Eccentricity detection method, electronic equipment and clothes treatment equipment

Abstract

The embodiment of the invention provides an eccentricity detection method, electronic equipment and clothes processing equipment. The eccentricity detection method is applied to the clothes processing equipment, the clothes processing equipment comprises an outer cylinder and an inner cylinder located in the outer cylinder, the inner cylinder is used for containing a to-be-processed load, and a plurality of image acquisition areas are arranged between the inner cylinder and the outer cylinder in the axial direction of the inner cylinder. The method comprises the following steps: acquiring area image data of relative positions of an inner cylinder and an outer cylinder in each image acquisition area in real time; determining a physical gap between the inner cylinder and the outer cylinder according to the image data of each region; and determining the load eccentric state of the inner cylinder according to the physical gap. According to the technical scheme, whether the inner drum is eccentric or not is pre-judged, active intervention is facilitated, and the operation stability of the clothes processing equipment is improved.

Description

Technical Field

[0001] This disclosure relates to the field of garment processing technology, and more particularly to an eccentricity detection method, electronic equipment, and garment processing equipment. Background Technology

[0002] During operation, clothing handling equipment such as washing machines may experience uneven distribution of clothes, leading to eccentric load on the inner drum. This can cause excessive drum vibration or even drum collisions, affecting the stable operation and lifespan of the washing machine.

[0003] In related technologies, methods based on motor torque fluctuation detection or vibration sensor signal analysis are commonly used to determine whether there is eccentricity in washing machines due to uneven distribution of clothes during operation. This approach is prone to misjudgment or missed judgment of eccentricity, and the judgment process is only initiated when eccentricity has already caused obvious torque fluctuations or vibrations. It is a "post-event response" mechanism, which cannot identify eccentricity in advance and misses the best opportunity for intervention. Summary of the Invention

[0004] This disclosure provides an eccentricity detection method, electronic device, and clothing processing device to solve or alleviate one or more technical problems in the prior art.

[0005] As a first aspect of the present disclosure, this embodiment provides an eccentricity detection method applied to a garment processing device. The garment processing device includes an outer cylinder and an inner cylinder located inside the outer cylinder. The inner cylinder is used to hold a load to be processed. Multiple image acquisition areas are provided between the inner cylinder and the outer cylinder, along the axial direction of the inner cylinder. The method includes: Step S11: Real-time acquisition of regional image data showing the relative positions of the inner and outer cylinders in each image acquisition area; Step S12: Determine the physical gap between the inner and outer cylinders based on the image data of each region; Step S13: Determine the load eccentricity state of the inner cylinder based on the physical clearance.

[0006] In some embodiments, in each image acquisition area, a first marking strip is provided circumferentially on the outer peripheral wall of the inner cylinder, and a second marking strip is provided circumferentially on the inner peripheral wall of the outer cylinder; real-time acquisition of regional image data of the relative positions of the inner and outer cylinders in each image acquisition area includes: Real-time acquisition of regional image data showing the relative positions of the first and second marker bands in each image acquisition area.

[0007] In some embodiments, the plurality of image acquisition areas include a first image acquisition area, a second image acquisition area and a third image acquisition area, and the garment processing device further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located outside the first end of the inner drum along the axial direction of the inner drum. The first image acquisition area is set around the outer periphery of the second end of the inner cylinder, and the second end of the inner cylinder is opposite to the first end; the second image acquisition area is located in the middle of the inner cylinder and is set around the outer periphery of the inner cylinder; the third image acquisition area is set around the outer periphery of the first end of the inner cylinder.

[0008] In some embodiments, the garment processing apparatus further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located outside the first end of the inner drum along the axial direction of the inner drum; the garment processing apparatus further includes a plurality of image acquisition modules, the plurality of image acquisition modules being located inside the first end wall of the outer drum, the first end wall being the end wall of the outer drum facing the first end of the inner drum, the plurality of image acquisition modules being evenly arranged circumferentially inside the first end wall of the outer drum, and acquiring in real time regional image data of the relative position of the inner drum and the outer drum in each image acquisition area, including: Image data of each area is acquired in real time through multiple image acquisition modules.

[0009] In some embodiments, the number of multiple image acquisition modules is an even number, with image acquisition modules provided above and below the outer side of the inner cylinder, and image acquisition modules provided to the left and right sides of the outer side of the inner cylinder.

[0010] In some embodiments, determining the physical gap between the inner and outer cylinders based on image data from each region includes: The image data of each region is processed to obtain the image gap value between the inner cylinder and the outer cylinder in each image acquisition area; Based on the gap values ​​of each image, determine the physical gap between the inner and outer cylinders in each image acquisition area.

