provided. Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the washing machine 10 includes: a housing 1, a clothes holder 2, and a washing assembly 3. The housing 1 has a washing chamber 11, a water inlet 12 located at the top of the housing 1 and communicating with the washing chamber 11, and a drain outlet 13 located at the bottom of the housing 1 and selectively communicating or disconnecting from the washing chamber 11. The clothes holder 2 is confined within the washing chamber 11. The washing assembly 3 includes a washing mechanism 37 comprising a mounting block 371 and a washing head 372. The mounting block 371 is slidably confined on a third slide rail 36, and the washing head 372 is fixed on the mounting block 371.

[0090] In actual use, after the clothes to be washed are hung on the clothes rack 2, the drain outlet 13 at the bottom of the casing 1 is disconnected from the washing chamber 11, and clean water can be injected into the washing chamber 11 through the water inlet 12 at the top of the casing 1. Then, the washing mechanism 37 moves to wash the clothes to be washed. After washing is completed, the drain outlet 13 at the bottom of the casing 1 is connected to the washing chamber 11 to drain the water.

[0091] In this embodiment of the present disclosure, the washing machine 10 further includes a controller (not shown in the figure), which is electrically connected to the first drive mechanism 31, the second drive mechanism 32, and the third drive mechanism 33 respectively, so as to control the first drive mechanism 31, the second drive mechanism 32, and the third drive mechanism 33 according to the control command to drive the washing mechanism 37 to move.

[0092] Optionally, a first solenoid valve is provided between the washing chamber 11 and the drain outlet 13 of the casing 1. The first solenoid valve is electrically connected to the controller, so that the controller controls the opening or closing of the first solenoid valve to realize the connection or disconnection between the washing chamber 11 and the drain outlet 13.

[0093] In some embodiments, such as Figure 3 and Figure 4 As shown, the housing 1 includes a body 14 and a cover 15. One end of the body 14 is open and forms a washing drum. The cover 15 is located at the open end of the body 14. The cover 15 can close the open end to enclose a closed washing chamber 11, and the cover 15 can be opened to place clothes to be washed.

[0094] The body 14 can be a side-opening structure or a top-opening structure (e.g., Figure 4 As shown in the diagram, when the body 14 has a side opening, the water inlet 12 is located near the top of the body 14, or at the top of the body 14; when the body 14 has a top opening, the water inlet 12 is located on the cover 15, or on the side of the body 14 near the opening end.

[0095] Furthermore, the top of the housing 1 also includes a detergent inlet. A flexible hose is installed inside the washing chamber 11, with one end connected to the detergent inlet and the other end connected to the washing head 372. In this way, when washing clothes, the detergent can be guided along the hose to the washing head 372, ensuring effective washing. Additionally, the hose connection facilitates the movement of the washing head 372 within the washing chamber 11. To avoid excessive length of the hose within the washing chamber 11, the detergent inlet is positioned centrally along both the length of the first slide rail 34 and the length of the third slide rail 36.

[0096] The hose is equipped with a second solenoid valve, which is electrically connected to the controller mentioned above. The controller controls the opening or closing of the second solenoid valve to open or close the hose, thereby enabling the injection or cessation of the washing liquid.

[0097] In this embodiment, the clothes rack 2 is used to hang clothes to be washed. The number of clothes to be washed that the clothes rack 2 can hang can be designed according to the size of the washing chamber 11 inside the casing 1, and can be specifically determined in conjunction with the number of hangers 23 described below.

[0098] In some real-time configurations, the garment holder 2 includes garment supports, with multiple garment supports arranged within the washing chamber 11 so that the garments to be washed hanging on the garment supports can be immersed in liquid for washing.

[0099] Optionally, such as Figure 1 As shown, the clothing rack 2 includes a support frame 22 and a hanger 23. The support frame 22 is installed in the washing chamber 11. The hanger 23 is detachably fixed on the support frame 22. The hanger 23 includes multiple connecting rods connected end to end in sequence, and adjacent connecting rods are rotatably connected by damping.

[0100] The rotatable damping connection between two adjacent connecting rods can refer to relevant technologies to adjust the angle between the two adjacent connecting rods to hang different types of laundry, thereby improving the applicability of the hanger 23.

[0101] The number of connecting rods included in the clothes hanger 23 can be odd. Of course, since adjacent connecting rod sections can rotate relative to each other, the number of connecting rods used for hanging laundry can be adjusted by adjusting the included angle (0 degrees or greater than 0 degrees) formed by adjacent connecting rod sections. For example, such as... Figure 1 As shown, the clothes hanger 23 includes five connecting rods. Assuming the garment to be washed is a shirt, the middle connecting rod located in the middle position is used to support the collar of the shirt, the side connecting rods located on both sides of the middle connecting rod are used to support the shoulder area of ​​the shirt, and the end connecting rods located at both ends are used to support the sleeve area of ​​the shirt.

[0102] Optionally, the length of some of the connecting rods in the multi-section connecting rod is adjustable. Thus, by adjusting the length of the connecting rods, the overall size of the hanger 23 can be adjusted, allowing the same hanger 23 to hang clothes of different sizes awaiting washing. For example, the length of the connecting rod can be extended to hang adult clothes, or the length can be shortened to hang children's clothes.

[0103] In some embodiments, when washing the clothes to be washed, in addition to washing the clothes by the washing head 372 included in the washing mechanism 37, the clothes can also be further washed by rinsing. The rinsing method can be manifested by the clothes holder 2 driving the clothes to be washed to rotate in the washing chamber 11, thereby achieving rinsing by agitation.

