Clothes weighing method, apparatus, washing machine and control method, device and medium thereof

Abstract

The application provides a clothes weighing method and device, a washing machine, a control method and equipment thereof and a medium, which comprises the following steps: if it is detected that clothes to be washed exist, rotating a drum of the washing machine, obtaining size information of total clothes when all the clothes to be washed gather together; controlling the drum to stop rotating, obtaining back electromotive force weighing information and multiple free fall images in a free fall process of the clothes to be washed, identifying clothes blocks in each free fall image, and determining a covariance of each clothes block; inputting the back electromotive force weighing information, the size information of the total clothes and the covariance of each clothes block into a pre-trained weighing model, and outputting weighing information of the clothes to be washed. In this way, in the process of weighing the clothes, the distribution state and volume state of the clothes in the drum can be obtained by using the image sensing method, and the back electromotive force weighing information is comprehensively calculated to correct the back electromotive force weighing information, so that more accurate weighing information of the clothes is obtained.

Description

Technical Field

[0001] This invention relates to the field of clothing care equipment technology, specifically providing a method, apparatus, washing machine and its control method, equipment and medium for weighing clothing. Background Technology

[0002] With rising living standards, washing machines have become essential household appliances. Currently, fully automatic washing machines are popular due to their high degree of automation, saving manpower compared to twin-tub washing machines. Most fully automatic washing machines use fuzzy logic to weigh the clothes inside and then automatically adjust the water level, washing time, and rinsing parameters based on the weight of the clothes.

[0003] In related technologies, washing machines acquire motor parameter values ​​such as back electromotive force and voltage when the motor stops through a data acquisition module and a controller, and then obtain the weight of the clothes based on the aforementioned motor parameter values.

[0004] However, the weighing accuracy of this method is limited by the stability of the voltage. In areas with unstable voltage, the weight of the clothes obtained may differ significantly from the actual weight, which may result in the water level in the washing machine being too low or too high, thus affecting the washing effect.

[0005] Therefore, how to accurately obtain the weight information of clothing is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In order to overcome the above-mentioned defects, the present invention is proposed to provide a method, apparatus, washing machine and control method, device and medium for weighing clothes that solves or at least partially solves the technical problem of low accuracy of weighing information of clothes.

[0007] In a first aspect, the present invention provides a method for weighing clothing, comprising:

[0008] If laundry is detected, the washing machine drum rotates to obtain the total size information of all laundry items when they are gathered together.

[0009] The drum is controlled to stop rotating, back electromotive force weighing information and multiple free fall images of the clothes to be washed are acquired, and the clothes blocks in each free fall image are identified and the covariance of each clothes block is determined.

[0010] The back electromotive force weighing information, the total size information of the clothes, and the covariance of each piece of clothes are input into a pre-trained weighing model, and the weighing information of the clothes to be washed is output.

[0011] Furthermore, in the above-described method for weighing clothing, obtaining the total size information of all clothes to be washed when they are gathered together includes:

[0012] Acquire images of the tumbling process of the clothes to be washed;

[0013] The tumbling image is input into a pre-trained target recognition model, which outputs at least one clothing rectangle, the center coordinates of each clothing rectangle, and the size of each clothing rectangle.

[0014] Based on the number of clothing rectangles, the center coordinates of each clothing rectangle, and the size of each clothing rectangle, determine whether all the clothes to be washed are grouped together;

[0015] If all the laundry is gathered together, determine the total size information of the laundry.

[0016] Furthermore, in the above-described method for weighing clothing, determining whether all the clothes to be washed are grouped together based on the number of clothing rectangles, the center coordinates of each clothing rectangle, and the size of each clothing rectangle includes:

[0017] When there is only one clothing rectangle, if the aspect ratio of the size of the clothing rectangle is less than a preset ratio, it is determined that all the clothes to be washed are gathered together; if the aspect ratio of the size of the clothing rectangle is greater than or equal to the preset ratio, it is determined that all the clothes to be washed are not gathered together.

[0018] When there are at least two clothing rectangles, if the distance between the center coordinates of any clothing rectangle and the center coordinates of all other clothing rectangles is less than a preset distance value, it is determined that all the clothes to be washed are gathered together; if the distance between the center coordinates of any clothing rectangle and the center coordinates of at least one other clothing rectangle is greater than or equal to the preset distance value, it is determined that all the clothes to be washed are not gathered together.

