Method and device for controlling drum speed of laundry equipment and laundry equipment

Abstract

The present application discloses a method, device and laundry device for controlling the drum speed of a laundry device. The method for controlling the drum speed of a laundry device comprises: acquiring an image of clothes in the drum of the laundry device; determining the center of gravity of the clothes based on the image of the clothes, and calculating a target speed and a theoretical drop point of the oblique throwing motion of the clothes based on the center of gravity of the clothes; controlling the drum speed to reach the target speed; acquiring the motion trajectory of the clothes when the drum speed reaches the target speed; and controlling the drum speed again based on the motion trajectory of the clothes and the theoretical drop point, so as to at least solve the technical problem that the drum speed cannot be changed according to different clothes, resulting in poor clothing washing effect.

Description

Technical Field

[0001] The present application relates to the field of laundry equipment, and in particular to a method and device for controlling the drum speed of a laundry equipment, and the laundry equipment. Background Art

[0002] The washing principle of current drum brush washing machines is mainly to use centrifugal force to drive the clothes to a high place and make them fall and hit to achieve the purpose of cleaning clothes. The hitting effect of the clothes depends on the momentum of the clothes hitting the drum wall. The greater the momentum, the better the hitting effect. In the actual washing process, the speed of the washing machine is fixed, which may cause the clothes to not achieve the best washing effect due to the different amount of clothes. Summary of the Invention

[0003] The present application provides a method and device for controlling the drum speed of a laundry appliance, and a laundry appliance, to at least solve the technical problem that the drum speed cannot be changed according to different clothes, resulting in poor washing effect of clothes.

[0004] According to a first aspect of an embodiment of the present application, a method for controlling a drum speed of a laundry appliance is provided, comprising:

[0005] Acquire an image of clothes in a drum of a laundry device;

[0006] Determine the center of gravity of the clothing according to the clothing image,

[0007] Calculating a target rotation speed and a theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing;

[0008] Controlling the rotation speed of the drum to reach a target rotation speed;

[0009] When the drum speed reaches the target speed, the movement trajectory of the clothes is obtained;

[0010] According to the movement trajectory and theoretical drop point of the clothes, the drum speed is controlled again.

[0011] Optionally, after obtaining the movement trajectory of the clothing, the method further includes:

[0012] determining whether at least a portion of the clothing is stuck to the wall based on the movement trajectory of the clothing;

[0013] If at least part of the clothes are stuck to the wall, the drum is controlled to stop rotating, and an image of the clothes in the drum of the laundry device is acquired;

[0014] If the clothes are not stuck to the wall, the actual drop point of the clothes is determined according to the movement trajectory of the clothes;

[0015] The rotation speed of the drum is controlled according to the actual drop point and the theoretical drop point.

[0016] Optionally, controlling the rotation speed of the drum according to the actual drop point and the theoretical drop point includes:

[0017] Determine whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold;

[0018] When the deviation between the actual drop point and the theoretical drop point is not less than a preset deviation threshold, the actual height of the actual drop point is compared with the theoretical height of the theoretical drop point to control the drum speed according to the comparison result.

[0019] Optionally, after determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold, the method further includes:

[0020] When the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold, it is determined whether the rotation direction of the drum needs to be changed;

[0021] If the rotation direction of the drum needs to be changed, the drum rotation is stopped and the step of acquiring an image of the clothes in the drum of the laundry device is performed;

[0022] If the rotation direction of the drum does not need to be changed, the actual drop point is updated at the current drum rotation speed, and a step is performed to determine whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold.

[0023] Optionally, if the rotation direction of the drum does not need to be changed, before updating the actual drop point, the method further includes:

[0024] Determine whether the current washing mode is ended;

[0025] If the current washing mode ends, the drum is controlled to stop rotating;

[0026] If the current washing mode has not ended, then at the current drum speed, continue to execute the steps of updating the actual drop point and determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold.

[0027] Optionally, comparing the actual height of the actual drop point with the theoretical height of the theoretical drop point to control the rotation speed of the drum according to the comparison result includes:

[0028] If the comparison result shows that the actual height is greater than the theoretical height, the rotation speed of the drum is reduced according to a preset interval speed to obtain a first target rotation speed after the drum is reduced;

[0029] If the comparison result shows that the actual height is less than the theoretical height, the rotation speed of the drum is increased according to the preset interval to obtain a second target rotation speed of the drum after the speed is increased;

[0030] When the absolute value of the difference between the first target speed and the target speed is greater than the preset interval speed, or the absolute value of the difference between the second target speed and the target speed is greater than the preset interval speed, performing the step of acquiring an image of the clothes in the drum of the laundry device;

[0031] When the absolute value of the difference between the first target speed and the target speed is not greater than the preset interval speed, controlling the drum speed to reach the first target speed and obtaining the movement trajectory of the clothes are executed, or

[0032] When the absolute value of the difference between the second target speed and the target speed is not greater than the preset interval speed, the steps of controlling the drum speed to reach the second target speed, obtaining the movement trajectory of the clothes, and controlling the drum speed again according to the movement trajectory of the clothes and the theoretical dropping point are executed.