[0104] Optionally, such as Figure 1 and Figure 5 As shown, the washing assembly 3 also includes a fourth drive mechanism 38. The garment holder 2 includes a garment support and a turntable 21. The fourth drive mechanism 38 has a drive end, is fixed to the bottom of the housing 1, and extends into the washing chamber 11. The turntable 21 is located at the bottom of the washing chamber 11 and is fixedly connected to the drive end. The fourth drive mechanism 38 drives the turntable 21 to rotate. The garment support is fixed to the turntable 21. Considering the above-described case where the garment holder includes a support frame 22 and a hanger 23, the support frame 22 is fixed to the turntable 21.

[0105] Thus, the turntable 21 can be driven to rotate by controlling the fourth drive mechanism 38, which in turn drives the clothes to be washed to rotate through the clothes rack, thereby rinsing the clothes and improving washing efficiency. In addition, since the fourth drive mechanism 38 is located at the bottom of the casing 1, the clothes to be washed are suspended while rotating, avoiding the accumulation of clothes to be washed.

[0106] As described above, the controller is electrically connected to the fourth drive mechanism 38, thereby controlling the fourth drive mechanism 38 to rotate the turntable 21. Furthermore, the rotation of the turntable 21 driven by the fourth drive mechanism 38 not only rinses the clothes to be washed but also spins them dry, reducing residual water on the clothes.

[0107] The housing 1 has an installation chamber located below the washing chamber 11. The installation chamber and the washing chamber 11 have a through hole. The fourth drive mechanism 38 is installed in the installation chamber. The drive end of the fourth drive mechanism 38 extends into the washing chamber 11 through the through hole and is fixedly connected to the turntable 21.

[0108] In this embodiment of the disclosure, when hanging clothes to be washed on the clothes rack 2, in conjunction with the above description, clothes to be washed can be hung on all the hangers 23 or on some of the hangers 23.

[0109] When all the clothes hangers 23 are hanging clothes to be washed, the washing mechanism 37 can be moved in a basic manner to wash multiple clothes.

[0110] When some clothes hangers 23 have clothes to be washed, the position of the outermost clothes to be washed can be determined by combining the distance sensor installed in the washing chamber 11 of the housing 1 as described above, so as to reduce the moving area of ​​the washing mechanism 37 and improve washing efficiency.

[0111] Of course, the position of the outermost garment to be washed can also be determined by other means. For example, an identification tag can be affixed to the hanger 23 on which the garment to be washed is hung. This tag can then be read by an electronic reader. When the identification tag is read, it is determined that there is garment to be washed hanging on the hanger 23, and the washing mechanism 37 is then controlled to move within the area of ​​the hanger 23. When the identification tag is not read, it is determined that there is garment to be washed hanging on the hanger 23, and the washing mechanism 37 is then controlled to move within the area of ​​the hanger 23.

[0112] In this embodiment of the disclosure, the cleaning assembly 3 includes a first drive mechanism 31, a second drive mechanism 32, and a third drive mechanism 33. The first drive mechanism 31 is used to drive the second slide rail 35 to move along the length direction of the first slide rail 34 (i.e., the width direction W of the housing 1), the second drive mechanism 32 is used to drive the third slide rail 36 to move along the length direction of the second slide rail 35 (i.e., the height direction S of the housing 1), and the third drive mechanism 33 is used to drive the mounting block 371 to move along the length direction of the third slide rail 36 (i.e., the length direction L of the housing 1).

[0113] The mounting block 371 is slidably limited on the third slide rail 36. Thus, the third slide rail 36 only needs to satisfy the movable limit of the sliding cover; for example, such as... Figure 2 As shown, the third slide rail 36 can be formed by a straight rod.

[0114] The third slide rail 36 is slidably limited to the second slide rail 35. In this case, one end of the third slide rail 36 can be slidably limited to the second slide rail 35, while the other end of the third slide rail 36 is a free end; or it can be as follows... Figure 2 As shown, one end of the third slide rail 36 is slidably limited on the second slide rail 35, and the other end of the third slide rail 36 is synchronously slidably limited, thereby improving the stability of the limit of the third slide rail 36.

[0115] When the third slide rail 36 has a free end, the second slide rail 35 can be formed by a straight rod; when both ends of the third slide rail 36 are slidably limited, such as Figure 2 As shown, the second slide rail 35 can be formed by one of two straight rods arranged opposite each other on a rectangular frame.

[0116] The second slide rail 35 is slidably limited to the first slide rail 34. In this case, one end of the second slide rail 35 can be slidably limited to the first slide rail 34, while the other end of the second slide rail 35 is a free end; or it can be as follows... Figure 2 As shown, one end of a straight rod, which is parallel to the second slide rail 35 and is an integral structure, is slidably limited on the first slide rail 34, while the other end is a free end.

[0117] When one end of the second slide rail 35 is slidably connected to the first slide rail 34, the first slide rail 34 can be formed by a straight rod; when one end of a straight rod arranged parallel to the second slide rail 35 is slidably connected to the first slide rail 34, in order to ensure the sliding limit of the second slide rail 35 itself, the first slide rail 34 can be formed by one of two straight rods arranged opposite to each other on a rectangular frame, and the sliding limit of one end of the second slide rail 35 itself is on the other straight rod.

[0118] In this embodiment, the specific structures of the first drive mechanism 31, the second drive mechanism 32, and the third drive mechanism 33 may be the same or different. The following explanation will only take the first drive mechanism 31 as an example.

[0119] In some implementations, such as Figure 2 As shown, the first drive mechanism 31 includes a drive motor 311 and a rack 312. The rack 312 is fixed on the first slide rail 34, and the length directions of the two are parallel. The drive motor 311 is fixed on the second slide rail 35, and the output end of the drive motor 311 meshes with the rack 312. Thus, after the drive motor 311 is started, the output shaft of the drive motor 311 rotates relative to the rack 312 and moves synchronously along the length direction of the rack 312. Therefore, with the rack 312 in a fixed position, the drive motor 311 and the second slide rail 35 move synchronously along the length direction of the first slide rail 34.

