Barrel collision detection method and device and washing machine

Abstract

The invention discloses a barrel collision detection method and device and a washing machine, the method is applied to the washing machine, an outer barrel of the washing machine is provided with a vibration sensor, and the method comprises the following steps: obtaining an amplitude value output by the vibration sensor; wherein the vibration sensor collects and outputs the amplitude value at a set sampling frequency; according to the multiple amplitude values obtained in the set detection period, whether the inner barrel of the washing machine collides with the outer barrel in the set detection period or not is determined.

Description

Technical Field

[0001] The present invention relates to the technical field of washing machines, and more specifically, to a barrel collision detection method, a barrel collision detection device, and a washing machine. Background Art

[0002] When the washing machine is working (such as dehydrating or washing), the inner barrel of the washing machine is prone to uneven load distribution and deviation due to reasons such as clothes tangling. If the deviation is too large, the inner barrel and the outer barrel of the washing machine will collide with each other, that is, a barrel collision will occur.

[0003] Currently, there are many solutions to detect whether a washing machine has hit the drum, for example, by monitoring the acceleration of the inner drum and other parameters that describe the inner drum's posture to detect whether the washing machine has hit the drum. However, these methods are all indirect detection of drum collisions, and the detection accuracy of drum collisions is low, which can easily lead to misjudgment of drum collisions. Moreover, no matter which drum collision detection method is used, once a drum collision is detected, the washing machine will be controlled to stop working. The inaccuracy of drum collision detection will seriously affect the user experience. Summary of the invention

[0004] An object of an embodiment of the present invention is to provide a new technical solution for barrel collision detection.

[0005] According to a first aspect of the present invention, a barrel collision detection method is provided, which is applied to a washing machine, wherein an outer barrel of the washing machine is provided with a vibration sensor, and the method comprises:

[0006] Acquire the amplitude value output by the vibration sensor; wherein the vibration sensor collects and outputs the amplitude value at a set sampling frequency;

[0007] According to the multiple amplitude values ​​obtained within the set detection period, it is determined whether the inner drum and the outer drum of the washing machine collide with each other within the set detection period.

[0008] Optionally, determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the multiple amplitude values ​​obtained within the set detection period includes:

[0009] Determine a first amplitude value set according to multiple amplitude values ​​obtained within a set detection period; wherein the first amplitude value set includes at least a first amplitude value, and the first amplitude value is a maximum amplitude value or a minimum amplitude value among the multiple amplitude values;

[0010] According to the first amplitude value set, it is determined whether the inner drum of the washing machine collides with the outer drum within the set detection period.

[0011] Optionally, the first amplitude value set further includes a second amplitude value and a third amplitude value, the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value, respectively, and determining whether the inner drum of the washing machine collides with the outer drum within the set detection period according to the first amplitude value set includes:

[0012] Determine an average amplitude value according to the first amplitude value, the second amplitude value and the third amplitude value;

[0013] According to the average amplitude value and the barrel collision amplitude threshold, it is determined whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

[0014] Optionally, the first amplitude value is the maximum amplitude value among the multiple amplitude values, the barrel collision amplitude threshold includes a first barrel collision amplitude threshold, and determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the average amplitude value and the barrel collision amplitude threshold includes:

[0015] When the average amplitude value is greater than or equal to the first barrel-colliding amplitude threshold, it is determined that the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

[0016] Optionally, the first amplitude value is the minimum amplitude value among the multiple amplitude values, the barrel collision amplitude threshold includes a second barrel collision amplitude threshold, and determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the average amplitude value and the barrel collision amplitude threshold includes:

[0017] When the average amplitude value is less than or equal to the second barrel-colliding amplitude threshold, it is determined that the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

[0018] Optionally, the first amplitude value set further includes a second amplitude value and a third amplitude value, the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value, respectively, and determining whether the inner drum of the washing machine collides with the outer drum within the set detection period according to the first amplitude value set includes:

[0019] Determining a first amplitude difference according to the first amplitude value and the second amplitude value;

[0020] Determining a second amplitude difference according to the first amplitude value and the third amplitude value;

[0021] When the first amplitude difference and the second amplitude difference are less than or equal to the barrel-colliding amplitude difference threshold, it is determined that the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

[0022] Optionally, determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the multiple amplitude values ​​obtained within the set detection period includes:

[0023] Perform frequency domain conversion processing on multiple amplitude values ​​obtained within a set detection period to obtain multiple amplitude values ​​corresponding to multiple frequencies;

[0024] Selecting amplitude values ​​corresponding to frequencies within a target frequency range from a plurality of amplitude values ​​corresponding to the plurality of frequencies to obtain a second amplitude value set;

[0025] According to the second amplitude value set, it is determined whether the inner drum of the washing machine collides with the outer drum within the set detection period.

[0026] Optionally, determining whether the inner drum of the washing machine collides with the outer drum within the set detection period according to the second amplitude value set includes:

[0027] Determine, according to the plurality of amplitude values ​​in the second amplitude value set, a root mean square value of the plurality of amplitude values ​​as the measured energy value;

[0028] When the measured energy value is less than the reference energy value, determining that the inner drum and the outer drum of the washing machine do not collide with each other within the set detection period;

[0029] When the measured energy value is greater than or equal to the reference energy value, it is determined that the inner drum of the washing machine collides with the outer drum within the set detection period.

