Clothes processing equipment, clothes weight confirming method and electronic equipment

Abstract

The embodiment of the invention discloses clothes processing equipment, a clothes weight confirmation method and electronic equipment, and belongs to the field of clothes processing. The method comprises the steps that rotational inertia of clothes in a clothes processing barrel is obtained; the distribution condition of clothes in the clothes processing barrel is obtained; and determining the weight of the clothes according to the rotational inertia of the clothes and the distribution condition of the clothes. The embodiment of the invention has the effect of accurately determining the weight of the clothes without adding a weighing circuit and a module.

Description

Technical Field

[0001] The present application relates to the field of clothing processing, and more specifically, to a clothing processing device, a clothing weight confirmation method, and an electronic device. Background Art

[0002] In washing machine usage scenarios, the amount of laundry inside a washing machine can vary significantly, with users potentially loading one or more pieces of clothing. Different amounts of laundry require different detergents, water usage, washing times, spin cycles, and drying times. Inappropriate detergents, water usage, and washing programs can lead to incomplete washing, wasted resources, and even damage to the laundry or the washing machine itself. Therefore, weighing laundry in a washing machine is of great practical significance. Therefore, accurately measuring the weight of laundry is a concern for those skilled in the art. Summary of the Invention

[0003] The embodiments of the present application provide a clothing processing device, a clothing weight confirmation method, and an electronic device, which can achieve high-precision clothing weight measurement.

[0004] According to a first aspect of an embodiment of the present application, a method for confirming the weight of laundry applied to a laundry processing device is provided, comprising: Obtaining the moment of inertia of the clothes in the clothes processing barrel; Obtain the distribution of clothes in the clothes processing barrel; The weight of the clothes is determined according to the rotational inertia of the clothes and the distribution of the clothes.

[0005] In combination with the first aspect, in an optional implementation of the embodiment of the present application, obtaining the rotational inertia of the clothes in the clothes processing drum includes: Obtaining the total moment of inertia of the laundry processing tub and the laundry; The rotational inertia of the laundry is determined based on the total rotational inertia and the rotational inertia of the laundry treatment tub.

[0006] In combination with the first aspect, in an optional implementation of the embodiment of the present application, obtaining the total rotational inertia of the laundry processing tub and the laundry includes: When the clothes and the clothes treatment tub rotate synchronously, controlling the clothes treatment tub to accelerate from a first speed to a second speed, and obtaining the motor power and angular velocity corresponding to the first speed, the motor power corresponding to the second speed, and the angular acceleration of the acceleration, wherein the motor power refers to the power of the motor driving the clothes treatment tub to rotate; The total moment of inertia is determined according to the motor power and angular velocity corresponding to the first speed, the motor power corresponding to the second speed, and the angular acceleration of the acceleration.

[0007] In conjunction with the first aspect, in an optional implementation of the embodiment of the present application, obtaining the distribution of clothes in the clothes processing barrel includes: When the clothes rotate synchronously with the clothes processing tub, acquiring a distribution image of the clothes in the clothes processing tub; Based on the positional relationship between the clothes and the clothes processing barrel in the distribution image, the corresponding relationship between the arc length and radius of the clothes is determined as the distribution of the clothes, wherein the radius refers to the distance between any point in the image and the set center of the circle, and the arc length refers to the overlapping part of the circle determined by the radius and the set center of the circle and the clothes, and the set center of the circle is the position in the image corresponding to the central axis of the clothes processing barrel.

[0008] In combination with the first aspect, in an optional implementation of the embodiment of the present application, obtaining the distribution image of the clothes in the clothes processing barrel includes: shooting from the clothes loading port of the clothes processing barrel facing the inside of the clothes processing barrel to obtain the distribution image.

[0009] In conjunction with the first aspect, in an optional implementation of the embodiment of the present application, determining the correspondence between the arc length and radius of the clothing based on the positional relationship between the clothing and the clothing processing tub in the distribution image includes: Performing semantic segmentation based on the distribution image to obtain a contour image of the clothing; Based on the outline of the clothing and the circle, a corresponding relationship between the arc length and the radius of the clothing is determined.

[0010] In conjunction with the first aspect, in an optional implementation of the embodiment of the present application, determining the weight of the clothes according to the rotational inertia of the clothes and the distribution of the clothes includes: determining an equivalent rotation radius of the clothes according to the distribution of the clothes; The weight of the clothes is determined according to the rotational inertia of the clothes and the rotational equivalent radius.