[0120] In other embodiments, the first drive mechanism 31 includes a drive motor 311 and a transmission screw. The transmission screw is fixed on a first slide rail 34, and the length direction of the transmission screw is parallel to the length direction of the first slide rail 34. One end of the transmission screw is fixedly connected to the output end of the drive motor 311, and the other end is threadedly connected to one end of a second slide rail 35. The second slide rail 35 is circumferentially limited on the first slide rail 34 along the transmission screw. Thus, after the drive motor 311 is started, the drive motor 311 drives the transmission screw to rotate synchronously. Since the second slide rail 35 is circumferentially limited on the first slide rail 34 along the transmission screw, the second slide rail 35 can move along the length direction of the transmission screw, i.e., move along the length direction of the first slide rail 34, during the screw's rotation in or out.

[0121] In some embodiments, the first drive mechanism 31 includes a drive motor 311, an auxiliary roller 313, and a conveyor belt 314. The drive motor 311 and the auxiliary roller 313 are fixed at both ends of the first slide rail 34. The output shaft of the drive motor 311 is parallel to the auxiliary roller 313 and perpendicular to the length direction of the first slide rail 34. The conveyor belt 314 is wound around the output shaft of the drive motor 311 and the auxiliary roller 313, and the conveyor belt 314 is fixedly connected to the second slide rail 35. Thus, after the drive motor 311 is started, the drive motor 311 drives the conveyor belt 314 to rotate, thereby driving the second slide rail 35 to move along the length direction of the conveyor belt 314, that is, to move along the length direction of the first slide rail 34.

[0122] In conjunction with the above, the drive motor 311 is electrically connected to the controller, thereby controlling the start and stop of the drive motor 311 through the controller, realizing the reciprocating movement of the second slide rail 35 along the length direction of the first slide rail 34.

[0123] For example, such as Figure 2 As shown, the third drive mechanism 33 includes a drive motor 311, an auxiliary roller 313, and a conveyor belt 314, and the connection relationship can be referred to the above-described embodiments. This disclosure does not limit this aspect.

[0124] In this embodiment, the washing mechanism 37 may include one or two washing heads 372. When the washing mechanism 37 includes one washing head 372, the washing head 372 is rotatably fixed to the mounting block 371. After the washing head 372 finishes washing the clothes on one side, it is controlled to rotate 180 degrees to wash the clothes on the other side. When the washing mechanism 37 includes two washing heads 372, the two washing heads 372 can simultaneously wash the clothes on both sides, thereby improving washing efficiency.

[0125] The washing head 372 can be installed on one side of the mounting block 371 along the length direction of the first slide rail 34 (i.e., the width direction W of the housing 1). Of course, the washing head 372 can also be installed on one side of the mounting block 371 along the length direction of the second slide rail 35 (i.e., the height direction S of the housing 1), or on one side of the mounting block 371 along the length direction of the third slide rail 36 (i.e., the length direction L of the housing 1), as long as the washing head 372 can wash the clothes to be washed, this embodiment does not limit it.

[0126] Optionally, if the washing head 372 is rotatable, the washing head 372 is fixed to the mounting block 371 by a rotary motor. The rotary motor is electrically connected to the controller so that the controller can control the rotation of the rotary motor to achieve synchronous rotation of the washing head 372.

[0127] In this embodiment, the washing head 372 includes at least one of a hard-bristled brush, a soft-bristled brush, and an ultrasonic generator. When the washing head 372 includes one of these washing tools, it is detachably fixed to the mounting block 371. This allows for easy replacement of the washing head 372 (i.e., the washing tool) when washing clothes of different materials, thus preventing damage to the fabric. When the washing head 372 includes multiple washing tools such as a hard-bristled brush, a soft-bristled brush, and an ultrasonic generator, it is rotatably mounted on the mounting block 371. This allows for easy replacement of the washing tools by rotating the washing head 372 when washing clothes of different materials, thus preventing damage to the fabric.

[0128] In this embodiment, after the clothes to be washed are hung on the clothes rack 2, the washing mechanism 37 can be moved omnidirectionally to wash the clothes. Alternatively, the washing mechanism 37 can be controlled to move within the area corresponding to the clothes (the orthographic projection of the clothes onto the length of the first slide rail 34) using edge information of the clothes to be washed, thus achieving washing. By incorporating the edge information of the clothes, the movement range of the washing mechanism 37 can be reduced, thereby improving washing efficiency.

[0129] When the washing mechanism 37 washes the clothes to be washed, the second slide rail 35 can be moved to the position of the clothes to be washed according to the edge information of the clothes to be washed. Then, the second drive mechanism 32 and the third drive mechanism 33 drive the washing mechanism 37 to move in the area corresponding to the clothes to be washed, so as to realize the washing of the clothes to be washed.

[0130] The edge information of the clothes to be washed can be obtained in two ways. The first way is to take a picture of the clothes before putting them into the washing chamber 11 of the casing 1, and then determine the edge information of the clothes based on the picture. The second way is to take a picture of the clothes before filling the washing chamber 11 with water, and then determine the edge information of the clothes based on the picture.

[0131] Regarding the second method mentioned above, such as Figure 2As shown, the washing mechanism 37 also includes a supplementary light 374 and a camera 373. The supplementary light 374 and the camera 373 are simultaneously fixed on one side of the mounting block 371 along the length of the first slide rail 34. Thus, after the camera 373 takes a picture of the clothes to be washed, the image can be analyzed to obtain the edge information of the clothes. Furthermore, due to the supplementary light 374, the image of the clothes to be washed taken by the camera 373 will be clearer under supplementary lighting, avoiding dim lighting inside the washing chamber 11, thereby ensuring the accuracy of the edge information of the clothes to be washed.

