Method and device for controlling drum speed of washing and drying equipment

Abstract

The present application provides a method and device for controlling the drum speed of a washing and drying device, the method comprising: in a drying mode, before the drum rotates, obtaining multiple first clothing images of clothing in the drum; determining the center of gravity of the first clothing based on each of the first clothing images; determining a first drum speed based on the center of gravity of the first clothing, and controlling the drum speed to reach the first drum speed; before the drum stops rotating and rotates in the opposite direction of the current rotation direction, obtaining multiple second clothing images of the clothing in the drum; and controlling the drum speed when rotating in the opposite direction of the current rotation direction based on the similarity between each of the first clothing images and each of the second clothing images, so as to at least solve the technical problem that the drum speed of the washing and drying device cannot be flexibly changed, which affects the stretching degree of the clothing and thus affects the drying effect.

Description

Technical Field

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

[0002] Currently, washing machine dryers primarily include electric heating and heat pump drying. Electric heating utilizes electric heating tubes for heating, followed by air cooling, water cooling, or direct exhaust of the hot and humid air to dry the clothes. Heat pump drying utilizes the heat pump heating principle, employing two devices for heat exchange and dehumidification, resulting in highly efficient dehumidification and more precise compressor temperature control. During the washing machine drying process, uniform drying of clothes is a key concern for users. The stretching of clothes within the limited drum space directly affects the drying effect, as does the drum speed. In actual washing, the speed of the washing machine is fixed, making it prone to suboptimal drying due to varying loads. Summary of the Invention

[0003] The present application provides a method and device for controlling the drum speed of a washing and drying device, so as to at least solve the technical problem that the drum speed of the washing and drying device cannot be flexibly changed, which affects the stretching degree of the clothes and thus affects the drying effect.

[0004] According to a first aspect of an embodiment of the present application, a method for controlling the drum speed of a washing and drying device is provided, the control method comprising:

[0005] In the drying mode, before the drum rotates, a plurality of first clothing images of the clothing in the drum are acquired;

[0006] determining a first center of gravity of the clothing according to each of the first clothing images;

[0007] determining a first drum speed according to the center of gravity of the first laundry, and controlling the drum speed to reach the first drum speed;

[0008] Before the drum stops rotating and rotates in a direction opposite to the current rotation direction, acquiring a plurality of second clothing images of the clothing in the drum;

[0009] The rotation speed of the drum when rotating in a direction opposite to the current rotation direction is controlled according to the similarity between each of the first clothing images and each of the second clothing images.

[0010] Optionally, controlling the rotation speed of the drum when it rotates in a direction opposite to a current rotation direction according to the similarity between each of the first clothing images and each of the second clothing images includes:

[0011] If the similarity between each first clothing image and each second clothing image is less than a preset threshold, the drum speed in the current rotation direction is determined as the drum speed when rotating in the direction opposite to the current rotation direction, and each second clothing image is used as an updated first clothing image. The multiple second clothing images of the laundry are obtained again, so as to control the drum speed when rotating in the direction opposite to the current rotation direction according to the similarity between each updated first clothing image and each second clothing image;

[0012] If the similarity between each first clothing image and each second clothing image is not less than a preset threshold, then before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, an updated first clothing center of gravity is obtained based on the updated first clothing image, an updated first drum speed is determined based on the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed.

[0013] Optionally, controlling the rotation speed of the drum when it rotates in a direction opposite to a current rotation direction according to the similarity between each of the first clothing images and each of the second clothing images includes:

[0014] generating a first three-dimensional surface model corresponding to each first clothing image and a second three-dimensional surface model corresponding to each second clothing image;

[0015] Perform feature extraction on the first three-dimensional surface model and the second three-dimensional surface model respectively to obtain first feature information and second feature information;

[0016] Performing feature similarity calculation on the first feature information and the second feature information to obtain a calculation result;

[0017] Based on the calculation result, the speed of the drum is controlled when it rotates in the opposite direction of the current rotation direction.

[0018] Optionally, controlling the rotation speed of the drum when it rotates in a direction opposite to the current rotation direction according to the calculation result includes:

[0019] If the calculated result is less than a preset threshold, the drum speed in the current rotation direction is determined to be the drum speed when rotating in the opposite direction of the current rotation direction, and the second three-dimensional surface model is used as the updated first three-dimensional surface model. Multiple second clothing images of the laundry are obtained, and then an updated second three-dimensional surface model is generated based on the newly obtained multiple second clothing images. Feature extraction is performed on the first three-dimensional surface model and the second three-dimensional surface model respectively, and feature similarity is calculated for the first feature information and the second feature information to obtain a calculation result. According to the calculation result, the speed of the drum when rotating in the opposite direction of the current rotation direction is controlled;

[0020] If the calculation result is not less than the preset threshold, before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, an updated first clothing center of gravity is obtained based on the updated first clothing image, an updated first drum speed is determined based on the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed.