[0011] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the rotational equivalent radius of the clothing is expressed as: , where R represents the radius, represents the arc length.

[0012] In combination with the first aspect, in an optional implementation of the embodiment of the present application, obtaining the distribution image of the clothes in the clothes processing tub includes: When the eccentricity value of the laundry treatment tub is less than a set value, a distribution image of the laundry in the laundry treatment tub is acquired.

[0013] In conjunction with the first aspect, in an optional implementation of the embodiment of the present application, obtaining the distribution of clothes in the clothes processing barrel includes: acquiring a distribution image of the clothes in the clothes processing tub during the process of controlling the clothes processing tub to accelerate from the first speed to the second speed; Based on the positional relationship between the clothes and the clothes processing barrel in the distribution image, the corresponding relationship between the arc length and radius of the clothes is determined as the distribution of the clothes, wherein the radius refers to the distance between any point in the image and the set center of the circle, and the arc length refers to the overlapping part of the circle determined by the radius and the set center of the circle and the clothes, and the set center of the circle is the position in the image corresponding to the central axis of the clothes processing barrel.

[0014] According to a second aspect of an embodiment of the present application, there is provided an electronic device, including: Memory, for storing computer instructions; A processor is used to call and execute the computer instructions to implement the method provided by the first aspect.

[0015] According to a third aspect of the embodiments of the present application, a clothing processing device is provided, comprising the electronic device according to the second aspect of the embodiments of the present application, or adopting the method according to the first aspect of the embodiments of the present application.

[0016] By adopting the embodiments of the present application, the weight of the clothes can be accurately determined without adding weighing circuits and modules to the washing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1 is a flow chart of a method for determining the weight of clothes applied to a clothes processing device according to an embodiment of the present application; Figure 2 is a flow chart of a method for obtaining the moment of inertia of clothing in a clothing treatment barrel according to an embodiment of the present application; Figure 3 is a flow chart of a method for obtaining the distribution of clothes in a clothes treatment barrel according to an embodiment of the present application; Figure 4 is a flow chart of a method for determining the weight of clothing according to an embodiment of the present application; Figure 5 is a flow chart of another method for determining the weight of clothes applied to a clothes processing device according to an embodiment of the present application; Figure 6is a schematic diagram of a clothes processing device according to an embodiment of the present application; Figure 7 is a schematic diagram of an image processing effect according to an embodiment of the present application; Figure 8 This is a schematic diagram of determining clothing distribution according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0019] It should be understood that the “plurality” mentioned herein refers to two or more than two. In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as “first” and “second” are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not limit certain different In addition, the terms "comprises" and "having" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product or apparatus.

[0020] In washing machine usage scenarios, the amount of laundry in the washing machine can vary significantly, and users may put in one or more pieces of clothing. Different amounts of laundry require different detergents, water usage, washing times, spin cycles, and drying times. If the detergent, water volume, and washing program are not appropriate, the clothes may not be washed clean, resources may be wasted, and there may even be damage to the clothes or the washing machine. Therefore, weighing the clothes in the washing machine is of great practical significance. By accurately measuring the weight of the clothes, intelligent optimization of detergent usage, water volume, and washing programs can be achieved, thereby improving washing efficiency, protecting clothes, saving resources, extending the life of the equipment, and improving the user experience.

[0021] Existing methods for weighing laundry in washing machines employ varying technical approaches, each with its own drawbacks. One related technology uses a dedicated weighing circuit to weigh the laundry inside the washing machine. This method requires additional internal components and, due to limitations in the accuracy and price of the load cell, can result in significant errors in the weighing results.

[0022] In order to solve the problem of high-precision weight measurement, the embodiment of the present application provides a method for confirming the weight of clothes applied to a clothes processing device. Figure 1 As shown, the method includes the following processing procedures.

[0023] 100: Get the moment of inertia of the clothes in the clothes processing tub.

[0024] Moment of inertia is a physical quantity that describes an object's ability to resist changes in angular acceleration. In this embodiment, the moment of inertia of the clothes refers to the moment of inertia of the clothes themselves within the laundry tub.

[0025] 102: Obtaining the distribution of the clothes in the laundry treatment tub, wherein the distribution of the clothes refers to the distribution of the clothes in the laundry treatment tub, for example, the positional relationship of the clothes relative to a designated position in the laundry treatment tub.

