Washing machine clothes clamping detection method, washing system, control device and medium

Abstract

The invention relates to an electric appliance control technology, and particularly provides a clothes clamping detection method of a washing machine, a washing system, a control device and a medium. The method comprises the following steps: acquiring an image of a drum pad on the periphery of a drum; and judging whether the washing machine is in a clothes clamping state according to the image. The step of judging whether the washing machine is in the clothes clamping state or not according to the image comprises the steps of determining the integrity of a cylinder pad according to the image; judging whether the washing machine is in a clothes clamping state or not according to the integrity. The method comprises the following steps: firstly, acquiring an image of a cylinder pad by using an image acquisition device, identifying the integrity of the cylinder pad based on a target detection algorithm, if the identified cylinder pad is complete, indicating that the position of the cylinder pad is not covered by clothes, and indicating that a clothes clamping condition does not exist, and if the identified cylinder pad is incomplete, indicating that the position of the cylinder pad is not covered by the clothes. If yes, it shows that part of the cylinder pad is covered with the clothes at the cylinder pad position, the clothes clamping condition exists, and fault warning needs to be carried out. According to the method, whether clothes are clamped in the washing machine or not can be accurately and efficiently judged.

Description

Technical Field

[0001] The invention relates to an electrical appliance control technology, and specifically provides a method for detecting clothes clamping in a washing machine, a washing system, a control device and a medium. Background Art

[0002] A washing machine is a household appliance used to wash clothes. Its appearance allows people to wash clothes conveniently at home, saving precious time. The convenience of washing machines is reflected in the following aspects:

[0003] 1. Convenience: Washing machines can wash clothes easily, making it easy for people to wash clothes at home without spending a lot of time and energy.

[0004] 2. Save time and effort: The washing machine can automatically complete the washing process, and people do not need to operate manually, saving a lot of time and energy.

[0005] 3. Improve the quality of life: Washing machines allow people to wash clothes at home, making it easier for people to keep their homes tidy and clean.

[0006] 4. Save energy: Compared with other manual washing, washing machines can save a lot of energy during the washing process.

[0007] 5. Easy to clean: The washing machine comes with multiple cleaning modes and detergents that can be cleaned easily, making it easier for people to keep the washing machine clean and hygienic.

[0008] In short, washing machines bring convenience and speed to people, allowing them to easily wash clothes at home and improve their quality of life.

[0009] With the development of the economy and the improvement of people's living standards, the popularity of washing machines has increased year by year. In addition, with the continuous improvement of urbanization level, there are more and more densely populated cities, which has also promoted the popularity of washing machines, and more and more people have begun to use washing machines.

[0010] Drum washing machines originated in Europe. The washing method is designed to imitate the principle of a hammer hitting clothes. The mechanical work of the motor is used to rotate the drum. The clothes are constantly lifted and dropped in the drum, and then lifted and dropped again. The repeated movement is combined with the detergent and water to clean the clothes. When washing with a drum washing machine, the clothes to be washed are placed in a washing tub placed horizontally (or nearly horizontally) in the drum type washing machine, so that part of the clothes are immersed in water. The drum rotates forward, reverse or continuously at a fixed time, so that the clothes roll in the washing tub and collide and rub against the detergent, thereby achieving the purpose of washing.

[0011] Drum washing machines have become the main model in the current international washing machine market due to their many advantages such as low wear, no entanglement, ability to wash cashmere and silk fabrics, and large capacity.

[0012] The advantages of drum washing machines include:

[0013] 1. Clothes are washed more cleanly: The rolling parts inside the drum washing machine can cause the clothes to be subjected to more friction and impact in the water, making the clothes easier to wash.

[0014] 2. Clothes are softer: Due to the working principle of the drum washing machine, clothes will be subjected to gentle friction and impact during the washing process, so the clothes after washing will be softer and more comfortable.

[0015] 3. Save effort and power: Compared with hand-washing washing machines, drum washing machines can reach full load faster, thus reducing the amount of water required for washing. In addition, since the friction and impact between clothes and detergent are reduced, the amount of detergent required for the washing process is also reduced, thereby reducing the power consumption of washing.

[0016] 4. Easy to clean: The internal structure of the drum washing machine is relatively simple, easy to clean and maintain. At the same time, since both the laundry detergent and the laundry powder are volatile, the drum washing machine will not produce dust and foam when cleaning, reducing the difficulty of cleaning.