[0030] According to a second aspect of the present invention, there is further provided a barrel collision detection device, comprising a memory and a processor, wherein the memory is used to store executable instructions; the processor is used to operate according to the control of the instructions to execute the method as described in the first aspect of the present invention.

[0031] According to a third aspect of the present invention, a washing machine is also provided, comprising a vibration sensor and the barrel collision detection device described in the second aspect, wherein the vibration sensor is arranged in the outer barrel of the washing machine, and is used to collect vibration signals at a set sampling frequency within a set detection period, and send the vibration signals to the barrel collision detection device.

[0032] One beneficial effect of the present invention is that by determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the multiple amplitude values ​​obtained within the set detection period, it is possible to avoid misjudgment of barrel collision caused by water hitting the outer barrel during dehydration, thereby improving the accuracy of barrel collision detection. Moreover, compared with detecting whether the washing machine has collided with the barrel by monitoring the acceleration of the inner barrel and other parameters describing the posture of the inner barrel, the accuracy of barrel collision detection by collecting the amplitude value of the outer barrel vibration is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0034] Figure 1 is a schematic diagram of the hardware structure of a washing machine according to an embodiment of the present invention;

[0035] Figure 2 is a flow chart of a barrel collision detection method according to an embodiment of the present invention;

[0036] Figure 3 is the amplitude value collected and output by the vibration sensor at a set sampling frequency when the inner barrel hits the outer barrel according to an example of the present invention;

[0037] Figure 4 is the amplitude value collected and output by the vibration sensor at a set sampling frequency when the dehydrated water hits the outer tub according to an example of the present invention;

[0038] Figure 5 According to an example of the present invention, when the inner barrel hits the outer barrel, the amplitude value collected and output by the vibration sensor at a set sampling frequency is represented in the frequency domain;

[0039] Figure 6 It is a representation in the frequency domain of the amplitude value collected and output by the vibration sensor at a set sampling frequency when the dehydrated water hits the outer barrel according to an example of the present invention;

[0040] Figure 7 is a principle block diagram of a barrel collision detection device according to an embodiment of the present invention;

[0041] Figure 8 Schematic diagram of the hardware structure of a washing machine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0043] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0044] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0045] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0046] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] <Hardware Configuration>

[0048] Figure 1 is a block diagram of a hardware configuration of a washing machine 100 according to an embodiment of the present invention.

[0049] like Figure 1 As shown, the washing machine 100 includes a vibration sensor 1000 and a tub collision detection device 2000 .

[0050] The vibration sensor 1000 may be a piezoelectric sensor, a capacitive sensor, etc., which is not limited here.

[0051] In some embodiments, the vibration sensor 1000 is a bone voiceprint sensor.

[0052] In this embodiment, on the one hand, the bone voiceprint sensor is usually more sensitive to low-frequency vibration signals, and the impact vibration generated by the washing machine during operation is often in the low-frequency range. Therefore, the bone voiceprint sensor can more accurately detect the tiny impact between the inner and outer barrels. On the other hand, the bone voiceprint sensor has a stronger anti-interference ability, especially in the high-noise environment of the washing machine, it can filter out some irrelevant high-frequency noise and focus on detecting low-frequency signals related to impact.

[0053] The vibration sensor 1000 is disposed on the outer tub of the washing machine, collects vibration signals of the outer tub at a set sampling frequency, and outputs an amplitude value to the tub collision detection device 2000 .

[0054] The barrel collision detection device 2000 performs barrel collision detection according to multiple amplitude values ​​obtained within a set detection period.

[0055] In this embodiment, refer to Figure 1As shown, the barrel collision detection device 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, and the like.

[0056] The processor 2100 may be a mobile version processor. The memory 2200 includes, for example, ROM (read-only memory), RAM (random access memory), non-volatile memory such as a hard disk, etc. The interface device 2300 includes, for example, a USB interface, a headphone interface, etc. The communication device 2400 is capable of, for example, wired or wireless communication. The communication device 2400 may include a short-range communication device, such as any device for short-range wireless communication based on short-range wireless communication protocols such as Hilink protocol, WiFi (IEEE 802.11 protocol), Mesh, Bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, etc. The communication device 2400 may also include a remote communication device, such as any device for WLAN, GPRS, 2G / 3G / 4G / 5G remote communication.

[0057] In this embodiment, the memory 2200 of the barrel collision detection device 2000 is used to store instructions, and the instructions are used to control the processor 2100 to operate to at least perform the barrel collision detection method according to any embodiment of the present invention. A technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0058] Despite Figure 1 , multiple devices of the barrel collision detection device 2000 are shown, but the present invention may only involve some of the devices, for example, the barrel collision detection device 2000 only involves the memory 2200 and the processor 2100.

[0059] In this embodiment, the vibration sensor 1000 is used to collect and output the amplitude value of the outer barrel at a set sampling frequency, and the barrel collision detection device 2000 implements the method according to any embodiment of the present invention based on multiple amplitude values ​​obtained within a set detection period to complete the detection of the barrel collision.

[0060] It should be understood that although Figure 1 Only one vibration sensor 1000 and one tub collision detection device 2000 are shown, but this does not mean to limit the respective numbers, and the washing machine 100 may include multiple vibration sensors 1000 and / or tub collision detection devices 2000.

