Washing machine foam control method and device, storage medium and laundry equipment

Abstract

The invention relates to a washing machine foam control method and device, a storage medium and laundry equipment. The method comprises the steps that an image in a drum is obtained; identifying a rate of growth of the foam within the cartridge based on the image; and executing a corresponding defoaming procedure based on the increasing speed of the foam in the cylinder. According to the technical scheme, the increasing speed of the foam in the washing machine drum is monitored in real time by obtaining the image in the drum. According to the method, the limitation that only foam height is concerned in the traditional technology is overcome, and the development trend and risk of foam can be predicted more accurately and timely, so that early warning can be performed in an earlier stage, and the problem of excessive foam is avoided. On the other hand, by tracking the increasing speed of the foam, the defoaming program can be adjusted according to the actual situation, too early or too late defoaming operation is avoided, the washing effect is guaranteed, and the service life of the machine is prolonged. More intelligent and efficient foam management is realized, and the washing process is optimized.

Description

Technical Field

[0001] The invention relates to the field of automatic control, and specifically provides a washing machine foam control method, a control device, a storage medium and a washing machine. Background Art

[0002] Detergent will produce a lot of foam during the washing process of the washing machine. Not only is the excess foam difficult to completely remove during rinsing, affecting the user experience, it may also overflow to the outside of the washing machine, posing a safety hazard.

[0003] When implementing the automatic defoaming function of the washing machine, the existing washing machines mainly focus on the height of the foam, which may lead to insufficient early warning of the risk of excessive foam. For example, if the foam grows quickly, even if the current foam height has not reached the alarm threshold, it may exceed the threshold in a short time, causing foam overflow. On the contrary, if the foam grows slowly, even if the foam height reaches the alarm threshold, it will not cause problems immediately. At this time, premature defoaming operations may interfere with the washing effect.

[0004] Accordingly, a new defoaming solution is needed in the art to solve the above problems. Summary of the invention

[0005] In order to overcome the above-mentioned defects, the present invention is proposed to provide a solution or at least partially solve the problem of defoaming by only using foam height in the prior art.

[0006] In a first aspect, the present invention provides a method for controlling foam in a washing machine, the method comprising: acquiring an image in a drum; identifying a growth rate of foam in the drum based on the image; and executing a corresponding defoaming procedure based on the growth rate of foam in the drum.

[0007] As an alternative or supplement to the above scheme, in a method according to one embodiment of the present invention, the growth rate of the foam in the barrel based on the image identification includes: obtaining the foam height; the execution of the corresponding defoaming program based on the growth rate of the foam in the barrel includes: executing the corresponding defoaming program based on the growth rate of the foam in the barrel and the foam height.

[0008] As an alternative or supplement to the above scheme, in a method according to one embodiment of the present invention, the growth rate of the foam in the barrel based on the image identification includes: preprocessing the image; performing edge detection on the preprocessed image; obtaining the foam height; and obtaining the growth rate of the foam in the barrel based on the foam height.

[0009] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, the algorithm used for edge detection is Holistically-Nested Edge Detection based on deep learning.

[0010] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, obtaining the foam height includes: obtaining a proportional parameter; and obtaining the foam height based on the proportional parameter.

[0011] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, the preprocessing of the image includes: converting the image into a grayscale image.

[0012] As an alternative or supplement to the above scheme, in a method according to one embodiment of the present invention, the growth rate of the foam in the barrel is obtained based on the foam height, including: using a linear or nonlinear fitting method to perform data fitting modeling on the foam height with time as the independent variable; and differentiating the completed modeling with time to obtain the growth rate of the foam in the barrel.

[0013] In a second aspect, a control device is provided, which includes a processor and a storage device, wherein the storage device is suitable for storing multiple computer programs, and the computer programs are suitable for being loaded and run by the processor to execute the washing machine foam control method described in any one of the technical solutions of the above-mentioned washing machine foam control method.