[0011] In some embodiments, determining the physical gap between the inner cylinder and the outer cylinder in each image acquisition area based on each image gap value includes: Based on the gap values ​​of each image, the physical gap between the inner and outer cylinders in each image acquisition area is determined using the principle of triangle similarity.

[0012] In some embodiments, determining the load eccentricity state of the inner cylinder based on the physical clearance includes: The load eccentricity state of the inner cylinder is determined based on the physical gap of each image acquisition area and the preset reference gap.

[0013] In some embodiments, determining the load eccentricity state of the inner cylinder based on the physical gap of each image acquisition area and a preset reference gap includes: If the difference between each physical gap in each image acquisition area and the preset reference gap is less than the first preset difference, the load eccentricity state of the inner cylinder is determined to be a uniform load state; or, In response to the existence of at least one physical gap in at least one image acquisition area having a difference greater than a preset reference gap, the load eccentricity state of the inner cylinder is determined to be severe eccentricity, where the second preset difference is greater than the first preset difference; or, In response to the fact that the difference between each physical gap in each image acquisition area and the preset reference gap is greater than or equal to the first preset difference and less than the second preset difference, the load eccentricity state of the inner cylinder is determined to be a slight eccentricity.

[0014] In some embodiments, it also includes: When the load on the inner cylinder is eccentrically distributed or uniformly distributed, the maximum rotational speed of the inner cylinder is determined based on the load mass; or, When the load eccentricity of the inner cylinder is severe, the inner cylinder is controlled to rotate alternately at a first preset low speed along the first direction and the second direction, where the first direction and the second direction are opposite rotation directions, and the process returns to step S11; or, When the load eccentricity of the inner cylinder is in a state of mild to moderate eccentricity, the inner cylinder is controlled to rotate at a second preset low speed, and then the process returns to step S11.

[0015] In some embodiments, the image data for each region includes temporally continuous region image data, and the physical gaps include multiple sets of temporally continuous physical gaps.

[0016] In some embodiments, In response to the start of the dehydration program, steps S11 to S13 are executed within a preset time period. The preset time period is the period from the start time of the dehydration program to the first moment. The time difference between the first moment and the start time of the dehydration program is a preset duration. The rotation speed of the inner cylinder during the preset time period is lower than the rotation speed of the inner cylinder during the high-speed dehydration process.

[0017] As a second aspect of this disclosure, an electronic device is provided, including: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores instructions that can be executed by at least one processor to enable the at least one processor to perform any of the methods of this disclosure.

[0018] As a third aspect of the present disclosure, an embodiment of the present disclosure provides a garment processing device, including an outer cylinder and an inner cylinder located inside the outer cylinder. The inner cylinder is used to hold a load to be processed. Multiple image acquisition areas are provided between the inner cylinder and the outer cylinder, along the axial direction of the inner cylinder. The garment processing device further includes: An image acquisition device is used to acquire regional image data of the relative positions of the inner and outer cylinders in each image acquisition area in real time. The image processing module is used to determine the physical gap between the inner and outer cylinders based on image data from each region. The controller is used to determine the load eccentricity of the inner cylinder based on the physical clearance.

[0019] In some embodiments, in each image acquisition area, a first marking strip is provided circumferentially on the outer peripheral wall of the inner cylinder, and a second marking strip is provided circumferentially on the inner peripheral wall of the outer cylinder; The image acquisition device is also used to acquire, in real time, regional image data of the relative positions of the first and second marker bands in each image acquisition area.

[0020] In some embodiments, the plurality of image acquisition areas include a first image acquisition area, a second image acquisition area and a third image acquisition area, and the garment processing device further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located outside the first end of the inner drum along the axial direction of the inner drum. The first image acquisition area is set around the outer periphery of the second end of the inner cylinder, and the second end of the inner cylinder is opposite to the first end; the second image acquisition area is located in the middle of the inner cylinder and is set around the outer periphery of the inner cylinder; the third image acquisition area is set around the outer periphery of the first end of the inner cylinder.

[0021] In some embodiments, the garment processing device further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located outside the first end of the inner drum along the axial direction of the inner drum; the image acquisition device includes a plurality of image acquisition modules, the plurality of image acquisition modules being located inside the first end wall of the outer drum, the first end wall being the end wall of the outer drum facing the first end of the inner drum, the plurality of image acquisition modules being evenly arranged circumferentially on the inner side of the first end wall of the outer drum. The number of multiple image acquisition modules is even. Image acquisition modules are set on the outer side of the upper and lower ends of the inner cylinder, and on the outer side of the left and right ends of the inner cylinder.