[0061] <Method Example>

[0062] Figure 22 is a flow chart of a barrel collision detection method according to an embodiment of the present invention, which can be applied to a washing machine, and can be specifically implemented by a barrel collision detection device 2000 of a washing machine. A vibration sensor is provided on the outer barrel of the washing machine to collect vibration signals of the outer barrel.

[0063] according to Figure 2 As shown, the barrel collision detection method of this embodiment may include the following steps S2100 to S2200:

[0064] Step S2100, obtaining the amplitude value output by the vibration sensor.

[0065] In this embodiment, the vibration sensor collects and outputs the amplitude value at a set sampling frequency. When the inner barrel hits the outer barrel, the duration of the vibration generated by the outer barrel is generally between 300 milliseconds and 400 milliseconds. In order to accurately capture the vibration of the outer barrel caused by the impact of the inner barrel, the vibration sensor needs to collect the vibration of the outer barrel at a higher sampling frequency.

[0066] In some examples, the set sampling frequency may be 16KHZ, or may be other sampling frequencies higher than 16KHZ, which is not limited here.

[0067] The vibration sensor collects the vibration of the outer barrel at a set sampling frequency and outputs the amplitude value to the barrel collision detection device.

[0068] In the related art, the amplitude value output by the vibration sensor obtained in step S2100 is often compared with a set barrel-impact amplitude threshold to determine whether a barrel-impact event has occurred, or the vibration energy value calculated by the amplitude value obtained in step S2100 is compared with a preset reference energy value to determine whether a barrel-impact event has occurred.

[0069] However, the inventors found that the vibration amplitude value generated by the inner drum of the washing machine hitting the outer drum is basically equal to the amplitude value generated by the water hitting the outer drum during dehydration, and the impact energy generated by the inner drum hitting the outer drum is also basically the same as the impact energy of the water hitting the outer drum during dehydration. Therefore, by directly performing the drum collision detection based on the amplitude value obtained in step S2100, there will be a misjudgment of the drum collision caused by the water hitting the outer drum during dehydration, which seriously affects the accuracy of the drum collision detection.

[0070] Therefore, the inventors have proposed a solution for determining whether the inner and outer drums of the washing machine collide within a set detection period based on multiple amplitude values ​​obtained within the set detection period, namely, the following step S2200.

[0071] Step S2200, determining whether the inner drum and the outer drum of the washing machine collide with each other within a set detection period based on the multiple amplitude values ​​obtained within the set detection period.

[0072] The set detection period may be, for example, 16 ms, or other detection periods greater than 16 ms, for example, 20 ms.

[0073] In one example, the detection period may be set to 16 ms.

[0074] In this example, the detection period is set to 16ms for two reasons. On the one hand, when the inner barrel hits the outer barrel, the impact will not be less than 16ms at the fastest. On the other hand, the vibration duration from 300ms to 400ms includes many small vibrations, and these small vibrations basically appear in the time interval with a period of 16ms. In other words, multiple 16ms intervals are divided within 300ms to 400ms, and small vibrations exist in each 16ms. Figure 3 As shown, when a barrel collision occurs, multiple amplitude values ​​within 16ms change with time. It can be seen that there are multiple peaks and valleys within 16ms.

[0075] In an example, the sampling frequency is set to 16KHZ, and the detection period is set to 16ms. Then, the amplitude value corresponding to each of the 256 sampling moments can be obtained within the set detection period.

[0076] Based on the above two reasons, the detection cycle is set to 16ms. In this way, it can ensure that the small vibration caused by the barrel collision will not be missed when a barrel collision occurs, avoid misjudgment of the barrel collision, and improve the accuracy of barrel collision detection.

[0077] The inventors conducted barrel collision experiments and dehydration experiments respectively, and obtained the following results: Figure 3 When the inner barrel hits the outer barrel, the vibration sensor collects and outputs the amplitude value at the set sampling frequency and the Figure 4 When water hits the outer tub during dehydration, the vibration sensor collects and outputs the amplitude value at the set sampling frequency. Figure 3 It can be seen that when the inner barrel hits the outer barrel, the amplitude value has a relatively stable change over time. Figure 4 It can be seen that during dehydration, the amplitude of the water hitting the outer barrel changes greatly over time in some time periods.

[0078] based on Figure 3 and Figure 4 The difference shown is that barrel collision detection can be performed in a variety of ways, and specifically, barrel collision detection can be performed in the following ways, for example.

[0079] In one example, step S2200 may be to calculate the amplitude difference between the amplitude values ​​corresponding to adjacent sampling moments among the multiple amplitude values ​​within the set detection period, and determine that a barrel collision event has occurred when all the calculated amplitude differences are less than or equal to the barrel collision amplitude difference threshold (i.e., the maximum amplitude change value when a barrel collision occurs). When all the calculated amplitude differences are greater than the barrel collision amplitude difference threshold, it is determined that no barrel collision event has occurred (i.e., a dehydration barrel collision event has occurred).

[0080] In another example, step S2200 may be to first select the maximum amplitude value among multiple amplitude values ​​within the set detection period, then select the amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment of the maximum amplitude value, and then average the three amplitude values ​​to obtain an average amplitude value. When the average amplitude value is greater than 2700V, it is determined that a barrel collision event has occurred.

