Method for removing debris from laundry products and washing machine

Abstract

The present application provides a method for removing debris from laundry and a washing machine. The method comprises: in response to a start instruction of a washing program, capturing multiple first images of laundry in the washing drum via the image acquisition device; executing the washing program to wash the laundry; when the washing program is completed, capturing multiple second images of the laundry via the image acquisition device; comparing the multiple first images with the multiple second images, and determining the presence of debris in the laundry when a speckled image appears in any of the second images; and controlling the washing drum to rotate at a first preset speed while simultaneously controlling the spray device and the drain device to open. The present application can improve the washing efficiency of the washing machine and enhance the user experience of using the washing machine.

Description

Technical Field

[0001] The present application relates to equipment washing technology, and in particular to a method for removing debris from washing products and a washing machine. Background Art

[0002] As people's living standards improve, washing machines have become an essential appliance in their daily lives. When washing clothes, users often forget to remove items (such as tissues, keys, and wallets) from pockets, causing these items to be washed away along with the clothes. Some items, such as tissues, are prone to becoming tangled in the clothes, making them difficult to remove after the wash cycle is complete.

[0003] Therefore, how to solve the problem of difficult disposal of debris after laundry is still worth studying. Summary of the Invention

[0004] The present application provides a method for removing debris from laundry products and a washing machine, which are used to solve the problem of difficult-to-handle debris after washing, thereby improving the washing effect of the washing machine and enhancing the user experience of using the washing machine.

[0005] In one aspect, the present application provides a method for removing debris from laundry, which is applied to a washing machine, the washing machine including an image acquisition device, a washing drum, a spray device, and a drainage device, the method comprising:

[0006] In response to a start instruction of a washing program, the image acquisition device acquires a plurality of first images of the laundry to be washed in the washing tub;

[0007] executing the washing program to wash the clothes to be washed;

[0008] When the washing program is completed, the image acquisition device acquires a plurality of second images of the laundry to be washed;

[0009] comparing the plurality of first images with the plurality of second images, and determining that there are foreign objects in the laundry when a speckled image appears in any of the second images;

[0010] The washing tub is controlled to rotate at a first preset speed, and the spray device and the drainage device are controlled to be opened at the same time.

[0011] Optionally, in response to a start instruction of a washing program, capturing a plurality of first images of the laundry to be washed in the washing tub by the image capture device includes:

[0012] In response to the start instruction, capturing an image of the laundry by the image capturing device;

[0013] The following acquisition operation is performed N times: the washing tub is rotated at a second preset speed, and after the washing tub stops, the image of the laundry to be washed is acquired by the image acquisition device, where N is an integer greater than or equal to 1.

[0014] Optionally, comparing the plurality of first images with the plurality of second images and determining that there are foreign objects in the laundry when a spot image appears in any of the second images includes:

[0015] Deleting a first image with abnormal data from the plurality of first images, wherein a pixel brightness value of a partial area in the first image with abnormal data is greater than or equal to a preset pixel brightness value;

[0016] The remaining first images are compared with the plurality of second images, and when a spot image appears in any one of the second images, it is determined that there are foreign objects in the laundry.

[0017] Optionally, comparing the plurality of first images with the plurality of second images, and determining that there are foreign objects in the laundry when a speckled image appears in any of the second images, includes:

[0018] The plurality of first images are compared with the plurality of second images, and when a spot image having the preset pixel brightness value and the preset grayscale value appears in any of the second images, it is determined that there are foreign objects in the clothes.

[0019] Optionally, also include:

[0020] When the duration of the operation of the spray device and the drainage device reaches a preset cleaning duration, controlling the image acquisition device to acquire a plurality of third images of the washed clothes;

[0021] The multiple third images are compared with the multiple first images. When a spot image appears in any of the third images, the washing drum is controlled to rotate at the first preset speed again, and the spray device and the drainage device are controlled to be turned on at the same time, until there is no spot image in the image of the clothes to be washed captured by the image capture device.