[0033] Optionally, the calculating of the target rotation speed and the theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing includes:

[0034] determining the distance between the clothes and the center of the drum according to the center of gravity of the clothes;

[0035] Substitute the distance into the preset model to obtain the target rotation speed and the theoretical dropping point of the oblique projection motion of the clothes, wherein the preset model consists of the momentum calculation formula, the displacement formula of the oblique projection motion, the circular motion formula of the drum, and the force formula of the initial point of the oblique projection.

[0036] According to a second aspect of an embodiment of the present application, a device for controlling a drum speed of a laundry appliance is provided, comprising:

[0037] An image acquisition module, configured to acquire an image of clothes in a drum of a laundry device;

[0038] A center of gravity determination module is used to determine the center of gravity of the clothing according to the clothing image,

[0039] a data calculation module, configured to calculate a target rotation speed and a theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing;

[0040] A target speed acquisition module, used to control the drum speed to reach the target speed;

[0041] A motion trajectory determination module is used to obtain the motion trajectory of the clothes when the drum speed reaches the target speed;

[0042] The speed control module is used to control the speed of the drum again according to the movement trajectory and theoretical drop point of the clothes.

[0043] According to a third aspect of an embodiment of the present application, a laundry device is provided, comprising:

[0044] Drum and drum speed control device of laundry equipment;

[0045] The device for controlling the drum speed of the laundry appliance controls the drum speed of the laundry appliance by using the method for controlling the drum speed of the laundry appliance in any of the embodiments described in the present application.

[0046] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, comprising:

[0047] a storage device for storing one or more programs,

[0048] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling the drum speed of the laundry device as described in any embodiment of the present application.

[0049] According to a fifth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, a method for controlling the drum speed of a laundry device as described in any embodiment of the present application is implemented.

[0050] In an embodiment of the present application, an image of the clothes in the drum of the laundry device is obtained, and the center of gravity of the clothes is determined based on the image of the clothes. The target rotation speed and the theoretical drop point of the oblique throwing motion of the clothes are calculated based on the center of gravity of the clothes, and the drum rotation speed is controlled to reach the target rotation speed. When the drum rotation speed reaches the target rotation speed, the movement trajectory of the clothes is obtained, and the drum rotation speed is controlled again based on the movement trajectory of the clothes and the theoretical drop point. The solution of the present application realizes determining the center of gravity based on the image of the clothes, calculating the target rotation speed and the theoretical drop point based on the center of gravity of the clothes, and obtaining the movement trajectory of the clothes after the drum rotation speed is actually controlled to reach the target rotation speed. It is determined whether the current drum rotation speed needs to be adjusted based on the movement trajectory of the clothes. In this way, the calculated target rotation speed is obtained before washing the clothes. During the washing process, the drum rotation speed can be adjusted at any time based on the movement trajectory of the clothes, thereby realizing dynamic adjustment of the drum rotation speed and improving the effect of washing clothes. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of a method for controlling the drum speed of a laundry appliance in one embodiment of the present application.

[0052] Figure 2is an example of a center of gravity in a two-dimensional coordinate system in one embodiment of the present application;

[0053] Figure 3 This is a schematic diagram of a movement trajectory of clothing when the momentum is maximum in one embodiment of the present application;

[0054] Figure 4 This is a flow chart of a method for controlling the drum speed of a laundry appliance in one embodiment of the present application;

[0055] Figure 5 This is a schematic structural diagram of a drum speed control device for a laundry appliance according to one embodiment of the present application;

[0056] Figure 6 It is a structural diagram of an electronic device in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] According to an embodiment of the present application, an embodiment of a method for controlling the drum speed of a laundry appliance is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0060] like Figure 1 As shown, the method for controlling the drum speed of a laundry device includes the following steps:

[0061] Step S101: Acquire an image of clothes in a drum of a laundry device.

[0062] Specifically, this step realizes the acquisition of the image of the clothes in the drum of the laundry device. Optionally, the image of the clothes can be acquired before the laundry device washes the clothes, so as to facilitate the subsequent use of the image of the clothes to determine the center of gravity of the clothes.

[0063] Step S102: Determine the center of gravity of the clothing according to the clothing image.

[0064] Specifically, the center of gravity of the clothing image is calculated to obtain the center of gravity of the clothing image. The determination of the center of gravity of the clothing image facilitates the subsequent calculation of the target rotation speed and the theoretical drop point of the oblique throwing motion of the clothing using the center of gravity of the clothing.

[0065] Step S103: Calculate the target rotation speed and the theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing.

[0066] The target speed is the theoretical optimal speed calculated based on the center of gravity. The theoretical drop point is the theoretical drop point calculated based on the center of gravity. The drop point is the center of gravity where the clothes hit the drum wall during oblique throwing.

[0067] Specifically, the target speed and the drop point of the oblique throwing motion of the clothes on the drum wall are calculated by the center of gravity of the clothes, which facilitates the subsequent control of the drum speed to reach the target speed, and the judgment is made using the theoretical drop point of the clothes.

[0068] Step S104: controlling the drum speed to reach the target speed.

[0069] Specifically, by controlling the drum speed to reach the target speed, the subsequent movement trajectory of the clothes can be determined.

[0070] Step S105: When the drum speed reaches the target speed, the movement trajectory of the clothes is obtained.

[0071] The motion trajectory refers to the trajectory of the clothes as the drum rotates.