[0021] Optionally, determining the first center of gravity of the clothing according to each of the first clothing images includes:

[0022] determining a first three-dimensional surface model corresponding to each first clothing image;

[0023] The center of gravity of the first three-dimensional surface model is calculated to obtain the first center of gravity of the clothing.

[0024] Optionally, calculating the center of gravity of the first three-dimensional surface model to obtain the first center of gravity of the clothing includes:

[0025] Acquire a first preset number of initial points from the first three-dimensional model, wherein the initial points are points uniformly selected from the first three-dimensional surface model;

[0026] Clustering the initial points to obtain a second preset number of centroids;

[0027] Selecting a center mass perpendicular to the rotation axis from a second preset number of mass centers; wherein the rotation axis is the central axis of rotation of the drum;

[0028] The center of mass is used as the target clothing center of gravity.

[0029] According to a second aspect of an embodiment of the present application, a device for controlling the drum speed of a washing and drying device is provided, the device comprising:

[0030] A first image acquisition module is used to acquire a plurality of first clothing images of the clothing in the drum before the drum rotates in the drying mode;

[0031] a center of gravity determining module, configured to determine the center of gravity of a first garment according to each of the first garment images;

[0032] a speed determination module, configured to determine a first drum speed according to the center of gravity of the first laundry, and control the drum speed to reach the first drum speed;

[0033] The second clothing image acquisition module is used to acquire multiple second clothing images of the clothing in the drum before the drum stops rotating and rotates in the reverse direction.

[0034] The second rotation speed control module is used to control the rotation speed of the drum when it rotates in the opposite direction of the current rotation direction according to the similarity between each of the first clothing images and each of the second clothing images.

[0035] According to a third aspect of an embodiment of the present application, a washing and drying device is provided, the washing and drying device comprising:

[0036] Drum and drum speed control device for washing and drying equipment;

[0037] The drum speed control device of the washing and drying device controls the drum speed of the washing and drying device through the drum speed control method of the washing and drying device in any embodiment of the present application.

[0038] According to a fourth aspect of the embodiments of the present application, an electronic device is provided, comprising:

[0039] a storage device for storing one or more programs,

[0040] 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 washing and drying device as described in any embodiment of the present application.

[0041] According to a fifth aspect of an 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 washing and drying device as described in any embodiment of the present application is implemented.

[0042] In an embodiment of the present application, in drying mode, before the drum rotates, multiple first images of the laundry are captured; the center of gravity of the first laundry is determined based on each of the first images; a first drum speed is determined based on the first center of gravity, and the drum speed is controlled to reach the first drum speed; and before the drum stops rotating and rotates in the direction opposite to the current rotation direction, multiple second images of the laundry are captured; and based on the similarity between each of the first and second images, the drum speed is controlled when rotating in the direction opposite to the current rotation direction. In this way, the solution of the present application achieves the goal of obtaining the center of gravity of the laundry based on the laundry images, and furthermore, the drum speed is determined based on the similarity between the first and second images. This improves the flexibility of adjusting the drum speed, ensures the stretching of the laundry, and achieves a better drying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of a method for controlling the drum speed of a washing and drying device in one embodiment of the present application;

[0044] Figure 2 This is a flow chart of a method for controlling the drum speed of a washing and drying device in one embodiment of the present application;

[0045] Figure 3 is a schematic diagram of a two-dimensional rectangular coordinate system in one embodiment of the present application;

[0046] Figure 4 This is a schematic structural diagram of a drum speed control device for a washing and drying device according to one embodiment of the present application;

[0047] Figure 5 This is a schematic structural diagram of an electronic device in one embodiment of the present application; DETAILED DESCRIPTION

[0048] 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.

[0049] 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.

[0050] According to an embodiment of the present application, an embodiment of a method for controlling the drum speed of a washing and drying device 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.

[0051] like Figure 1 As shown, the method for controlling the drum speed of the washing and drying equipment includes the following steps:

[0052] Step S101 : in a drying mode, before the drum rotates, obtaining a plurality of first clothing images of clothing in the drum.

[0053] This step realizes obtaining a plurality of first clothing images of the laundry in the drying mode, and prepares for subsequently obtaining the first clothing center of gravity according to the first clothing images.

[0054] Regarding the method for acquiring the first clothing image, multiple images of the first clothing in the drum can be acquired by at least one camera provided in the laundry device, wherein the photographic range of the camera covers the drum. Acquiring the first clothing image by at least one camera provided in the laundry device, and using the camera provided in the laundry device to capture the clothing image, is convenient, fast, and highly real-time.

[0055] In the present application, there may be one camera device, and the shooting range of the camera device covers the drum. There may be multiple camera devices, and the sum of the shooting ranges of the various camera devices covers the drum. The position of the camera device can be set according to actual conditions and is not limited in the present embodiment.

[0056] Step S102: determining a first clothing center of gravity according to each of the first clothing images.

[0057] In this step, the center of gravity of the first clothing is obtained through each first clothing image. A center of gravity is obtained based on each first clothing image, and then the center of gravity of the first clothing is obtained from multiple centers of gravity, etc., to determine the center of gravity of the first clothing, so as to facilitate the subsequent determination of the first drum speed based on the center of gravity of the first clothing.

