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

Abstract

The invention provides clothes processing equipment and a control method thereof, equipment and a medium, and the method comprises the steps: obtaining a plurality of images of at least one marker in the rotation process of an inner cylinder of the clothes processing equipment; based on a plurality of images of at least one marker, determining a shaking track of each marker in the at least one marker; on the basis of the shaking track of each marker, whether the inner barrel has the barrel collision risk or not is judged; if it is judged that the inner barrel has the barrel collision risk, the inner barrel is controlled to execute barrel collision prevention operation, so that barrel collision of the inner barrel of the clothes treatment equipment can be avoided, the state duration time is shortened, then electrical devices and mechanical devices of the clothes treatment equipment can be protected, the clothes treatment equipment is prevented from being damaged, and the service life of the clothes treatment equipment is prolonged. And the electrical and mechanical service life of the clothes treatment equipment is prevented from being shortened, so that the safety of the clothes treatment equipment is improved.

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] When washing machines, dryers and other clothes handling equipment are dehydrating, the inner drum of the clothes handling equipment rotates at high speed, which can easily cause eccentricity and drum collision due to uneven distribution of clothes. If the drum collision continues, it will have a great impact on the electrical and mechanical life of the clothes handling equipment, and may even damage the clothes handling equipment, reducing the safety of the clothes handling equipment. Summary of the invention

[0003] 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 problem that when the clothing processing device continuously hits the barrel, it will have a great impact on the electrical and mechanical life of the clothing processing device, and may even damage the clothing processing device, thereby reducing the safety of the clothing processing device.

[0004] In a first aspect, the present invention provides a control method for a clothes processing device, wherein at least one marker is provided at a designated position of the clothes processing device, and the designated position is a position to which an inner drum of the clothes processing device can be transmitted when shaking occurs, so that the at least one marker shakes with the shaking of the inner drum, and the method comprises:

[0005] During the rotation of the inner cylinder, acquiring a plurality of images of the at least one marker;

[0006] Determining a shaking trajectory of each marker in the at least one marker based on the multiple images of the at least one marker;

[0007] Based on the shaking trajectory of each marker, judging whether the inner barrel has a risk of hitting a barrel;

[0008] If it is determined that the inner cylinder has a risk of colliding with a barrel, the inner cylinder is controlled to perform an anti-collision operation with the barrel.

[0009] Furthermore, in the control method of the clothes processing device described above, judging whether the inner drum has a risk of hitting the barrel based on the shaking trajectory of each marker includes:

[0010] Extracting the shaking peak value and the shaking valley value of each marker from the shaking trajectory of each marker;

[0011] According to the shaking peak value of each marker and the shaking valley value of each marker, the amplitude of each marker is determined;

[0012] According to the amplitude of each marker, it is determined whether the inner cylinder has a risk of hitting a barrel.

[0013] Furthermore, in the control method of the clothes processing device described above, judging whether the inner drum has a risk of hitting the barrel according to the amplitude of each marker includes:

[0014] Based on the amplitude of each marker, determining a maximum amplitude and / or an average amplitude;

[0015] If the maximum amplitude is greater than a first preset threshold, and / or the average amplitude is greater than a second preset threshold, it is determined that the inner drum has a risk of hitting the barrel;

[0016] If the maximum amplitude is less than or equal to the first preset threshold, and the average amplitude is less than or equal to the second preset threshold, it is determined that there is no risk of the inner drum hitting the barrel.

[0017] Furthermore, in the control method of the clothes processing device described above, the amplitude of each marker is determined according to the shaking peak value of each marker and the shaking valley value of each marker, including:

[0018] Calculate the difference between the peak sway value for each marker and the valley sway value taken for each marker;

[0019] The half value of the difference was taken as the amplitude taken by each marker.

[0020] Furthermore, in the control method of the laundry processing device described above, acquiring multiple images of the at least one marker includes:

[0021] Determining the number of images that can be collected in each cycle according to the rotation speed of the inner drum and the frame rate of the image acquisition device;

[0022] Based on the number of image items, multiple images of the at least one marker are acquired.

[0023] Furthermore, in the control method of the laundry processing device described above, before determining the number of images that can be collected in each cycle according to the rotation speed of the inner drum and the frame rate of the image acquisition device, the method further includes:

[0024] When the rotation speed of the inner drum is lower than a preset rotation speed threshold, the rotation speed of the inner drum is acquired.

