Clothes treating apparatus, control method and apparatus thereof, and medium

Abstract

The invention provides a clothes processing device, a control method and device thereof and a medium, and the method comprises the steps: collecting the information of a monitored object through a data collection device in the operation process of a brushless direct current motor in the clothes processing device; determining transmission information of a belt based on the information of the monitored object; according to the transmission information of the belt, whether the belt is abnormal or not is judged; if it is judged that the belt is abnormal, the clothes processing equipment is controlled to execute abnormal processing operation. Therefore, under the condition that whether the belt is aged or is not installed in place or not can be detected, the corresponding abnormal processing operation can be executed, and the safety and the running stability of the clothes processing equipment are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and specifically provides a clothing processing device and a control method, device and medium thereof. Background Art

[0002] During operation of a drum washing machine or other clothing processing equipment having a brushless DC motor, a belt is tightly coupled to a pulley on the brushless DC motor, and the drum rotates or pauses under the drive of the brushless DC motor.

[0003] However, the belt and the pulley are prone to aging after running for a period of time, or the belt is not installed properly at the beginning, resulting in the belt offset relative to the pulley, the belt falling off, the belt breaking, etc., which will cause the drum to be unable to run stably; more seriously, when the drum is running at high speed, the belt will fall off or break, which will make the clothing processing equipment unable to rely on the brushless DC motor to slow down, posing a great safety hazard.

[0004] Therefore, the clothing processing equipment has low safety and poor operating stability. Summary of the invention

[0005] In order to overcome the above-mentioned defects, the present invention is proposed to provide a clothing processing device and its control method, device and medium that solve or at least partially solve the technical problems of low safety and poor operating stability of the clothing processing device caused by belt deviation relative to the pulley, belt falling, and belt breakage.

[0006] In a first aspect, the present invention provides a control method for a clothing processing device, wherein the clothing processing device is provided with a brushless DC motor and a data acquisition device, and a monitored object is provided on a belt driven by a pulley of the brushless DC motor; the method comprises:

[0007] During the operation of the brushless DC motor, the information of the monitored object is collected by the data acquisition device;

[0008] Determining the transmission information of the belt based on the information of the monitored object;

[0009] Determining whether the belt is abnormal according to the transmission information of the belt;

[0010] If it is determined that the belt is abnormal, the clothes processing device is controlled to perform an abnormality processing operation.

[0011] Further, in the control method of the clothes processing device described above, the transmission information of the belt includes the transmission speed of the belt;

[0012] Based on the information of the monitored object, determining whether the belt is abnormal includes:

[0013] Obtaining a required speed of the belt based on a transmission ratio between the brushless DC motor and the acquired rotation speed of the brushless DC motor;

[0014] calculating a speed difference between a transmission speed of the belt and a required speed of the belt;

[0015] If the speed difference is within a preset error range, it is detected that the transmission speed of the belt is normal;

[0016] If the speed difference is outside the preset error range, it is detected that the transmission speed of the belt is abnormal.

[0017] Furthermore, in the control method of the laundry processing device described above, the transmission information of the belt includes the position of the belt relative to the pulley.

[0018] Based on the information of the monitored object, determining whether the belt is abnormal includes:

[0019] Based on the position, determining whether the belt is offset or fallen off relative to the pulley;

[0020] If the belt deviates from or falls off the pulley, the clothes processing device is controlled to perform a second abnormal processing operation.

[0021] Furthermore, in the control method of the laundry processing device described above, the process of determining the position of the belt relative to the pulley includes:

[0022] Based on the information of the monitored object, obtaining the coordinates of the monitored object;

[0023] The position of the belt relative to the pulley is determined according to the coordinates of the monitored object.