[0058] Step S103, determining a first drum speed according to the center of gravity of the first laundry, and controlling the drum speed to reach the first drum speed.

[0059] This step implements a method for obtaining a first drum speed based on the center of gravity of the first garment, thereby controlling the drum speed to reach the first drum speed. The method for obtaining the first drum speed based on the center of gravity of the first garment can include experimentally obtaining the drum speed for each type of garment center of gravity, thereby obtaining a mapping relationship between the drum speed and the center of gravity of the garment, and then traversing the mapping relationship to determine the first drum speed corresponding to the center of gravity of the first garment based on the first garment center of gravity. The method for obtaining the first drum speed based on the center of gravity of the first garment can also include calculating the first drum speed based on the centrifugal force within the drum, the angular velocity of the drum, and the like.

[0060] Step S104: before the drum stops rotating and rotates in a direction opposite to the current rotating direction, a plurality of second clothing images of the clothing in the drum are obtained.

[0061] This step allows for obtaining a second image of the laundry in the drum when the drum stops rotating but has not yet rotated in the direction opposite to the current rotational direction, thereby determining whether the current rotational direction should be changed. The second image can be obtained in the same manner as the first image.

[0062] Step S105 : controlling the rotation speed of the drum when it rotates in a direction opposite to the current rotation direction according to the similarity between each of the first clothing images and each of the second clothing images.

[0063] This step determines the rotation speed in the direction opposite to the current rotation direction by comparing each first clothing image with each second clothing image, thereby controlling the rotation speed in the direction opposite to the current rotation direction. Comparing each first clothing image with each second clothing image can mean comparing them sequentially in the order in which the clothing images were acquired, and then calculating the mean of the comparison results to obtain the final similarity. For example, the three first clothing images are A, B, and C in the order in which they were acquired, and the three second clothing images are D, E, and F in the order in which they were acquired. Therefore, A is compared with D, B is compared with E, and C is compared with F. In this way, three comparison results are obtained, and then the mean is calculated. In another optional embodiment, a three-dimensional surface model can be constructed for each of the first clothing images and the second clothing images, and the similarity of each first clothing image and each second clothing image can be compared using the two three-dimensional surface models.

[0064] In an embodiment of the present application, in drying mode, before the drum rotates, multiple first images of the laundry are captured; the center of gravity of the first laundry is determined based on each of the first images; a first drum speed is determined based on the first center of gravity, and the drum speed is controlled to reach the first drum speed; and before the drum stops rotating and rotates in the direction opposite to the current rotation direction, multiple second images of the laundry are captured; and based on the similarity between each of the first and second images, the drum speed is controlled when rotating in the direction opposite to the current rotation direction. In this way, the solution of the present application achieves the goal of obtaining the center of gravity of the laundry based on the laundry images, and furthermore, the drum speed is determined based on the similarity between the first and second images. This improves the flexibility of adjusting the drum speed, ensures the stretching of the laundry, and achieves a better drying effect.

[0065] In another embodiment of the present application, the step S105 controls the speed of the drum when it rotates in the opposite direction of the current rotation direction according to the similarity between each first clothing image and each second clothing image, including: if the similarity between each first clothing image and each second clothing image is less than a preset threshold, the drum speed in the current rotation direction is determined as the drum speed when rotating in the opposite direction of the current rotation direction, and each second clothing image is used as an updated first clothing image, and the multiple second clothing images of the laundry are obtained again to control the speed of the drum when it rotates in the opposite direction of the current rotation direction according to the similarity between each updated first clothing image and each second clothing image; if the similarity between each first clothing image and each second clothing image is not less than the preset threshold, before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, an updated first clothing center of gravity is obtained according to the updated first clothing image, an updated first drum speed is determined according to the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed.

[0066] In an embodiment of the present application, if the similarity between each first and second clothing image is less than a preset threshold, it indicates that the first and second clothing images differ significantly, indicating a good drying effect. The drum speed in the current rotational direction is determined to be the drum speed when rotating in the direction opposite to the current rotational direction, and each second clothing image is used as an updated first clothing image. Multiple second clothing images of the laundry are captured again, and the drum speed when rotating in the direction opposite to the current rotational direction is controlled based on the similarity between each updated first and second clothing image. If the similarity between each first and second clothing image is not less than a preset threshold, indicating that the difference between the first and second clothing images is not significant, indicating a poor drying effect, the drum speed in the direction opposite to the current rotational direction is changed. Before rotating in the direction opposite to the current rotational direction, each second clothing image is used as an updated first clothing image, and an updated first clothing center of gravity is obtained based on the updated first clothing center of gravity. The updated first drum speed is then determined based on the updated first clothing center of gravity, and the drum speed when rotating in the direction opposite to the current rotational direction is controlled to be the updated first drum speed, thereby achieving adjustment of the drum speed. Through the method of the present application, the drying effect of the clothes at the current drum speed is judged by comparing the similarity between the first clothes image and the second clothes image, and the speed can be adjusted according to the similarity between the first clothes image and the second clothes image, thereby improving the clothes drying effect.