[0072] Specifically, when the drum speed reaches the target speed, the movement trajectory of the clothing is acquired. Acquiring the movement trajectory of the clothing may involve acquiring multiple images of the clothing at the target speed, obtaining position information of the clothing based on the clothing images, and obtaining the movement trajectory of the clothing based on the position information and the order in which the clothing images corresponding to the position information were acquired. By acquiring the movement trajectory of the clothing, it is possible to determine whether at least a portion of the clothing cannot be lifted, whether at least a portion of the clothing is stuck to the wall, and to determine the actual drop point of the clothing. Acquiring the movement trajectory of the clothing facilitates subsequent use of the movement trajectory and theoretical drop point to control the drum speed.

[0073] Step S106: Control the drum speed again according to the movement trajectory and theoretical drop point of the clothes.

[0074] Specifically, the movement trajectory of the clothes and the theoretical drop point are used to determine whether the clothes fall at the theoretical drop point, and the drum speed is adjusted again according to the falling situation of the clothes.

[0075] In an embodiment of the present application, an image of the clothes in the drum of the laundry device is obtained, the center of gravity of the clothes is determined based on the image of the clothes, the target rotation speed and the theoretical drop point of the oblique throwing motion of the clothes are calculated based on the center of gravity of the clothes, and the drum rotation speed is controlled to reach the target rotation speed. When the drum rotation speed reaches the target rotation speed, the movement trajectory of the clothes is obtained, and the drum rotation speed is controlled again based on the movement trajectory of the clothes and the theoretical drop point. The solution of the present application realizes determining the center of gravity based on the image of the clothes, calculating the target rotation speed and the theoretical drop point based on the center of gravity of the clothes, and obtaining the movement trajectory of the clothes after the drum rotation speed is actually controlled to reach the target rotation speed. According to the movement trajectory of the clothes, it is determined whether the current drum rotation speed needs to be adjusted. In this way, the calculated target rotation speed is obtained before washing the clothes. During the washing process, the drum rotation speed can be adjusted at any time according to the movement trajectory of the clothes, thereby realizing dynamic adjustment of the drum rotation speed and improving the effect of washing clothes.

[0076] In another embodiment of the present application, after step S105, the method further includes: judging whether at least part of the clothes are stuck to the wall based on the movement trajectory of the clothes; if at least part of the clothes are stuck to the wall, controlling the drum to stop rotating, and executing the step of obtaining an image of the clothes in the drum of the laundry device; if the clothes are not stuck to the wall, determining the actual dropping point of the oblique throwing motion of the clothes based on the movement trajectory of the clothes; and controlling the drum speed based on the actual dropping point and the theoretical dropping point.

[0077] Here, wall-adhering may refer to the clothes moving in a circular motion along or adhering to the drum wall.

[0078] In an embodiment of the present application, the movement trajectory of the clothes is used to determine whether some of the clothes are sticking to the wall. When at least some of the clothes are sticking to the wall, the drum is stopped, the image of the clothes in the drum is obtained again, and the center of gravity is calculated again to obtain an updated target speed and theoretical drop point. This allows the drum speed to be corrected by timing when the clothes are in poor condition, changing the condition of the clothes and thus improving the washing effect. When the clothes are not sticking to the wall, the actual drop point of the oblique throwing motion of the clothes is obtained based on the movement trajectory of the clothes, and the drum speed is controlled based on the actual drop point and the theoretical point. The embodiment of the present application realizes the judgment of the clothes sticking to the wall and the control of the speed of the clothes in both the case of not sticking to the wall and the case of sticking to the wall, making the control of the drum speed more reliable.

[0079] In another embodiment of the present application, the drum rotation speed is controlled based on the actual drop point and the theoretical drop point, including: determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold; when the deviation between the actual drop point and the theoretical drop point is not less than the preset deviation threshold, comparing the actual height of the actual drop point with the theoretical height of the theoretical drop point, so as to control the drum rotation speed according to the comparison result.

[0080] The preset deviation threshold can be set based on actual conditions and is not specifically limited in this embodiment. The actual drop point and the theoretical drop point can be expressed in the form of coordinates. A two-dimensional rectangular coordinate system is pre-set to obtain the coordinates of the actual drop point and the coordinates of the theoretical drop point. This facilitates the calculation of the deviation between the actual drop point and the theoretical drop point.

[0081] In an embodiment of the present application, it is determined whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold. When the deviation between the actual drop point and the theoretical drop point is not less than the preset deviation threshold, the drum speed can be controlled according to the actual height of the actual drop point and the theoretical height of the theoretical drop point, making the control more flexible.

[0082] In another embodiment of the present application, after determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold, the method further includes: when the deviation between the actual drop point and the theoretical drop point is less than the preset deviation threshold, determining whether the drum rotation direction needs to be changed; if the drum rotation direction needs to be changed, stopping the drum rotation and executing the step of obtaining the image of the clothes in the drum of the laundry device; if the drum rotation direction does not need to be changed, updating the actual drop point at the current drum speed, and executing the step of determining whether the deviation between the actual drop point and the theoretical drop point is less than the preset deviation threshold.