[0132] In the case of regular washing of the clothes to be washed, only the edge information of the clothes needs to be determined, so only one camera 373 needs to be installed on the mounting block 371. However, when washing stained areas on the clothes, two cameras 373 or one camera 373 can be installed on the mounting block 371. The installation method of two cameras 373 or one camera 373 on the mounting block 371 can be referred to the above-described embodiments.

[0133] It should be noted that after determining the edge information of the clothes to be washed through the above two methods, the stain boundary information of the clothes to be washed can be further determined. Then, when washing the clothes, the stained areas on the clothes to be washed can be focused on washing according to the stain boundary information, thereby ensuring the washing effect.

[0134] In some implementations, such as Figure 5 and Figure 6 As shown, the washing machine 10 also includes a drying assembly 4; the housing 1 has a drying chamber 16 and an air duct 17 connecting the drying chamber 16 and the washing chamber 11; the drying assembly 4 has a hot air outlet, the drying assembly 4 is fixed inside the drying chamber 16, and the hot air outlet faces the air inlet of the air duct 17.

[0135] Thus, by setting up the drying component 4, the clothes to be washed can be dried under the action of the hot airflow generated by the drying component 4, thereby further improving the multi-functionality of the washing machine 10 and reducing the subsequent manual hanging and drying operations.

[0136] Optionally, the bottom of the housing 1 has multiple air outlets 18, which connect the washing chamber 11 and the drying chamber 16, allowing the hot airflow generated by the drying assembly 4 to enter the washing chamber 11 through the multiple air outlets 18 at the bottom of the housing 1. Alternatively, this can be combined with the aforementioned case where the clothes holder 2 includes a turntable 21, such as... Figure 5 or Figure 6 As shown, the turntable 21 has multiple air outlets 18, which are connected to the ventilation duct 17 and the washing chamber 11, so that the hot airflow generated by the drying component 4 enters the washing chamber 11 along the multiple air outlets 18 on the turntable 21.

[0137] In some implementations, such as Figure 6 As shown, the drying assembly 4 includes an airflow fan 41, a heating module 42, and a ventilation duct 43. The airflow fan 41 is fixedly connected to the heating module 42, and the heating module 42 is fixedly connected to the first port of the ventilation duct 43. The second port of the ventilation duct 43 faces the air inlet of the air duct 17. Thus, the heat generated by the heating module 42 during operation can flow along the ventilation duct 43 to the air duct 17 under the action of the airflow fan 41, and then flow along multiple air outlets 18 to the washing chamber 11, thereby drying the clothes to be washed.

[0138] The airflow fan 41 can be a conventional fan, as long as it can promote fluid flow. The air intake side of the airflow fan 41 can be connected to the external environment to avoid negative pressure problems. The heating module 42 can be a PCT heater, etc.

[0139] In the case where the drying chamber 16 and the washing chamber 11 are connected by the air duct 17, in order to prevent the liquid in the washing chamber 11 from flowing into the air duct 17, a one-way valve may be provided in the air duct 17 near the air outlet 18, so that the hot air can flow in one direction through the one-way conduction of the one-way valve, while preventing the liquid from flowing into the air duct 17 along the air outlet 18.

[0140] Of course, a duct drain pipe 19 can also be installed inside the duct 17, i.e. Figure 4 and Figure 5 As shown, the washing machine 10 also includes a duct drain pipe 19, which is located inside the duct 17. One end of the duct drain pipe 19 can be selectively connected to or disconnected from the drain outlet 13. In this way, when liquid in the washing chamber 11 flows into the duct 17 along the air outlet 18, the liquid in the duct 17 can be discharged through the duct drain pipe 19, avoiding the accumulation of liquid in the duct 17.

[0141] Figure 7 A schematic flowchart illustrating a washing method for a washing machine is provided. This washing method is used in the controller of the washing machine, which includes the washing components described above. Figure 7 As shown, the washing method of a washing machine includes the following steps:

[0142] Step S710: Obtain the first side images of multiple garments to be washed.

[0143] Step S720: Determine the edge information of multiple garments to be washed based on multiple first-side garment images.

[0144] Step S730: Control the first drive mechanism, the second drive mechanism, and the third drive mechanism according to multiple edge information to drive the cleaning mechanism to move and wash multiple clothes to be washed.

[0145] In this embodiment, the edge information of the garment to be washed is determined based on a first image of the garment. Then, the washing mechanism is controlled to move within the area corresponding to the garment (the orthographic projection of the garment onto the length of the first slide rail) based on this edge information, thereby washing the garment. This reduces the range of motion of the washing mechanism, thus improving washing efficiency.

[0146] In step S710 above, the first image of the clothes to be washed can be taken before the clothes are put into the washing machine, and the captured image can be transmitted to the controller as the first image of the clothes to be washed, thereby realizing the acquisition of the first image of the clothes to be washed.

[0147] Of course, you can also take a picture of the clothes to be washed after putting them into the washing machine, and transmit the picture as the first image of the clothes to the control unit, thus obtaining the first image of the clothes to be washed.

[0148] In conjunction with the above-described embodiments, where the cleaning mechanism includes a camera, the method for acquiring a first-side image of the garment to be washed using the camera included in the cleaning mechanism includes: Step S711, determining multiple location information and multiple point information corresponding to each location information; Step S712, controlling a first driving mechanism to drive a second slide rail to move based on the first location information, where the first location information is any one of the multiple location information; Step S713, controlling a second driving mechanism and a third driving mechanism to drive a mounting block to move based on the multiple point information corresponding to the first location information, while simultaneously acquiring multiple first images captured by the camera; Step S714, generating a first-side image corresponding to the first location information based on the multiple first images; Step S715, selecting multiple first-side garment images from the first-side images corresponding to the multiple location information.