[0024] Furthermore, the control method of the clothes processing device described above further includes:

[0025] If the clothes processing device has been executing the current program, obtaining the remaining time of the current program of the clothes processing device;

[0026] When the remaining time reaches a preset threshold, detecting whether the current transmission speed of the belt meets a safety shutdown condition;

[0027] If the current transmission speed of the belt meets the safety shutdown condition, when the laundry processing device stops, the door is automatically opened;

[0028] If the current transmission speed of the belt does not meet the safety shutdown condition, when the clothing processing device is shut down, the door is prohibited from opening automatically, and the door is opened after receiving a manual door opening command.

[0029] Furthermore, in the control method of the above-mentioned clothes processing device, detecting whether the current transmission speed of the belt meets the safety shutdown condition includes:

[0030] If the belt can be controlled to decrease from the current transmission speed of the belt to 0 in a decreasing trend within the remaining time, it is detected that the current transmission speed of the belt meets the safety shutdown condition;

[0031] If the transmission speed of the belt continues to be high during the remaining time, or the transmission speed of the belt decreases to 0 before the end time of the current program, it is detected that the current transmission speed of the belt does not meet the safety shutdown condition.

[0032] Further, in the control method of the clothes processing device described above, the data acquisition device includes a sensor capable of outputting detection light, and the monitored object includes a reflective film;

[0033] Collecting the information of the monitored object by the data acquisition device includes:

[0034] The sensor collects the reflected light signal of the reflective film as the information of the monitored object.

[0035] In a second aspect, the present invention provides a control device for a clothing processing device, the control device for the clothing processing device comprising a processor and a storage device, the storage device being suitable for storing a plurality of program codes, the program codes being suitable for being loaded and run by the processor to execute any one of the control methods for the clothing processing device described above.

[0036] In a third aspect, a laundry treating apparatus is provided, the laundry treating apparatus comprising the control apparatus of the laundry treating apparatus as described above.

[0037] In a fourth aspect, a computer-readable storage medium is provided, in which a plurality of program codes are stored, wherein the program codes are suitable for being loaded and run by a processor to execute any one of the control methods for a clothing processing device described above.

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

[0039] In the technical solution of the present invention, during the operation of the brushless DC motor, the rotation speed of the brushless DC motor and the information of the monitored object are collected through the data acquisition device; based on the information of the monitored object, the transmission information of the belt is determined; according to the transmission information of the belt, it is determined whether the belt is abnormal; if it is determined that the belt is abnormal, the clothing processing device is controlled to perform the abnormal processing operation. In this way, it can be detected whether the belt is aging or not installed properly, so as to perform the corresponding abnormal processing operation to ensure the safety and operation stability of the clothing processing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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:

[0041] Figure 1 is a schematic flow chart of main steps of a method for controlling a clothes processing device according to an embodiment of the present invention;

[0042] Figure 2 yes Figure 1 A flowchart of an implementation method of step 103;

[0043] Figure 3 yes Figure 1 A flowchart of another implementation of step 103;

[0044] Figure 4 4 is a main structural block diagram of a control device for a clothes processing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] 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.

[0046] 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 program codes, 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 program codes, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like. 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.

[0047] Clothes processing equipment is generally divided into two types according to the driving mode: direct drive and non-direct drive. The motor of non-direct drive clothes processing equipment is a brushless DC motor. During operation, the belt is tightly coupled with the pulley on the brushless DC motor, and the drum rotates or pauses under the drive of the brushless DC motor.

[0048] However, the belt and pulley are prone to aging after running for a period of time, or the initial installation is not in place, causing the belt to offset relative to the pulley, or the belt to fall or break, which will cause the drum to be unable to rotate. What is more serious is that when the drum is running at high speed, the belt may fall or break, making it impossible for the clothing processing equipment to rely on the brushless DC motor to slow down, posing a great safety hazard.

[0049] Therefore, in order to solve the above technical problems, the present invention provides the following technical solutions:

[0050] See attached Figure 1 , Figure 1 FIG. 1 is a flow chart showing the main steps of a method for controlling a laundry processing device according to an embodiment of the present invention. Figure 1 As shown, the control method of the clothes processing device in the embodiment of the present invention mainly includes the following steps 101 to 104.