[0022] In another aspect, the present application provides a washing machine, comprising:

[0023] A washing drum, used for placing clothes to be washed;

[0024] An image acquisition device, configured to acquire images under the control of the control device;

[0025] a spraying device, for washing the laundry in the washing tub under the control of the control device;

[0026] a drainage device, used for performing drainage work under the control of the control device;

[0027] The control device is configured to respond to a start instruction of a washing program and capture a plurality of first images of the laundry to be washed in the washing tub through the image capture device;

[0028] executing the washing program to wash the clothes to be washed;

[0029] When the washing program is completed, the image acquisition device acquires a plurality of second images of the laundry to be washed;

[0030] comparing the plurality of first images with the plurality of second images, and determining that there are foreign objects in the laundry when a speckled image appears in any of the second images;

[0031] The washing tub is controlled to rotate at a first preset speed, and the spray device and the drainage device are controlled to be opened at the same time.

[0032] Optionally, the control device is configured to respond to a start instruction of a washing program and, when collecting a plurality of first images of the laundry in the washing tub through the image acquisition device, specifically to:

[0033] In response to the start instruction, capturing an image of the laundry by the image capturing device;

[0034] The following acquisition operation is performed N times: the washing tub is rotated at a second preset speed, and after the washing tub stops, the image of the laundry to be washed is acquired by the image acquisition device, where N is an integer greater than or equal to 1.

[0035] Optionally, the control device is configured to compare the plurality of first images with the plurality of second images, and when a speckled image appears in any of the second images, it is determined that there are foreign objects in the laundry, specifically configured to:

[0036] Deleting a first image with abnormal data from the plurality of first images, wherein a pixel brightness value of a partial area in the first image with abnormal data is greater than or equal to a preset pixel brightness value;

[0037] The remaining first images are compared with the plurality of second images, and when a spot image appears in any one of the second images, it is determined that there are foreign objects in the laundry.

[0038] Optionally, the control device is configured to compare the plurality of first images with the plurality of second images, and when a speckled image appears in any of the second images, it is determined that there are foreign objects in the laundry, specifically configured to:

[0039] The plurality of first images are compared with the plurality of second images, and when a spot image having the preset pixel brightness value and the preset grayscale value appears in any of the second images, it is determined that there are foreign objects in the laundry.

[0040] Optionally, the control device is further used to:

[0041] When the duration of the operation of the spray device and the drainage device reaches a preset cleaning duration, controlling the image acquisition device to acquire a plurality of third images of the washed clothes;

[0042] The multiple third images are compared with the multiple first images. When a spot image appears in any of the third images, the washing drum is controlled to rotate at the first preset speed again, and the spray device and the drainage device are controlled to be turned on at the same time, until there is no spot image in the image of the clothes to be washed captured by the image capture device.

[0043] The laundry debris removal method provided in this application is applied to a washing machine. The method can first determine whether there is debris in the laundry by comparing images of the laundry before and after washing. If there is debris in the laundry, the debris is removed. The method provided in this application can solve the problem of difficult to deal with debris after washing, improve the washing efficiency of the washing machine, and enhance the user experience of using the washing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0045] Figure 1 Schematic diagram of the washing machine provided in this application.

[0046] Figure 2 A schematic flow chart of a method for removing debris from laundry products provided in one embodiment of the present application.

[0047] Figure 3 A partial application diagram of a method for removing debris from laundry products provided in one embodiment of the present application.

[0048] Figure 4 A partial application diagram of a method for removing debris from laundry products provided in one embodiment of the present application.

[0049] Description of reference numerals:

[0050] washing machine 10

[0051] Washing drum 11

[0052] Image acquisition device 12

[0053] Spray device 13

[0054] Drainage device 14

[0055] Control device 15

[0056] Control Panel 16

[0057] The above drawings illustrate specific embodiments of the present disclosure, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0059] As people's living standards improve, washing machines have become an essential appliance in their daily lives. When washing clothes, users often forget to remove items (such as tissues, keys, and wallets) from pockets, causing these items to be washed away along with the clothes. Some items, such as tissues, are prone to becoming tangled in the clothes, making them difficult to remove after the wash cycle is complete.

[0060] Based on this, the present application provides a method for removing debris from laundry and a washing machine. The method for determining debris in laundry can determine whether new spots appear in the image of the laundry after washing by comparing the images of the laundry before and after washing. When new spots appear, it is determined that there are debris in the laundry placed in the washing drum.