[0022] The technical solution of this disclosure involves real-time acquisition of image data showing the relative radial positions of the inner and outer cylinders. The determined load eccentricity state of the inner cylinder corresponds to this image data; therefore, the load eccentricity state of the inner cylinder is also determined or predicted in real time. Before the inner cylinder becomes eccentric, the real-time acquired image data can predict whether eccentricity will occur under the current operating conditions. For example, in a dehydration process, before the inner cylinder enters high-speed dehydration, the real-time acquired image data can predict whether eccentricity will occur during the high-speed dehydration process. If eccentricity is predicted, intervention measures can be taken in advance to prevent eccentricity during high-speed dehydration.

[0023] The above overview is for illustrative purposes only and is not intended to be limiting in any way. Further aspects, embodiments, and features of this disclosure will become readily apparent from the accompanying drawings and the following detailed description, in addition to the illustrative aspects, embodiments, and features described above. Attached Figure Description

[0024] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments according to this disclosure and should not be construed as limiting the scope of this disclosure.

[0025] Figure 1 This is a flowchart illustrating an eccentricity detection method in one embodiment of the present disclosure; Figure 2 This is a schematic diagram of the drum structure of a garment processing device in one embodiment of the present disclosure; Figure 3 for Figure 2 An enlarged schematic diagram of part A in one embodiment of this disclosure; Figure 4 This is a schematic diagram of a structure with an eccentric inner cylinder. Figure 5 This is a schematic diagram illustrating the principle of determining physical gaps using image gap values. Figure 6 This is a flowchart of the control logic for the eccentricity detection method disclosed herein. Detailed Implementation

[0026] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure, and different embodiments can be combined arbitrarily without conflict. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0027] In related technologies, indirect parameters such as motor torque or vibration signals are relied upon to determine whether the inner drum is eccentric. These parameters essentially reflect the dynamic response caused by the unbalanced load of the inner drum, rather than the actual parameters of the washing machine's vibration response, and cannot directly reflect the dynamic relative position of the suspension system.

[0028] Furthermore, during the initial startup of the washing machine or the low-speed spin-drying process, the amplitude of motor torque fluctuations is relatively small, and external environmental vibrations (such as uneven ground or user contact) are easily superimposed on the actual eccentricity signal, leading to misjudgment or missed detection of eccentricity. The inventors' research found that the root cause is that the signal-to-noise ratio is low during the low-speed stage, and the torque and vibration signals are not sensitive enough to minute eccentricities, making it impossible to effectively capture early signs of eccentricity.

[0029] In addition, the methods for judging eccentricity in related technologies only start the judgment when the eccentricity has caused obvious torque fluctuations or vibrations. Essentially, it is a "post-event response" mechanism. It cannot identify the non-uniform changes in the gap between the inner and outer cylinders in advance before the eccentricity causes significant dynamic anomalies, thus losing the best opportunity for intervention.

[0030] To achieve real-time identification and proactive intervention of eccentric loads on the inner cylinder, embodiments of this disclosure provide an eccentricity detection method, such as... Figure 1 As shown, Figure 1 This is a schematic flowchart of an eccentricity detection method according to an embodiment of the present disclosure. The eccentricity detection method is applied to a garment processing device, which includes an outer drum and an inner drum. The inner drum is located inside the outer drum and is used to hold the load to be processed. (Reference) Figure 1 The eccentricity detection method includes steps S11 to S13.

[0031] In step S11, image data of the relative positions of the inner and outer cylinders in the radial direction are acquired in real time.

[0032] For example, multiple image acquisition areas are provided between the inner cylinder and the outer cylinder along the axial direction of the inner cylinder. In this case, step S11 is to acquire regional image data of the relative positions of the inner cylinder and the outer cylinder in each image acquisition area in real time.

[0033] An image acquisition device can be installed in the garment processing equipment. This device includes multiple image acquisition modules. Each module can acquire image data showing the relative radial positions of the inner and outer tubing. This image data can then be used to identify the physical gap between the inner and outer tubing.

[0034] To improve the accuracy of images acquired by the image acquisition module, an infrared supplementary lighting system can be installed within the module. The image acquisition module can also employ a high frame rate industrial camera to ensure that clear and continuous image data can still be acquired under conditions such as high-speed rotation of the inner cylinder, humid environments, water mist, or low light, thereby improving the stability and recognition accuracy of image acquisition under complex working conditions.

[0035] The image acquisition module may include a high-definition camera module, such as an industrial camera or CMOS image sensor, lens, filter, ring LED fill light, etc. The camera resolution is not less than 1080p, and the frame rate is ≥30fps.

[0036] "Real-time acquisition" can be understood as acquisition at a preset frequency or at a preset time interval, or as acquisition at a preset frequency or at a preset time interval within a preset duration.

[0037] For example, in response to the start of the dehydration process, that is, during the dehydration stage, image data of the relative positions of the inner and outer cylinders in the radial direction can be acquired in real time by the image acquisition module.