[0051] Step 101, during the operation of the brushless DC motor, collecting information of the monitored object through the data acquisition device;

[0052] In a specific implementation process, the clothing processing device is provided with a brushless DC motor and a data acquisition device, wherein the belt drive driven by the pulley of the brushless DC motor causes the drum to rotate or stop, and the monitored object can be set on the belt. During the operation of the brushless DC motor, the rotation speed of the brushless DC motor and the information of the monitored object are collected by the data acquisition device.

[0053] Specifically, the data acquisition device may include a first sensor for acquiring information of the monitored object. The first sensor may be a sensor capable of outputting detection light, such as an infrared sensor, and the monitored object includes a reflective film. In this way, after the first sensor outputs the detection light, it is reflected by the reflective film, or cannot be reflected by the reflective film, so that the sensor can use the reflected light signal of the reflective film detected as the information of the monitored object.

[0054] It should be noted that the above-mentioned data acquisition device collects information of the monitored object for exemplary purposes only, and this embodiment does not limit other acquisition methods. For example, the image of the monitored object can also be collected by an image acquisition device as the information of the monitored object, which will not be explained one by one here.

[0055] Step 102: Determine the transmission information of the belt based on the information of the monitored object;

[0056] In a specific implementation process, after obtaining the information of the monitored object, the information of the monitored object can be analyzed to obtain the transmission speed of the belt.

[0057] In some embodiments, the transmission speed of the belt can be calculated based on the receiving time interval between the reflective light signals of the two reflective films and the transmission distance of the reflective film when the reflective light signals of the two reflective films are received. For example, an infrared sensor can be provided, and the reflective light signal of the reflective film can be received once every rotation of the reflective film, so that the receiving time interval between the reflective light signals of the two reflective films to be calculated can be obtained based on the time of each reception of the reflective light signal of the reflective film, and the number of rotations between the reflective light signals of the two reflective films can be obtained based on the distance transmitted by one rotation, and the total transmission distance can be obtained, so that the transmission speed of the belt can be calculated.

[0058] It should be noted that the above-mentioned method of realizing the belt transmission speed according to the reflected light signal received from the reflective film is only an exemplary description, and the present embodiment is not limited thereto. For example, multiple infrared sensors can be arranged at intervals, and the time when each sensor receives the reflected light signal from the reflective film can be determined, and then the time interval is obtained, and the distance used for the speed to be calculated is obtained according to the spacing between the multiple sensors, thereby obtaining the transmission speed of the belt. No more examples are given here.

[0059] In a specific implementation process, after obtaining the information of the monitored object, the information of the monitored object can also be analyzed to obtain the position of the belt relative to the pulley.

[0060] Specifically, the coordinates of the monitored object may be acquired based on the information of the monitored object; and the position of the belt relative to the pulley may be determined according to the coordinates of the monitored object.

[0061] Here, an example is taken in which the monitored object is a reflective film and the information of the monitored object is a reflected light signal of the reflective film.

[0062] In a specific implementation process, after the reflective signal of the reflective film is detected in a continuous time, the coordinates of the reflective film in a set coordinate system can be obtained, and then the deviation angle of the monitored object relative to the pulley can be obtained based on the coordinates of the pulley in the coordinate system, and the position of the belt relative to the pulley can be further obtained based on the angle.

[0063] In a specific implementation process, the reflective film may be in the shape of thin strips, so that the reflective signal of the reflective film is relatively more, thereby more accurately obtaining the position of the reflective film relative to the pulley, and further accurately obtaining the position of the belt relative to the pulley.

[0064] Step 103: judging whether the belt is abnormal according to the transmission information of the belt;

[0065] In a specific implementation process, when the transmission information of the belt includes the transmission speed of the belt, Figure 2 The flowchart of the illustrated embodiment implements step 103 . Figure 2 yes Figure 1 A flowchart of an implementation method of step 103 in FIG.