[0017] The main components of a drum washing machine include:

[0018] 1. Drum: The drum is the core component of the washing machine, which washes clothes by continuously rotating.

[0019] 2. Detergent box: used to store detergent, softener and other cleaning supplies.

[0020] 3. Shock absorber: used to reduce vibration and impact during the washing process, improve washing effect and reduce machine wear.

[0021] 4. Control panel: used to control the operation of the entire washing machine, including starting, stopping, adjusting washing intensity, etc.

[0022] 5. Door mechanism: used to open and close the drum door of the washing machine. The drum door is rotatably connected to the front panel. A drum gasket is provided between the drum door and the front panel to seal the drum door when it is closed. The drum door is usually provided with at least two layers of glass windows for observing the washing status of the clothes in the drum. There is a gap between the two layers of glass windows.

[0023] 6. Drainage mechanism: used to discharge sewage and washing liquid.

[0024] 7. Electric heating plate: used to heat and dry clothes.

[0025] These components coordinate with each other to complete the cleaning function of the drum washing machine.

[0026] Chinese patent application number 201810562962.4 discloses a wall-mounted washing machine and its door gasket, which is arranged between the cover and the front panel and generates bending force when it contacts the door glass. The door gasket in the patent is a drum gasket commonly found in existing washing machines, and is the gasket at position 450 in the accompanying drawing.

[0027] Chinese patent application number 201410654029.1 discloses a front cover door of a drum washing machine and a drum washing machine, wherein the drum door is a structure with a gap between two adjacent layers of glass windows.

[0028] When using a drum washing machine, it is often the case that when putting clothes in for washing, the corners of the clothes are accidentally caught between the drum pad and the drum door, which causes the washing machine to be unable to completely close the drum door or abnormal washing operation.

[0029] Therefore, it is necessary to develop a device that can accurately identify whether clothes are clamped between the drum pad and the drum door, and timely identify the clothes clamping failure. Summary of the invention

[0030] In order to overcome the above defects, the present invention proposes a method, a washing machine clothes clamping detection system, a control device and a medium. By acquiring an image of the drum peripheral pad, it is possible to efficiently and accurately determine whether the washing machine is in a clothes clamping state based on the image.

[0031] In a first aspect, the present invention provides a method for detecting clothes clamping in a washing machine, comprising:

[0032] Acquire an image of the drum peripheral gasket;

[0033] It is determined whether the washing machine is in a clothes clamping state according to the image.

[0034] In one technical solution of the above-mentioned method for detecting clothes caught in the washing machine, the step of acquiring an image of the drum peripheral gasket comprises:

[0035] Acquire an image of the lower portion of the barrel pad.

[0036] In a technical solution of the above-mentioned method for detecting clothes clamping in a washing machine, judging whether the washing machine is in a clothes clamping state according to the image comprises:

[0037] determining the integrity of the cartridge cushion based on the image;

[0038] Whether the washing machine is in a clothes clamping state is determined according to the integrity.

[0039] In a technical solution of the above-mentioned method for detecting clothes clamping in a washing machine, judging whether the washing machine is in a clothes clamping state according to the integrity includes:

[0040] If it is determined that the integrity is complete, it is determined that the washing machine is in a non-clothes-caught state.

[0041] In a technical solution of the above-mentioned method for detecting clothes clamping in a washing machine, the step of judging whether the washing machine is in a clothes clamping state according to the integrity further comprises:

[0042] If it is determined that the integrity is incomplete, it is determined that the washing machine is in a clothes clamping state.

[0043] In a technical solution of the above-mentioned method for detecting clothes clamping in a washing machine, after the step of determining whether the washing machine is in a clothes clamping state, the method further comprises:

[0044] Control the washing machine to send out clothes jam alarm.

[0045] In a second aspect, the present invention provides a control device comprising a processor and a storage device, wherein the storage device is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the washing machine clothes clamping detection method described in any one of the technical solutions of the above-mentioned washing machine clothes clamping detection method.

[0046] In a third aspect, the present invention provides a washing system comprising:

[0047] An image acquisition device is provided on the washing machine and is used to acquire an image of a drum pad on the outer periphery of the drum;

[0048] Control device, said control device;

[0049] washing machine.

[0050] In a technical solution of the above-mentioned washing system, the image acquisition device is arranged on the drum door of the washing machine.