[0149] In conjunction with the cleaning assembly described in the above embodiments, the length direction of the first slide rail is taken as the z-axis, the length direction of the second slide rail is taken as the y-axis, and the length direction of the third slide rail is taken as the x-axis.

[0150] In step S711 above, the position information refers to the z-axis coordinate value of the position point where the second slide rail will stop when it moves along the z-axis. Since the washing chamber inside the washing machine is small and the camera is close to the clothes to be washed, it is difficult to take a picture of the entire area of ​​the clothes to be washed with one lens. Therefore, the camera can take pictures in different areas at multiple positions. At this time, the position information is the x-axis coordinate value and y-axis coordinate value of the position point where the camera is taking a picture of a certain area.

[0151] The number of location information points can be determined based on the number of hangers included in the clothing rack. Of course, since some hangers may not have clothes to be washed on them, this can be further determined by considering whether or not clothes are hanging on the hangers, thereby improving the efficiency of acquiring the first image of the clothing and thus improving washing efficiency.

[0152] For example, given multiple location information, in the case where a distance sensor is installed in the washing chamber as described in the above embodiments, multiple initial location information, as well as a first distance and a second distance, can be obtained first, and then multiple location information can be obtained by filtering from the multiple initial location information based on the first distance and the second distance.

[0153] The initial position information is determined based on the number of hangers and their relative positions along the length of the first slide rail. Each initial position information corresponds one-to-one with a hanger, and each initial position information is used to identify the position of a hanger on the z-axis (i.e., the z-axis coordinate value). The first distance and the second distance refer to the distance between the outermost clothes to be washed on both sides of the clothes rack along the z-axis and the drum wall of the washing machine (i.e., the wall of the washing chamber). Thus, the position range of the multiple clothes to be washed hanging on the clothes rack on the z-axis can be determined based on the first distance and the second distance, and then multiple position information located within that position range can be selected from the multiple initial position information.

[0154] In step S712 above, after determining multiple position information through step S711, taking the first position information (i.e. any position information among the multiple position information) as an example, the first drive mechanism is controlled according to the z-axis coordinate value corresponding to the first position information to drive the second slide rail to move along the z-axis to the corresponding position, so that at that position, the washing mechanism is controlled to take pictures of the clothes to be washed in the plane containing the x-y axis.

[0155] In step S713 above, after determining multiple point information corresponding to each position information through step S711, the second drive mechanism and the third drive mechanism are controlled according to the x-axis coordinate value and y-axis coordinate value corresponding to the multiple point information to drive the cleaning mechanism to move sequentially at multiple position points corresponding to the multiple point information, so as to obtain the first image obtained by the camera at each position point.

[0156] In step S714 above, multiple first images obtained by taking pictures at multiple location points corresponding to the first location information can be synthesized to obtain a first surface image corresponding to the first location information. The specific process of the synthesis operation can be found in related technologies, and this disclosure does not limit it.

[0157] For multiple first-side images corresponding to multiple location information, there may be empty images (i.e., images that do not contain the clothes to be washed). Therefore, empty images can be filtered out through step S715, that is, multiple first-side clothing images of the clothes to be washed are obtained from the multiple first-side images. The specific process of the filtering operation can be referred to in related technologies, and this disclosure does not limit it. For example, since the backgrounds of the empty images are basically the same, a background image can be pre-stored, and then, by combining the grayscale of the background image, multiple first-side clothing images can be obtained from the multiple first-side images.

[0158] In step S720 above, the first garment images of the multiple garments to be washed can be processed in the following way to obtain the edge information of each garment.

[0159] Optionally, taking one of a plurality of first garment images as an example, the process includes: normalizing the first garment image to obtain a normalized image; performing grayscale processing on the normalized image to obtain a grayscale image; and determining the edge information of the garment to be washed based on the grayscale image.

[0160] The normalization processing of the first clothing image refers to normalizing the dimensions (length and width) of the first clothing image to ensure that the multiple edge information determined subsequently can correspond to the same coordinate system. The specific processes of the above-mentioned normalization and grayscale processing can be found in related technologies, and will not be elaborated upon in this disclosure.

[0161] After obtaining a grayscale image of the clothes to be washed, edge trajectories in the grayscale image can be determined using an edge algorithm. Then, the x-axis and y-axis coordinates of each pixel on the edge trajectory can be determined based on these edge trajectories. The edge algorithm can be the Canny edge operator, etc., and the specific algorithm process can refer to relevant technologies, as long as it can identify the edge trajectories of the clothes to be washed in the grayscale image.

[0162] It should be noted that, for the first image of the garment to be washed, in addition to normalization processing followed by grayscale processing, grayscale processing followed by normalization processing can also be performed first. This disclosure does not limit the specific method used.

[0163] Step S730 above includes: Step S731, acquiring position information corresponding to multiple edge information, and at least one set of movement start and stop parameters corresponding to each position information; Step S732, controlling the first drive mechanism to drive the second slide rail to move according to the first position information, wherein the first position information is any one of the multiple position information; Step S733, controlling the second drive mechanism and the third drive mechanism to drive the cleaning mechanism to move according to the at least one set of movement start and stop parameters corresponding to the first position information, and simultaneously controlling the cleaning mechanism to wash one side of the clothes to be washed.

[0164] In step S731 above, in conjunction with step S710 above, the multiple first-side clothing images are obtained by filtering from multiple first-side images, and each of the multiple first-side images has corresponding positional information, while the edge information is obtained by analyzing the first-side clothing images. Therefore, the positional information corresponding to the multiple edge information can be obtained by combining the positional information corresponding to the first-side images. In addition, for each edge information, at least one y-axis coordinate value can be determined based on the y-axis, and an x-axis coordinate value interval corresponding to each y-axis coordinate value can be determined, thereby defining a y-axis coordinate value and a corresponding x-axis coordinate value interval as a set of movement start and end parameters.