[0066] Step 201, obtaining a required speed of the belt based on a transmission ratio between the brushless DC motor and the acquired rotation speed of the brushless DC motor;

[0067] In a specific implementation process, the required speed of the belt can be obtained based on the rotation speed of the brushless DC motor and the transmission ratio of the brushless DC motor. That is, since the transmission ratio of the brushless DC motor is fixed, after obtaining the rotation speed of the brushless DC motor, the required speed of the belt can be obtained to drive the roller to rotate or stop. The rotation speed of the brushless DC motor can be collected by a second sensor for collecting the rotation speed of the brushless DC motor included in the data collection device. The second sensor can be a speed sensor, which can be arranged on the brushless DC motor.

[0068] Step 202, calculating the speed difference between the transmission speed of the belt and the required speed of the belt;

[0069] Step 203, detecting whether the speed difference is within a preset error range, if so, executing step 204, if not, executing step 205;

[0070] Step 204: Detect that the transmission speed of the belt is normal;

[0071] If the speed difference is within the preset error range, it means that there may be no risk of aging or improper installation, falling off, breaking, etc., and the transmission speed of the belt is detected to be normal.

[0072] Step 205: Detect that the transmission speed of the belt is abnormal.

[0073] If the speed difference is outside the preset error range, it means that there may be risks of falling off or breaking due to aging or improper installation, thereby detecting that the transmission speed of the belt is abnormal.

[0074] In a specific implementation process, when the transmission information of the belt includes the position of the belt relative to the pulley, the position of the belt can be determined according to Figure 3 The flowchart of the illustrated embodiment implements step 103 . Figure 3 yes Figure 1 Flow chart of another implementation method of step 103 in FIG.

[0075] Step 301, determine whether the position of the belt relative to the pulley is outside the preset range; if so, execute step 302; if not, execute step 303;

[0076] Step 302: determine whether the belt is offset or falls off relative to the pulley;

[0077] In a specific implementation process, a preset range of the belt relative to the pulley can be preset. If the position of the belt relative to the pulley is outside the preset range, it can be determined that the belt is offset or falls off relative to the pulley.

[0078] Step 303: determine that the belt is not offset or fallen off relative to the pulley.

[0079] If the position of the belt relative to the pulley is within a preset range, it can be determined that the belt has not shifted or fallen off relative to the pulley.

[0080] Step 104: If it is determined that the belt is abnormal, control the clothing processing device to perform abnormal processing operations.

[0081] In a specific implementation process, if it is determined that the belt has an abnormality, the clothing processing device is controlled to perform an abnormality processing operation; if it is determined that the belt has no abnormality, the process returns to step 101.

[0082] In a specific implementation process, if the transmission speed of the belt is abnormal, the clothing processing device can be controlled to perform but not limited to the following abnormal processing operations: outputting a prompt message of abnormal belt speed, directly shutting down the machine. For example, the display screen or APP of the clothing processing device can be used to output, accompanied by a warning sound, to indicate whether the pulley is aging and loose, or is not installed properly.

[0083] In a specific implementation process, if the belt is offset or falls off relative to the pulley, the clothing processing device can be controlled to perform but not limited to the following abnormal processing operations: outputting a prompt message of the belt offset or falling off, directly performing a shutdown operation. For example, the display screen or APP of the clothing processing device can be output, accompanied by a warning sound, to indicate whether the pulley is aging and loose, or is not installed properly.

[0084] The control method of the clothing processing device of this embodiment is as follows: during the operation of the brushless DC motor, the rotation speed of the brushless DC motor and the information of the monitored object are collected by the data acquisition device; based on the information of the monitored object, the transmission information of the belt is determined; according to the transmission information of the belt, it is judged whether the belt is abnormal; if it is judged that the belt is abnormal, the clothing processing device is controlled to perform the operation of abnormal processing.