[0051] In a fourth aspect, the present invention provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the washing machine clothes clamping detection method described in any one of the technical solutions of the above-mentioned washing machine clothes clamping detection method.

[0052] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0053] The present invention first uses an image acquisition device to obtain an image of a drum pad, identifies the integrity of the drum pad based on a target detection algorithm, and determines whether the drum pad is complete to determine whether the drum pad is complete. If the drum pad is complete, it means that the drum pad position is not covered by clothes, and there is no clothing jam situation. If the drum pad is incomplete, it means that clothes cover part of the drum pad at the drum pad position, and there is a clothing jam situation, and a fault alarm needs to be issued. The method of the present invention can accurately and efficiently determine whether there is clothing jam in the washing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] 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:

[0055] Figure 1 is a schematic flow chart of main steps of a method for detecting clothes clamping in a washing machine according to an embodiment of the present invention;

[0056] Figure 2 is a schematic flow chart of main steps for determining whether the washing machine is in a clothes-binding state according to the image according to an embodiment of the present invention;

[0057] Figure 3 is a schematic diagram of a flow chart for determining whether a washing machine is in a non-clothes-clip state according to an embodiment of the present invention;

[0058] Figure 4 is a schematic diagram of a flow chart for determining whether a washing machine is in a clothes clamping state according to an embodiment of the present invention;

[0059] Figure 5 is a schematic flow chart of steps for issuing a clothes trap alarm according to an embodiment of the present invention;

[0060] Figure 6 Schematic diagram of a washing system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] 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.

[0062] 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.

[0063] The present invention provides a method for detecting clothes clamping in a washing machine, referring to Figure 1 , the method comprising:

[0064] S100, acquiring an image of the drum outer peripheral gasket;

[0065] S200: Determine whether the washing machine is in a clothes clamping state according to the image.

[0066] The present invention detects the corner of clothes between the drum pad and the drum door based on the target detection technology to judge whether there is clothes clamping phenomenon before washing.

[0067] The invention provides a new method for judging whether clothes are caught by a washing machine. The method is based on the target detection technology of image recognition and judges whether there is a clothes-caught fault in washing by analyzing the image at the drum pad.

[0068] The drum gasket is arranged on the drum of the washing machine, located at the outer periphery of the drum of the washing machine, and the drum gasket is arranged close to one side of the drum door of the washing machine.

[0069] The drum gasket is generally a ring-shaped gasket made of rubber with a certain degree of elasticity. When the drum cover of the washing machine is closed, the drum gasket uses its own deformation to contact the drum, generating bending force, which plays a sealing role and prevents water or cleaning liquid in the drum from leaking out.

[0070] Usually the washing machine drum gasket is a black rubber pad that is set around the outer circumference of the drum.

[0071] In one embodiment, obtaining the image of the drum peripheral gasket includes:

[0072] Acquire an image of the lower portion of the barrel pad.

[0073] The drum gasket is a drum periphery drum gasket.

[0074] Because the user will put the clothes to be washed into the drum of the washing machine before washing clothes, when clothes are caught, it usually happens at the bottom, so it is preferred to obtain the image of the lower part of the drum pad, or the image of the lower half of the drum pad, so that the image acquisition is more accurate.

[0075] In one embodiment, referring to Figure 2 , the step of judging whether the washing machine is in a clothes clamping state according to the image comprises:

[0076] S210, determining the integrity of the cylindrical gasket according to the image;

[0077] S220: Determine whether the washing machine is in a clothes clamping state according to the integrity.

[0078] After the drum door is closed, the drum door and the front panel fit tightly together, and the drum gasket is deformed between the drum door and the front panel. When clothes are clamped between the drum door and the front panel, the drum gasket will inevitably be partially covered, usually the lower part of the drum gasket is covered by clothes. At this time, the integrity of the drum gasket is destroyed. Therefore, by examining the integrity of the drum gasket, it is possible to objectively and accurately identify whether the washing machine has a clothes clamping fault.

[0079] The method for determining the integrity of the drum gasket based on the image is through image recognition target detection technology. In one embodiment, the integrity of the drum gasket is determined by a target detection algorithm, that is, whether the drum gasket is covered by clothes is determined. If clothes are caught in the washing machine, the drum gasket is at least partially covered (usually the lower part is covered), and the integrity of the drum gasket is incomplete.

[0080] In one application scenario, the integrity of the cylinder gasket is determined using the VOLO algorithm.