[0025] Furthermore, in the control method of the laundry processing device described above, the number of the markers is at least 2; and based on multiple images of the at least one marker, determining the shaking trajectory of each marker in the at least one marker comprises:

[0026] Dividing each of the plurality of images into at least two partitions corresponding to the number of markers; wherein each of the at least two partitions records the position of the corresponding marker;

[0027] According to the position of the corresponding marker in each partition in each image, the shaking trajectory of each marker is obtained.

[0028] 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.

[0029] In a third aspect, the present invention provides a clothes processing device, which includes the control device of the clothes processing device described above.

[0030] 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.

[0031] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0032] In the technical solution for implementing the present invention, during the rotation of the inner drum of the clothing processing device, multiple images of at least one marker are obtained; based on the multiple images of the at least one marker, the shaking trajectory of each marker in the at least one marker is determined; based on the shaking trajectory of each marker, it is judged whether the inner drum has a risk of hitting the barrel; if it is judged that the inner drum has a risk of hitting the barrel, the inner drum is controlled to perform an anti-collision barrel operation, thereby avoiding the inner drum of the clothing processing device from hitting the barrel and shortening the state duration, thereby protecting the electrical components and mechanical components of the clothing processing device, preventing damage to the clothing processing device, avoiding shortening the electrical and mechanical life of the clothing processing device, and thereby improving the safety of the clothing processing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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:

[0034] 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;

[0035] Figure 2 yes Figure 1 Implementation flow chart of step 103;

[0036] Figure 3 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

[0037] 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.

[0038] 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.

[0039] When washing machines, dryers and other clothes handling equipment are dehydrating, the inner drum of the clothes handling equipment rotates at high speed, which can easily cause eccentricity and drum collision due to uneven distribution of clothes. If the drum collision continues, it will have a great impact on the electrical and mechanical life of the clothes handling equipment, and may even damage the clothes handling equipment, reducing the safety of the clothes handling equipment.

[0040] Therefore, in order to solve the above technical problems, the present invention provides the following technical solutions:

[0041] In a specific implementation process, at least one marker can be set at a designated position of the clothing processing device, where the designated position can be reached when the inner drum of the clothing processing device shakes, so that the at least one marker shakes with the shaking of the inner drum.

[0042] In a specific implementation process, when the clothing processing device is in a closed state, the inner drum and the drum gasket of the clothing processing device are squeezed against each other. Therefore, when the inner drum of the clothing processing device shakes, the drum gasket is also prone to shake. Therefore, the designated part can be the drum gasket of the inner drum, but this embodiment is not limited to the drum gasket.

[0043] In a specific implementation process, the marker can be a physical object or a pattern, such as a small five-pointed star, triangle, arrow, etc., which is not specifically limited in this embodiment.

[0044] In this way, by setting markers on the drum pad at multiple locations that can be captured by the camera, when the inner drum shakes violently, the markers on the drum pad will also shake violently, so that the violent shaking of the markers on the drum pad can be used to obtain the trajectory information of the markers, and then analyze the amplitude, and determine whether there is a risk of collision with the inner drum of the clothing processing equipment according to the amplitude. The specific implementation process can refer to the following steps:

[0045] See attached Figure 1 , Figure 1 1 is a flow chart of main steps of a method for controlling a clothes processing device according to an embodiment of the present invention.

[0046] like 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.

[0047] Step 101, acquiring multiple images of at least one marker during the rotation of the inner cylinder;

[0048] In a specific implementation process, an image acquisition device such as a camera can be used to obtain multiple images of at least one marker during the rotation of the inner cylinder.

[0049] In some embodiments, since we only want to find the signs of early barrel collision, we only need to perform the detection when the inner barrel rotates at a relatively low speed (such as before 200 rpm). Therefore, when the inner barrel rotates at a speed lower than a preset speed threshold, we can obtain the inner barrel rotation speed, and then determine the number of images that can be collected in each cycle according to the inner barrel rotation speed and the frame rate of the image acquisition device; based on the number of image items, we can obtain multiple images of the at least one marker. The method of obtaining the inner barrel rotation speed can refer to the existing related technology and will not be described in detail here.

[0050] It should be noted that although this embodiment is described by taking a relatively low rotation speed as an example, in actual application, it can also be used at a relatively high rotation speed.

[0051] In some embodiments, after obtaining the rotation speed of the inner drum, the rotation speed of the inner drum is converted into revolutions per second, and then the camera frame rate is divided by the number of revolutions per second to obtain the number of photos required for one cycle. For example, if the current rotation speed is 180 revolutions per minute, that is, 3 revolutions per second, and assuming that the camera frame rate is 24 frames per second, then one cycle requires 24 / 3=8 images.