[0083] In an embodiment of the present application, when the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold, it is determined whether to stop the drum rotation according to the drum rotation direction. If the drum rotation direction needs to be changed, the drum rotation is stopped, and the step of obtaining the image of the clothes in the drum of the laundry device is executed. If the drum rotation direction does not need to be changed, the actual drop point is updated at the current drum rotation speed. Updating the actual drop point means re-executing the process of obtaining the movement trajectory of the clothes and obtaining the actual drop point of the clothes based on the movement trajectory of the clothes. The step of determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold is executed. In this way, not only the drum rotation speed is controlled, but also the target speed of the drum can be re-determined when the drum rotation direction changes, so that the drum speed is more accurate, thereby improving the washing effect of the clothes.

[0084] In another embodiment of the present application, if the direction of rotation of the drum does not need to be changed, before updating the actual drop point, the method further includes: determining whether the current washing mode has ended; if the current washing mode has ended, controlling the drum to stop rotating; if the current washing mode has not ended, continuing to update the actual drop point at the current drum speed, and determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold.

[0085] In an embodiment of the present application, during the period when the drum rotation direction does not change and the actual drop point is not updated, a judgment is added on whether the current washing mode has ended, so that the judgment of the drum rotation speed is performed in the washing mode, thereby controlling the washing time and improving the user experience.

[0086] In another embodiment of the present application, the comparing the actual height of the actual drop point with the theoretical height of the theoretical drop point to control the drum speed according to the comparison result includes: if the comparison result shows that the actual height is greater than the theoretical height, reducing the drum speed according to a preset interval speed to obtain a first target speed after the drum is decelerated; if the comparison result shows that the actual height is less than the theoretical height, increasing the drum speed according to the preset interval speed to obtain a second target speed after the drum is increased; when the absolute value of the difference between the first target speed and the target speed is greater than the preset interval speed, or the absolute value of the difference between the second target speed and the target speed is greater than the preset interval speed, executing the step of acquiring an image of the clothes in the drum of the laundry device; when the absolute value of the difference between the first target speed and the target speed is not greater than the preset interval speed, executing the step of controlling the drum speed to reach the first target speed and acquiring a movement trajectory of the clothes; when the absolute value of the difference between the second target speed and the target speed is not greater than the preset interval speed, executing the step of controlling the drum speed to reach the second target speed, acquiring the movement trajectory of the clothes, and controlling the drum speed again according to the movement trajectory of the clothes and the theoretical drop point.

[0087] In an embodiment of the present application, when the deviation between the actual drop point and the theoretical drop point is not less than a preset deviation threshold, the actual height and the theoretical height are compared, and the drum speed is then increased or decreased accordingly based on the comparison result. If the comparison result shows that the actual height is greater than the theoretical height, the drum speed is reduced by a preset interval speed to obtain a first target speed. If the comparison result shows that the actual height is less than the theoretical height, the drum speed is reduced by a preset interval speed to obtain a second target speed. For the first target speed or the second target speed, the error between the first target speed and the target speed, or the error between the second target speed and the target speed, is limited to no more than the preset interval speed. This can make the actual drum speed more accurate and improve the laundry washing effect. If the error between the first target speed and the target speed, or the error between the second target speed and the target speed, is greater than the preset interval speed, it indicates that the drum speed error is large at this time. The image of the clothes in the drum of the laundry device is re-acquired, and subsequent steps such as center of gravity calculation and target speed determination are performed. This avoids a large error in the first target speed or the second target speed, which affects the laundry washing effect.

[0088] In another embodiment of the present application, calculating the target rotation speed and the theoretical dropping point of the oblique projection motion of the clothes based on the center of gravity of the clothes may include: determining the distance between the clothes and the center of the drum based on the center of gravity of the clothes; substituting the distance into a preset model to obtain the target rotation speed and the theoretical dropping point of the oblique projection motion of the clothes, wherein the preset model is composed of a momentum calculation formula, a displacement formula for the oblique projection motion, a circular motion formula for the drum, and a force formula for the initial point of the oblique projection.

[0089] In this embodiment, by calculating the position of the center of gravity and determining the position of the drum center, the distance from the center of gravity of the clothes to the drum center can be obtained. First, the drum center is determined, and the front view of the drum is used as a two-dimensional plane, that is, Figure 2 The circle in FIG, with the drum rotation axis at the center of the circle, can be used as the drum center. The distance from the center of gravity of the clothes to the drum center can be determined on a two-dimensional plane. By calculating the distance using a preset model, the target speed and theoretical drop point are obtained. The determination of the target speed and theoretical drop point in the embodiment of the present application facilitates the subsequent rotation of the drum at the target speed, and the comparison between the theoretical drop point and the actual drop point to determine whether the drum speed needs to be adjusted.

[0090] The explanation of the formula is given in the following example:

[0091] For example, establish Figure 2 The two-dimensional coordinate system shown, Figure 2 The circle in the figure is equivalent to the cross section of the drum, that is, the front view. In the cross section of the drum, the axis of rotation is the dot, that is, equivalent to Figure 2 The origin is 0.

[0092] The captured clothing image is divided into n units, each unit is a square, the area of ​​each unit is Δ, and the coordinates are (x i ,y i ), i=1,2,……n. Calculate the torque x of each unit cell on the X-axis and Y-axis respectively i ΔA and y i ΔA, then the torque of the clothing on the X axis and The torque on the Y axis is Then the equivalent center of gravity coordinates of the clothing (x 11 ,y 11 )for: and Where A is the area of ​​the clothing image, and the radius r from the rotation axis is calculated based on the center of gravity, that is, the distance between the center of gravity of the clothing and the center of the drum.