[0081] YOLO (You Only Look Once) is a real-time object detection algorithm. YOLO redefines object detection as a regression problem. It applies a single convolutional neural network (CNN) to the entire image, divides the image into grids, and predicts the class probability and bounding box for each grid. For example, take a 100x100 image. Divide it into grids, such as 7x7.

[0082] Then, for each grid, the network predicts a bounding box and the probability that it corresponds to each class (such as clothing and tubular pads).

[0083] Each bounding box can be described using four descriptors:

[0084] The center height and width values ​​of the bounding box are mapped to the class to which the object belongs.

[0085] In addition, the algorithm can also predict the probability of an object being present in a bounding box. If the center of an object falls within a grid cell, then that grid cell is responsible for detecting the object. There will be multiple bounding boxes in each grid. When training, it is desirable to have only one bounding box per object. Therefore, depending on which box has the highest overlap with the ground truth box, a box is assigned to be responsible for predicting the object.

[0086] Finally, a method called Non Max Suppression is applied to the objects of each class to filter out the bounding boxes whose “confidence” is less than a threshold. This provides the image prediction.

[0087] YOLO is very fast. Since the detection problem is a regression problem, no complex pipeline is required. It is 1000 times faster than "R-CNN" and 100 times faster than "Fast R-CNN". It is able to process real-time video streams with a latency of less than 25 milliseconds. Its accuracy is more than twice that of previous real-time systems. Equally important, YOLO follows the practice of "end-to-end deep learning".

[0088] YOLO has different versions. Let's take YOLO5 as an example to explain its principle. YOLO5 is its fifth version. Unlike traditional object detection algorithms that use classification and regression algorithms, YOLO5 uses a single neural network to directly predict bounding boxes and categories. The specific principle is:

[0089] Divide the input image into grids: YOLO5 divides the input image into S×S grids, each grid is responsible for detecting an object. If the center point of an object is within a grid, a bounding box will be fitted within the grid.

[0090] Extract feature vector: Use convolutional neural network to extract the feature vector of each grid, which represents the characteristics of the target in the grid.

[0091] Predict bounding boxes and categories: For each grid, use a fully connected layer to predict one or more bounding boxes, as well as the possible category and confidence score for each bounding box.

[0092] Post-processing of prediction results: For each target, select the bounding box with the highest confidence. Then, remove duplicate bounding boxes and select the final target box based on the non-maximum suppression (NMS) algorithm.

[0093] In one embodiment, referring to Figure 3 , the step of judging whether the washing machine is in a clothes clamping state according to the integrity comprises:

[0094] S221: If it is determined that the integrity is complete, it is determined that the washing machine is in a non-clothes-caught state.

[0095] The target detection algorithm determines that the tube pad is complete. For example, if the target detection algorithm determines that the tube pad is an area, it is complete, which means that there is no clothing covering it and there is no clothing clamping fault.

[0096] If it is determined that there is no clothes stuck, the normal washing operation is carried out.

[0097] In one embodiment, referring to Figure 4 , the step of judging whether the washing machine is in a clothes clamping state according to the integrity also includes:

[0098] S222: If it is determined that the integrity is incomplete, it is determined that the washing machine is in a clothes clamping state.

[0099] Usually, when users put clothes into the drum of the washing machine, clothes are stuck due to careless and unintentional operation, so the drum mat will not be completely covered, but only a part of it, in most cases, the area under the drum mat will be covered.

[0100] The target detection algorithm determines that the drum pad is incomplete. For example, if the target detection algorithm recognizes that the image is divided into two sections or two pieces, it means that the drum pad is covered by a piece of clothing, and from the perspective of the image, the drum pad is divided into two sections. For example, if two pieces of clothing are sandwiched at the drum door, the drum pad is divided into three sections or three pieces from the perspective of the image. When the target detection algorithm recognizes that the drum pad is not one piece but multiple pieces, it is incomplete. When the drum pad image is incomplete, it means that the drum pad is partially covered and there is a problem of clothes being caught.

[0101] It should be noted that S221 and S222 are two situations for judging the integrity of the cylinder pad image, and the order of precedence is not distinguished.

[0102] In one embodiment, referring to Figure 5 After the step of determining whether the washing machine is in a clothes clamping state,

[0103] The method further comprises:

[0104] S300, controlling the washing machine to issue a clothes jam alarm.

[0105] When the drum pad image is incomplete, the user needs to be informed in time to avoid failure to start the washing machine or washing failure in the state of clothes being clamped.