[0038] The eccentricity detection method disclosed herein can be applied to the dehydration stage of garment processing equipment. Here, "dehydration stage" can be understood as dehydration during the rinsing process or as the final dehydration after rinsing.

[0039] In step S12, the physical gap between the inner and outer cylinders is determined based on the image data. Alternatively, the physical gap between the inner and outer cylinders is determined based on the image data from each region.

[0040] The physical gap between the inner and outer drums can be understood as the actual distance or gap in the radial direction between the inner and outer drums in a garment processing device.

[0041] It is understandable that when the physical gap between the inner and outer cylinders changes, their relative positions in the radial direction change, and the acquired image data will also change. Therefore, the image data can reflect the relative positions of the inner and outer cylinders in the radial direction, and thus the physical gap between them in the radial direction can be determined.

[0042] In step S13, the load eccentricity state of the inner cylinder is determined based on the physical clearance.

[0043] It is understandable that in garment processing equipment, a preset reference gap is set between the inner and outer drums. This preset reference gap can be understood as the actual gap between the inner and outer drums when the garment processing equipment is unloaded and stationary. Based on the physical gap and the preset reference gap, the load eccentricity of the inner drum can be determined.

[0044] For example, the load eccentricity state of the inner cylinder can include whether the load on the inner cylinder is eccentric, and can also include the degree of load eccentricity. Therefore, the load eccentricity state of the inner cylinder can include eccentricity and no eccentricity. In another embodiment, the load eccentricity state of the inner cylinder can include evenly distributed load (i.e., no eccentricity), severe eccentricity, mild to moderate eccentricity, etc. Alternatively, the eccentricity state can be divided into more levels.

[0045] In this disclosure, the image data of the relative radial positions of the inner and outer cylinders is acquired in real time. The determined load eccentricity state of the inner cylinder corresponds to the image data; therefore, the load eccentricity state of the inner cylinder is also determined or predicted in real time. Before the inner cylinder develops eccentricity, the real-time acquired image data can predict whether the inner cylinder will develop eccentricity under the current operating conditions. For example, in the dehydration process, before the inner cylinder enters high-speed dehydration, the real-time acquired image data can predict whether the inner cylinder will develop eccentricity during the high-speed dehydration process under the current operating conditions. If eccentricity is predicted to occur during high-speed dehydration, intervention measures can be taken in advance to avoid eccentricity during the high-speed dehydration process.

[0046] Compared to related technologies that rely on motor torque or vibration signals to determine eccentricity, the technical solution disclosed in this invention acquires image data of the relative positions of the inner and outer cylinders in the radial direction in real time. Based on this image data, the physical gap between the inner and outer cylinders is determined, and based on this physical gap, the load eccentricity state of the inner cylinder is determined. This method enables real-time monitoring of changes in the physical gap between the inner and outer cylinders, directly sensing the dynamic relative position changes of the suspension system, and achieving real-time identification and prediction of the load eccentricity state of the inner cylinder. This avoids the indirectness and lag problems caused by eccentricity judgment methods in related technologies, improving the accuracy and real-time performance of eccentricity identification. Furthermore, the images acquired through the image acquisition module are not affected by external environmental vibrations, improving the accuracy of the acquired image data, enhancing the eccentricity identification accuracy under complex working conditions, and reducing the risk of misjudgment or missed eccentricity. The technical solution disclosed herein enables the prediction of the load eccentricity of the inner drum through image data. Once the eccentricity of the inner drum is predicted, the working status of the garment processing equipment can be actively intervened before the eccentricity causes significant dynamic abnormalities, thereby avoiding dynamic abnormalities caused by eccentricity and improving the operational stability and safety of the garment processing equipment.

[0047] Figure 2 This is a schematic diagram of the drum structure of a garment processing device according to an embodiment of the present disclosure. Figure 3 for Figure 2 An enlarged schematic diagram of part A in one embodiment of this disclosure, as shown below. Figure 2 and Figure 3As shown, the drum includes an outer cylinder 1 and an inner cylinder 2. It can be understood that the drum has a certain length in the axial direction. To more accurately acquire image data of the relative position of the inner cylinder 2 and the outer cylinder 1, multiple image acquisition areas are set between the inner cylinder 2 and the outer cylinder 1, along the axial direction of the inner cylinder 2. Figure 3 The diagram shows three image acquisition areas: the first image acquisition area 301, the second image acquisition area 302, and the third image acquisition area 303. Figure 3 The schematic diagram only shows the image acquisition area located above the inner cylinder. It can be understood that each image acquisition area is a ring-shaped area surrounding the inner cylinder. Therefore, real-time acquisition of image data showing the relative position of the inner and outer cylinders in the radial direction can include: real-time acquisition of regional image data showing the relative position of the inner and outer cylinders in each image acquisition area, and the image data includes image data of each region.