[0014] In a third aspect, a computer-readable storage medium is provided, wherein a plurality of computer programs are stored in the computer-readable storage medium, wherein the computer programs are suitable for being loaded and run by a processor to execute the washing machine foam control method described in any one of the technical solutions of the above-mentioned washing machine foam control method.

[0015] In a fourth aspect, a laundry appliance is provided, comprising an image acquisition device and a control device, wherein the image acquisition device is used to obtain an image inside a drum; and the control device executes the washing machine foam control method described in any one of the technical solutions of the above-mentioned washing machine foam control method.

[0016] The above one or more technical solutions of the present invention have at least one or more of the following Beneficial effects:

[0017] In the technical solution of the present invention, the growth rate of the foam in the drum of the washing machine is monitored in real time by acquiring images in the drum. This method overcomes the limitation of traditional technology that only focuses on the height of the foam, and can more accurately and timely predict the development trend and risk of the foam, so that early warning can be given at an earlier stage to avoid the problem of excessive foam. On the other hand, by tracking the growth rate of the foam, the defoaming program can be adjusted according to the actual situation to avoid premature or late defoaming operations, which not only ensures the washing effect but also increases the service life of the machine. More intelligent and efficient foam management is achieved to optimize the washing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:

[0019] Figure 1 is a schematic flow chart of main steps of a method for controlling foam in a washing machine according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of the secondary steps of a method for controlling foam in a washing machine according to an embodiment of the present invention;

[0021] Figure 3 1 is a flow chart of the main steps of a method for controlling foam in a washing machine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0023] In the description of the present invention, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as computer programs, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-temporary computer-readable storage media include any suitable medium that can store computer programs, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B", and may include only A, only B, or A and B. The singular terms "one" and "the" may also include plural forms.

[0024] Embodiment 1:

[0025] See attached Figure 1 , Figure 1 FIG. 1 is a flow chart showing the main steps of a method for controlling foam in a washing machine according to an embodiment of the present invention. Figure 1 As shown, the foam control method for a washing machine in the embodiment of the present invention mainly includes the following steps S10 to S30.

[0026] Step S10: Acquire the image inside the tube.

[0027] In this embodiment, the image inside the barrel is acquired by an image acquisition device.

[0028] In one embodiment, the image inside the drum is acquired by an image acquisition device provided at the observation window of the drum door of the washing machine. The image acquisition device is a camera with high resolution and waterproof characteristics, which can capture and transmit the image data inside the drum of the washing machine in real time. At the beginning of the washing program, this image acquisition device will start and start to continuously record the environment inside the washing drum.

[0029] The shooting frequency of the image acquisition device can be adjusted as needed, for example, taking a static image at regular intervals, or recording a video in real time.

[0030] Step S20: Identify the growth rate of the foam in the cylinder based on the image.

[0031] In this embodiment, the information of the foam in the drum of the washing machine is extracted from the continuous or timed images captured by the image acquisition device through image processing and recognition algorithms, and then the information is analyzed to obtain the growth rate of the foam in the drum.

[0032] In one embodiment, the growth rate of the foam in the cylinder is identified through steps S201-S204, such as Figure 2 As shown, the details are as follows:

[0033] Step S201: pre-process the image.

[0034] In this embodiment, image preprocessing is to ensure that the raw image data received from the camera has high utility in subsequent analysis.

[0035] In one embodiment, image data is first received. In this embodiment, the system receives image data from an image acquisition device. The data includes a series of static images or a continuous video stream.

[0036] The received image is then denoised. In this embodiment, noise is removed from the received image by an image processing algorithm. A Gaussian filter, a median filter or a bilateral filter is used to remove random noise in the image while retaining edge information of foam and clothing. In order to improve the visual effect of the image, after denoising, this embodiment uses a contrast enhancement method to make the edges of foam and clothing more obvious. The contrast enhancement algorithm in this embodiment includes histogram equalization or adaptive histogram equalization.