[0081] In another example, step S2200 may be to first select the minimum amplitude value among multiple amplitude values ​​within the set detection period, then select the amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment of the minimum amplitude value, and then average the three amplitude values ​​to obtain the average amplitude value. When the average amplitude value is less than or equal to 1000V, it is determined that a barrel collision event occurs.

[0082] In addition, after carrying out the barrel collision experiment and the dehydration experiment, the inventor also obtained the following Figure 5 When the inner barrel hits the outer barrel, the vibration sensor collects and outputs the amplitude value at a set sampling frequency in the frequency domain and Figure 6 The figure shows the frequency domain representation of the amplitude value collected and output by the vibration sensor at a set sampling frequency when water hits the outer barrel during dehydration.

[0083] Depend on Figure 5 It can be seen that the vibration amplitude generated by the inner barrel hitting the outer barrel is concentrated between the vibration frequencies of 0-1KHZ, while the vibration amplitude generated by water hitting the outer barrel during dehydration is concentrated between the vibration frequencies of 5.5k-6.5KHZ.

[0084] based on Figure 5 and Figure 6 The difference shown is that barrel collision detection can be performed in a variety of ways, and specifically, barrel collision detection can be performed in the following ways, for example.

[0085] In one example, step S2200 may be to convert multiple amplitude values ​​within a set detection period into amplitude values ​​corresponding to different frequencies, and then perform waveform analysis on the amplitude values ​​corresponding to different frequencies to determine whether barrel collision occurs.

[0086] In another example, step S2200 may be to convert multiple amplitude values ​​within a set detection period into corresponding amplitude values ​​at different frequencies, and then select the amplitude value corresponding to the frequency in the range of 0 to 1KHZ. If the maximum amplitude value among the amplitude values ​​corresponding to the frequencies in the range of 0 to 1KHZ is greater than the water impact barrel amplitude threshold, it is determined that a water impact barrel occurs.

[0087] In another example, step S2200 may be to convert multiple amplitude values ​​within a set detection period into amplitude values ​​corresponding to different frequencies, then select the amplitude value corresponding to the frequency in the range of 0 to 1 kHz, and calculate the root mean square value of the amplitude value corresponding to the frequency in the range of 0 to 1 kHz as the measured energy value corresponding to the range of 0 to 1 kHz. If the measured energy value is greater than the reference energy value, it is determined that a barrel collision occurs.

[0088] Those skilled in the art should understand that the above examples are only partial examples of step S2200, and this application cannot exhaustively list all embodiments. In fact, any method of barrel collision detection based on the barrel collision detection principle of this application should fall within the protection scope of this application.

[0089] According to the embodiment of the present application, by determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the multiple amplitude values ​​obtained within the set detection period, it is possible to avoid misjudgment of barrel collision caused by water hitting the outer barrel during dehydration, thereby improving the accuracy of barrel collision detection. Moreover, compared with detecting whether the washing machine has collided with the barrel by monitoring parameters describing the inner barrel posture such as the acceleration of the inner barrel, barrel collision detection by collecting the amplitude value of the outer barrel vibration has a higher accuracy.

[0090] In some embodiments, step S2200 determines whether the inner drum and the outer drum of the washing machine collide within a set detection cycle based on multiple amplitude values ​​obtained within the set detection cycle, including: step S21 and step S22.

[0091] Step S21, determining a first amplitude value set according to multiple amplitude values ​​acquired within a set detection period.

[0092] In this embodiment, the first amplitude value set includes at least a first amplitude value, and the first amplitude value is a maximum amplitude value or a minimum amplitude value among the multiple amplitude values.

[0093] In one example, the first amplitude value set includes a first amplitude value, a second amplitude value, and a third amplitude value. The second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value, that is, the three amplitude values ​​are arranged in order of sampling moments: the second amplitude value, the first amplitude value, and the third amplitude value.

[0094] In another example, the first amplitude value set includes five amplitude values, which are sorted by sampling time as follows: the second amplitude value, the third amplitude value, the first amplitude value, the fourth amplitude value, and the fifth amplitude value, and the sampling times of the five amplitude values ​​are continuous.

[0095] That is to say, the first amplitude value set may include three amplitude values, five amplitude values, or seven amplitude values. Those skilled in the art should understand that there is no limitation on the number of amplitude values ​​included in the first amplitude value set.

[0096] Step S22, determining whether the inner drum and the outer drum of the washing machine collide with each other within a set detection period based on the first amplitude value set.

[0097] In this embodiment, whether a barrel collision occurs can be determined based on the change of multiple amplitude values ​​included in the first amplitude value set. If the change between adjacent amplitude values ​​in the multiple amplitude values ​​included in the first amplitude value set is relatively stable, it is determined that a barrel collision occurs. If the change between adjacent amplitude values ​​in the multiple amplitude values ​​included in the first amplitude value set is large, it is determined that a barrel collision does not occur.

[0098] The changes in the multiple amplitude values ​​included in the first amplitude value set can be represented by an amplitude difference, an amplitude change rate, or an average amplitude value of the multiple amplitude values, which is not limited here.