[0061] The debris removal method of the laundry product provided in this application is applied to Figure 1The washing machine 10 shown in FIG. The washing machine 10 (control device 15 therein) can respond to a wash cycle start instruction by capturing multiple images of the washing drum 11 via the image capture device 12 provided therein. The washing cycle is then executed to clean the laundry. The images of the laundry before and after the washing cycle are then compared. If new spots appear in the images after the washing cycle, it is determined that the laundry placed in the washing drum 11 contains debris. The spray device 13 and drain device 14 in the washing machine 10 are then controlled to clean and remove the debris.

[0062] Therefore, the method provided in this application can solve the problem of difficult disposal of debris after washing, improve the washing effect of the washing machine, and improve the user experience of using the washing machine.

[0063] See Figure 2 , the present application embodiment 1 provides a method for removing debris from laundry products, which is applied to Figure 1 The washing machine 10 shown includes an image acquisition device 12, a washing tub 11, a spray device 13, and a drainage device 14. The method for removing debris from laundry includes:

[0064] S210 , in response to a start instruction of a washing program, a plurality of first images of the laundry to be washed in the washing tub are captured by the image capture device.

[0065] The start instruction of the washing program is inputted into the washing machine by the user. After the washing machine responds to the start instruction of the washing program, it controls the image acquisition device to start acquiring a plurality of first images of the laundry to be washed in the washing tub.

[0066] Optionally, the washing machine 10 responds to the start instruction of the washing program, captures the image of the clothes to be washed through the image acquisition device 12, and performs the following acquisition operation N times: rotating the washing drum 11 at a second preset speed, and capturing the image of the clothes to be washed through the image acquisition device 12 after the washing drum 11 stops, where N is an integer greater than or equal to 1.

[0067] like Figure 3As shown, in an optional embodiment, a user inputs a start command for the washing program through the control panel of the washing machine 10. The start command for the washing program instructs the washing drum 11 to rotate according to a preset rotation-stop ratio, and the image capture device 12 begins to capture first images of the laundry in the washing drum 11. When the washing drum 11 begins to rotate at the preset rotation-stop ratio and stops at different cut-off times, the control device 15 controls the image capture device 12 to capture multiple first images of the laundry placed in the washing drum 11. At this time, the washing drum 11 has not yet been immersed in water, and debris in the laundry has not yet been washed out. The multiple first images are all photos of the laundry before it is washed.

[0068] Optionally, when the laundry is tumbling in the washing tub 11 , the image acquisition device 12 may be used to photograph the laundry, and the control device 15 may capture the video footage to obtain a plurality of the first images.

[0069] Preferably, the clothes to be washed are photographed or filmed using three-dimensional imaging technology to ensure that the obtained photos or images contain richer information and strive to use as few pictures or photos as possible to represent the clothes to be washed.

[0070] When the laundry is filmed using a camera, the laundry is usually in motion, and multiple pictures need to be captured from the video to confirm basic information of the laundry (such as color, pattern, texture, material, etc.).

[0071] In this embodiment, it is preferred that multiple first images of the clothes to be washed placed in the washing drum 11 are collected when the washing drum 11 stops rotating. The multiple first images obtained are clearer than the first images obtained by video recording, and are more convenient to compare the first images with the second images mentioned below, and the comparison results are also more accurate.

[0072] S220, executing the washing program to wash the clothes.

[0073] The washing machine 10 controls related devices to wash the laundry placed in the washing tub 11 . The type of the washing program is selected by the user through the control panel 16 of the washing machine 10 .

[0074] The washing method (such as mixed washing, knitted clothing washing), washing time, water temperature during washing, type of detergent, number of washes and / or rinses of the washing program can be set according to actual needs, and this application does not limit it.

[0075] S230: When the washing program is completed, a plurality of second images of the laundry are captured by the image capture device.

[0076] After the washing program is completed, the washing tub 11 is in a stationary state. At this time, the image acquisition device 12 acquires a plurality of second images of the laundry placed in the washing tub 11 .