[0037] Then, using color adjustment can help improve the visual quality of the image or prepare for color-based image analysis. For example, converting a color image to a grayscale image can reduce computational complexity. Or, when the color of the foam is significantly different from the color of the clothes during washing, color segmentation can be used to separate the foam from the clothes.

[0038] Finally, before image recognition and analysis, the image size can be adjusted to a standard size or the brightness and color of the image can be standardized according to subsequent needs. This can help improve the accuracy and stability of the image recognition algorithm.

[0039] The above is the image preprocessing technology used in this embodiment. The above steps may need to be adjusted according to specific image quality and recognition requirements.

[0040] Step S202: performing edge detection on the preprocessed image.

[0041] In this embodiment, the purpose of edge detection is to identify the boundaries of objects in the image.

[0042] In one embodiment, the edge algorithm to be used is first determined. In this embodiment, the edge detection algorithms include Sobel, Canny, Prewitt, Laplacian of Gaussian (LoG), etc. It should be noted that the characteristics of the foam are indeed an important factor to be considered. Foam is an object with special properties, and its edges are usually not as clear and distinct as other solid objects (such as metal, plastic or wood, etc.). The edges of the foam are fuzzy, and its shape and size will change over time. Therefore, the selected edge detection algorithm needs to be able to adapt to these characteristics.

[0043] In this embodiment, preferably, the Holistically-Nested Edge Detection (HED) edge detection algorithm based on deep learning is selected for edge recognition. The main advantage of the HED algorithm is that it can perform edge detection at multiple scales, that is, it can identify the edges of foams both locally and globally. Its fully convolutional network structure also allows it to accept input images of any size, which makes it possible to perform edge detection without cropping or scaling the preprocessed image.

[0044] In a specific implementation, the preprocessed image is first input as input into a trained HED network. The HED network has multiple convolutional layers, each of which generates an edge response map that represents the edge information of the image at different scales. For example, lower convolutional layers may focus on capturing tiny details and subtle edge changes in the image, while higher convolutional layers can capture larger-scale, global edge features. Using multi-scale edge detection, the edges of foam can be understood and identified at different scales.

[0045] After these edge response maps are generated, they are fused together to form the final edge detection result. This fusion process is not just a simple superposition or averaging, but is completed through a specific weight allocation mechanism. These weights are automatically learned during the network training process, and they can reflect the contribution of each convolutional layer to the final edge detection result. In this way, the HED algorithm can automatically adjust the impact of each convolutional layer on the final edge detection result, so that the final detection result can reflect both the global shape of the foam and its local details.

[0046] Using such edge detection results, the edges of the foam in the washing machine drum can be more accurately identified, so that the location, shape and growth rate of the foam can be more accurately estimated. This will help to better control the foam generation during the washing process and avoid the problem of excessive foam.

[0047] Step S203: Obtaining the foam height.

[0048] In this embodiment, the height of the foam is acquired based on the image.

[0049] In one embodiment, the height of the foam is obtained through steps S2031-S2032, such as Figure 3 shown.

[0050] Step S2031: Obtaining scale parameters.

[0051] The scale parameter is the ratio of the pixels in the image to the actual length. Determining the scale parameter means determining the actual distance corresponding to each pixel in the image. This parameter may vary depending on the camera's field of view, installation location, and the size of the washing drum, so during the initial setup or adjustment of the camera, some calibration steps may be required to obtain this parameter. For example, a standard object of known size can be placed in the washing drum, and then the image analysis software can be used to calculate the ratio between the pixel size of the object in the image and the actual size to obtain the scale parameter.

[0052] Step S2032: Obtaining the foam height based on the ratio parameter.

[0053] Once the scale parameter is obtained, the foam height can be calculated by analyzing the foam edge position in the image. Specifically, the pixel representing the highest point of the foam can be found in the image, and then the distance between this pixel and the pixel representing the bottom of the washing drum can be calculated. Since the scale parameter is already known, this pixel distance can be directly converted into the actual foam height.