[0067] In another embodiment of the present application, a first three-dimensional surface model corresponding to each first clothing image and a second three-dimensional surface model corresponding to each second clothing image are generated respectively; feature extraction is performed on the first three-dimensional surface model and the second three-dimensional surface model respectively to obtain first feature information and second feature information; feature similarity calculation is performed on the first feature information and the second feature information to obtain a calculation result; based on the calculation result, the speed of the drum is controlled when it rotates in the opposite direction of the current rotation direction.

[0068] In this application, the comparison of feature information is used to determine the similarity between the first three-dimensional surface model and the second three-dimensional surface. Therefore, the feature information may include color features, texture features, and surface area features of the clothing. Establishing the three-dimensional surface model may involve acquiring color features, texture features, and the like of the first clothing image and establishing the three-dimensional surface model.

[0069] In an embodiment of the present application, a first three-dimensional surface model and a second three-dimensional surface model are established to obtain first feature information and second feature information. Feature similarity calculation is performed on the first feature information and the second feature information to obtain a calculation result. This may refer to performing similarity calculation on feature information of the same type, for example, performing similarity calculation on the color features in the first feature information and the second feature information, performing similarity calculation on the texture features in the first feature information and the second feature information, etc. After performing similarity calculation on each type of feature information, the obtained results are integrated to obtain a calculation result. The integration method can be a mean calculation or a weighted sum method. Based on the calculation result, the speed of the drum is controlled when it rotates in the opposite direction of the current rotation direction, so that the speed control is more in line with the state of the clothes, thereby improving the drying effect of the clothes.

[0070] In another embodiment of the present application, the method of controlling the speed of the drum when it rotates in the opposite direction of the current rotation direction according to the calculation result includes: if the calculation result is less than a preset threshold value, determining the drum speed in the current rotation direction as the drum speed when it rotates in the opposite direction of the current rotation direction, using the second three-dimensional surface model as the updated first three-dimensional surface model, obtaining multiple second clothing images of the laundry in the drum, and then generating an updated second three-dimensional surface model based on the newly obtained multiple second clothing images, performing feature extraction on the first three-dimensional surface model and the second three-dimensional surface model respectively, performing feature similarity calculation on the first feature information and the second feature information to obtain a calculation result, and controlling the speed of the drum when it rotates in the opposite direction of the current rotation direction according to the calculation result; if the calculation result is not less than the preset threshold value, before rotating in the opposite direction of the current rotation direction, using each second clothing image as an updated first clothing image, obtaining an updated first clothing center of gravity based on the updated first clothing image, determining an updated first drum speed based on the updated first clothing center of gravity, and controlling the speed when rotating in the opposite direction of the current rotation direction to be the updated first drum speed.

[0071] In this application, the similarity between the first and second three-dimensional surface models is used to determine whether to maintain the current rotation speed or control the drum to reverse, and to determine the drum speed during the reverse rotation. In this application, when the similarity is less than a preset threshold, it indicates that the first and second three-dimensional surface models differ significantly, that is, the first and second clothing images differ significantly. In this case, the drum speed in the direction opposite to the current rotation direction can be set to the drum speed in the current rotation direction, that is, the first drum speed. The current second three-dimensional surface model is used as the updated first three-dimensional surface model, which facilitates subsequent similarity calculations based on the updated first three-dimensional surface model and the newly acquired second three-dimensional surface model. In this way, by repeatedly acquiring the second clothing image and calculating the similarity between the updated first three-dimensional surface model and the newly acquired second three-dimensional surface model of the second clothing image, the drum speed can be adjusted as the clothing condition changes, ensuring that the clothing is continuously dried in a satisfactory state. When the similarity between the first and second three-dimensional surface models is not less than the preset threshold, it indicates that the difference between the two is not significant, indicating poor drying results and the current drum speed is insufficient. In this way, the drum speed when rotating in the opposite direction of the current rotation direction needs to be recalculated. Before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, and an updated first clothing center of gravity is obtained according to the updated first clothing image. The updated first drum speed is determined according to the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed. In addition, the second clothing image at the updated first drum speed and subsequent steps can continue to be executed to achieve the determination of the drum speed for each rotation direction and the determination of the drum speed when rotating in the opposite direction of the current rotation direction, so that the drum speed reaches the best and the drying effect of the clothes is improved.

[0072] In another embodiment of the present application, determining the center of gravity of the first clothing based on each of the first clothing images includes: determining a first three-dimensional surface model corresponding to each of the first clothing images; and calculating the center of gravity of the first three-dimensional surface model to obtain the center of gravity of the first clothing.