[0165] The implementation process of steps S732 and S733 can be referred to the implementation process of steps S712 and S713. The only difference is that in step S733, the second drive mechanism and the third drive mechanism are controlled according to at least one set of movement start and stop parameters to drive the cleaning mechanism to move, and at the same time, the washing head included in the cleaning mechanism is controlled to wash the clothes to be washed.

[0166] Figure 8 A schematic flowchart illustrating a washing method for a washing machine is provided. This washing method is used in the controller of the washing machine, which includes the washing components described above. Figure 8 As shown, the washing method of a washing machine includes the following steps:

[0167] Step S810: Obtain images of the first and second sides of multiple garments to be washed.

[0168] Step S820: Determine the edge information of multiple garments to be washed based on multiple first-side garment images.

[0169] Step S830: Determine the first set of stain boundary information and the second set of stain boundary information of the garment to be washed based on the first garment image and the second garment image.

[0170] Step S840: Based on the edge information of multiple garments to be washed, the first set of stain boundary information, and the second set of stain boundary information, control the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed.

[0171] In this embodiment, edge information of the garment to be washed is determined based on a first image of the garment. Then, the washing mechanism is controlled to move within the corresponding area of ​​the garment (the orthographic projection of the garment onto the length of the first slide rail) based on this edge information, thereby washing the garment. This reduces the movement range of the washing mechanism, thus improving washing efficiency. Furthermore, by determining first and second set of stain boundary information on the first side of the garment based on the first and second images of the garment, targeted washing can be achieved on the garment, ensuring effective washing.

[0172] In step S810 above, the method for acquiring the first and second images of the clothes to be washed can refer to the implementation process of step S710 above. The specific difference is that, based on the same point information, it is necessary to acquire a first image and a second image simultaneously. The first and second images are obtained by taking pictures of both sides of the mounting block by the camera.

[0173] For example, step S810 above includes: determining multiple location information and multiple point information corresponding to each location information; controlling a first driving mechanism to drive a second slide rail to move according to a first location information, wherein the first location information is any one of the multiple location information; controlling a second driving mechanism and a third driving mechanism to drive the mounting block to move according to the multiple point information corresponding to the first location information, while acquiring multiple first images and multiple second side images captured by the camera at the positions of the multiple point information corresponding to the first location information; generating a first side image and a second side image corresponding to the first location information according to the multiple first images and the multiple second images respectively; and filtering out multiple first side images and multiple second side images of clothing from the first side images and the corresponding second side images of the multiple location information.

[0174] In the case where the cleaning mechanism described in the above embodiments includes a camera, the cleaning mechanism may include a first camera and a second camera, or it may include a rotatable camera. In this case, in step S810, the second drive mechanism and the third drive mechanism are controlled according to a point information to drive the mounting block to move, while simultaneously acquiring a first image captured by the first camera and a second image captured by the second camera; or simultaneously acquiring a first image captured by the camera and a second image captured after the camera rotates by a first angle. For example, the first angle may be 180 degrees.

[0175] The specific implementation process of step S820 can be referred to the implementation process described in step S720 above, and this disclosure does not limit it.

[0176] In some embodiments of step S830 above, the first set of stain boundary information on the first side and the second set of stain boundary information on the second side of the garment to be washed can be determined directly based on the first garment image and the second garment image.

[0177] Taking the determination of the first set of stain boundary information on the first side of the garment based on the first side image of the garment to be washed as an example, for one of multiple first side images of the garment, the process includes: normalizing the first side image of the garment to obtain a normalized image; performing grayscale processing on the normalized image to obtain a grayscale image; and determining the first set of stain boundary information on the first side of the garment to be washed based on the grayscale image.

[0178] The normalization and grayscale processing of the first garment image can refer to the implementation process described in step S720 above. After obtaining the grayscale image of the first garment image, the stain boundary information in the grayscale image can be identified using a grayscale value recognition method, which serves as the first set of stain boundary information. The grayscale value recognition method can be Otsu's thresholding method, etc., and the specific algorithm process can refer to relevant technologies, as long as it can identify the stain boundary information in the grayscale image.

[0179] In other embodiments, historical stain information of the garment to be washed is obtained; a first set of current stain information and a second set of current stain information of the garment to be washed are determined based on the first and second images of the garment; based on the historical stain information, a first set of stain boundary information and a second set of stain boundary information are obtained by filtering from the first set of current stain information and the second set of current stain information.

[0180] The historical stain information of the garment to be washed refers to the historical average value of stain information (average grayscale value of pixels within the stain area) obtained from previous washing processes. The process of determining the first and second sets of current stain information can be as follows: First, determine the boundary information of the first and second sets of current stains (refer to the above-described process for determining the boundary information of the first and second sets of stains). Then, based on the grayscale image corresponding to the first garment image, determine the first set of current stain information (grayscale value of pixels within the current first set of stains). Finally, based on the grayscale image corresponding to the second garment image, determine the second set of current stain information (grayscale value of pixels within the current second set of stains).

[0181] Optionally, the method for filtering the first set of current stain information and the second set of current stain information to obtain the first set of stain boundary information and the second set of stain boundary information can be as follows: the historical average value of stain information of the same pixel is subtracted from the first set of current stain information and the second set of current stain information respectively. If the grayscale difference is greater than or equal to the difference threshold, the pixel corresponding to the grayscale difference can be determined as the pixel of the stain area. If the grayscale difference is less than the difference threshold, the pixel corresponding to the grayscale difference can be determined as the pixel of the non-stain area (such as the label area). Then, the first set of stain boundary information and the second set of stain boundary information of the clothes to be washed can be determined according to the grayscale difference of the pixels.