[0099] Exemplarily, the first amplitude value set includes a first amplitude value, a second amplitude value, and a third amplitude value, and the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value. At this time, the amplitude difference between the first amplitude value and the second amplitude value can be calculated, and the amplitude difference between the third amplitude value and the first amplitude value can be calculated, and whether a barrel collision occurs can be determined by the amplitude difference. It is also possible to calculate the average amplitude value of the first amplitude value, the second amplitude value, and the third amplitude value included in the first amplitude value set, and determine whether a barrel collision occurs based on the average amplitude value. It is also possible to calculate the amplitude change rate between the first amplitude value and the second amplitude value, and calculate the amplitude change rate between the third amplitude value and the first amplitude value, and determine whether a barrel collision occurs based on the amplitude change rate.

[0100] Those skilled in the art should understand that the specific method of barrel collision detection in step S22 is not limited here.

[0101] In some embodiments, the first amplitude value set further includes a second amplitude value and a third amplitude value, and the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value.

[0102] In these embodiments, in step S22, determining whether the inner drum and the outer drum of the washing machine collide within a set detection period based on the first amplitude value set includes: step S221 and step S222.

[0103] Step S221, determining an average amplitude value according to the first amplitude value, the second amplitude value and the third amplitude value.

[0104] In this embodiment, the change of the vibration amplitude is indirectly reflected by the average amplitude value.

[0105] Step S222, determining whether the inner barrel and the outer barrel of the washing machine collide with each other within a set detection period based on the average amplitude value and the barrel collision amplitude threshold.

[0106] In this embodiment, the barrel collision amplitude threshold may be a critical value for barrel collision detection determined according to the amplitude value when collecting the vibration of the outer barrel during the barrel collision experiment.

[0107] In some embodiments, the first amplitude value is the maximum amplitude value among multiple amplitude values, that is, the first amplitude value set includes a first amplitude value (i.e., the maximum amplitude value), a second amplitude value, and a third amplitude value. Among them, the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the maximum amplitude value. The barrel collision amplitude threshold may include a first barrel collision amplitude threshold. Among them, the first barrel collision amplitude threshold may be the maximum amplitude value obtained by collecting the vibration of the outer barrel during the barrel collision experiment. The first barrel collision amplitude threshold may be, for example, 2700V. If a barrel collision event occurs, the average amplitude value of the three will also be greater than or equal to the first barrel collision amplitude threshold, so the average amplitude value can be compared with the first barrel collision amplitude threshold to determine whether a barrel collision event has occurred.

[0108] Based on this, in step S222, it is determined whether the inner barrel and the outer barrel of the washing machine collide with each other within the set detection period according to the average amplitude value and the barrel collision amplitude threshold, including:

[0109] When the average amplitude value is greater than or equal to the first barrel-colliding amplitude threshold, it is determined that the inner barrel and the outer barrel of the washing machine collide with each other within a set detection period.

[0110] In some embodiments, in step S222, determining whether the inner barrel and the outer barrel of the washing machine collide with each other within a set detection period according to the average amplitude value and the barrel collision amplitude threshold value further includes:

[0111] When the average amplitude value is less than the first barrel-colliding amplitude threshold, it is determined that the inner barrel and the outer barrel of the washing machine do not collide with each other within the set detection period.

[0112] In this embodiment, if the average amplitude value is less than the first barrel collision amplitude threshold, it may be caused by water hitting the outer barrel during dehydration. In order to improve the accuracy of barrel collision detection, it is determined that no barrel collision occurs at this time.

[0113] In some embodiments, the first amplitude value is the minimum amplitude value among multiple amplitude values, that is, the first amplitude value set includes a first amplitude value (i.e., the minimum amplitude value), a second amplitude value, and a third amplitude value. Among them, the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the minimum amplitude value. The barrel collision amplitude threshold may include a second barrel collision amplitude threshold. Among them, the second barrel collision amplitude threshold may be the minimum amplitude value obtained by collecting the vibration of the outer barrel during the barrel collision experiment. The second barrel collision amplitude threshold may be, for example, 1000V. If a barrel collision event occurs, the average amplitude value of the three will also be less than or equal to the second barrel collision amplitude threshold, so the average amplitude value can be compared with the second barrel collision amplitude threshold to determine whether a barrel collision event has occurred.

[0114] Based on this, in step S222, it is determined whether the inner barrel and the outer barrel of the washing machine collide with each other within the set detection period according to the average amplitude value and the barrel collision amplitude threshold, including:

[0115] When the average amplitude value is less than or equal to the second barrel-colliding amplitude threshold, it is determined that the inner barrel and the outer barrel of the washing machine collide with each other within the set detection period.

[0116] In some embodiments, in step S222, determining whether the inner barrel and the outer barrel of the washing machine collide with each other within a set detection period according to the average amplitude value and the barrel collision amplitude threshold value further includes:

[0117] When the average amplitude value is greater than the second barrel-colliding amplitude threshold, it is determined that the inner barrel and the outer barrel of the washing machine do not collide within the set detection period.

[0118] In this embodiment, if the average amplitude value is greater than the second barrel collision amplitude threshold, it may be caused by water hitting the outer barrel during dehydration. In order to improve the accuracy of barrel collision detection, it is determined that no barrel collision occurs at this time.

[0119] In some other embodiments, in step S22, determining whether the inner drum and the outer drum of the washing machine collide within a set detection period based on the first amplitude value set includes: steps S31 to S33.

[0120] Step S31, determining a first amplitude difference according to the first amplitude value and the second amplitude value.