[0019] Furthermore, in the aforementioned clothing weighing method, identifying clothing blocks in each free-fall image and determining the covariance of each clothing block includes:

[0020] The free-fall image is input into a pre-trained target detection model, which outputs the clothing block in each free-fall image and the center coordinates of the clothing block.

[0021] The covariance of each clothing block is determined based on the center coordinates of each clothing block.

[0022] Furthermore, in the above-described method for weighing clothing, determining the covariance of each clothing block based on its center coordinates includes:

[0023] Using the following covariance calculation formula, the covariance of each clothing block is determined based on the center coordinates of each clothing block;

[0024] The formula for calculating the covariance is:

[0025] Cov(X,Y)=E[(XE[X])(YE[Y])];

[0026] Wherein, Cov(X, Y) represents the covariance, X represents the pixel coordinate of the center coordinate of the clothing block along the X-axis, Y represents the pixel coordinate of the center coordinate of the clothing block along the Y-axis, E[X] represents the average pixel coordinate of the X-axis of all clothing blocks, and E[Y] represents the average pixel coordinate of the Y-axis of all clothing blocks.

[0027] In a second aspect, the present invention provides a washing machine control method, comprising:

[0028] Determine the weight information of the garment to be washed according to any of the above-described garment weighing methods;

[0029] The washing program is determined based on the weight information of the clothes to be washed;

[0030] Control the washing machine according to the washing program.

[0031] In a third aspect, a garment weighing device is provided, comprising:

[0032] The acquisition module is used to rotate the drum of the washing machine and acquire the total size information of all the clothes when they are gathered together, if the laundry is detected.

[0033] The determination module is used to control the drum to stop rotating, acquire back electromotive force weighing information and multiple free fall images of the clothes to be washed during the free fall process, identify the clothes blocks in each free fall image, and determine the covariance of each clothes block.

[0034] The weighing module is used to input the back electromotive force weighing information, the total size information of the clothes, and the covariance of each piece of clothes into a pre-trained weighing model, and output the weighing information of the clothes to be washed.

[0035] In a fourth aspect, an electronic device is provided, including a processor and a storage device, the storage device being adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to perform the clothing weighing method described above, or to perform the washing machine control method described above.

[0036] In a fifth aspect, a washing machine is provided, including the electronic device described above.

[0037] In a fifth aspect, a computer-readable storage medium is provided, wherein a plurality of program codes are stored, the program codes being adapted to be loaded and run by a processor to perform the clothing weighing method described above, or to perform the washing machine control method described above.

[0038] The above-described technical solutions of the present invention have at least one or more of the following beneficial effects:

[0039] In implementing the technical solution of this invention, if laundry is detected, the washing machine drum is rotated to obtain the total size information of all laundry items when they are gathered together; the drum is controlled to stop rotating, and back electromotive force (EMF) weighing information and multiple free-fall images of the laundry items during their free fall are obtained. Clothing blocks in each free-fall image are identified, and the covariance of each clothing block is determined. The back EMF weighing information, the total size information of the laundry items, and the covariance of each clothing block are input into a pre-trained weighing model, which outputs the weighing information of the laundry items. Thus, during the weighing process, image perception methods can be used to obtain the distribution and volume of the laundry items inside the drum, and combined with the back EMF weighing information for comprehensive calculation, so as to correct the back EMF weighing information and obtain more accurate weighing information for the laundry. Attached Figure Description

[0040] The disclosure of this invention will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. Furthermore, similar numbers in the drawings are used to denote similar components, wherein:

[0041] Figure 1 This is a schematic flowchart of the main steps of a clothing weighing method according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic flowchart of the main steps of a washing machine control method according to an embodiment of the present invention;

[0043] Figure 3 This is a main structural block diagram of a clothing weighing device according to an embodiment of the present invention;

[0044] Figure 4 This is a main structural block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0045] Some embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0046] In the description of this invention, "module" and "processor" can include hardware, software, or a combination of both. A module can include hardware circuitry, various suitable sensors, communication ports, memory, and may also include software components, such as program code, or a combination of software and hardware. A processor can be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor can be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media includes any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The singular terms "a" or "this" can also include plural forms.

[0047] Typically, washing machines acquire motor parameters such as back electromotive force and voltage when the motor stops using a data acquisition module and controller. Based on these parameters, they determine the weight of the clothes and then set the washing program accordingly. However, the weighing accuracy of this method is limited by voltage stability. In areas with unstable voltage, the obtained weight may differ significantly from the actual weight, leading to an underestimation or overestimation of the water level in the washing machine, thus affecting the washing effect.