[0054] It should be noted that, since the edge of the foam may not be completely straight, it may be necessary to average multiple pixel positions or use other methods to obtain a more accurate foam height estimation value in actual operation. In addition, since there may be some noise in the image acquisition and processing process, it is preferred to use some filtering algorithms, such as Kalman filtering, to perform noise suppression and data smoothing.

[0055] The height of the foam is obtained after the above treatment.

[0056] Step S204: obtaining the growth rate of the foam in the cylinder based on the foam height.

[0057] In this embodiment, the growth rate of the foam in the barrel is calculated based on at least two pieces of foam height data.

[0058] In one embodiment, the growth rate of the foam is calculated using historical foam height data. There are many specific calculation methods. In this embodiment, two different calculation methods are provided. A suitable method can be selected according to actual conditions.

[0059] One method of calculating the foam growth rate is to use a linear or nonlinear fitting method to perform data fitting modeling on the historical foam height with time as the independent variable. Then, the growth rate of the foam in the cylinder can be obtained by taking the derivative of the completed modeling with time. In this embodiment, the least square method or other optimization algorithms may be used to perform linear fitting or nonlinear fitting on the historical data. In the fitting process, it is preferred to take into account the noise level of the data and the possible mode of foam growth, such as whether the foam growth may be exponential growth or logarithmic growth.

[0060] For example, if historical data shows that the height of the bubble increases linearly over time, then the least squares method can be used for linear fitting to obtain a model of the form y=ax+b, where y represents the height of the bubble, x represents time, and a and b are parameters obtained by the least squares method, where a is the growth rate of the bubble, which is the slope of the fitting line.

[0061] In another case, if the historical data shows that the bubble height increases exponentially over time, then a nonlinear fitting method can be used, such as gradient descent and other optimization algorithms, to perform exponential fitting on the historical data and obtain a formula such as y = a*b x The model is as follows, where y represents the foam height, x represents time, a and b are parameters obtained through nonlinear fitting, and b is the base of the exponential function. The time derivative of y is obtained to obtain y', where y' is the growth rate of the foam.

[0062] Whether it is linear fitting or nonlinear fitting, the model's fit needs to be evaluated to ensure that the model can better reflect the actual growth of the foam. In this embodiment, some model evaluation indicators are used, such as mean square error (MSE), residual sum of squares (RSS), etc.

[0063] Another method to calculate the foam growth rate is to directly calculate the difference in foam heights recorded two or more times in succession, and then divide it by the corresponding time difference to obtain the growth rate. Specifically, if the foam heights measured at time t1 and time t2 are h1 and h2 respectively, then the foam growth rate v during this period can be calculated as: v = (h2-h1) / (t2-t1).

[0064] The advantages of this method are simple implementation and fast calculation speed, which is very important for real-time systems. However, this method may be affected by measurement noise, especially when the time interval is small, the calculated foam height difference may fluctuate greatly due to random fluctuations of the foam or the accuracy of the measurement equipment.

[0065] In order to reduce the influence of noise, in this embodiment, preferably, a moving average or other filtering algorithm is used to smooth the foam height difference. For example, the average value of the foam height difference measured for the most recent N times can be calculated as the current foam height difference. In this way, even if the result of a certain measurement is affected by noise, it will not have a significant impact on the overall calculation result.

[0066] In specific implementation, it is necessary to reasonably select the time interval and the parameters of the filtering algorithm according to the specific situation of the washing machine to ensure the accuracy and real-time performance of the calculation results.

[0067] Regardless of the method used, it should be noted that the growth rate of foam may change with time and washing conditions. Therefore, when calculating the foam growth rate, it is necessary to update our calculation results regularly to ensure that the calculation results can reflect the current washing status.

[0068] The above calculations ultimately yielded the height of the foam and its growth rate, providing a basis for subsequent defoaming control.