[0085] In a specific implementation process, if the clothes processing device can always execute the current program (the clothes processing device performs the operation of abnormal processing or the operation of the second abnormal processing is only to output prompt information, but the user does not control the clothes processing device, then the clothes processing device can always execute the current program, or the transmission speed of the belt is normal, and it is a disengaged and cheap pulley, and the clothes processing device can always execute the current program), if the clothes processing device mistakenly determines that the drum has stopped, it may cause the user to open the door and get injured. Therefore, the following steps may also be performed:

[0086] (1) if the clothes processing device has been executing the current program, obtaining the remaining time of the current program of the clothes processing device;

[0087] (2) when the remaining time reaches a preset threshold, detecting whether the current transmission speed of the belt meets the safety shutdown condition;

[0088] In a specific implementation process, when the remaining time reaches a preset threshold, if the belt can be controlled to decrease from the current transmission speed of the belt to 0 in a decreasing trend within the remaining time, it is detected that the current transmission speed of the belt meets the safety shutdown condition; if the transmission speed of the belt continues to be high during the remaining time, or the transmission speed of the belt is reduced to 0 before the end time of the current program, it is detected that the current transmission speed of the belt does not meet the safety shutdown condition.

[0089] In a specific implementation process, the preset threshold value may be but is not limited to 3 minutes. That is to say, 3 minutes before the end of the operation of the laundry treatment device, if the belt can be controlled to decrease from the current transmission speed of the belt to 0 in a decreasing trend within 3 minutes, it means that when the laundry treatment device ends its operation, the drum can also stop rolling, and the laundry treatment device can be safely shut down. On the contrary, if the transmission speed of the belt continues to be high within 3 minutes (the belt is aged and cannot be effectively decelerated), or it is reduced to 0 before the end time of the current program (the belt falls off, the belt is no longer rotating, but the drum is still rotating), it means that when the laundry treatment device ends its operation, the drum may not stop rolling, and the laundry treatment device is not safely shut down.

[0090] (3) if the current transmission speed of the belt meets the safety shutdown condition, when the clothing processing device stops, the door is automatically opened;

[0091] (4) If the current transmission speed of the belt does not meet the safety shutdown condition, when the clothing processing device is shut down, the door is prohibited from opening automatically, and the door is opened after receiving a manual door opening command.

[0092] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present invention.

[0093] 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 the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code 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 code. 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.

[0094] Furthermore, the present invention also provides a control device for a clothes processing device.

[0095] See attached Figure 4 , Figure 4 FIG. 1 is a main structural block diagram of a control device for a clothes processing device according to an embodiment of the present invention. Figure 4 As shown, the control device of the clothes processing device in the embodiment of the present invention may include a processor 41 and a storage device 42.

[0096] The storage device 42 may be configured to store a program for executing the control method of the clothes processing device of the above method embodiment, and the processor 41 may be configured to execute the program in the storage device 42, which includes but is not limited to the program for executing the control method of the clothes processing device 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 of the clothes processing device may be a control device formed by various electronic devices.

[0097] In a specific implementation process, the number of the storage device 42 and the processor 41 can be multiple. The program for executing the control method of the clothing processing device of the above method embodiment can be divided into multiple subprograms, and each subprogram can be loaded and run by the processor 41 to execute different steps of the control method of the clothing processing device of the above method embodiment. Specifically, each subprogram can be stored in different storage devices 42 respectively, and each processor 41 can be configured to execute the program in one or more storage devices 42 to jointly implement the control method of the clothing processing device of the above method embodiment, that is, each processor 41 executes different steps of the control method of the clothing processing device of the above method embodiment respectively to jointly implement the control method of the clothing processing device of the above method embodiment.

[0098] The above-mentioned multiple processors 41 may be processors deployed on the same device. For example, the above-mentioned device may be a high-performance device composed of multiple processors, and the above-mentioned multiple processors 41 may be processors configured on the high-performance device. In addition, the above-mentioned multiple processors 41 may also be processors deployed on different devices. For example, the above-mentioned device may be a server cluster, and the above-mentioned multiple processors 41 may be processors on different servers in the server cluster.