[0093] Figure 3The trajectory of the center of gravity of the clothes when the momentum reaches the maximum when they hit the wall of the drum. The clothes do circular motion from the lowest point to position 1, and do oblique throwing motion from the highest point. The force analysis of the clothes at position 1 shows that Among them, the oblique throwing speed of the clothes from the drum wall is obtained And the coordinates of the throwing point (x0 = rcos (α), y0 = rsin (α)). Among them, g is the acceleration of gravity, r is the distance between the center of gravity of the clothing and the coordinate origin, that is, the distance between the rotation axis, and α is the angle at which the clothing is thrown. The displacement formula of the oblique throwing motion of the clothing from position 1 to position 2 is x = v0tsinα, Where x is the distance of the clothes in the X-axis direction, y is the distance of the clothes in the Y-axis direction, and t is the time of oblique throwing motion. Since the clothes are thrown obliquely in the drum, they will always collide with the drum. Therefore, the circumference formula of the combined drum is x 2 +y 2 =r 2 , get the theoretical drop point (x 1i ,y 1i ) The relationship between the throwing angle and x 1i =F1(α),y 1i =F2(α), then the final momentum of the clothes in the tub is The final momentum is a relationship between the throwing angle α. Since the value range of the angle α is (0, 90) degrees, the enumeration method is used to substitute the angle within (0, 90) into the formula in the form of a preset step threshold: In the example, the preset step threshold can be: n = 0.11, then α = 0, 0.11, 0.22…, 90, and the angle α when the final momentum reaches the maximum value is taken. From the angle α, the throwing speed v0, the rotation speed n, and the theoretical drop point (x 1i ,y 1i Before washing, calculate the distance r (m) between the center of gravity of the clothes in the drum and the center of the drum, and calculate the theoretical drop point (x 1i ,y 1i ) and target speed n (rpm).

[0094] For example, the relationship between the theoretical drop point, the distance r between the center of gravity of the clothes and the center of the drum, and the target rotation speed can be referred to Table 1.

[0095] Table 1

[0096] Distance r(m) <![CDATA[Theoretical drop point (x 1i , y 1i )]]> Target speed n(rpm) r1 <![CDATA[(x 11 ,and 11 )]]> n1 r2 <![CDATA[(x 12 ,and 12 )]]> n2 r3 <![CDATA[(x 13 ,and 13 )]]> n3

[0097] Table 2 shows the real data obtained from the experiments conducted based on the relationship in Table 1.

[0098] Table 2

[0099] Distance r(m) <![CDATA[Theoretical drop point (x 1i , y 1i )]]> Target speed n(rpm) 0.25 (－0.0981，－0.2352) 46.70 0.20 (－0.0845，－0.1867) 52.56 0.15 (－0.0630，－0.1414) 60.63

[0100] The method of the embodiment of the present application can calculate the distance r between the center of gravity of the clothes and the center of the drum based on the center of gravity of the clothes, and then calculate the target rotation speed and the theoretical drop point.

[0101] In another embodiment of the present application, a method for controlling the drum speed of a laundry appliance is provided. The method for controlling the drum speed of a laundry appliance in the embodiment of the present application is an optional solution to the aforementioned embodiment, wherein the same or similar technical terms as those in the aforementioned embodiment will not be repeated.

[0102] like Figure 4 As shown, the method for controlling the drum speed of the laundry device according to the embodiment of the present application includes the following steps:

[0103] Step S401: Acquire an image of clothes in the drum of a laundry device.

[0104] Specifically, before the laundry machine starts washing, the camera is turned on to capture images of clothing at a rate of r images per second, which may mean that multiple images of clothing are captured each time the drum of the laundry machine rotates one circle.

[0105] Step S402: Determine the center of gravity of the clothing based on the multiple clothing images.

[0106] Step S403: Calculate the target rotation speed and the theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing.

[0107] Step S404: Control the drum speed to reach the target speed.

[0108] Step S405: Obtain the movement trajectory of the clothing.

[0109] Step S406: Determine whether at least part of the clothing is stuck to the wall based on the motion trajectory. If at least part of the clothing is stuck to the wall, proceed to step S407; if not, proceed to step S408.

[0110] Step S407: Control the drum to stop rotating and execute step S401.

[0111] Step S408: determining the actual drop point of the oblique throwing motion of the clothing according to the motion trajectory of the clothing.

[0112] Step S409: Determine whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold. If the deviation between the actual drop point and the theoretical drop point is less than the preset deviation threshold, proceed to step S410; if the deviation between the actual drop point and the theoretical drop point is not less than the preset deviation threshold, proceed to step S414.

[0113] Step S410: Determine whether the rotation direction of the drum needs to be changed. If the rotation direction of the drum needs to be changed, execute step S407; if the rotation direction of the drum does not need to be changed, execute step S411.

[0114] Step S411: Determine whether the current washing mode has ended. If the current washing mode has ended, execute step S412. If the current washing mode has not ended, execute step S413.