[0069] Step S30: executing a corresponding defoaming procedure based on the growth rate of the foam in the barrel.

[0070] In this embodiment, the system will execute the corresponding defoaming program according to the calculated foam growth rate. The defoaming program can be a series of actions or operations, the goal of which is to reduce the amount of foam in the washing machine drum by adjusting various parameters during the washing process to prevent problems caused by excessive foam.

[0071] In one embodiment, the defoaming procedure may include changing the amount of detergent added, because the concentration of the detergent is an important factor affecting the generation of foam. By reducing the amount of detergent added, the generation of foam can be reduced. Alternatively, the defoaming procedure may include adjusting the speed of the washing machine, because the speed of the washing machine affects the agitation intensity during the washing process, thereby affecting the generation of foam. Increasing the speed may result in more foam, while decreasing the speed may reduce the foam.

[0072] Alternatively, defoaming may involve starting a special wash program, such as increasing the water level or increasing the wash time, to more effectively rinse away excess foam. Alternatively, defoaming may be accomplished by heating the wash water, as foam dissipates more easily at higher temperatures.

[0073] In this embodiment, after receiving the information of the foam growth rate, the washing machine control system will first compare the speed with a preset threshold value. If the foam growth rate exceeds the threshold value, it indicates that there is a risk of excessive foam generation.

[0074] Next, the control system performs a defoaming procedure.

[0075] Preferably, in this embodiment, a corresponding defoaming procedure is performed according to step S301.

[0076] Step S301: executing a corresponding defoaming procedure based on the growth speed and height of the foam in the barrel.

[0077] In this embodiment, the control system of the washing machine determines the defoaming program to be executed according to the received foam growth rate and current foam height information.

[0078] In one embodiment, first, the control system compares the foam growth rate with a preset threshold value. If the foam growth rate exceeds the threshold value, it indicates that the foam may be growing too fast and measures need to be taken to eliminate the foam.

[0079] The control system then also takes into account the current foam level. For example, if the foam level exceeds half of the drum, the control system may need to initiate a defoaming procedure regardless of the foam growth rate.

[0080] After deciding to start the defoaming program, the control system will select the appropriate defoaming method according to the current situation. For example, if the foam growth rate is very high, but the foam height is not too high, you can first try to reduce the generation of new foam by adjusting the working parameters of the washing machine (such as reducing the amount of detergent, reducing the speed, etc.). If this is not effective, or the foam height is already very high, then you may need to take more direct defoaming measures, such as increasing the water level or extending the washing time.

[0081] During the defoaming process, the washing machine will continuously monitor the foam situation in the drum. If the foam growth rate and foam height are reduced to a safe range, the defoaming process can be stopped and the normal washing process can be resumed. On the contrary, if the foam problem is still not solved, the washing machine will continue or strengthen the defoaming process until the foam is effectively controlled.

[0082] For example, the threshold value is set to a foam growth rate of 5 cm / minute, and the maximum allowable foam height in the washing machine drum is set to 30 cm.

[0083] If the calculated foam growth rate is 6 cm / minute, which exceeds the threshold, the washing machine control system will think that the foam is growing too fast. At the same time, assuming that the current foam height is 15 cm, which does not exceed the maximum allowable foam height. In this case, the control system may choose to try to reduce the generation of new foam by adjusting the working parameters of the washing machine, such as reducing the amount of detergent, lowering the washing and spinning speeds, etc.

[0084] Assume that after adjusting the operating parameters, the foam growth rate is reduced to 4 cm / min, and the foam height is increased to 20 cm. Since the foam growth rate has been reduced below the threshold, and the foam height has not exceeded the maximum allowable foam height, the washing machine control system may continue the current working state while continuously monitoring the foam situation.

[0085] In another case, suppose that in the initial state, the calculated foam growth rate is 3 cm / min, which is lower than the threshold, but the current foam height is 35 cm, which exceeds the maximum allowable foam height. In this case, regardless of the foam growth rate, the control system may need to start the defoaming procedure. For example, increase the water level in the washing machine to dilute some of the foam, or extend the rinsing time so that more foam can be rinsed away.