[0077] Optionally, after the washing program is completed, the washing tub 11 may be controlled to rotate at a certain rotation-stop ratio, and the image acquisition device 12 may be controlled to acquire multiple second images of the laundry placed in the washing tub 11 .

[0078] S240: Compare the plurality of first images with the plurality of second images. When a spot image appears in any one of the second images, it is determined that there are foreign objects in the laundry.

[0079] like Figure 4 As shown, the washing machine 10 compares the plurality of second images with the plurality of first images. When any of the second images shows the Figure 4 When the spot image is shown on the right, it is determined that there are foreign objects in the laundry, such as paper scraps.

[0080] Optionally, first images with abnormal data may be deleted from the plurality of first images, where the pixel brightness value of a portion of the first image with abnormal data is greater than or equal to a preset pixel brightness value. The remaining first images are then compared with the plurality of second images. If a speckled image appears in any of the second images, it is determined that foreign matter is present in the laundry.

[0081] The larger the pixel brightness value, the stronger the reflectivity of the image. If the laundry is light-colored, the lighter the color of the laundry, the stronger the luminous intensity of the laundry compared to dark-colored laundry when in the washing tub 11, and the greater the pixel brightness value of the laundry.

[0082] This embodiment primarily detects the presence of paper scraps in laundry. Lighter laundry colors can interfere with this determination (for example, white laundry). Therefore, to improve the accuracy of detecting paper scraps in laundry, if a first image contains abnormal data (the pixel brightness value of a portion of the first image is greater than or equal to a preset pixel brightness value), the first image can be removed from the first plurality of first images collected.

[0083] When comparing the first image and the second image, they must be sufficiently clean; otherwise, they cannot be used for comparison. Optionally, an image can be used for comparison only when its clarity exceeds a preset clarity level. Accordingly, when there are duplicate images among the multiple first images or the multiple second images captured by the image capture device 12 of the washing machine 10, only the clearest of the duplicate images is retained and stored.

[0084] S250, controlling the washing tub to rotate at a first preset speed, and simultaneously controlling the spraying device and the drainage device to open.

[0085] When debris is detected in the laundry, a debris removal process is initiated to remove the debris. The washing machine 10 controls the rotation of the washing tub 11 and the spray device 13 to rinse the laundry, causing the debris to float to the surface. The drainage device 14 is then controlled to drain the debris out of the washing tub 11 and the washing machine 10.

[0086] The spraying amount and spraying duration of the spraying device 13 can be adjusted according to actual needs, and this application does not impose any restrictions. Optionally, the control device 15 can control the drainage device 14 to perform drainage after detecting that the water level reaches a preset water level through a water level sensor in the washing machine 10.

[0087] Optionally, when the spray device 13 and the drain device 14 have been on for a preset cleaning time, the image capture device 12 is controlled to capture multiple third images of the washed laundry. The multiple third images are then compared with the multiple first images. If spots appear in any of the third images, the washing tub is controlled to rotate at the first preset speed again, and the spray device 13 and the drain device 14 are simultaneously controlled to be on until no spots appear in the images of the laundry captured by the image capture device 12. The preset cleaning time is, for example, 15 minutes.

[0088] The washing machine 10 controls the image acquisition device 12 to capture the image of the washed clothes when the spray device 13 and the drainage device 14 are in operation. Alternatively, the user may first control the spray device 13 and the drainage device 14 to stop working, and then use the image acquisition device 12 to capture the image of the washed clothes.

[0089] The laundry debris removal method provided in this embodiment is applied to the washing machine 10. The method can first determine whether there are debris in the laundry by comparing the images of the laundry before and after washing. If there are debris in the laundry, the debris is cleaned.

[0090] The method provided in this embodiment can solve the problem of difficult disposal of debris after washing, improve the washing effect of the washing machine, and enhance the user experience of using the washing machine.

[0091] See Figure 1 The present application also provides a washing machine 10 , including a washing drum 11 , an image acquisition device 12 , a spray device 13 , a drainage device 14 and a control device 15 .

[0092] The washing tub 11 is used to place clothes to be washed, the image acquisition device 12 is used to acquire images under the control of the control device 15, the spray device 13 is used to wash the clothes to be washed in the washing tub 11 under the control of the control device 15, and the drainage device 14 is used to drain water under the control of the control device 15.