[0026] 104: Determine the weight of the clothes according to the rotational inertia of the clothes and the distribution of the clothes.

[0027] By adopting the method provided in the embodiment, the weight of the clothes is determined using the rotational inertia and distribution of the clothes. Compared with the existing technology, not only does it not need to add weighing circuits and modules to the washing machine, but it can also achieve high-precision clothing weighing.

[0028] Optionally, in an implementation of this embodiment, as Figure 2 As shown, process 100 can be implemented in the following manner: 1002: Obtain the total moment of inertia of the laundry processing tub and the laundry.

[0029] For example, when the laundry rotates synchronously with the laundry treatment tub (relatively or nearly so), the total rotation correlation is obtained. Specifically, when the laundry rotates synchronously with the laundry treatment tub, the laundry treatment tub is controlled to accelerate from a first speed to a second speed, and the motor power and angular velocity corresponding to the first speed, the motor power corresponding to the second speed, and the angular acceleration of the acceleration are obtained. The motor power refers to the power of the motor driving the laundry treatment tub.

[0030] The total moment of inertia is determined based on the motor power and angular velocity corresponding to the first speed, the motor power and angular acceleration corresponding to the second speed. The above parameters can be obtained during the control of the laundry treatment tub.

[0031] Exemplarily, the laundry processing tub is controlled to increase its rotation speed from the first rotation state at a constant angular acceleration until it reaches the second rotation state.

[0032] 1004: Determine the rotational inertia of the clothes according to the total rotational inertia and the rotational inertia of the clothes processing tub.

[0033] Since the moment of inertia of the laundry tub can be measured after it is manufactured, it can be a fixed value. The moment of inertia of the laundry tub can be obtained by subtracting the moment of inertia of the laundry tub from the total moment of inertia. This implementation method accurately determines the moment of inertia of the laundry, providing accurate data for subsequent determination of the laundry weight.

[0034] Optionally, in an implementation of this embodiment, as Figure 3 As shown, in process 102, the distribution of the clothes in the clothes treatment tub may be obtained in the following manner.

[0035] 1022: Acquire a distribution image of the clothes in the clothes processing tub when the clothes and the clothes processing tub rotate synchronously.

[0036] For example, the respective images may be acquired at the aforementioned first rotational speed, the second rotational speed, or during the process of accelerating from the first rotational speed to the second rotational speed.

[0037] In a specific scenario, the distribution image can be obtained by shooting from the clothes loading port of the clothes processing tub toward the inside of the clothes processing tub. The center of the circle is set to the position corresponding to the central axis of the clothes processing tub in the image.

[0038] 1024: Based on the positional relationship between the clothing and the laundry treatment tub in the distribution image, determine the corresponding relationship between the arc length and radius of the clothing as the clothing distribution. The radius is the distance between any point in the image and a set circle center, and the arc length is the overlap between the clothing and a circle defined by the radius and the set circle center. The set circle center is the position in the image corresponding to the central axis of the laundry treatment tub.

[0039] Exemplarily, the length of the radius takes a value in the range of [0, r], where r is the radius of the laundry treatment tub.

[0040] By adopting the method provided in this embodiment and utilizing the correspondence between the arc length and radius of the clothes in the clothes distribution image, the distribution of the clothes can be accurately represented.

[0041] Optionally, when the clothes rotate synchronously with the laundry treatment tub, the eccentricity of the laundry treatment tub is less than a set value. For example, before executing the solution of the application embodiment, the clothes in the laundry treatment tub can be pre-shaken to ensure that the density distribution of the clothes is as uniform as possible. One manifestation of satisfactory shaking-out is a small eccentricity. By ensuring that the density distribution of the clothes is as uniform as possible, it is beneficial to obtain an accurate moment of inertia of the clothes and the equivalent radius mentioned below.

[0042] Optionally, in this implementation, step 1024 can be implemented as follows. First, semantic segmentation is performed based on the distribution image to obtain a contour image of the clothing item. Then, based on the contour image of the clothing item and the aforementioned circle (which can be understood as a circle with a gradually changing radius), the corresponding relationship between the arc length and radius of the clothing item is determined. This will be described in detail in the specific application below.