[0073] In the embodiment of the present application, a first three-dimensional surface model of the first clothing image is determined, and then the center of gravity is calculated to obtain the center of gravity of the first clothing item. Using the first three-dimensional surface model, the first three-dimensional surface model can be considered as a whole, and the center of gravity calculation can be performed for the entire whole. Alternatively, the first three-dimensional surface model can be divided into multiple initial points, and the center of gravity is obtained from these multiple initial points. Calculation using a model makes the center of gravity calculation more accurate.

[0074] In another embodiment of the present application, the center of gravity of the first three-dimensional surface model is calculated to obtain the first center of gravity of the clothing, including: obtaining a first preset number of initial points from the first three-dimensional model, wherein the initial points are points uniformly selected from the first three-dimensional surface model; clustering the initial points to obtain a second preset number of centroids; selecting a central centroid perpendicular to the rotation axis from the second preset number of centroids; wherein the rotation axis is the central axis of rotation of the drum; and using the central centroid as the target center of gravity of the clothing.

[0075] In this application, the initial points are clustered by clustering to obtain the centroid, and then the center centroid is determined from the centroid. There are many clustering methods, and this application does not limit the clustering method. In one example, the clustering method is the Kmeans algorithm. The centroid obtained by clustering is more accurate, thereby making the center centroid more precise.

[0076] In another embodiment of the present application, a method for controlling the drum speed of a washing and drying device is provided. The solution of the present application is an optional solution to the method for controlling the drum speed of the washing and drying device in the aforementioned embodiment, wherein technical terms that are the same or similar to those in the aforementioned embodiment will not be repeated.

[0077] Figure 2 This is the flow chart of this solution. This solution requires the deployment of n cameras on the drum door cover of the washing and drying equipment, where n is an integer greater than 1. The cameras are evenly distributed around the drum circumference and point toward the rotation axis inside the drum.

[0078] Step S301: When the drum is not rotating, multiple first clothing images of the clothing in the drum are obtained. That is, in the drying mode, when the drum is not rotating, n cameras simultaneously shoot the clothing in the drum to obtain the first clothing images.

[0079] Step S302: Create a three-dimensional surface model of the clothing in the drum based on the first clothing images at different angles at the same time. Compared with two-dimensional clothing images, the three-dimensional surface model can more accurately describe the shape of the clothing.

[0080] Step S303, calculate the center of gravity of the first three-dimensional surface model to obtain the first center of gravity of the clothing. First, evenly select M points on the three-dimensional surface model of the clothing, and cluster the M points based on the three-dimensional coordinates of the M points using the K-means++ algorithm. The number of categories k is an odd number greater than 1, and k objects are selected as the initial cluster centers. Then, the distance between each point and each seed cluster center is calculated, and each point is assigned to the cluster center closest to it. The cluster centers and the points assigned to them represent a cluster. Each time a sample is assigned, the cluster center of the cluster will be recalculated based on the existing points in the cluster. This process will be repeated until a certain termination condition is met. The termination condition can be that no (or a minimum number of) points are reassigned to different clusters, and no (or a minimum number of) cluster centers change again. The point set is divided into k clusters based on the distance between three-dimensional points. Each cluster corresponds to a centroid. The center of mass is selected as the center of gravity of the clothing with reference to the plane perpendicular to the rotation axis. In this way, the center of gravity of the clothing should be stretched as much as possible during the drying process, thereby increasing the drying area and improving the drying effect.

[0081] Step S304: determine the first drum speed according to the center of gravity of the first laundry, and control the drum speed to reach the first drum speed.

[0082] The movement trajectory is affected by the drum speed. When the speed is too high, the clothes will continue to move against the drum, while when the speed is too low, the clothes cannot be carried high. At an appropriate speed, the clothes move with the drum wall to a certain height. Under the influence of gravity, the clothes no longer stick to the drum wall and begin to move away from the drum wall in an oblique upward motion. At this time, the clothes are not squeezed by centrifugal force and the normal reaction force of the drum wall, which optimizes the stretch of the clothes and improves the drying effect. The state of clothes in the inner drum is mainly affected by friction, gravity, centrifugal force, and normal reaction force.

[0083] S305 . Before the drum stops rotating and rotates in a direction opposite to the current rotating direction, a plurality of second clothing images of the clothing in the drum are acquired.

[0084] S306: Generate a second three-dimensional surface model for each second clothing image.

[0085] S307 : Perform feature extraction on the first three-dimensional surface model and the second three-dimensional surface model respectively to obtain first feature information and second feature information.

[0086] S308. Calculate feature similarity between the first feature information and the second feature information, and determine whether the similarity calculation result is less than a preset threshold. If the similarity calculation result is less than the preset threshold, execute step S309; ​​if the similarity calculation result is not less than the preset threshold, execute step S311.

[0087] S309: Determine the drum speed in the current rotation direction as the drum speed when rotating in the opposite direction of the current rotation direction.

[0088] Since the similarity calculation result between the first three-dimensional surface model and the second three-dimensional surface model is less than the preset threshold, it indicates that the state of the clothes has changed significantly. For example, the color of the clothes has changed to ensure that the clothes are dried evenly. For example, the texture characteristics of the clothes have changed, indicating that the clothes are drying.