[0115] Step S412, controlling the drum to stop rotating;

[0116] Step S413: Execute step S405 at the current drum speed.

[0117] Step S414: Compare the actual height of the actual drop point with the theoretical height of the theoretical drop point to obtain a comparison result.

[0118] Step S415: If the comparison result shows that the actual height is greater than the theoretical height, the drum speed is reduced according to the preset interval speed to obtain the first target speed after the drum speed is reduced, and step S417 is executed.

[0119] Step S416: When the comparison result shows that the actual height is less than the theoretical height, the drum speed is increased according to a preset interval speed to obtain a second target speed after the drum speed is increased.

[0120] Step S417: Determine whether the absolute value of the difference between the first target speed and the target speed is greater than the preset interval speed. If the absolute value of the difference between the first target speed and the target speed is greater than the preset interval speed, execute step S401. If the absolute value of the difference between the first target speed and the target speed is not greater than the preset interval speed, execute step S418.

[0121] Step S418: Control the drum speed to reach the first target speed, and execute step S405.

[0122] Step S419: Determine whether the absolute value of the difference between the second target speed and the target speed is greater than the preset interval speed. If so, proceed to step S401. If not, proceed to step S420.

[0123] Step S420: Control the drum speed to reach the second target speed, and execute step S405.

[0124] The technical solution of the present application realizes obtaining the center of gravity of the clothes based on the image of the clothes in the drum of the washing machine, and then calculating the theoretical dropping point and target rotation speed of the clothes. When controlling the drum rotation speed to reach the target rotation speed, it can be judged whether it is attached to the wall based on the movement trajectory of the clothes at the target rotation speed. Then, if it is not attached to the wall, it can be judged whether to adjust the rotation speed and the specific rotation speed adjustment strategy based on the actual dropping point of the clothes and the height of the theoretical dropping point. The technical solution of the present application enables the drum rotation speed to be determined according to the movement state of the clothes, so that the cleaning effect of the clothes is better.

[0125] In another embodiment of the present application, a laundry device is provided, comprising: a drum and a device for controlling the drum speed of the laundry device; the device for controlling the drum speed of the laundry device controls the drum speed of the laundry device by using the method for controlling the drum speed of the laundry device in any of the aforementioned embodiments of the present application.

[0126] In another embodiment of the present application, a device for controlling the drum speed of a laundry appliance is provided. Figure 5 This is a schematic diagram of the structure of a drum speed control device for a laundry appliance provided in an embodiment of the present application. The drum speed control device provided in an embodiment of the present application can execute the drum speed control method for a laundry appliance provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of executing the method. The device includes: an image acquisition module 4010, a center of gravity determination module 4020, a data calculation module 4030, a target speed acquisition module 4040, a motion trajectory determination module 4050, and a speed control module 4060; wherein:

[0127] An image acquisition module 4010 is used to acquire an image of clothes in the drum of the laundry device;

[0128] The center of gravity determination module 4020 is used to determine the center of gravity of the clothing according to the clothing image.

[0129] A data calculation module 4030 is used to calculate a target rotation speed and a theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing;

[0130] A target speed acquisition module 4040 is used to control the drum speed to reach a target speed;

[0131] a motion trajectory determination module 4050 for obtaining the motion trajectory of the clothes when the drum speed reaches the target speed;

[0132] The speed control module 4060 is used to control the speed of the drum again according to the movement trajectory and theoretical drop point of the clothes.

[0133] Furthermore, in the embodiment of the present application, the device further includes:

[0134] The wall-sticking judgment module is used to judge whether at least part of the clothes stick to the wall based on the movement trajectory of the clothes; if at least part of the clothes stick to the wall, the drum is controlled to stop rotating, and the step of obtaining the image of the clothes in the drum of the laundry device is executed; if the clothes do not stick to the wall, the actual drop point of the oblique throwing motion of the clothes is determined based on the movement trajectory of the clothes; and the drum speed is controlled based on the actual drop point and the theoretical drop point.

[0135] Furthermore, in the embodiment of the present application, the speed control module 4060 is further configured to:

[0136] Determine whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold;

[0137] When the deviation between the actual drop point and the theoretical drop point is not less than a preset deviation threshold, the actual height of the actual drop point is compared with the theoretical height of the theoretical drop point to control the drum speed according to the comparison result.

[0138] Furthermore, in the embodiment of the present application, the device further includes:

[0139] The direction judgment module is used to judge whether the drum rotation direction needs to be changed when the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold; if the drum rotation direction needs to be changed, the drum rotation is stopped and the step of obtaining the image of the clothes in the drum of the laundry device is executed; if the drum rotation direction does not need to be changed, the actual drop point is updated at the current drum speed, and the step of judging whether the deviation between the actual drop point and the theoretical drop point is less than the preset deviation threshold is executed.

[0140] Furthermore, in the embodiment of the present application, the device further includes:

[0141] The washing module judgment module is used to determine whether the current washing mode has ended; if the current washing mode has ended, the drum is controlled to stop rotating; if the current washing mode has not ended, the actual drop point is continued to be updated at the current drum speed, and whether the deviation between the actual drop point and the theoretical drop point is less than the preset deviation threshold.