[0121] In this embodiment, the first amplitude difference is an absolute value of the amplitude difference between the first amplitude value and the second amplitude value.

[0122] Step S32: determining a second amplitude difference according to the first amplitude value and the third amplitude value.

[0123] In this embodiment, the second amplitude difference is the absolute value of the amplitude difference between the third amplitude value and the first amplitude value.

[0124] Step S33, when the first amplitude difference and the second amplitude difference are less than or equal to the barrel collision amplitude difference threshold, it is determined that the inner barrel and the outer barrel of the washing machine have barrel collision within a set detection period.

[0125] In this embodiment, the barrel collision amplitude difference threshold may be an absolute value of the maximum amplitude difference between adjacent amplitude values ​​among a plurality of amplitude values ​​obtained by collecting vibrations of the outer barrel during the barrel collision test.

[0126] If water hits the outer barrel, both the first amplitude difference and the second amplitude difference will be greater than the barrel hitting amplitude difference threshold. If a barrel hitting occurs, both the first amplitude difference and the second amplitude difference will be less than or equal to the barrel hitting amplitude difference threshold. Therefore, it can be determined that a barrel hitting occurs when the first amplitude difference and the second amplitude difference are less than or equal to the barrel hitting amplitude difference threshold, and it can be determined that a barrel hitting does not occur when the first amplitude difference and the second amplitude difference are greater than the barrel hitting amplitude difference threshold.

[0127] In some embodiments, step S2200 determines whether an inner drum and an outer drum of the washing machine collide within a set detection period according to a plurality of amplitude values ​​obtained within a set detection period, including steps S41 to S43.

[0128] Step S41, performing frequency domain conversion processing on multiple amplitude values ​​acquired within a set detection period to obtain multiple amplitude values ​​corresponding to multiple frequencies.

[0129] In this embodiment, the frequency domain conversion processing may be a discrete Fourier transform, or a fast Fourier transform, etc., which is not limited here.

[0130] For example, if the sampling frequency is set to 16KHZ and the detection period is set to 16ms, the detection period is set to include 256 sampling moments, and 256 amplitude values ​​can be obtained within the detection period. Through discrete Fourier transform, 128 non-zero frequency components can be obtained, that is, 128 amplitude values ​​corresponding to 128 frequencies.

[0131] Step S42 , selecting amplitude values ​​corresponding to frequencies within a target frequency range from a plurality of amplitude values ​​corresponding to a plurality of frequencies to obtain a second amplitude value set.

[0132] In this embodiment, the target frequency range may be 0-1KHZ, or may be other frequency intervals less than 1KHZ and greater than 0HZ, which is not limited here.

[0133] The second amplitude value set is amplitude values ​​corresponding to frequencies within the target frequency range among the multiple amplitude values ​​corresponding to the multiple frequencies.

[0134] Step S43, determining whether the inner drum and the outer drum of the washing machine collide with each other within a set detection period according to the second amplitude value set.

[0135] In one example, the maximum amplitude value in the second amplitude value set may be compared with a frequency domain amplitude threshold (e.g., 7500V, 15000, or 22500), and if the maximum amplitude value in the second amplitude value set is greater than 7500V, it is determined that a barrel crash occurs. If the maximum amplitude value is less than or equal to 7500V, it is determined that a barrel crash does not occur.

[0136] In another example, the root mean square value of multiple amplitude values ​​in the second amplitude value set can be calculated as the measured energy value corresponding to the target frequency range, and the measured energy value is compared with the reference energy value to determine whether a barrel collision occurs. The reference energy value is the root mean square value of multiple amplitude values ​​within the target frequency range obtained by collecting the vibration of the outer barrel during the barrel collision test.

[0137] In some embodiments, in step S43, determining whether the inner drum and the outer drum of the washing machine collide within a set detection period based on the second amplitude value set includes: steps S431 to S433.

[0138] Step S431: Determine a root mean square value of the multiple amplitude values ​​according to the multiple amplitude values ​​in the second amplitude value set as the measured energy value.

[0139] In this embodiment, any amplitude value in the second amplitude value set represents the instantaneous energy of the vibration. In order to avoid inaccurate barrel collision detection due to errors in certain amplitude values, thereby improving the accuracy of barrel collision detection, the root mean square value of multiple amplitude values ​​within the target range can be calculated as the measured energy value. The measured energy value can represent the average energy value within the target frequency range.

[0140] Step S432, when the measured energy value is less than the reference energy value, it is determined that the inner drum and the outer drum of the washing machine do not collide within the set detection cycle.

[0141] In this embodiment, the reference energy value is determined based on the root mean square value of multiple amplitude values ​​within the target frequency range obtained by collecting the vibration of the outer barrel during the barrel collision test.

[0142] Step S433, when the measured energy value is greater than or equal to the reference energy value, it is determined that the inner drum and the outer drum of the washing machine collide within the set detection cycle.

[0143] In some embodiments, barrel collision detection can be performed by combining multiple amplitude values ​​in the time domain and multiple amplitude values ​​in the frequency domain to improve the accuracy of barrel collision detection. That is, in step S2200, determining whether the inner barrel and the outer barrel of the washing machine collide with each other within a set detection period according to multiple amplitude values ​​obtained within a set detection period includes: steps S51 to S55.