[0043] Optionally, in one implementation of this embodiment, based on the positional relationship between the clothes and the clothes processing barrel in the distribution image, the correspondence between the arc length and radius of the clothes is determined as the distribution of the clothes, wherein the radius refers to the distance between any point in the image and the set center of the circle (the position of the central axis of the clothes processing barrel in the image), and the arc length refers to the overlapping part of the circle determined by the radius and the set center of the circle and the clothes.

[0044] In this implementation, if Figure 4 As shown, in process 104, the laundry weight is determined in the following manner.

[0045] 1042: Determine the equivalent rotation radius of the clothes according to the distribution of the clothes.

[0046] In a specific example, the rotational equivalent radius of the clothing is expressed as: , where R represents the radius, represents the arc length, It means that the arc length s is a function of the radius R.

[0047] In other embodiments of the present application, obtaining the distribution of clothing within the laundry treatment tub includes modeling the clothing rotating synchronously with the laundry treatment tub on a two-dimensional image to obtain a two-dimensional image model (the two-dimensional image model is used to represent the distribution of the clothing). In this case, surface mass density can be introduced, and the equivalent radius of rotation can be obtained using a differential element method based on the two-dimensional image model.

[0048] In other embodiments of the present application, obtaining the distribution of clothing within the laundry treatment tub includes performing three-dimensional reconstruction of the clothing rotating synchronously with the laundry treatment tub to obtain a three-dimensional reconstruction model (the three-dimensional reconstruction model is used to represent the distribution of the clothing). In this case, body mass density can be introduced, and the equivalent radius of rotation can be obtained using a differential element method based on the three-dimensional reconstruction model.

[0049] 1044: Determine the weight of the clothing based on the rotational inertia and the equivalent rotational radius of the clothing. For example, the weight of the clothing may be calculated using a rotational inertia formula.

[0050] By adopting this implementation method, the equivalent radius for calculating the moment of inertia can be obtained, thereby providing a data basis for calculating the weight of the clothing based on the moment of inertia formula.

[0051] The following describes a method for confirming the weight of clothes according to an embodiment of the present application in conjunction with the accompanying drawings and a specific implementation process. Figure 6 As shown, a camera can be set on the door of the washing machine to capture images of the clothes. The camera can capture images of the entire drum and the clothes inside the drum. For example, the camera can be set on the central axis of the drum.

[0052] In this embodiment, if Figure 5 As shown, the laundry weight confirmation method includes the following processing procedures.

[0053] 500: The washing machine drum speed increases to a certain threshold, causing the clothes and the drum to rotate synchronously relative to each other, recording the current speed and motor power, and taking images of the drum interior.

[0054] 502: The drum increases its speed at a constant angular acceleration. The motor power is recorded at the beginning of the speed increase. After the data recording is completed, the drum stops speeding up.

[0055] Specifically, when the drum is stationary or spinning at a low speed, clothes will fall to the bottom of the washing machine drum. However, when the drum speed exceeds a certain threshold, the clothes will rotate with the drum, almost remaining relatively stationary, and will no longer fall. When the drum speed exceeds this threshold, the clothes and the drum rotate together as if they were a relatively stationary whole.

[0056] The angular velocity of the drum at a moment is At this time, the motor power that drives the drum to rotate is recorded as Increase the power of the motor driving the roller so that the roller accelerates at an angular acceleration. Increase the speed, the speed-up stage begins (the drum speed is close to The power of the motor is recorded as The total moment of inertia of the drum and clothes is recorded as .

[0057] electric motor The power corresponds to the power required to keep the drum and clothes rotating at an angular velocity ω, and this power is used to counteract the resistance. and The power difference corresponds to the power required to accelerate the drum. Based on this correspondence, the total moment of inertia of the washing machine drum and clothes can be calculated. : I =

[0058] Due to the rotational inertia of the drum The moment of inertia of the washing machine drum can be measured after it is manufactured. , the moment of inertia of the clothes inside the drum can be calculated : .

[0059] 504: Use the semantic segmentation model of image processing to segment the clothing parts from the image in the drum.

[0060] 506: Obtain clothing distribution information from the segmented image, and obtain the relationship between the clothing distribution radius and the arc length.

[0061] 508: Use the formula to calculate the mass of the clothing.

[0062] Regarding 504~508, the explanation is as follows.

[0063] Since the distribution of the clothes is unknown, it is impossible to directly establish a connection between the moment of inertia of the clothes and the mass of the clothes. However, this application establishes a connection between the two through image recognition. The specific implementation method is as follows.