[0086] It is understood by those skilled in the art that the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each of the above method embodiments when executed by the processor. Among them, the computer program includes a computer program, and the computer program can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0087] Furthermore, the present invention also provides a control device. In an embodiment of the control device according to the present invention, the control device includes a processor and a storage device. The storage device can be configured to store a program for executing the washing machine foam control method of the above method embodiment, and the processor can be configured to execute the program in the storage device, which includes but is not limited to the program for executing the washing machine foam control method of the above method embodiment. For ease of explanation, only the part related to the embodiment of the present invention is shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The control device can be a control device device formed by various electronic devices.

[0088] Furthermore, the present invention also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present invention, the computer-readable storage medium can be configured to store a program for executing the washing machine foam control method of the above method embodiment, and the program can be loaded and run by a processor to implement the above washing machine foam control method. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present invention is a non-transitory computer-readable storage medium.

[0089] Furthermore, the present invention also provides a laundry appliance, comprising an image acquisition device and a control device, wherein the image acquisition device is used to obtain an image inside a drum; and the control device executes the above-mentioned washing machine foam control method.

[0090] Further, it should be understood that since the setting of each module is only for illustrating the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of each module in the figure is only schematic.

[0091] Those skilled in the art will appreciate that the modules in the device can be adaptively split or merged. Such splitting or merging of specific modules will not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solutions after splitting or merging will fall within the protection scope of the present invention.

[0092] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for controlling foam in a washing machine, characterized in that: include: Acquire the image inside the tube; identifying a growth rate of foam in the barrel based on the image; A corresponding defoaming procedure is performed based on the growth rate of the foam in the cylinder.

2. The method for controlling foam in a washing machine according to claim 1, characterized in that: The method of identifying the growth rate of the foam in the cylinder based on the image includes: Get the foam height; The executing of the corresponding defoaming procedure based on the growth rate of the foam in the cylinder comprises: A corresponding defoaming procedure is performed based on the growth speed of the foam in the cylinder and the foam height.

3. The method for controlling foam in a washing machine according to claim 1 or 2, characterized in that: The method of identifying the growth rate of the foam in the cylinder based on the image includes: Preprocess the image; Performing edge detection on the preprocessed image; Get the foam height; The growth rate of the foam in the cylinder is obtained based on the foam height.

4. The method for controlling foam in a washing machine according to claim 3, characterized in that: The algorithm used in the edge detection is Holistically-NestedEdge Detection based on deep learning.

5. The method for controlling foam in a washing machine according to claim 3, characterized in that: The step of obtaining the foam height comprises: Obtaining a scale parameter, wherein the scale parameter is a ratio of pixels on the image to a real length; The foam height is obtained based on the ratio parameter.

6. The method for controlling foam in a washing machine according to claim 3, characterized in that: The image preprocessing includes: Convert the image to a grayscale image.

7. The method for controlling foam in a washing machine according to claim 3, characterized in that: The method of obtaining the growth rate of the foam in the cylinder based on the foam height includes: Using linear or nonlinear fitting method, the foam height is modeled with data fitting and time as the independent variable; The completed modeling is derivatized with time to obtain the growth rate of the foam in the cylinder.

8. A control device, comprising a processor and a storage device, wherein the storage device is suitable for storing a plurality of computer programs, characterized in that: The computer program is suitable for being loaded and run by the processor to execute the washing machine foam control method according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a plurality of computer programs, characterized in that: The computer program is suitable for being loaded and run by a processor to execute the washing machine foam control method according to any one of claims 1 to 7.

10. A laundry device, comprising an image acquisition device and a control device, The image acquisition device is used to acquire the image inside the barrel; The control device executes the washing machine foam control method according to any one of claims 1 to 7.

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