[0048] Therefore, in order to solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0049] See appendix Figure 1 , Figure 1 This is a schematic flowchart illustrating the main steps of a clothing weighing method according to an embodiment of the present invention. Figure 1 As shown, the clothing weighing method in this embodiment of the invention mainly includes the following steps 101-103.

[0050] Step 101: If laundry is detected, rotate the washing machine drum to obtain the total size information of all laundry items when they are gathered together;

[0051] In a specific implementation, if it is detected that the user puts clothes into the washing machine, the washing machine can be controlled to rotate the drum before washing. The clothes can be gathered together under the action of centrifugal force. At this time, the size information of the total clothes, such as the length, width and height of the total clothes, can be calculated.

[0052] Specifically, the total size information of all laundry items gathered together can be obtained by following these steps:

[0053] (1) Obtain images of the clothes to be washed during the tumbling process;

[0054] Specifically, a camera can be installed inside the washing machine. After the drum of the washing machine rotates for a preset time, the camera can be turned on to capture images of the clothes being tumbled during the tumbling process.

[0055] (2) Input the tumbling image into a pre-trained target recognition model and output at least one clothing rectangle, the center coordinates of each clothing rectangle, and the size of each clothing rectangle;

[0056] In a specific implementation, the tumbling image can be input into a pre-trained target recognition model for target recognition, resulting in at least one clothing rectangle, the center coordinates of each clothing rectangle, and the size of each clothing rectangle.

[0057] It should be noted that this target recognition method can refer to existing related technologies, which will not be elaborated here.

[0058] (3) Determine whether all the clothes to be washed are gathered together based on the number of the clothing rectangles, the center coordinates of each clothing rectangle, and the size of each clothing rectangle;

[0059] In a specific implementation, when there is only one clothing rectangle, if the aspect ratio of the size of the clothing rectangle is less than a preset ratio, it is determined that all the clothes to be washed are gathered together; if the aspect ratio of the size of the clothing rectangle is greater than or equal to the preset ratio, it is determined that all the clothes to be washed are not gathered together.

[0060] When there are at least two clothing rectangles, if the distance between the center coordinates of any clothing rectangle and the center coordinates of all other clothing rectangles is less than a preset distance value, it is determined that all the clothes to be washed are gathered together; if the distance between the center coordinates of any clothing rectangle and the center coordinates of at least one other clothing rectangle is greater than or equal to the preset distance value, it is determined that all the clothes to be washed are not gathered together.

[0061] (4) If all the clothes to be washed are gathered together, determine the size information of the total number of clothes.

[0062] In a specific implementation, if all the clothes to be washed are gathered together, the total size information of the clothes can be determined by the center coordinates of each clothing rectangle and the size of each clothing rectangle.

[0063] It should be noted that if all the laundry is gathered together, the rolling images should be re-captured and then identified.

[0064] Step 102: Control the washing machine drum to stop rotating, acquire back electromotive force weighing information and multiple free fall images of the clothes to be washed during the free fall process, identify the clothes blocks in each free fall image, and determine the covariance of each clothes block.

[0065] In a specific implementation, after obtaining the total dimensions of all the clothes to be washed together, a stop-rotation command can be generated. When the motor receives this command, it can control the washing machine drum to stop rotating. Due to inertia, the motor rotor continues to run, cutting the stator and generating a back electromotive force (EMF). The amplitude and decay rate of the back EMF vary depending on the material of the clothes, their weight, and the tension of the belt driving the load. Generally, the larger the load driven by the motor, the faster the amplitude and frequency of the back EMF decay, the shorter the duration of the back EMF, and the fewer the pulses generated. The weight of the clothes can be determined based on the number of pulses.

[0066] After the drum stops rotating, the clothes to be washed will fall freely. During the free fall process, the camera can be activated to capture multiple free fall images. Then, the free fall images are input into a pre-trained target detection model, which outputs the clothes block in each free fall image and the center coordinates of the clothes block. Based on the center coordinates of each clothes block, the covariance of each clothes block is determined.

[0067] Specifically, the covariance of each clothing block can be determined using the following covariance calculation formula, based on the center coordinates of each clothing block.