[0182] The implementation process of step S840 can refer to the implementation process described in step S730 above. The specific difference is that at least one set of first movement start and stop parameters corresponding to each position information can be obtained according to multiple edge information, and at least one set of second movement start and stop parameters corresponding to each position information can be obtained according to the first set of stain boundary information, and at least one set of third movement start and stop parameters corresponding to each position information can be obtained according to the second set of stain boundary information. The cleaning mechanism is controlled to wash one side of the clothes to be washed according to at least one set of first movement start and stop parameters, and at the same time, the cleaning mechanism is controlled to wash the first group of stain areas of the clothes to be washed according to at least one set of second movement stop parameters, or the cleaning mechanism is controlled to wash the second group of stain areas of the clothes to be washed according to at least one set of third movement stop parameters.

[0183] Instructions are required for the above. Figure 7 , Figure 8 The washing method shown, after completing the washing of the clothes to be washed through step 730 or step S840, can further perform operations such as rinsing and spin-drying on the clothes to be washed in the following manner. In the case where the washing assembly described in the above embodiment includes a fourth drive mechanism, after step 730 or step S840, it further includes: controlling the fourth drive mechanism to drive the clothes holder to rotate. Thus, under the control of the controller, rinsing and spin-drying of the clothes to be washed can be achieved.

[0184] It should also be noted that, although in Figure 7 , Figure 8 The washing method steps in this disclosure are described in a specific order; however, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0185] This disclosure also provides a washing device for a washing machine. The structure of the washing machine can be referred to in the above embodiments, and will not be repeated here.

[0186] The washing machine also includes a washing device, which is mainly used to acquire first-side images of multiple garments to be washed; determine edge information of multiple garments to be washed based on the multiple first-side images; and control a first drive mechanism, a second drive mechanism, and a third drive mechanism based on the multiple edge information to drive the washing mechanism to move and wash the multiple garments to be washed.

[0187] Furthermore, the washing device is also used to: acquire images of the second side of multiple garments to be washed; and determine the first set of stain boundary information and the second set of stain boundary information of the garments to be washed based on the first and second side images of the garments to be washed, respectively.

[0188] At this time, the first drive mechanism, the second drive mechanism, and the third drive mechanism are controlled according to multiple edge information to drive the cleaning mechanism to move and wash multiple clothes to be washed, including: controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the clothes to be washed according to edge information, the first set of stain boundary information, and the second set of stain boundary information.

[0189] In this embodiment, edge information of the garment to be washed is determined based on a first image of the garment. Then, the washing mechanism is controlled to move within the corresponding area of ​​the garment (the orthographic projection of the garment onto the length of the first slide rail) based on this edge information, thereby washing the garment. This reduces the movement range of the washing mechanism, thus improving washing efficiency. Furthermore, by determining first and second set of stain boundary information on the first side of the garment based on the first and second images of the garment, targeted washing can be achieved on the garment, ensuring effective washing.

[0190] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A washing method for a washing machine, characterized in that, The washing machine includes: Clothes rack for hanging laundry; A cleaning assembly, comprising a first drive mechanism, a second drive mechanism, a third drive mechanism, a first slide rail, a second slide rail, a third slide rail, and a cleaning mechanism; The first slide rail is fixed to the bottom of the washing machine along the width direction, the second slide rail is limited on the first slide rail, the first drive mechanism is used to drive the second slide rail to move along the first slide rail, the third slide rail is limited on the second slide rail along the length direction of the washing machine, the second drive mechanism is used to drive the third slide rail to slide along the second slide rail, the cleaning mechanism is limited on the third slide rail, and the third drive mechanism is used to drive the cleaning mechanism to move along the third slide rail; The washing method includes: acquiring first-side images of multiple garments to be washed; determining edge information of multiple garments to be washed based on the multiple first-side images; and controlling the first driving mechanism, the second driving mechanism, and the third driving mechanism to drive the washing mechanism to move based on the multiple edge information, thereby washing the multiple garments to be washed. The cleaning mechanism includes a mounting block and a camera. The mounting block is slidably limited on the third slide rail, and the camera is limited on the mounting block. A distance sensor is provided inside the washing machine, and the distance detection direction of the distance sensor is parallel to the length direction of the first slide rail. Acquiring multiple first-side images of the garments to be washed includes: determining multiple location information and multiple point information corresponding to each location information; controlling a first driving mechanism to drive a second slide rail to move based on the first location information, wherein the first location information is any one of the multiple location information; controlling the second driving mechanism and the third driving mechanism to drive the mounting block to move based on the multiple point information corresponding to the first location information, while simultaneously acquiring multiple first images captured by the camera; generating a first-side image corresponding to the first location information based on the multiple first images; and selecting multiple first-side garment images from the multiple first-side images corresponding to the multiple location information. The determination of multiple location information includes: acquiring multiple initial location information, as well as a first distance and a second distance, wherein the first distance and the second distance refer to the distance between the outermost clothes to be washed on both sides of the length of the first slide rail on the clothes rack and the drum wall of the washing machine; and selecting multiple location information from the multiple initial location information based on the first distance and the second distance.

2. The washing method as described in claim 1, characterized in that, The washing method further includes: Obtain images of the second side of multiple garments to be washed; Based on the first and second images of the garment to be washed, determine the first set of stain boundary information and the second set of stain boundary information of the garment to be washed, respectively. Controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed according to the edge information of the multiple garments to be washed, the first set of stain boundary information, and the second set of stain boundary information, includes: controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed according to the edge information of the multiple garments to be washed, the first set of stain boundary information, and the second set of stain boundary information.