[0048] The image acquisition area can be understood as a pre-defined region for image acquisition; in other words, it's the area where image data is acquired. The image data corresponding to each image acquisition area can be called region image data. Real-time acquisition of region image data showing the relative positions of the inner and outer cylinders within each image acquisition area is possible. This image data includes the image data for each region.

[0049] The inner cylinder has a certain length in the axial direction. Figure 2 and Figure 3 In this embodiment, the axial direction of the inner cylinder is horizontal. When the inner cylinder becomes eccentric, the physical gap between the inner and outer cylinders is different at various positions along the axial direction. In this embodiment, multiple image acquisition areas are set along the axial direction of the inner cylinder to acquire regional image data of each area in real time. These multiple regional image data form image data of the relative positions of the inner and outer cylinders. This image data can more accurately reflect the relative positions of the inner and outer cylinders in various regions along the axial direction, improving the accuracy of the determined physical gap and enhancing the prediction accuracy of the inner cylinder's load eccentricity state.

[0050] To more accurately acquire regional image data of the image acquisition area, a second marking strip 20 is circumferentially arranged on the outer peripheral wall of the inner cylinder 2 in each image acquisition area, and a first marking strip 10 is circumferentially arranged on the inner peripheral wall of the outer cylinder 1. Figure 3In the first image acquisition area 301, a first marking band 10a and a second marking band 20a are provided; in the second image acquisition area 302, a second marking band 10b and a second marking band 20b are provided; and in the third image acquisition area 303, a third marking band 10c and a second marking band 20c are provided. Real-time acquisition of regional image data showing the relative radial positions of the inner and outer cylinders in each image acquisition area includes: real-time acquisition of regional image data showing the relative positions of the corresponding first marking band 10 and second marking band 20 in each image acquisition area.

[0051] It should be noted that, in order to distinguish between the first and second marker bands located in different image acquisition areas, the accompanying drawings of this disclosure use 10a, 10b, and 10c to indicate the first marker bands located in different image acquisition areas, and 20a, 20b, and 20c to indicate the second marker bands located in different image acquisition areas, to facilitate reading of this disclosure.

[0052] Understandably, the gap between the inner and outer cylinders is usually small and located in a relatively dark space. Image data is typically acquired using an image acquisition module. The first and second marker bands are more easily recognized by the image acquisition module, thus facilitating the acquisition of regional image data showing the relative positions of the first and second marker bands and improving the accuracy of the regional image data. The second marker band is set on the outer peripheral wall of the inner cylinder 2, and the first marker band is set on the inner peripheral wall of the outer cylinder 1. Therefore, the relative positions of the first and second marker bands can be understood as the relative positions of the inner and outer cylinders within the image acquisition area.

[0053] In one embodiment, the first and second marker strips can be marked with preset colors. For example, the first marker strip may be a first preset color, and the second marker strip may be a second preset color. The first and second preset colors may be the same or different. For example, both the first and second preset colors may be yellow, as yellow has a reflective effect and can be better recognized by the image acquisition device.

[0054] In another embodiment, the first and second marking strips can be laser-marked; or, the first and second marking strips can be reflective metallic strips; or, the first and second marking strips can be magnetic marking strips. These first and second marking strips, using this method, offer better contrast and durability, further improving the accuracy of the regional image data.

[0055] The widths of the first and second marking strips can be the same or different, and the specific widths can be set as needed. In one embodiment, the widths of the first and second marking strips can be 8mm to 12mm. For example, the widths of the first and second marking strips can be 8mm, 10mm, or 12mm.

[0056] In one embodiment, such as Figure 3 As shown, the multiple image acquisition areas may include a first image acquisition area 301, a second image acquisition area 302, and a third image acquisition area 303. (Reference) Figure 2 The garment handling equipment also includes a drive assembly 3 for driving the inner drum to rotate, the drive assembly 3 being located outside the first end of the inner drum 2 along the axial direction of the inner drum 2. Figure 2 and Figure 3 In this configuration, the drive assembly 3 is located outside the left end of the inner cylinder 2 along the axial direction of the inner cylinder 2. The inner cylinder 2 also has a second end opposite to the first end.

[0057] refer to Figure 3 The first image acquisition area 301 is set around the outer periphery of the second end of the inner cylinder 2. The second image acquisition area 302 is located in the middle of the inner cylinder 2 and is set around the outer periphery of the inner cylinder 2. The third image acquisition area 303 is set around the outer periphery of the first end of the inner cylinder 2.