[0089] The drum speed in the direction opposite to the current rotation direction is determined, and the drum is controlled to rotate in the direction opposite to the current rotation direction.

[0090] S310: Use the second three-dimensional surface model as the updated first three-dimensional surface model and execute step S305.

[0091] At this time, the drying mode maintains the original speed and continues drying, but the feature information of the first three-dimensional surface model and the second three-dimensional surface model needs to be updated. The second three-dimensional surface model covers the first three-dimensional surface model to obtain an updated first three-dimensional surface model for comparison information in the next round of similarity comparison.

[0092] S311 . Before rotating in a direction opposite to the current rotation direction, use each second clothing image as an updated first clothing image.

[0093] If the calculated similarity between the first and second feature information is no less than a preset threshold, meaning the first and second 3D surface models are highly similar, then the change in the clothing's condition is minimal. For example, if the clothing is not fully stretched or the drying position is limited, resulting in poor drying results, the square transformation process is triggered.

[0094] Step S312: Determine whether the drying stage is finished. If the drying stage is finished, execute step S313; if the drying stage is not finished, execute step 302.

[0095] Step S313: Control the drum to stop rotating.

[0096] The solution of the present application realizes the control of the rotation speed of the drum according to the state of the clothes, and involves the logical control of forward and reverse rotation, so that the drying effect of the clothes is better.

[0097] In another embodiment of the present application, the method of calculating the drum speed by the center of gravity of the clothes is explained in the following example. The front view of the drum is used as a plane and the drum rotation axis is used as the coordinate origin to establish a two-dimensional plane rectangular coordinate system, such as Figure 3 For example, the clothes start to break away from the wall of the drum at point A and do an oblique upward motion. The angle between the line from point A to the origin of the coordinate system and the vertical axis of the coordinate system is θ. At this time, the sum of the forces on the clothes is 0. In particular, the centrifugal force Where G is gravity (N), g is acceleration due to gravity (m / s2), R is the rotation radius of the clothing (m), and w is the angular velocity (rad / s). Therefore, the angular velocity of point A at this time is Linear speed This scheme expects that when the clothes are thrown obliquely, their horizontal range reaches the maximum value to ensure the maximum stretch of the clothes. It can be seen that the range is determined by the radius R and the angle θ. When the rotation radius R is determined, the angle θ becomes the decisive factor. Expanding the formula, we get X = 2R sinθ (cosθ) 2 , then the range maximum problem is simplified to f(θ)=sinθ(cosθ) 2 The maximum value problem, solve the first-order derivative function f'(θ) = 0, and get θ≈35.26°, then the angular velocity of the drum Drum speed The optimal drum speed is determined according to the center of gravity of the clothes, as shown in Table 1 and Table 2:

[0098] Table 1

[0099]

[0100] Table 2:

[0101] parameter Rotation radius of clothing center of gravity Ideal throwing angle for clothes Corresponding ideal drum speed Example 1 0.25m 35.26° 54.03r / min Example 2 0.22m 35.26° 57.59r / min Example 3 0.19m 35.26° 61.97r / min

[0102] Table 2 shows the ideal angles at which different rotation radii correspond to different drum speeds. Therefore, through the solution of the present application, after obtaining the center of gravity of the clothes, the rotation radius can be calculated to obtain the drum speed.

[0103] In another embodiment of the present application, a washing and drying device is provided, which includes: a drum and a device for controlling the drum speed of the washing and drying device; the device for controlling the drum speed of the washing and drying device controls the drum speed in the washing and drying device through a method for controlling the drum speed of the washing and drying device as in any embodiment of the present application.

[0104] In another embodiment of the present application, a device for controlling the drum speed of a washing and drying device is provided. Figure 4 This is a schematic diagram of the structure of a drum speed control device for a laundry machine 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 machine provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of executing the method. The device includes: a first image acquisition module 410, a center of gravity determination module 420, a speed determination module 430, a second clothing image acquisition module 440, and a second speed control module 450; wherein:

[0105] The first image acquisition module 410 is configured to acquire a plurality of first clothing images of the clothing in the drum before the drum rotates in the drying mode;

[0106] a center of gravity determining module 420, configured to determine the center of gravity of a first garment according to each of the first garment images;

[0107] A speed determination module 430 is configured to determine a first drum speed according to the center of gravity of the first laundry and control the drum speed to reach the first drum speed;

[0108] The second clothing image acquisition module 440 is configured to acquire a plurality of second clothing images of the clothing in the drum before the drum stops rotating and rotates in a direction opposite to the current rotation direction;

[0109] The second rotation speed control module 450 is configured to control the rotation speed of the drum when the drum rotates in a direction opposite to the current rotation direction according to the similarity between the first clothing images and the second clothing images.