[0052] Step 102: determining a shaking trajectory of each marker in the at least one marker based on the multiple images of the at least one marker;

[0053] In a specific implementation process, if the number of the markers is at least 2, each of the multiple images can be divided into at least 2 partitions corresponding to the number of markers; wherein each of the at least 2 partitions records the position of the corresponding marker; and according to the position of the corresponding marker in each partition in each image, the shaking trajectory of each marker is obtained. For example, if there are 2 markers, each image can be divided into 2 partitions, each partition corresponds to the shaking range of a marker, and the position of the marker can be detected by using an image analysis algorithm, and the multiple images of each partition record the shaking trajectory of the marker in each partition.

[0054] It should be noted that when the number of markers is only one, each picture is a partition corresponding to the marker, and then the shaking trajectory of the marker can be obtained according to the position of the marker in each image, which will not be repeated here.

[0055] Step 103: judging whether the inner cylinder has a risk of hitting a barrel based on the shaking trajectory of each marker;

[0056] In a specific implementation process, you can refer to Figure 2 The flowchart shown implements step 103 . Figure 2 yes Figure 1 Implementation flow chart of step 103 in FIG. Figure 2 As shown, step 103 can be implemented according to steps 201 to 203.

[0057] Step 201, extracting the shaking peak value and the shaking valley value of each marker from the shaking trajectory of each marker;

[0058] In a specific implementation process, the shaking peak value and the shaking valley value of each marker can be extracted from the shaking trajectory of each marker according to the coordinates of the trajectory points in the shaking trajectory of each marker.

[0059] Step 202, determining the amplitude of each marker according to the shaking peak value of each marker and the shaking valley value of each marker;

[0060] In a specific implementation process, the difference between the shaking peak value of each marker and the shaking valley value of each marker can be calculated, and half of the difference is used as the amplitude of each marker.

[0061] It should be noted that the above method of determining the amplitude of each marker is only an example, and this embodiment is not limited to the above method, and this embodiment will not be described one by one.

[0062] Step 203: judging whether the inner cylinder has a risk of hitting a barrel according to the amplitude of each marker.

[0063] In a specific implementation process, the maximum amplitude and / or the average amplitude can be determined based on the amplitude of each marker; if the maximum amplitude is greater than a first preset threshold, and / or the average amplitude is greater than a second preset threshold, it is judged that the inner cylinder has a risk of hitting the barrel; if the maximum amplitude is less than or equal to the first preset threshold, and the average amplitude is less than or equal to the second preset threshold, it is judged that the inner cylinder does not have a risk of hitting the barrel.

[0064] In a specific implementation process, the first preset threshold value and the second preset threshold value can be set according to experiments, or can be determined according to actual usage information of the clothing processing device, and this embodiment does not make specific limitations.

[0065] It should be noted that in order to more accurately determine whether the inner cylinder has a risk of hitting the barrel, multiple judgments can be made, and when the number of times the risk of hitting the barrel is judged reaches a preset number, it is determined that the inner cylinder has a risk of hitting the barrel.

[0066] Step 104: If it is determined that the inner cylinder has a risk of colliding with a barrel, control the inner cylinder to perform an anti-collision barrel operation.

[0067] In a specific implementation process, if it is determined that the inner drum has a risk of hitting the barrel, the inner drum can be controlled to perform an anti-barrel collision operation. If it is determined that the inner drum does not have a risk of hitting the barrel, the process returns to step 101 until the rotation speed of the inner drum is higher than or equal to a preset rotation speed threshold, and the barrel collision judgment process ends. For example, the inner drum can be corrected, or stopped, etc.

[0068] In a specific implementation process, if the inner drum performs an anti-collision barrel operation as a correction operation, after controlling the inner drum of the clothing processing device to perform the anti-collision barrel operation, the inner drum of the clothing processing device can continue to be controlled to rotate within a preset speed threshold, and then the barrel collision judgment process can be performed again. If it can still be determined that there is a risk of barrel collision in the inner drum of the clothing processing device, a shutdown operation can be performed and a warning message can be output to remind the user that correction cannot be performed.