[0099] Furthermore, the present invention also provides a clothes processing device, which includes the control device of the clothes processing device as described above.

[0100] 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 control method of the clothing processing device of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the control method of the above-mentioned clothing processing device. 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-temporary computer-readable storage medium.

[0101] 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.

[0102] 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.

[0103] 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 control method for a clothes processing device, characterized in that: The clothing processing device is provided with a brushless DC motor and a data acquisition device, and a monitored object is provided on a belt driven by a pulley of the brushless DC motor; the method comprises: During the operation of the brushless DC motor, the information of the monitored object is collected by the data acquisition device; Determining the transmission information of the belt based on the information of the monitored object; Determining whether the belt is abnormal according to the transmission information of the belt; If it is determined that the belt is abnormal, the clothes processing device is controlled to perform an abnormality processing operation.

2. The control method of the clothes processing device according to claim 1, characterized in that: The transmission information of the belt includes the transmission speed of the belt; Based on the information of the monitored object, determining whether the belt is abnormal includes: Obtaining a required speed of the belt based on a transmission ratio between the brushless DC motor and the acquired rotation speed of the brushless DC motor; calculating a speed difference between a transmission speed of the belt and a required speed of the belt; If the speed difference is within a preset error range, it is detected that the transmission speed of the belt is normal; If the speed difference is outside the preset error range, it is detected that the transmission speed of the belt is abnormal.

3. The control method of the clothes processing device according to claim 1, characterized in that: The transmission information of the belt includes the position of the belt relative to the pulley, Based on the information of the monitored object, determining whether the belt is abnormal includes: Determining whether the position of the belt relative to the pulley is outside a preset range; If the position of the belt relative to the pulley is outside the preset range, it is determined that the belt is offset or has fallen off relative to the pulley; If the position of the belt relative to the pulley is within a preset range, it is determined that the belt is not offset or fallen off relative to the pulley.

4. The control method of the clothes processing device according to claim 3, characterized in that: The process of determining the position of the belt relative to the pulley includes: Based on the information of the monitored object, obtaining the coordinates of the monitored object; The position of the belt relative to the pulley is determined according to the coordinates of the monitored object.

5. The control method of the clothes processing device according to claim 1, characterized in that: Also includes: If the clothes processing device has been executing the current program, obtaining the remaining time of the current program of the clothes processing device; When the remaining time reaches a preset threshold, detecting whether the current transmission speed of the belt meets a safety shutdown condition; If the current transmission speed of the belt meets the safety shutdown condition, when the laundry processing device stops, the door is automatically opened; If the current transmission speed of the belt does not meet the safety shutdown condition, when the clothing processing device is shut down, the door is prohibited from opening automatically, and the door is opened after receiving a manual door opening command.

6. The control method of the clothes processing device according to claim 5, characterized in that: Detecting whether the current transmission speed of the belt meets the safety stop condition includes: If the belt can be controlled to decrease from the current transmission speed of the belt to 0 in a decreasing trend within the remaining time, it is detected that the current transmission speed of the belt meets the safety shutdown condition; If the transmission speed of the belt continues to be high during the remaining time, or the transmission speed of the belt decreases to 0 before the end time of the current program, it is detected that the current transmission speed of the belt does not meet the safety shutdown condition.

7. The control method of the clothes processing device according to claim 1, characterized in that: The data acquisition device includes a sensor capable of outputting detection light, and the monitored object includes a reflective film; Collecting the information of the monitored object by the data acquisition device includes: The sensor collects the reflected light signal of the reflective film as the information of the monitored object.

8. A control device for a clothes processing device, characterized in that: The method comprises a processor and a storage device, wherein the storage device is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by the processor to execute the control method of the laundry processing device according to any one of claims 1 to 7.

9. A clothes processing device, characterized in that: A control device comprising the laundry treating device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: A plurality of program codes are stored therein, and the program codes are suitable for being loaded and run by a processor to execute the control method of the laundry processing device according to any one of claims 1 to 7.

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