[0142] Furthermore, in the embodiment of the present application, the speed control module 4060 is further configured to:

[0143] If the comparison result shows that the actual height is greater than the theoretical height, the rotation speed of the drum is reduced according to a preset interval speed to obtain a first target rotation speed after the drum is reduced;

[0144] If the comparison result shows that the actual height is less than the theoretical height, the rotation speed of the drum is increased according to the preset interval to obtain a second target rotation speed of the drum after the speed is increased;

[0145] When the absolute value of the difference between the first target speed and the target speed is greater than the preset interval speed, or the absolute value of the difference between the second target speed and the target speed is greater than the preset interval speed, performing the step of acquiring an image of the clothes in the drum of the laundry device;

[0146] When the absolute value of the difference between the first target speed and the target speed is not greater than the preset interval speed, controlling the drum speed to reach the first target speed and obtaining the movement trajectory of the clothes are executed, or

[0147] When the absolute value of the difference between the second target speed and the target speed is not greater than the preset interval speed, the steps of controlling the drum speed to reach the second target speed, obtaining the movement trajectory of the clothes, and controlling the drum speed again according to the movement trajectory of the clothes and the theoretical dropping point are executed.

[0148] Furthermore, in the embodiment of the present application, the data calculation module 4030 is further configured to:

[0149] determining the distance between the clothes and the center of the drum according to the center of gravity of the clothes;

[0150] Substitute the distance into the preset model to obtain the target rotation speed and the theoretical dropping point of the oblique projection motion of the clothes, wherein the preset model consists of the momentum calculation formula, the displacement formula of the oblique projection motion, the circular motion formula of the drum, and the force formula of the initial point of the oblique projection.

[0151] In an embodiment of the present application, an image of the clothes in the drum of the laundry device is obtained, and the center of gravity of the clothes is determined based on the image of the clothes. The target rotation speed and the theoretical drop point of the oblique throwing motion of the clothes are calculated based on the center of gravity of the clothes, and the drum rotation speed is controlled to reach the target rotation speed. When the drum rotation speed reaches the target rotation speed, the movement trajectory of the clothes is obtained, and the drum rotation speed is controlled again based on the movement trajectory of the clothes and the theoretical drop point. The solution of the present application realizes determining the center of gravity based on the image of the clothes, calculating the target rotation speed and the theoretical drop point based on the center of gravity of the clothes, and obtaining the movement trajectory of the clothes after the drum rotation speed is actually controlled to reach the target rotation speed. It is determined whether the current drum rotation speed needs to be adjusted based on the movement trajectory of the clothes. In this way, the calculated target rotation speed is obtained before washing the clothes. During the washing process, the drum rotation speed can be adjusted at any time based on the movement trajectory of the clothes, thereby realizing dynamic adjustment of the drum rotation speed and improving the effect of washing clothes.

[0152] It is worth noting that the various modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the embodiments of this application.

[0153] In another embodiment of the present application, an electronic device is also provided. Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 A block diagram of an exemplary electronic device 50 suitable for implementing embodiments of the present application is shown. Figure 6 The electronic device 50 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0154] like Figure 6 As shown, electronic device 50 is a general-purpose computing device. Components of electronic device 50 may include, but are not limited to, one or more processors or processing units 501, system memory 502, and a bus 503 connecting various system components (including system memory 502 and processing unit 501).

[0155] Bus 503 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0156] The electronic device 50 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 50, including volatile and non-volatile media, removable and non-removable media.

[0157] System memory 502 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 504 and / or cache memory 505. Electronic device 50 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 506 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 Not shown, often called a "hard drive"). Although Figure 6Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 503 via one or more data medium interfaces. Memory 502 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present application.

[0158] A program / utility 508 having a set (at least one) of program modules 507 may be stored, for example, in memory 502. Such program modules 507 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 507 generally implement the functions and / or methods of the embodiments described herein.

[0159] The electronic device 50 may also communicate with one or more external devices 509 (e.g., keyboard, pointing device, display 510, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 50, and / or communicate with any device that enables the electronic device 50 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 511. Furthermore, the electronic device 50 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 512. As shown, the network adapter 512 communicates with other modules of the electronic device 50 via the bus 503. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 50, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0160] The processing unit 501 executes various functional applications and data processing by running the programs stored in the system memory 502, such as implementing the method for controlling the drum speed of the laundry device provided in the embodiment of the present application.

[0161] In another embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, a method for controlling the drum speed of a laundry appliance is implemented. The method for controlling the drum speed of a laundry appliance includes:

[0162] Acquire an image of the clothes in the drum of the laundry device; determine the center of gravity of the clothes based on the image of the clothes, and calculate a target rotation speed and a theoretical drop point of the oblique throwing motion of the clothes based on the center of gravity of the clothes; control the drum rotation speed to reach the target rotation speed; when the drum rotation speed reaches the target rotation speed, acquire the motion trajectory of the clothes; and control the drum rotation speed again based on the motion trajectory of the clothes and the theoretical drop point.

[0163] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0164] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0165] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0166] The computer program code for performing the operation of the embodiment of the application can be written in one or more programming languages ​​or a combination thereof, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on the remote computer, or executed completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network-including local area network (LAN) or wide area network (WAN), or, it can be connected to an external computer (for example, utilizing an Internet service provider to connect by the Internet).

[0167] 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.