[0093] The image acquisition device 12 may be a photographing device or a video camera. The photographing device or the video camera is mounted on the upper cover of the washing machine 10 and does not rotate with the rotation of the washing tub 11 .

[0094] The control device 15 is used to respond to the start instruction of the washing program, collect multiple first images of the clothes to be washed in the washing tub 11 through the image acquisition device 12, and execute the washing program to wash the clothes to be washed;

[0095] When the washing program is completed, the image acquisition device 12 acquires a plurality of second images of the laundry to be washed;

[0096] comparing the plurality of first images with the plurality of second images, and determining that there are foreign objects in the laundry when a speckled image appears in any of the second images;

[0097] The washing tub 11 is controlled to rotate at a first preset speed, and the spray device 13 and the drain device 14 are controlled to be opened at the same time.

[0098] The control device 15 is used to respond to a start instruction of a washing program and to collect multiple first images of the laundry in the washing tub 11 through the image acquisition device 12. Specifically, the control device 15 is used to respond to the start instruction and to collect images of the laundry through the image acquisition device 12.

[0099] The following acquisition operation is performed N times: the washing tub 11 is rotated at a second preset speed, and after the washing tub 11 stops, the image acquisition device 12 acquires the image of the laundry to be washed, where N is an integer greater than or equal to 1.

[0100] The control device 15 is configured to compare the plurality of first images with the plurality of second images, and when a speckled image appears in any of the second images, determine that there are foreign objects in the laundry, specifically to: delete a first image having abnormal data from the plurality of first images, where the pixel brightness value of a portion of the first image having abnormal data is greater than or equal to a preset pixel brightness value;

[0101] The remaining first images are compared with the plurality of second images, and when a spot image appears in any one of the second images, it is determined that there are foreign objects in the laundry.

[0102] The control device 15 is used to compare the multiple first images with the multiple second images, and when a spot image appears in any one of the second images, it is determined that there are foreign objects in the clothes to be washed. Specifically, it is used to compare the multiple first images with the multiple second images, and when a spot image with the preset pixel brightness value and the preset grayscale value appears in any one of the second images, it is determined that there are foreign objects in the clothes.

[0103] The control device 15 is further configured to, when the duration for which the spray device 13 and the drain device 14 have been turned on reaches a preset washing duration, control the image acquisition device 12 to capture a plurality of third images of the washed laundry; compare the plurality of third images with the plurality of first images; and when a speckled image appears in any of the third images, control the washing tub 11 to rotate at the first preset speed again, and simultaneously control the spray device 13 and the drain device 14 to be turned on, until no speckled image appears in the images of the laundry captured by the image acquisition device 12.

[0104] The present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the instructions are executed, the computer-executable instructions are executed by a processor to implement the method for removing debris from laundry products provided in any of the above embodiments.

[0105] It should be noted that the computer-readable storage medium may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface mount storage device, an optical disc, or a compact disc read-only memory (CD-ROM). It may also be various electronic devices that include one or any combination of the above memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0106] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0107] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0108] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0109] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0110] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0112] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for removing debris from laundry, characterized in that: Applied to a washing machine, the washing machine includes an image acquisition device, a washing drum, a spray device, and a drainage device, and the method includes: In response to a start instruction of a washing program, the image acquisition device acquires a plurality of first images of the laundry to be washed in the washing tub; executing the washing program to wash the clothes to be washed; When the washing program is completed, the image acquisition device acquires a plurality of second images of the laundry to be washed; comparing the plurality of first images with the plurality of second images, and determining that there are foreign objects in the laundry when a speckled image appears in any of the second images; The washing tub is controlled to rotate at a first preset speed, and the spray device and the drainage device are controlled to be opened at the same time.

2. The method according to claim 1, characterized in that The step of collecting a plurality of first images of the laundry in the washing tub by the image acquisition device in response to a start instruction of the washing program includes: In response to the start instruction, capturing an image of the laundry by the image capturing device; The following acquisition operation is performed N times: the washing tub is rotated at a second preset speed, and after the washing tub stops, the image of the laundry to be washed is acquired by the image acquisition device, where N is an integer greater than or equal to 1.