[0068] The formula for calculating the covariance is:

[0069] Cov(X,Y)=E[(XE[X])(YE[Y])];

[0070] Wherein, Cov(X, Y) represents the covariance, X represents the pixel coordinate of the center coordinate of the clothing block along the X-axis, Y represents the pixel coordinate of the center coordinate of the clothing block along the Y-axis, E[X] represents the average pixel coordinate of the X-axis of all clothing blocks, and E[Y] represents the average pixel coordinate of the Y-axis of all clothing blocks.

[0071] Step 103: Input the back electromotive force weighing information, the total size information of the clothes, and the covariance of each piece of clothes into the pre-trained weighing model, and output the weighing information of the clothes to be washed.

[0072] In a specific implementation process, a weighing model can be trained using training samples. The data corresponding to the training samples can include the number of clothes; photos of the clothes gathered together after being placed in the inner drum and their annotation information; multiple pictures of the falling process and their annotation information; the covariance calculated based on the true value of the annotations; the weighing results of the motor during operation; the actual total weight of the clothes, etc. After obtaining the trained weighing model, the weight of the clothes can be detected using the weighing model.

[0073] Specifically, the back electromotive force weighing information, the total size information of the clothes, and the covariance of each piece of clothes can be input into a pre-trained weighing model for detection, thereby outputting the weighing information of the clothes to be washed.

[0074] The clothing weighing method in this embodiment, upon detecting laundry, rotates the washing machine drum to obtain the total size information of all laundry items gathered together; it then controls the drum to stop rotating, acquires back electromotive force (EMF) weighing information and multiple free-fall images of the laundry items during their free fall, identifies clothing blocks in each free-fall image, and determines the covariance of each clothing block; the back EMF weighing information, the total size information of the laundry items, and the covariance of each clothing block are input into a pre-trained weighing model, outputting the weighing information of the laundry items. In this way, during the clothing weighing process, image perception methods can be used to obtain the distribution and volume of the laundry items within the drum, and combined with the back EMF weighing information for comprehensive calculation, so as to correct the back EMF weighing information and obtain more accurate clothing weighing information.

[0075] See appendix Figure 2 , Figure 2 This is a schematic flowchart of the main steps of a washing machine control method according to an embodiment of the present invention. Figure 2 As shown, the washing machine control method in this embodiment of the invention mainly includes the following steps 201-203.

[0076] Step 201: Determine the weight information of the clothes to be washed;

[0077] In a specific implementation process, the weight information of the clothes to be washed can be determined by the clothing weighing method of the above embodiments.

[0078] Step 202: Determine the washing program based on the weight information of the clothes to be washed;

[0079] In a specific implementation process, the washing procedure includes whether mixed washing is allowed, washing time, water temperature during washing, type of detergent, number of washes and / or number of rinses.

[0080] Step 203: Control the washing machine according to the washing program.

[0081] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not necessarily have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders, and these variations are all within the scope of protection of the present invention.

[0082] Furthermore, the present invention also provides a garment weighing device.

[0083] See appendix Figure 3 , Figure 3 This is a main structural block diagram of a clothing weighing device according to an embodiment of the present invention. Figure 3 As shown, the clothing weighing device of this embodiment may include an acquisition module 30, a determination module 31, and a weighing module 32.

[0084] The acquisition module 30 is used to rotate the drum of the washing machine and acquire the total size information of all the clothes when they are gathered together, if the laundry is detected.

[0085] In a specific implementation, module 30 can obtain the total size information of all clothes when they are gathered together, according to the following steps:

[0086] (1) Obtain images of the clothes to be washed during the tumbling process;

[0087] (2) Input the tumbling image into a pre-trained target recognition model and output at least one clothing rectangle, the center coordinates of each clothing rectangle, and the size of each clothing rectangle;

[0088] (3) Determine whether all the clothes to be washed are gathered together based on the number of the clothing rectangles, the center coordinates of each clothing rectangle, and the size of each clothing rectangle;

[0089] In a specific implementation, when there is only one clothing rectangle, if the aspect ratio of the size of the clothing rectangle is less than a preset ratio, it is determined that all the clothes to be washed are gathered together; if the aspect ratio of the size of the clothing rectangle is greater than or equal to the preset ratio, it is determined that all the clothes to be washed are not gathered together.

[0090] When there are at least two clothing rectangles, if the distance between the center coordinates of any clothing rectangle and the center coordinates of all other clothing rectangles is less than a preset distance value, it is determined that all the clothes to be washed are gathered together; if the distance between the center coordinates of any clothing rectangle and the center coordinates of at least one other clothing rectangle is greater than or equal to the preset distance value, it is determined that all the clothes to be washed are not gathered together.