[0110] Furthermore, the second speed control module 450 is further configured to:

[0111] If the similarity between each first clothing image and each second clothing image is less than a preset threshold, the drum speed in the current rotation direction is determined to be the drum speed when rotating in the opposite direction of the current rotation direction, and each second clothing image is used as an updated first clothing image, and the multiple second clothing images of the laundry are obtained again to control the speed of the drum when rotating in the opposite direction of the current rotation direction according to the similarity between each updated first clothing image and each second clothing image; if the similarity between each first clothing image and each second clothing image is not less than a preset threshold, before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, and an updated first clothing center of gravity is obtained according to the updated first clothing image. The updated first drum speed is determined according to the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed. Furthermore, the second speed control module 450 is also used to:

[0112] generating a first three-dimensional surface model corresponding to each first clothing image and a second three-dimensional surface model corresponding to each second clothing image;

[0113] Perform feature extraction on the first three-dimensional surface model and the second three-dimensional surface model respectively to obtain first feature information and second feature information;

[0114] Performing feature similarity calculation on the first feature information and the second feature information to obtain a calculation result;

[0115] Furthermore, the second speed control module 450 is further configured to:

[0116] Based on the calculation result, the speed of the drum is controlled when it rotates in the opposite direction of the current rotation direction.

[0117] If the calculation result is less than the preset threshold, the drum speed in the current rotation direction is determined to be the drum speed when rotating in the opposite direction of the current rotation direction, and the second three-dimensional surface model is used as the updated first three-dimensional surface model to obtain multiple second clothing images of the laundry in the drum, and then an updated second three-dimensional surface model is generated based on the newly obtained multiple second clothing images, and features are extracted from the first three-dimensional surface model and the second three-dimensional surface model respectively, and feature similarity is calculated for the first feature information and the second feature information to obtain a calculation result, and the speed of the drum when rotating in the opposite direction of the current rotation direction is controlled according to the calculation result; if the calculation result is not less than the preset threshold, before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, and an updated first clothing center of gravity is obtained according to the updated first clothing image. The updated first drum speed is determined according to the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed.

[0118] Furthermore, the center of gravity determination module 420 is further configured to:

[0119] determining a first three-dimensional surface model corresponding to each first clothing image;

[0120] The center of gravity of the first three-dimensional surface model is calculated to obtain the first center of gravity of the clothing.

[0121] Furthermore, the center of gravity determination module 420 is further configured to:

[0122] Acquire a first preset number of initial points from the first three-dimensional model, wherein the initial points are points uniformly selected from the first three-dimensional surface model;

[0123] Clustering the initial points to obtain a second preset number of centroids;

[0124] Selecting a center mass perpendicular to the rotation axis from a second preset number of mass centers; wherein the rotation axis is the central axis of rotation of the drum;

[0125] The center of mass is used as the target clothing center of gravity.

[0126] In an embodiment of the present application, in drying mode, before the drum rotates, multiple first images of the laundry are captured; the center of gravity of the first laundry is determined based on each of the first images; a first drum speed is determined based on the first center of gravity, and the drum speed is controlled to reach the first drum speed; and before the drum stops rotating and rotates in the direction opposite to the current rotation direction, multiple second images of the laundry are captured; and based on the similarity between each of the first and second images, the drum speed is controlled when rotating in the direction opposite to the current rotation direction. In this way, the solution of the present application achieves the goal of obtaining the center of gravity of the laundry based on the laundry images, and furthermore, the drum speed is determined based on the similarity between the first and second images. This improves the flexibility of adjusting the drum speed, ensures the stretching of the laundry, and achieves a better drying effect.

[0127] 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.

[0128] In another embodiment of the present application, an electronic device is also provided. Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 A block diagram of an exemplary electronic device 50 suitable for implementing embodiments of the present application is shown. Figure 5 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.

[0129] like Figure 5 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).

[0130] 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.

[0131] 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.

[0132] 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 5 Not shown, often called a "hard drive"). Although Figure 5 Not 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.

[0133] 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.

[0134] 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 5Not 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.

[0135] 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 washing and drying device provided in the embodiment of the present application.

[0136] 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 washing and drying device is implemented. The method for controlling the drum speed of a washing and drying device includes:

[0137] In the drying mode, before the drum rotates, multiple first clothing images of the clothing in the drum are obtained; the center of gravity of the first clothing is determined based on each of the first clothing images; the first drum speed is determined based on the center of gravity of the first clothing, and the drum speed is controlled to reach the first drum speed; before the drum stops rotating and rotates in the opposite direction of the current rotation direction, multiple second clothing images of the clothing in the drum are obtained; based on the similarity between each of the first clothing images and each of the second clothing images, the speed of the drum when it rotates in the opposite direction of the current rotation direction is controlled.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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).

[0142] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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 washing and drying device, characterized in that: The control method includes: In the drying mode, before the drum rotates, a plurality of first clothing images of the clothing in the drum are acquired; determining a first center of gravity of the clothing according to each of the first clothing images; determining a first drum speed according to the center of gravity of the first laundry, and controlling the drum speed to reach the first drum speed; Before the drum stops rotating and rotates in a direction opposite to the current rotation direction, acquiring a plurality of second clothing images of the clothing in the drum; The rotation speed of the drum when rotating in a direction opposite to the current rotation direction is controlled according to the similarity between each of the first clothing images and each of the second clothing images.