[0144] Step S51, determining a first detection result of whether a collision occurs between the inner drum and the outer drum of the washing machine within the set detection period according to the multiple amplitude values ​​obtained within the set detection period.

[0145] For example, the amplitude difference between the amplitude values ​​corresponding to adjacent sampling moments among the multiple amplitude values ​​within the set detection period may be calculated, and when all the calculated amplitude differences are less than or equal to the barrel collision amplitude difference threshold (i.e., the maximum amplitude change value when the barrel collision occurs), a first detection result indicating that a barrel collision event has occurred is obtained. When all the calculated amplitude differences are greater than the barrel collision amplitude difference threshold, a first detection result indicating that a barrel collision event has not occurred is obtained (i.e., a dehydration barrel collision event has occurred).

[0146] In some embodiments, in step S51, based on multiple amplitude values ​​obtained within a set detection period, a first detection result of whether a collision occurs between the inner barrel and the outer barrel of the washing machine within the set detection period is determined, including: step S511 and step S512.

[0147] Step S511: determining a first amplitude value set according to a plurality of amplitude values ​​acquired within a set detection period.

[0148] This step is the same as the above step S21 and will not be elaborated here.

[0149] Step S512: determining a first detection result of whether a collision occurs between the inner tub and the outer tub of the washing machine within a set detection period according to the first amplitude value set.

[0150] This step is the same as the above step S22 and will not be elaborated here.

[0151] Step S52: performing frequency domain conversion processing on the multiple amplitude values ​​obtained within the set detection period to obtain multiple amplitude values ​​corresponding to multiple frequencies.

[0152] This step is the same as the above step S41 and will not be elaborated here.

[0153] Step S53 , selecting amplitude values ​​corresponding to frequencies within a target frequency range from a plurality of amplitude values ​​corresponding to a plurality of frequencies to obtain a second amplitude value set.

[0154] This step is the same as that described in the above step S42 and will not be described again here.

[0155] Step S54, determining a second detection result of whether a collision occurs between the inner tub and the outer tub of the washing machine within a set detection period based on the second amplitude value set.

[0156] This step is the same as that described in the above step S43 and will not be described again here.

[0157] In some embodiments, in step S54, a second detection result of whether the inner drum and the outer drum of the washing machine collide with each other within a set detection period is determined based on the second amplitude value set, including: steps S541 to S543.

[0158] Step S541: Determine a root mean square value of the multiple amplitude values ​​according to the multiple amplitude values ​​in the second amplitude value set as the measured energy value.

[0159] This step is the same as that described in the above step S431 and will not be elaborated here.

[0160] Step S542, when the measured energy value is less than the reference energy value, it is determined that the inner drum and the outer drum of the washing machine do not collide within the set detection cycle.

[0161] This step is the same as that recorded in the above step S432 and will not be elaborated here.

[0162] Step S543, when the measured energy value is greater than or equal to the reference energy value, a second detection result is determined as to whether a collision occurs between the inner drum and the outer drum of the washing machine within a set detection period.

[0163] This step is the same as that recorded in the above step S433 and will not be elaborated here.

[0164] Step S55, when both the first detection result and the second detection result indicate that the inner drum and the outer drum of the washing machine collide with each other within a set detection period, it is determined that the inner drum and the outer drum of the washing machine collide with each other within a set detection period.

[0165] In this way, barrel collision detection can be performed in combination with the characteristics of multiple amplitude values ​​in the time domain and the frequency domain within a set detection period, thereby greatly improving the accuracy of barrel collision detection.

[0166] In some embodiments, after determining that the inner tub and the outer tub of the washing machine collide within a set detection period, the method further includes:

[0167] Send drum collision information to the washing machine main controller.

[0168] In this embodiment, the barrel collision information is used to indicate that the inner barrel of the washing machine collides with the outer barrel. After receiving the barrel collision information, the main controller of the washing machine controls the washing machine to stop working.

[0169] In some embodiments, after determining that the inner tub and the outer tub of the washing machine collide within a set detection period, the method further includes:

[0170] Output prompt information.

[0171] In this embodiment, the prompt information may be sound, text, etc., which is not limited here.

[0172] Exemplarily, the sound may be an alarm sound, or a voice prompt, such as, "the washing machine has crashed into the drum".

[0173] According to the embodiment of the present application, by determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the multiple amplitude values ​​obtained within the set detection period, it is possible to avoid misjudgment of barrel collision caused by water hitting the outer barrel during dehydration, thereby improving the accuracy of barrel collision detection. Moreover, compared with detecting whether the washing machine has collided with the barrel by monitoring parameters describing the inner barrel posture such as the acceleration of the inner barrel, barrel collision detection by collecting the amplitude value of the outer barrel vibration has a higher accuracy.

[0174] <Device Example>

[0175] Figure 7 FIG. 1 is a schematic diagram of the hardware structure of a barrel collision detection device 700 according to an embodiment.

[0176] according to Figure 7 As shown, the barrel collision detection device 700 of this embodiment may include a memory 720 and a processor 710 .

[0177] The memory 720 is used to store instructions, which are used to control the processor 710 to operate to execute the barrel collision detection method of any embodiment of the present invention. A technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0178] Figure 8 FIG. 8 is a schematic diagram of the hardware structure of a washing machine 800 according to an embodiment.