[0064] The angular velocity of the roller When rotating, the camera on the washing machine is controlled to shoot the inside of the washing machine drum to obtain an image, such as Figure 7 As shown in the figure on the left.

[0065] Using semantic segmentation image recognition algorithm, we can segment the clothes from the whole drum image, such as Figure 7As shown in the figure on the right, since the shape and position of the drum and the camera are constant, the position of the drum's axis (i.e., the center axis) can be calibrated on the segmented image, and the distance from any point on the image to the axis can also be calculated.

[0066] like Figure 8 As shown, on the segmented clothing image, each radius The corresponding arc length of the clothing is recorded as , Therefore is a function of the independent variable, denoted by , this function can be obtained according to the shape of the segmented image.

[0067] In this embodiment, the density of the clothing is approximately considered constant. Then, in the segmented clothing image, the area mass density of the clothing can be considered a constant value, which is expressed as On the segmented clothing image, each area element (denoted as ) clothing image, the corresponding clothing quality is dA.

[0068] Then the arc area element size corresponding to each radius R is: Then the radius The corresponding clothing mass is f(R) dR. Then each radius The corresponding infinitesimal moment of inertia is: The moment of inertia of the clothing can be expressed as:

[0069] Therefore, we can calculate the area mass density of the clothing image as:

[0070] Then the measured value of the mass of the clothes in the drum can be obtained:

[0071] In summary, the final measured mass of the clothing is: .

[0072] According to the inventor's research, for a point mass, the mass m, moment of inertia I, and radius R satisfy the following relationship: I=mR², i.e. m=I ÷ R². For clothing, considering its irregular shape, it is difficult to directly determine a radius. Therefore, we use In fact, it corresponds to the equivalent R², that is, here It can be understood as the "equivalent radius squared". It can be understood as the "equivalent radius".

[0073] The method provided in this embodiment obtains an image of the distribution of clothes in the drum of a washing machine through a clothes segmentation algorithm, and thus obtains the radius from the image. The arc length corresponding to the clothing distribution relationship To represent the distribution of clothes. The establishment of this relationship makes it possible to directly link the mass of clothes with the power, angular velocity, and angular acceleration of the washing machine drum, thereby realizing the weighing of clothes. Whether the clothes are tightly attached to the drum wall as a thin layer or fill the entire drum, the semantic segmentation method in image processing can be used to obtain the above The relationship can be used to calculate the mass of the clothing.

[0074] In some related technologies, the load weight is determined based on the inertia parameters of the load, or a large number of data pairs of "acceleration power" and "load weight" during the acceleration of the drum of a drum washing machine are obtained, and then a mapping relationship is established using a linear fitting method to achieve clothing weighing. These solutions have a common defect: there is a relationship between the "drum acceleration power" and the "rotational inertia", but the "rotational inertia" is not only related to the "weight of the clothes", but also to the "distance between each part of the clothes and the rotating shaft". These solutions ignore the distribution of the clothes and assume that the rotational inertia and the weight of the clothes are necessarily related. They cannot handle the weighing of clothes in different distribution situations. For example, if a high-density garment and a low-density cotton pillow are of the same weight, the high-density garment will stick closer to the drum, while the low-density pillow may fill the entire drum. In this case, the high-density garment will have a larger corresponding rotational inertia and require higher power to accelerate. The methods of these solutions cannot handle this situation. The method provided in this application can effectively solve this problem. Moreover, the method provided in this application is equally applicable under different clothing distribution situations.

[0075] The method provided in this embodiment can be repeated multiple times to measure the mass of the same set of clothes at different rotational speeds and different angular accelerations, and then integrate (for example, calculate the average) the multiple measurement results to obtain a more accurate result.

[0076] The present application also provides an electronic device comprising a memory and a processor, wherein the memory stores computer instructions, and the processor is configured to call and execute the computer instructions to implement the laundry weighing method provided in the preceding embodiments of the present application. For example, the electronic device may be an integrated chip, an integrated circuit, a motherboard, or the like.

[0077] The embodiment of the present application further provides a clothing processing device having the electronic device mentioned above. Alternatively, the clothing weight determination method mentioned above is adopted.

[0078] The description of the electronic device is similar to the description of the method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the electronic device of this application, please refer to the description of the method embodiment of this application for understanding.