2. The method for controlling the drum speed of a washing and drying device according to claim 1, characterized in that: The controlling the rotation speed of the drum when the drum rotates in the direction opposite to the current rotation direction according to the similarity between the first clothing images and the second clothing images includes: If the similarity between each first clothing image and each second clothing image is less than a preset threshold, the drum speed in the current rotation direction is determined as the drum speed when rotating in the direction opposite to the current rotation direction, and each second clothing image is used as an updated first clothing image. The multiple second clothing images of the laundry are obtained again, so as to control the drum speed when rotating in the direction opposite to the current rotation direction according to the similarity between each updated first clothing image and each second clothing image; If the similarity between each first clothing image and each second clothing image is not less than a preset threshold, then before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, an updated first clothing center of gravity is obtained based on the updated first clothing image, an updated first drum speed is determined based on the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed.

3. The method for controlling the drum speed of a washing and drying device according to claim 1, characterized in that: The controlling the rotation speed of the drum when the drum rotates in the opposite direction to the current rotation direction according to the similarity between the first clothing images and the second clothing images includes: generating a first three-dimensional surface model corresponding to each first clothing image and a second three-dimensional surface model corresponding to each second clothing image; Perform feature extraction on the first three-dimensional surface model and the second three-dimensional surface model respectively to obtain first feature information and second feature information; Performing feature similarity calculation on the first feature information and the second feature information to obtain a calculation result; Based on the calculation result, the speed of the drum is controlled when it rotates in the opposite direction of the current rotation direction.

4. The method for controlling the drum speed of a washing and drying device according to claim 3, characterized in that: The step of controlling the rotation speed of the drum when the drum rotates in the opposite direction of the current rotation direction according to the calculation result includes: If the calculated result is less than a preset threshold, the drum speed in the current rotation direction is determined to be the drum speed when rotating in the opposite direction of the current rotation direction, and the second three-dimensional surface model is used as the updated first three-dimensional surface model. Multiple second clothing images of the laundry are obtained, and then an updated second three-dimensional surface model is generated based on the newly obtained multiple second clothing images. Feature extraction is performed on the first three-dimensional surface model and the second three-dimensional surface model respectively, and feature similarity is calculated for the first feature information and the second feature information to obtain a calculation result. According to the calculation result, the speed of the drum when rotating in the opposite direction of the current rotation direction is controlled; If the calculation result is not less than the preset threshold, before rotating in the opposite direction of the current rotation direction, each second clothing image is used as an updated first clothing image, an updated first clothing center of gravity is obtained based on the updated first clothing image, an updated first drum speed is determined based on the updated first clothing center of gravity, and the speed when rotating in the opposite direction of the current rotation direction is controlled to be the updated first drum speed.

5. The method for controlling the drum speed of a washing and drying device according to claim 4, characterized in that: The determining the first center of gravity of the clothing according to each of the first clothing images includes: determining a first three-dimensional surface model corresponding to each first clothing image; The center of gravity of the first three-dimensional surface model is calculated to obtain the first center of gravity of the clothing.

6. The method for controlling the drum speed of a washing and drying device according to claim 5, characterized in that: Calculating the center of gravity of the first three-dimensional surface model to obtain the center of gravity of the first clothing item includes: Acquire a first preset number of initial points from the first three-dimensional model, wherein the initial points are points uniformly selected from the first three-dimensional surface model; Clustering the initial points to obtain a second preset number of centroids; Selecting a center mass perpendicular to the rotation axis from a second preset number of mass centers; wherein the rotation axis is the central axis of rotation of the drum; The center of mass is used as the target clothing center of gravity.

7. A device for controlling the drum speed of a washing and drying device, characterized in that: The control device comprises: A first image acquisition module is used to acquire a plurality of first clothing images of the clothing in the drum before the drum rotates in the drying mode; a center of gravity determining module, configured to determine the center of gravity of a first garment according to each of the first garment images; a speed determination module, configured to determine a first drum speed according to the center of gravity of the first laundry, and control the drum speed to reach the first drum speed; a second clothing image acquisition module, configured to acquire a plurality of second clothing images of the clothing in the drum before the drum stops rotating and rotates in a direction opposite to the current rotation direction; The second rotation speed control module is used to control the rotation speed of the drum when it rotates in the opposite direction of the current rotation direction according to the similarity between each of the first clothing images and each of the second clothing images.

8. A washing and drying device, characterized in that: The washing and drying equipment comprises: Drum and drum speed control device for washing and drying equipment; The drum speed control device of the washing and drying device controls the drum speed of the washing and drying device through the drum speed control method of the washing and drying device according to any one of claims 1 to 6.

9. 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 the one or more processors, the one or more processors implement the method for controlling the drum speed of the washing and drying device according to any one of claims 1 to 6.

10. 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 washing and drying device as claimed in any one of claims 1 to 6 is implemented.

Images