[0091] (4) If all the clothes to be washed are gathered together, determine the size information of the total number of clothes.

[0092] The determination module 31 is used to control the drum to stop rotating, acquire back electromotive force weighing information and multiple free fall images of the clothes to be washed during the free fall process, identify the clothes blocks in each free fall image, and determine the covariance of each clothes block.

[0093] In a specific implementation, module 31 can input the free-fall image into a pre-trained target detection model and output the clothing block in each free-fall image and the center coordinates of the clothing block; and determine the covariance of each clothing block based on the center coordinates of each clothing block.

[0094] Specifically, the covariance of each clothing block can be determined using the following covariance calculation formula, based on the center coordinates of each clothing block.

[0095] The formula for calculating the covariance is:

[0096] Cov(X,Y)=E[(XE[X])(YE[Y])];

[0097] Wherein, Cov(X, Y) represents the covariance, X represents the pixel coordinate of the center coordinate of the clothing block along the X-axis, Y represents the pixel coordinate of the center coordinate of the clothing block along the Y-axis, E[X] represents the average pixel coordinate of the X-axis of all clothing blocks, and E[Y] represents the average pixel coordinate of the Y-axis of all clothing blocks.

[0098] The weighing module 32 is used to input the back electromotive force weighing information, the total size information of the clothes and the covariance of each piece of clothes into a pre-trained weighing model, and output the weighing information of the clothes to be washed.

[0099] In this embodiment, the clothing weighing device, upon detecting laundry, rotates the washing machine drum to acquire the total size information of all laundry items gathered together. It then controls the drum to stop rotating, acquires back electromotive force (EMF) weighing information and multiple free-fall images of the laundry during its free fall, identifies clothing blocks in each free-fall image, and determines the covariance of each clothing block. The back EMF weighing information, the total size information of the laundry, and the covariance of each clothing block are input into a pre-trained weighing model, outputting the weighing information of the laundry. Thus, during the clothing weighing process, image perception methods can be used to obtain the distribution and volume of the laundry within the drum, and combined with the back EMF weighing information for comprehensive calculation, allowing for correction of the back EMF weighing information and obtaining more accurate clothing weighing information.

[0100] The above-described clothing weighing device is used to implement the clothing weighing method of the above embodiments. The technical principles, technical problems solved, and technical effects of the two are similar. Those skilled in the art can clearly understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the clothing weighing device can be referred to the content described in the embodiments of the clothing weighing method, and will not be repeated here.

[0101] Those skilled in the art will understand that all or part of the processes in the method of the above embodiment of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0102] Furthermore, the present invention also provides an electronic device.

[0103] See appendix Figure 4 , Figure 4 This is a main structural block diagram of an electronic device according to an embodiment of the present invention. Figure 4 As shown, the electronic device in this embodiment of the invention may include a processor 40 and a storage device 41.

[0104] The storage device 41 may be configured to store a program for executing the clothing weighing method of the above method embodiments, or a program for executing the washing machine control method of the above embodiments. The processor 40 may be configured to execute the program in the storage device 41, which includes, but is not limited to, a program for executing the clothing weighing method of the above method embodiments, or a program for executing the washing machine control method of the above embodiments.

[0105] For ease of explanation, only the parts relevant to the embodiments of the present invention are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The electronic device may be a control device comprising various electronic devices.

[0106] Furthermore, the present invention also provides a washing machine, including the electronic device described above.

[0107] Furthermore, the present invention also provides a computer-readable storage medium. In one embodiment of the present invention, the computer-readable storage medium may be configured to store a program for performing the clothing weighing method of the above-described method embodiments, or a program for performing the washing machine control method of the above-described embodiments, the program being loaded and run by a processor to implement the above-described clothing weighing method or washing machine control method.

[0108] For ease of explanation, only the parts relevant to the embodiments of the present invention are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The computer-readable storage medium may be a storage device 41 formed by various electronic devices. Optionally, in the embodiments of the present invention, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0109] Furthermore, it should be understood that since the various modules are only provided to illustrate the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the processor's software, hardware, or a combination of software and hardware. Therefore, the number of modules shown in the figures is merely illustrative.

[0110] Those skilled in the art will understand that the various modules in the device can be adaptively split or combined. Such splitting or combining of specific modules will not cause the technical solution to deviate from the principles of the present invention; therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.