[0179] according to Figure 8 As shown, the washing machine 800 of this embodiment may include a vibration sensor 810 and a barrel collision detection device 820. The vibration sensor 810 is arranged in the outer barrel of the washing machine, and is used to collect and output the amplitude value to the barrel collision detection device 820 at a set sampling frequency.

[0180] In some embodiments, the vibration sensor is a bone voiceprint sensor.

[0181] In some embodiments, the barrel collision detection device is as follows Figure 1 As shown or Figure 7 The device shown.

[0182] In some embodiments, the barrel collision detection device communicates with the main controller and sends barrel collision information indicating the barrel collision detection result to the main controller.

[0183] In some embodiments, the barrel collision detection device is in communication connection with the prompt module, and the barrel collision detection device sends a prompt message to the prompt module when detecting a barrel collision. The prompt module presents the prompt message.

[0184] In this embodiment, the prompt module may be a speaker or the like.

[0185] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0186] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0187] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0188] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0189] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0190] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0191] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0192] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0193] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A barrel collision detection method, characterized in that: Applied to a washing machine, the outer drum of the washing machine is provided with a vibration sensor, and the method comprises: Acquire the amplitude value output by the vibration sensor; wherein the vibration sensor collects and outputs the amplitude value at a set sampling frequency; According to the multiple amplitude values ​​obtained within the set detection period, it is determined whether the inner drum and the outer drum of the washing machine collide with each other within the set detection period.

2. The method according to claim 1, characterized in that The step of determining, based on the multiple amplitude values ​​acquired within the set detection period, whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period comprises: Determine a first amplitude value set according to multiple amplitude values ​​obtained within a set detection period; wherein the first amplitude value set includes at least a first amplitude value, and the first amplitude value is a maximum amplitude value or a minimum amplitude value among the multiple amplitude values; According to the first amplitude value set, it is determined whether the inner drum of the washing machine collides with the outer drum within the set detection period.

3. The method according to claim 2, characterized in that The first amplitude value set also includes a second amplitude value and a third amplitude value, the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value, respectively, and determining whether the inner drum of the washing machine collides with the outer drum within the set detection period according to the first amplitude value set includes: Determine an average amplitude value according to the first amplitude value, the second amplitude value and the third amplitude value; According to the average amplitude value and the barrel collision amplitude threshold, it is determined whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

4. The method according to claim 3, characterized in that: The first amplitude value is the maximum amplitude value among the multiple amplitude values, the barrel collision amplitude threshold includes a first barrel collision amplitude threshold, and determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the average amplitude value and the barrel collision amplitude threshold includes: When the average amplitude value is greater than or equal to the first barrel-colliding amplitude threshold, it is determined that the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

5. The method according to claim 3, characterized in that: The first amplitude value is the minimum amplitude value among the multiple amplitude values, the barrel collision amplitude threshold includes a second barrel collision amplitude threshold, and determining whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period according to the average amplitude value and the barrel collision amplitude threshold includes: When the average amplitude value is less than or equal to the second barrel-colliding amplitude threshold, it is determined that the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

6. The method according to claim 2, characterized in that The first amplitude value set also includes a second amplitude value and a third amplitude value, the second amplitude value and the third amplitude value are amplitude values ​​corresponding to two sampling moments adjacent to the sampling moment corresponding to the first amplitude value, respectively, and determining whether the inner drum of the washing machine collides with the outer drum within the set detection period according to the first amplitude value set includes: Determining a first amplitude difference according to the first amplitude value and the second amplitude value; Determining a second amplitude difference according to the first amplitude value and the third amplitude value; When the first amplitude difference and the second amplitude difference are less than or equal to the barrel-collision amplitude difference threshold, it is determined that the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period.

7. The method according to claim 1, characterized in that The step of determining, based on the multiple amplitude values ​​acquired within the set detection period, whether the inner barrel of the washing machine and the outer barrel collide with each other within the set detection period comprises: Perform frequency domain conversion processing on multiple amplitude values ​​obtained within a set detection period to obtain multiple amplitude values ​​corresponding to multiple frequencies; Selecting amplitude values ​​corresponding to frequencies within a target frequency range from a plurality of amplitude values ​​corresponding to the plurality of frequencies to obtain a second amplitude value set; According to the second amplitude value set, it is determined whether the inner drum of the washing machine collides with the outer drum within the set detection period.

8. The method according to claim 7, characterized in that The determining, based on the second amplitude value set, whether the inner barrel of the washing machine collides with the outer barrel within the set detection period includes: Determine, according to the plurality of amplitude values ​​in the second amplitude value set, a root mean square value of the plurality of amplitude values ​​as the measured energy value; When the measured energy value is less than the reference energy value, determining that the inner drum and the outer drum of the washing machine do not collide with each other within the set detection period; When the measured energy value is greater than or equal to the reference energy value, it is determined that the inner drum of the washing machine collides with the outer drum within the set detection period.

9. A barrel collision detection device, comprising a memory and a processor, wherein the memory is used to store executable instructions; and the processor is used to operate according to the control of the instructions to execute the method according to any one of claims 1 to 8.

10. A washing machine, characterized in that: It comprises a vibration sensor and the barrel collision detection device according to claim 9, wherein the vibration sensor is arranged on the outer barrel of the washing machine and is used to collect and output the amplitude value to the barrel collision detection device at a set sampling frequency.

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