[0079] The sequence of the serial numbers or introduction of the embodiments of this application is for description only and does not represent the superiority or inferiority of the embodiments.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0081] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0082] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0083] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium. It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the scene data of the current frame in the three-dimensional virtual scene, the client's device information, and the scene interaction information involved in the embodiments of this application are all obtained with full authorization.

[0084] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining the weight of laundry applied to a laundry processing device, the method comprising: Obtaining the moment of inertia of the clothes in the clothes processing barrel; Obtain the distribution of clothes in the clothes processing barrel; The weight of the clothes is determined according to the rotational inertia of the clothes and the distribution of the clothes.

2. The method according to claim 1, characterized in that The obtaining of the rotational inertia of the clothes in the clothes treatment barrel includes: Obtaining the total moment of inertia of the laundry processing tub and the laundry; The rotational inertia of the laundry is determined based on the total rotational inertia and the rotational inertia of the laundry treatment tub.

3. The method according to claim 2, characterized in that The obtaining of the total moment of inertia of the laundry processing tub and the laundry includes: When the clothes and the clothes treatment tub rotate synchronously, controlling the clothes treatment tub to accelerate from a first speed to a second speed, and obtaining the motor power and angular velocity corresponding to the first speed, the motor power corresponding to the second speed, and the angular acceleration of the acceleration, wherein the motor power refers to the power of the motor driving the clothes treatment tub to rotate; The total moment of inertia is determined according to the motor power and angular velocity corresponding to the first speed, the motor power corresponding to the second speed, and the angular acceleration of the acceleration.

4. The method according to claim 1, wherein The obtaining of the distribution of the clothes in the clothes processing barrel includes: When the clothes rotate synchronously with the clothes processing tub, acquiring a distribution image of the clothes in the clothes processing tub; Based on the positional relationship between the clothes and the clothes processing barrel in the distribution image, the corresponding relationship between the arc length and radius of the clothes is determined as the distribution of the clothes, wherein the radius refers to the distance between any point in the image and the set center of the circle, and the arc length refers to the overlapping part of the circle determined by the radius and the set center of the circle and the clothes, and the set center of the circle is the position in the image corresponding to the central axis of the clothes processing barrel.

5. The method according to claim 4, characterized in that The acquiring of the distribution image of the clothes in the clothes processing tub includes: photographing the interior of the clothes processing tub from a clothes loading port of the clothes processing tub to obtain the distribution image.

6. The method according to claim 4 or 5, characterized in that The determining the corresponding relationship between the arc length and the radius of the clothes based on the positional relationship between the clothes and the clothes processing tub in the distribution image includes: Performing semantic segmentation based on the distribution image to obtain a contour image of the clothing; Based on the outline of the clothing and the circle, a corresponding relationship between the arc length and the radius of the clothing is determined.

7. The method according to claim 4, characterized in that The determining the weight of the clothes according to the rotational inertia of the clothes and the distribution of the clothes includes: determining the equivalent rotation radius of the clothes according to the distribution of the clothes; The weight of the clothes is determined according to the rotational inertia of the clothes and the rotational equivalent radius.

8. The method according to claim 7, characterized in that The rotational equivalent radius of the clothing is expressed as: , where R represents the radius, represents the arc length.

9. The method according to claim 4, characterized in that The acquiring of the distribution image of the clothes in the clothes processing tub includes: When the eccentricity value of the laundry treatment tub is less than a set value, a distribution image of the laundry in the laundry treatment tub is acquired.

10. The method according to claim 3, characterized in that The obtaining of the distribution of the clothes in the clothes processing barrel includes: acquiring a distribution image of the clothes in the clothes processing tub during the process of controlling the clothes processing tub to accelerate from the first speed to the second speed; Based on the positional relationship between the clothes and the clothes processing barrel in the distribution image, the corresponding relationship between the arc length and radius of the clothes is determined as the distribution of the clothes, wherein the radius refers to the distance between any point in the image and the set center of the circle, and the arc length refers to the overlapping part of the circle determined by the radius and the set center of the circle and the clothes, and the set center of the circle is the position in the image corresponding to the central axis of the clothes processing barrel.

11. An electronic device, characterized in that: The electronic device comprises: Memory, for storing computer instructions; A processor, configured to call and execute the computer instructions to implement the method according to any one of claims 1 to 10.

12. A clothes processing device, characterized in that: The laundry processing device comprises the electronic device according to claim 11, or adopts the method according to any one of claims 1-10.

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