[0111] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for weighing clothing, characterized in that, include: If laundry is detected, the washing machine drum rotates to obtain the total size information of all laundry items when they are gathered together. The drum is controlled to stop rotating, back electromotive force weighing information and multiple free fall images of the clothes to be washed are acquired, and the clothes blocks in each free fall image are identified and the covariance of each clothes block is determined. The back electromotive force weighing information, the total size information of the clothes, and the covariance of each piece of clothes are input into a pre-trained weighing model, and the weighing information of the clothes to be washed is output. Identify clothing patches in each free-fall image and determine the covariance of each clothing patch, including: The free-fall image is input into a pre-trained target detection model, which outputs the clothing block in each free-fall image and the center coordinates of the clothing block. The covariance of each clothing block is determined based on the center coordinates of each clothing block.

2. The method for weighing clothing according to claim 1, characterized in that, Obtain the total dimensions of all laundry items when they are gathered together, including: Acquire images of the tumbling process of the clothes to be washed; The tumbling image is input into a pre-trained target recognition model, which outputs at least one clothing rectangle, the center coordinates of each clothing rectangle, and the size of each clothing rectangle. Based on the number of clothing rectangles, the center coordinates of each clothing rectangle, and the size of each clothing rectangle, determine whether all the clothes to be washed are grouped together; If all the laundry is gathered together, determine the total size information of the laundry.

3. The method for weighing clothing according to claim 2, characterized in that, Based on the number of clothing rectangles, the center coordinates of each clothing rectangle, and the size of each clothing rectangle, determine whether all the laundry items to be washed are grouped together, including: When there is only one clothing rectangle, if the aspect ratio of the size of the clothing rectangle is less than a preset ratio, it is determined that all the clothes to be washed are gathered together; if the aspect ratio of the size of the clothing rectangle is greater than or equal to the preset ratio, it is determined that all the clothes to be washed are not gathered together. When there are at least two clothing rectangles, if the distance between the center coordinates of any clothing rectangle and the center coordinates of all other clothing rectangles is less than a preset distance value, it is determined that all the clothes to be washed are gathered together; if the distance between the center coordinates of any clothing rectangle and the center coordinates of at least one other clothing rectangle is greater than or equal to the preset distance value, it is determined that all the clothes to be washed are not gathered together.

4. The method for weighing clothing according to claim 1, characterized in that, Based on the center coordinates of each garment block, determine the covariance of each garment block, including: Using the following covariance calculation formula, the covariance of each clothing block is determined based on the center coordinates of each clothing block; The formula for calculating the covariance is: Cov(X,Y) = E[(XE[X]) (YE[Y])]; Wherein, Cov(X, Y) represents the covariance, X represents the pixel coordinate of the center coordinate of the clothing block along the X-axis, Y represents the pixel coordinate of the center coordinate of the clothing block along the Y-axis, E[X] represents the average pixel coordinate of the X-axis of all clothing blocks, and E[Y] represents the average pixel coordinate of the Y-axis of all clothing blocks.

5. A washing machine control method, characterized in that, include: The method for weighing clothing according to any one of claims 1-4 determines the weighing information of the clothes to be washed; The washing program is determined based on the weight information of the clothes to be washed; Control the washing machine according to the washing program.

6. A garment weighing device, characterized in that, include: The acquisition module is used to rotate the drum of the washing machine and acquire the total size information of all the clothes when they are gathered together, if the laundry is detected. The determination module is used to control the drum to stop rotating, acquire back electromotive force weighing information and multiple free fall images of the clothes to be washed during the free fall process, identify the clothes blocks in each free fall image, and determine the covariance of each clothes block. The weighing module is used to input the back electromotive force weighing information, the total size information of the clothes, and the covariance of each piece of clothes into a pre-trained weighing model, and output the weighing information of the clothes to be washed; The determining module identifies clothing patches in each free-fall image and determines the covariance of each clothing patch using the following method: The free-fall image is input into a pre-trained target detection model, which outputs the clothing block in each free-fall image and the center coordinates of the clothing block. The covariance of each clothing block is determined based on the center coordinates of each clothing block.

7. An electronic device comprising a processor and a storage device, said storage device being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the clothing weighing method of any one of claims 1 to 4, or to perform the washing machine control method of claim 5.

8. A washing machine, characterized in that, Including the electronic device as described in claim 7.

9. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the clothing weighing method of any one of claims 1 to 4, or to perform the washing machine control method of claim 5.

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