[0106] In one application scenario, the control panel of the washing machine issues an alarm or voice prompt for clothes being caught.

[0107] 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 clothes clamping detection 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 clothes clamping detection method of the above method embodiment. 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 control device can be a control device device formed by various electronic devices.

[0108] Reference Figure 6 The present invention also provides a washing system, comprising:

[0109] An image acquisition device is provided on the washing machine and is used to acquire an image of a drum pad on the outer periphery of the drum;

[0110] Control device, said control device;

[0111] washing machine.

[0112] In one embodiment, the image acquisition device is a camera.

[0113] In one embodiment, the image acquisition device is disposed on the drum door of the washing machine.

[0114] The drum door of the washing machine is rotatably arranged on the washing machine. After the clothes to be washed are put into the drum and the drum door is closed, the washing program is started.

[0115] In one application scenario, the camera is disposed in a glass window of a washing machine drum door.

[0116] The washing machine of the present invention is a drum washing machine, which is used for washing clothes.

[0117] Most of the existing drum washing machines have double-layer glass drum doors, with a gap of a certain width and spacing between the two layers of glass. Placing the camera in the gap between the two layers of glass does not affect the appearance of the washing machine and can obtain the image of the drum pad through the inner layer of glass.

[0118] Preferably, the camera is set toward the inside and bottom of the washing machine so that it can capture images of the lower part of the drum gasket. When clothes are caught by the drum door, they are usually below the drum door, so setting the camera toward the lower part of the drum gasket can obtain images more accurately and efficiently.

[0119] The present invention first uses an image acquisition device to obtain an image of the tube pad, identifies the integrity of the tube pad based on a target detection algorithm, and determines whether the tube pad is complete to judge the clothing jam fault. If the identified tube pad is complete, it means that there is no clothing covering the position of the tube pad, and there is no clothing jam situation. If the identified tube pad is incomplete, it means that there is clothing covering part of the tube pad at the position of the tube pad, and there is a clothing jam situation, and a fault alarm needs to be issued.

[0120] The detection method of the present invention is both accurate and efficient. If the clothes are directly detected, it is difficult to completely cover the types of clothes in the user's home, resulting in misidentification. Therefore, the present invention detects whether there is a problem of clothes being caught by the drum by detecting the integrity or completeness of the drum pad at the joint with the drum door; if there is a problem of clothes being caught by the drum, the problem is solved by prompting an alarm on the panel or by voice prompting the user.

[0121] 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 clothes clamping detection method of the above method embodiment, and the program can be loaded and run by a processor to implement the above washing machine clothes clamping detection 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-temporary computer-readable storage medium.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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 detecting clothes clamping in a washing machine, characterized in that: include: Acquire an image of the drum peripheral gasket; It is determined whether the washing machine is in a clothes clamping state according to the image.

2. The method according to claim 1, characterized in that The method of obtaining the image of the drum outer peripheral cylinder gasket comprises: Acquire an image of the lower portion of the barrel pad.

3. The method according to claim 1, characterized in that The step of judging whether the washing machine is in a clothes clamping state according to the image comprises: determining the integrity of the cartridge cushion based on the image; Whether the washing machine is in a clothes clamping state is determined according to the integrity.

4. The method according to claim 3, characterized in that The step of judging whether the washing machine is in a clothes clamping state according to the integrity comprises: If it is determined that the integrity is complete, it is determined that the washing machine is in a non-clothes-caught state.

5. The method according to claim 4, characterized in that The step of judging whether the washing machine is in a clothes clamping state according to the integrity also includes: If it is determined that the integrity is incomplete, it is determined that the washing machine is in a clothes clamping state.

6. The method according to claim 5, characterized in that After the step of determining that the washing machine is in a clothes-binding state, the method further comprises: Control the washing machine to send out clothes jam alarm.

7. A control device, comprising a processor and a storage device, wherein the storage device is suitable for storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by the processor to execute the washing machine clothes clamping detection method according to any one of claims 1 to 6.

8. A washing system, characterized in that: include: An image acquisition device is provided on the washing machine and is used to acquire an image of a drum pad on the outer periphery of the drum; A control device according to claim 7; washing machine.

9. The washing system according to claim 8, characterized in that: The image acquisition device is arranged on the drum door of the washing machine.

10. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the washing machine clothes clamping detection method according to any one of claims 1 to 6.

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