3. The method according to claim 1, characterized in that The step of comparing the plurality of first images with the plurality of second images and determining that there are foreign objects in the laundry when a spot image appears in any of the second images includes: Deleting a first image with abnormal data from the plurality of first images, wherein a pixel brightness value of a partial area in the first image with abnormal data is greater than or equal to a preset pixel brightness value; The remaining first images are compared with the plurality of second images, and when a spot image appears in any one of the second images, it is determined that there are foreign objects in the laundry.

4. The method according to any one of claims 1 to 3, characterized in that The step of comparing the plurality of first images with the plurality of second images and determining that there are foreign objects in the laundry when a spot image appears in any of the second images includes: The plurality of first images are compared with the plurality of second images, and when a spot image with a preset pixel brightness value and a preset grayscale value appears in any of the second images, it is determined that there are foreign objects in the clothes.

5. The method according to any one of claims 1 to 3, characterized in that Also includes: When the duration of the operation of the spray device and the drainage device reaches a preset cleaning duration, controlling the image acquisition device to acquire a plurality of third images of the washed clothes; The multiple third images are compared with the multiple first images. When a spot image appears in any of the third images, the washing drum is controlled to rotate at the first preset speed again, and the spray device and the drainage device are controlled to be turned on at the same time, until there is no spot image in the image of the clothes to be washed captured by the image capture device.

6. A washing machine, characterized in that: include: A washing drum, used for placing clothes to be washed; An image acquisition device, configured to acquire images under the control of the control device; a spraying device, for washing the laundry in the washing tub under the control of the control device; a drainage device, used for performing drainage work under the control of the control device; The control device is configured to respond to a start instruction of a washing program and capture a plurality of first images of the laundry to be washed in the washing tub through the image capture device; executing the washing program to wash the clothes to be washed; When the washing program is completed, the image acquisition device acquires a plurality of second images of the laundry to be washed; comparing the plurality of first images with the plurality of second images, and determining that there are foreign objects in the laundry when a speckled image appears in any of the second images; The washing tub is controlled to rotate at a first preset speed, and the spray device and the drainage device are controlled to be opened at the same time.

7. The washing machine according to claim 6, characterized in that The control device is used to respond to a start instruction of a washing program, and when the image acquisition device acquires a plurality of first images of the laundry to be washed in the washing tub, specifically to: In response to the start instruction, capturing an image of the laundry by the image capturing device; The following acquisition operation is performed N times: the washing tub is rotated at a second preset speed, and after the washing tub stops, the image of the laundry to be washed is acquired by the image acquisition device, where N is an integer greater than or equal to 1.

8. The washing machine according to claim 7, characterized in that The control device is used to compare the plurality of first images with the plurality of second images, and when a spot image appears in any of the second images, it is determined that there are foreign objects in the laundry, specifically for: Deleting a first image with abnormal data from the plurality of first images, wherein a pixel brightness value of a partial area in the first image with abnormal data is greater than or equal to a preset pixel brightness value; The remaining first images are compared with the plurality of second images, and when a spot image appears in any one of the second images, it is determined that there are foreign objects in the laundry.

9. The washing machine according to any one of claims 6 to 8, characterized in that: The control device is used to compare the plurality of first images with the plurality of second images, and when a spot image appears in any of the second images, it is determined that there are foreign objects in the laundry, specifically for: The plurality of first images are compared with the plurality of second images, and when a spot image with a preset pixel brightness value and a preset grayscale value appears in any of the second images, it is determined that there are foreign objects in the laundry.

10. The washing machine according to claim 9, characterized in that The control device is also used for: When the duration of the operation of the spray device and the drainage device reaches a preset cleaning duration, controlling the image acquisition device to acquire a plurality of third images of the washed clothes; The multiple third images are compared with the multiple first images. When a spot image appears in any of the third images, the washing drum is controlled to rotate at the first preset speed again, and the spray device and the drainage device are controlled to be turned on at the same time, until there is no spot image in the image of the clothes to be washed captured by the image capture device.

Images