[0168] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0169] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0170] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0171] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0172] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0173] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the drum speed of a laundry machine, characterized in that: include: Acquire an image of clothes in a drum of a laundry device; Determine the center of gravity of the clothing according to the clothing image, Calculating a target rotation speed and a theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing; Controlling the rotation speed of the drum to reach a target rotation speed; When the drum speed reaches the target speed, the movement trajectory of the clothes is obtained; According to the movement trajectory and theoretical drop point of the clothes, the drum speed is controlled again.

2. The method for controlling the drum speed of a laundry machine according to claim 1, wherein: After obtaining the movement trajectory of the clothing, the method further includes: determining whether at least a portion of the clothing is stuck to the wall based on the movement trajectory of the clothing; If at least part of the clothes are stuck to the wall, the drum is controlled to stop rotating, and an image of the clothes in the drum of the laundry device is acquired; If the clothes are not stuck to the wall, the actual drop point of the clothes is determined according to the movement trajectory of the clothes; The rotation speed of the drum is controlled according to the actual drop point and the theoretical drop point.

3. The method for controlling the drum speed of a laundry machine according to claim 2, wherein: The controlling of the drum rotation speed according to the actual drop point and the theoretical drop point includes: Determine whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold; When the deviation between the actual drop point and the theoretical drop point is not less than a preset deviation threshold, the actual height of the actual drop point is compared with the theoretical height of the theoretical drop point to control the drum speed according to the comparison result.

4. The method for controlling the drum speed of a laundry machine according to claim 3, wherein: After determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold, the method further includes: When the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold, it is determined whether the rotation direction of the drum needs to be changed; If the rotation direction of the drum needs to be changed, the drum rotation is stopped and the step of acquiring an image of the clothes in the drum of the laundry device is performed; If the rotation direction of the drum does not need to be changed, the actual drop point is updated at the current drum rotation speed, and a step of determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold is performed.

5. The method for controlling the drum speed of a laundry machine according to claim 4, characterized in that: If the rotation direction of the drum does not need to be changed, before updating the actual drop point, the method further includes: Determine whether the current washing mode is ended; If the current washing mode ends, the drum is controlled to stop rotating; If the current washing mode has not ended, then at the current drum speed, continue to execute the steps of updating the actual drop point and determining whether the deviation between the actual drop point and the theoretical drop point is less than a preset deviation threshold.

6. The method for controlling the drum speed of a laundry machine according to claim 3, wherein: The comparing the actual height of the actual drop point with the theoretical height of the theoretical drop point to control the rotation speed of the drum according to the comparison result includes: If the comparison result shows that the actual height is greater than the theoretical height, the rotation speed of the drum is reduced according to a preset interval speed to obtain a first target rotation speed after the drum is reduced; If the comparison result shows that the actual height is less than the theoretical height, the rotation speed of the drum is increased according to the preset interval to obtain a second target rotation speed of the drum after the speed is increased; When the absolute value of the difference between the first target speed and the target speed is greater than the preset interval speed, or the absolute value of the difference between the second target speed and the target speed is greater than the preset interval speed, performing the step of acquiring an image of the clothes in the drum of the laundry device; When the absolute value of the difference between the first target speed and the target speed is not greater than the preset interval speed, controlling the drum speed to reach the first target speed and obtaining the movement trajectory of the clothes are executed, or When the absolute value of the difference between the second target speed and the target speed is not greater than the preset interval speed, the steps of controlling the drum speed to reach the second target speed, obtaining the movement trajectory of the clothes, and controlling the drum speed again according to the movement trajectory of the clothes and the theoretical dropping point are executed.

7. The method for controlling the drum speed of a laundry machine according to any one of claims 1 to 6, characterized in that: The step of calculating the target rotation speed and the theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing includes: determining the distance between the clothes and the center of the drum according to the center of gravity of the clothes; Substitute the distance into the preset model to obtain the target rotation speed and the theoretical dropping point of the oblique projection motion of the clothes, wherein the preset model consists of the momentum calculation formula, the displacement formula of the oblique projection motion, the circular motion formula of the drum, and the force formula of the initial point of the oblique projection.

8. A device for controlling the drum speed of a laundry machine, characterized in that: include: An image acquisition module, configured to acquire an image of clothes in a drum of a laundry device; A center of gravity determination module is used to determine the center of gravity of the clothing according to the clothing image, a data calculation module, configured to calculate a target rotation speed and a theoretical drop point of the oblique throwing motion of the clothing according to the center of gravity of the clothing; A target speed acquisition module, used to control the drum speed to reach the target speed; A motion trajectory determination module is used to obtain the motion trajectory of the clothes when the drum speed reaches the target speed; The speed control module is used to control the speed of the drum again according to the movement trajectory and theoretical drop point of the clothes.

9. A laundry device, characterized in that: The laundry device comprises: Drum and drum speed control device of laundry equipment; The device for controlling the drum speed of the laundry appliance controls the drum speed of the laundry appliance by using the method for controlling the drum speed of the laundry appliance according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device comprises: a storage device for storing one or more programs, When the one or more programs are executed by one or more processors, the one or more processors implement the method for controlling the drum speed of a laundry device as described in any one of claims 1 to 7.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for controlling the drum speed of a laundry device as described in any one of claims 1 to 7 is implemented.

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