[0058] Typically, the second end of the inner cylinder faces the user; therefore, the second end of the inner cylinder can be called the outer end of the inner cylinder, and the first end of the inner cylinder can be called the inner end of the inner cylinder. It is understood that when the inner cylinder is eccentric, the degree of eccentricity of the outer end relative to the inner end can better reflect the degree of eccentricity of the inner cylinder. Therefore, in this embodiment, a first image acquisition area, a second image acquisition area, and a third image acquisition area are respectively set on the outer periphery of the outer end of the inner cylinder, the outer periphery of the middle part of the inner cylinder, and the outer periphery of the inner end of the inner cylinder. The regional image data of these three image acquisition areas can better reflect the degree of eccentricity of the inner cylinder, further improving the accuracy of eccentricity prediction.

[0059] Figure 4 This is a schematic diagram of an eccentric inner cylinder structure. The image acquisition device may include one or more image acquisition modules. (Reference) Figure 4 The first image acquisition module 41a is located above the outer side of the inner cylinder 2. When the outer end of the inner cylinder is eccentric or tilted downward, the first image acquisition module 41a may be unable to acquire the image of the first marking band 10a in the upper part of the first image acquisition area 301, which will affect the prediction of the eccentric state.

[0060] In one embodiment, to ensure the integrity of the image data showing the relative positions of the inner and outer cylinders, the image acquisition device may include multiple image acquisition modules. (See reference...) Figure 2 and Figure 4 Multiple image acquisition modules are located inside the first end wall 11 of the outer cylinder 1, which is the end wall of the outer cylinder 1 facing the first end of the inner cylinder 2. The multiple image acquisition modules are evenly arranged circumferentially inside the first end wall 11 of the outer cylinder. Figure 4 The schematic diagram shows the first image acquisition module 41a, the second image acquisition module 41b, the third image acquisition module 41c, and the fourth image acquisition module 41d, which are evenly arranged circumferentially on the first end wall of the outer cylinder. Figure 4 In this configuration, the first image acquisition module 41a is located above the outer side of the inner cylinder 2, the second image acquisition module 41b is located below the outer side of the inner cylinder 2, the third image acquisition module 41c is located to the left of the outer side of the inner cylinder 2, and the fourth image acquisition module 41d is located to the right of the outer side of the inner cylinder 2. Real-time acquisition of image data showing the relative positions of the inner and outer cylinders can include: acquiring image data showing the relative positions of the inner and outer cylinders in real time through multiple image acquisition modules.

[0061] It should be noted that, in order to distinguish the image acquisition modules located in different positions, the accompanying drawings of this disclosure use 41a, 41b, 41c and 41d to indicate the image acquisition modules located in four different positions, so as to facilitate reading of this disclosure.

[0062] In this disclosure, each image acquisition module acquires image data of the relative positions of the inner and outer cylinders along the axial direction of the inner cylinder, referring to... Figure 3 and Figure 4 The first image acquisition module 41a acquires regional image data of each image acquisition area along the axial direction. Different image acquisition modules can acquire images of different locations within the same image acquisition area, and the images of the same image acquisition area acquired by multiple image acquisition modules constitute the regional image data of that image acquisition area.

[0063] refer to Figure 4 Multiple image acquisition modules are evenly arranged circumferentially on the inner side of the first end wall of the outer cylinder. In this way, the image acquired by each module is axially aligned, and each module can acquire images of corresponding positions along the circumference of the inner cylinder. For example, in... Figure 4 In the middle, when the outer end of the inner cylinder is eccentric downward, the first image acquisition module 41a above cannot acquire the image of the upper part of the outer end of the inner cylinder. However, the second image acquisition module 41b below can acquire the image of the lower part of the outer end of the inner cylinder. The downward eccentricity of the outer end of the inner cylinder can be identified based on the area image data acquired by the second image acquisition module 41b.

[0064] In this embodiment, the combined regional image data acquired by multiple image acquisition modules constitutes the image data of the relative positions of the inner and outer cylinders. By acquiring image data of the relative positions of the inner and outer cylinders in real time through multiple image acquisition modules, image data omissions can be avoided, the integrity of the image data can be improved, and thus the accuracy of eccentricity state prediction can be enhanced.

[0065] In this embodiment, by setting up multiple image acquisition modules, multi-point image acquisition can be performed on each image acquisition area, achieving a more comprehensive judgment of the load status. By acquiring image data of each image acquisition area through multiple image acquisition modules, multi-view image generation technology can be used to achieve three-dimensional reconstruction (generating a curved surface model), accurately identifying the eccentric load area and mass. By comparing the three-dimensional image data before and after the shaking, the efficiency of the shaking function can be determined, and the anti-eccentricity capability of the washing machine can be gradually improved by combining a deep learning model.

[0066] It is understandable that the inner drum rotates relative to the outer drum during the operation of the garment processing equipment; therefore, the inner wall of the outer drum can be used as a reference. To improve the accuracy of each image acquisition module, the image acquisition module can be positioned against the inner wall of the outer drum, increasing the probability that the image acquisition module will capture the image of the first marker band on the inner drum.