[0069] The control method of the clothing processing device of the present embodiment obtains multiple images of at least one marker during the rotation of the inner drum of the clothing processing device; determines the shaking trajectory of each marker in the at least one marker based on the multiple images of the at least one marker; judges whether the inner drum has the risk of hitting the barrel based on the shaking trajectory of each marker; if it is judged that the inner drum has the risk of hitting the barrel, controls the inner drum to perform an anti-barrel collision operation, thereby avoiding the inner drum of the clothing processing device from hitting the barrel and shortening the state duration, thereby protecting the electrical components and mechanical components of the clothing processing device, preventing damage to the clothing processing device, avoiding shortening the electrical and mechanical life of the clothing processing device, and thereby improving the safety of the clothing processing device.

[0070] 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.

[0071] 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.

[0072] Furthermore, the present invention also provides a control device for a clothes processing device.

[0073] See attached Figure 3 , Figure 3 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 3 As shown, the control device of the clothes processing device in the embodiment of the present invention may include a processor 31 and a storage device 32.

[0074] The storage device 32 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 31 may be configured to execute the program in the storage device 32, 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.

[0075] In a specific implementation process, the number of the storage device 32 and the processor 31 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 31 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 32 respectively, and each processor 31 can be configured to execute the program in one or more storage devices 32 to jointly implement the control method of the clothing processing device of the above method embodiment, that is, each processor 31 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.

[0076] The above-mentioned multiple processors 31 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 31 may be processors configured on the high-performance device. In addition, the above-mentioned multiple processors 31 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 31 may be processors on different servers in the server cluster.

[0077] Furthermore, the present invention also provides a clothes processing device, which includes the control device of the clothes processing device as described above.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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: At least one marker is provided at a designated position of the clothes processing device, and the designated position is a position to which the inner drum of the clothes processing device can be transmitted when shaking occurs, so that the at least one marker shakes with the shaking of the inner drum, and the method includes: During the rotation of the inner cylinder, acquiring a plurality of images of the at least one marker; Determining a shaking trajectory of each marker in the at least one marker based on the multiple images of the at least one marker; Based on the shaking trajectory of each marker, judging whether the inner barrel has a risk of hitting a barrel; If it is determined that the inner cylinder has a risk of colliding with a barrel, the inner cylinder is controlled to perform an anti-collision operation with the barrel.

2. The control method of the clothes processing device according to claim 1, characterized in that: Based on the shaking trajectory of each marker, judging whether the inner drum has a risk of hitting the barrel, including extracting the shaking peak value and the shaking valley value of each marker from the shaking trajectory of each marker; According to the shaking peak value of each marker and the shaking valley value of each marker, the amplitude of each marker is determined; According to the amplitude of each marker, it is determined whether the inner cylinder has a risk of hitting a barrel.

3. The control method of the clothes processing device according to claim 2, characterized in that: According to the amplitude of each marker, it is judged whether the inner cylinder has a risk of hitting the barrel, including: Based on the amplitude of each marker, determining a maximum amplitude and / or an average amplitude; If the maximum amplitude is greater than a first preset threshold, and / or the average amplitude is greater than a second preset threshold, it is determined that the inner drum has a risk of hitting the barrel; If the maximum amplitude is less than or equal to the first preset threshold, and the average amplitude is less than or equal to the second preset threshold, it is determined that there is no risk of the inner drum hitting the barrel.

4. The control method of the clothes processing device according to claim 2, characterized in that: According to the shaking peak value of each marker and the shaking valley value of each marker, the amplitude of each marker is determined, including: Calculate the difference between the peak sway value for each marker and the valley sway value taken for each marker; The half value of the difference was taken as the amplitude taken by each marker.

5. The control method of the clothes processing device according to claim 1, characterized in that: Acquiring a plurality of images of the at least one marker comprises: Determining the number of images that can be collected in each cycle according to the rotation speed of the inner drum and the frame rate of the image acquisition device; Based on the number of image items, multiple images of the at least one marker are acquired.

6. The control method of the clothes processing device according to claim 5, characterized in that: Before determining the number of images that can be collected in each cycle according to the rotation speed of the inner drum and the frame rate of the image acquisition device, the method further includes: When the rotation speed of the inner drum is lower than a preset rotation speed threshold, the rotation speed of the inner drum is acquired.

7. The control method of the clothes processing device according to claim 1, characterized in that: The number of the markers is at least 2; Determining a shaking trajectory of each marker in the at least one marker based on the multiple images of the at least one marker includes: Dividing each of the plurality of images into at least two partitions corresponding to the number of markers; wherein each of the at least two partitions records the position of the corresponding marker; According to the position of the corresponding marker in each partition in each image, the shaking trajectory of each marker is obtained.

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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