3. The washing method as described in claim 2, characterized in that, Based on the first and second images of the garment to be washed, the first set of stain boundary information and the second set of stain boundary information of the garment to be washed are determined, including: Obtain historical stain information of the garments to be washed; Based on the first and second images of the garment to be washed, determine the first set of current stain information and the second set of current stain information for the garment to be washed, respectively. Based on the historical stain information, the first group of stain boundary information and the second group of stain boundary information are obtained by filtering from the first group of current stain information and the second group of current stain information.

4. The washing method as described in claim 3, characterized in that, The cleaning mechanism includes a mounting block and a camera. The mounting block is slidably limited on the third slide rail, and the camera is limited on the mounting block. Acquire multiple images of the first and second sides of the garments to be washed, including: Determine multiple location information and multiple point information corresponding to each location information; The first drive mechanism is controlled to drive the second slide rail to move according to the first position information, wherein the first position information is any one of the plurality of position information; The second driving mechanism and the third driving mechanism are controlled according to the multiple point information corresponding to the first location information to drive the mounting block to move, while acquiring multiple first images and multiple second images captured by the camera at the positions of the multiple point information corresponding to the first location information; Generate a first image and a second image corresponding to the first position information based on multiple first images and multiple second images respectively; Multiple first-side clothing images and multiple second-side clothing images are obtained by filtering from the first-side images and the corresponding second-side images corresponding to the multiple location information.

5. The washing method as described in claim 4, characterized in that, The mounting block is fixed with a first camera and a second camera on both sides along the length of the first slide rail. Acquiring a first image and a second image captured by the camera at a location specified in the point information includes: Acquire a first image captured by the first camera at a location specified in the location information, and a second image captured by the second camera at the same location specified in the location information.

6. The washing method as described in claim 4, characterized in that, The camera is rotatably fixed to the mounting block; Acquiring a first image and a second image captured by the camera at a location specified in the point information includes: Acquire a first image captured by the camera at a location specified in the location information; After controlling the camera to rotate by a first angle, a second image is acquired by the camera at a position of the specified point information.

7. The washing method as described in claim 1, characterized in that, Based on multiple pieces of edge information, the first drive mechanism, the second drive mechanism, and the third drive mechanism are controlled to drive the washing mechanism to move, thereby washing multiple pieces of clothing to be washed, including: Obtain the location information corresponding to each of the multiple edge information, and at least one set of movement start and end parameters corresponding to each of the location information; The first drive mechanism is controlled according to the first position information to drive the second slide rail to move, wherein the first position information is any one of the plurality of position information; Based on at least one set of movement start and stop parameters corresponding to the first position information, the second drive mechanism and the third drive mechanism are controlled to drive the cleaning mechanism to move, and at the same time, the cleaning mechanism is controlled to wash the clothes to be washed.

8. The washing method as described in claim 1, characterized in that, The washing machine also includes a fourth drive mechanism, which is fixed to the bottom of the washing machine and connected to the clothes holder. After controlling the movement of the washing mechanism to wash the multiple garments to be washed based on the multiple edge information, the method further includes: controlling the fourth drive mechanism to drive the garment holder to rotate.

9. A washing device for a washing machine, characterized in that, The washing machine includes: Clothes rack for hanging laundry; A cleaning assembly, comprising a first drive mechanism, a second drive mechanism, a third drive mechanism, a first slide rail, a second slide rail, a third slide rail, and a cleaning mechanism; The first slide rail is fixed to the bottom of the washing machine along the width direction, the second slide rail is limited on the first slide rail, the first drive mechanism is used to drive the second slide rail to move along the first slide rail, the third slide rail is limited on the second slide rail along the length direction of the washing machine, the second drive mechanism is used to drive the third slide rail to slide along the second slide rail, the cleaning mechanism is limited on the third slide rail, and the third drive mechanism is used to drive the cleaning mechanism to move along the third slide rail; The washing device is configured to acquire first-side images of multiple garments to be washed; determine edge information of multiple garments to be washed based on the multiple first-side images; and control the first driving mechanism, the second driving mechanism, and the third driving mechanism based on the multiple edge information to drive the washing mechanism to move and wash the multiple garments to be washed. The cleaning mechanism includes a mounting block and a camera. The mounting block is slidably limited on the third slide rail, and the camera is limited on the mounting block. A distance sensor is provided inside the washing machine, and the distance detection direction of the distance sensor is parallel to the length direction of the first slide rail. The washing device is further configured to: determine multiple location information and multiple point information corresponding to each location information; control the first driving mechanism to drive the second slide rail to move according to the first location information, wherein the first location information is any one of the multiple location information; control the second driving mechanism and the third driving mechanism to drive the mounting block to move according to the multiple point information corresponding to the first location information, while acquiring multiple first images captured by the camera; generate a first image corresponding to the first location information based on the multiple first images; and filter multiple first images of clothing from the first images corresponding to the multiple location information. The washing device is further configured to: acquire multiple initial position information, as well as a first distance and a second distance, wherein the first distance and the second distance refer to the distance between the outermost clothes to be washed on both sides of the length of the first slide rail on the clothes holder and the drum wall of the washing machine; and select multiple position information from the multiple initial position information based on the first distance and the second distance.

10. The washing apparatus as claimed in claim 9, characterized in that, The washing device is also used for: Obtain images of the second side of multiple garments to be washed; Based on the first and second images of the garment to be washed, determine the first set of stain boundary information and the second set of stain boundary information of the garment to be washed, respectively. Controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the multiple garments to be washed according to the edge information, the first set of stain boundary information, and the second set of stain boundary information, includes: controlling the first drive mechanism, the second drive mechanism, and the third drive mechanism to drive the cleaning mechanism to move and wash the garments to be washed according to the edge information, the first set of stain boundary information, and the second set of stain boundary information.

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