[0067] For example, the number of multiple image acquisition modules is even. When an even number of image acquisition modules are evenly arranged along the circumference of the inner cylinder, it can be ensured that every two image acquisition modules are diagonally / symmetrically positioned, guaranteeing that the corresponding off-center image can be acquired. Referring to the analysis above, when the outer end of the inner cylinder is off-center upwards, the lower second image acquisition module 41b cannot acquire the image of the lower part of the outer end of the inner cylinder, but the upper first image acquisition module 41a can acquire the image of the upper part of the outer end of the inner cylinder. Therefore, setting an even number of image acquisition modules, and symmetrically positioning every two image acquisition modules, allows the images acquired by the symmetrically positioned first image acquisition module 41a and second image acquisition module 41b to compensate for each other in the same diameter direction, avoiding the risk of being unable to distinguish when only one image acquisition module is set in a diameter direction and cannot acquire an image.

[0068] In one embodiment, image acquisition modules are installed above and below the outer side of the inner cylinder, and to the left and right of the outer side of the inner cylinder. In other words, image acquisition modules are installed on the upper, lower, left, and right sides of the outer circumference of the inner cylinder. These four locations are prone to eccentricity of the inner cylinder; installing image acquisition modules at these four locations can further improve the accuracy of eccentricity prediction.

[0069] In one embodiment, determining the physical gap between the inner cylinder and the outer cylinder based on image data may include: processing the image data to obtain the image gap value between the inner cylinder and the outer cylinder in each image acquisition area; and determining the physical gap between the inner cylinder and the outer cylinder in each image acquisition area based on the image gap value.

[0070] For example, the garment processing device may include an image processing module. Each image acquisition module may be configured with one image processing module, or an image acquisition device consisting of multiple image acquisition modules may be configured with one image processing module. The image acquisition modules can be connected to the image processing module via a high-speed data cable to improve the transmission efficiency of image data.

[0071] After receiving image data, the image processing module can process the image data to obtain the image gap values ​​between the inner and outer cylinders in each image acquisition area. For example, the image processing module can use algorithms such as edge detection, contour recognition, and image filtering to process the image data. Through the processed image data, the image processing module can obtain the image gap values ​​between the inner and outer cylinders in each image acquisition area. The image gap value can be understood as the gap between corresponding positions of the inner and outer cylinders in the image. For example, the gap value between the first and second marking bands can be calculated by multiplying the pixel width and the number of pixels between the first and second marking bands; this gap value is the image gap value between the inner and outer cylinders in the corresponding area. Based on each image gap value, the physical gap between the inner and outer cylinders in each image acquisition area can be determined.

[0072] In one embodiment, determining the physical gap between the inner cylinder and the outer cylinder in each image acquisition area based on each image gap value may include: determining the physical gap between the inner cylinder and the outer cylinder in each image acquisition area based on the principle of triangle similarity according to each image gap value.

[0073] Figure 5 This is a schematic diagram illustrating the principle of determining physical gaps using image gap values. (Refer to...) Figure 5The physical gaps between the inner and outer cylinders in the first, second, and third image acquisition areas are denoted as D1, D2, and D3, respectively, with corresponding image gap values ​​of Q1, Q2, and Q3. It can be understood that each set of Q1, Q2, and Q3 represents the image gap values ​​of the three image acquisition areas acquired by the same image acquisition module. The distances L1, L2, and L3 between the image acquisition module and the first, second, and third image acquisition areas in the axial direction of the inner cylinder can be determined. Furthermore, the distance G between the acquired image and the image acquisition module can be determined based on the imaging depth of the image acquisition module. Based on the principle of triangle similarity, the physical gaps D1, D2, and D3 are determined from the image gap values ​​Q1, Q2, and Q3, respectively. This section simply describes the process of determining the physical gap using image gap values. In practice, conventional techniques can be used to determine the corresponding physical gaps from the image gap values ​​as needed, which will not be detailed here.

[0074] In another embodiment, a stereo vision or deep learning model can be used to calculate the three-dimensional gap to obtain the physical gap between the inner and outer cylinders in each image acquisition area.

[0075] In one embodiment, determining the load eccentricity state of the inner cylinder based on the physical gap may include: determining the load eccentricity state of the inner cylinder based on the physical gap of each image acquisition area and a preset reference gap.

[0076] For example, the garment processing device may include a controller, and an image processing module is communicatively connected to the controller. The image processing module can transmit the physical gap of each image acquisition area to the controller. The controller may have a preset reference gap stored in it, and the controller can determine the load eccentricity state of the inner drum based on the physical gap of each image acquisition area and the preset reference gap.

[0077] For example, the image processing module can be integrated into the control board of the garment processing equipment. The image processing module can be mounted on the control board using a waterproof sealing structure. The waterproof sealing structure can be made of ABS plastic or aluminum alloy, with a dustproof and waterproof rating of IP65 or higher.

[0078] Figure 6 The control logic flowchart of the eccentricity detection method disclosed herein is shown in the reference diagram. Figure 6The eccentricity detection method includes steps S11 to S13. Step S11 can be called the image data acquisition step, step S12 can be called the image data processing step, and step S13 can be called the load eccentricity determination step. After determining the load eccentricity state, the garment processing equipment can be controlled to execute the corresponding control program. In the load eccentricity determination step, the load eccentricity state of the inner drum is determined based on the physical gap of each image acquisition area and the preset reference gap. This step may include: if the difference between each physical gap in each image acquisition area and the preset reference gap is less than a first preset difference, the load eccentricity state of the inner drum is determined to be a uniform load state. "Uniform load state" can be understood as a state capable of high-speed dehydration.

[0079] As mentioned above, multiple image acquisition modules can be installed on the inner end wall of the outer cylinder. Each image acquisition module can acquire images of the corresponding position of each image acquisition area. Therefore, the number of physical gaps in each image acquisition area is the same as the number of image acquisition modules. In other words, each image acquisition area has multiple physical gaps.

[0080] It is understandable that in actual implementation, due to factors such as errors and the size of the garment processing equipment itself, even if the inner drum does not become eccentric, the physical gap between the inner and outer drums will still differ from the preset reference gap. To prevent misjudgment, in this embodiment, a first preset difference is set. If, under a stable rotation speed, the difference between each physical gap in each image acquisition area and the preset reference gap is less than the first preset difference, it indicates that the fluctuation of each physical gap is small and stably tends towards the preset reference gap. At this time, it is determined that the load on the inner drum is in a uniform load state, that is, based on the current image data, it is predicted that the inner drum will not become eccentric.

[0081] When the load on the inner cylinder is evenly distributed, the inner cylinder will not become eccentric. Under these conditions, normal dehydration can be carried out. Therefore, in the execution control program, the maximum rotation speed of the inner cylinder is determined according to the load mass to carry out dehydration.

[0082] Because the preset reference gaps between the inner and outer drums of garment processing equipment with different volumes are different, the degree of vibration generated by the eccentric load excitation of the inner drum is also different, and the specific value of the first preset difference will vary. The first preset difference can be set according to the preset reference gap. For example, the first preset difference can be λ1 times the preset reference gap, i.e., first preset difference = λ1 * preset reference gap, where λ1 is the first preset coefficient, 0 < λ1 < 1. The specific value of λ1 can be set as needed.

[0083] In another embodiment, determining the load eccentricity state of the inner cylinder based on the physical gap of each image acquisition area and the preset reference gap may include: in response to the fact that the difference between each physical gap of each image acquisition area and the preset reference gap is greater than or equal to a first preset difference and less than a second preset difference, determining the load eccentricity state of the inner cylinder as a moderate to slight eccentricity.

[0084] A second preset difference can be set based on a preset reference gap. For example, the second preset difference can be λ2 times the preset reference gap, i.e., second preset difference = λ2 * preset reference gap, where λ2 is the second preset coefficient, and λ1 < λ2 < 1. The specific value of λ2 can be set as needed.

[0085] When the difference between each physical gap in each image acquisition area and the preset reference gap is greater than or equal to the first preset difference and less than the second preset difference, the inner cylinder is eccentric, but the eccentricity is not too serious. Therefore, the load eccentricity state of the inner cylinder is determined to be moderate to slight eccentricity.

[0086] For example, when the load eccentricity of the inner drum is moderate to slight, the control program controls the inner drum to rotate at a second preset low speed, and then returns to step S11. This allows for feedback of the control result after executing the corresponding program, and continued image data acquisition to determine whether the eccentricity has reached a uniform load state. In the case of moderate to slight eccentricity, a second shaking program is initiated, controlling the inner drum to rotate at a second preset low speed to shake the clothes, and then returning to step S11 to re-predict the load eccentricity. If the re-prediction result is still moderate to slight eccentricity and the uniform load state cannot be restored, a third shaking program can be executed, controlling the inner drum to rotate at a third preset low speed to shake the clothes. The third preset low speed is lower than the second preset low speed, and this cycle continues until the predicted structure is in a uniform load state, and then normal dehydration is performed.

[0087] In another embodiment, determining the load eccentricity state of the inner cylinder based on the physical gap of each image acquisition area and a preset reference gap may include: in response to the existence of at least one physical gap of at least one image acquisition area having a difference greater than a second preset difference from the preset reference gap, determining the load eccentricity state of the inner cylinder as severe eccentricity, wherein the second preset difference is greater than the first preset difference.

[0088] When at least one physical gap differs from a preset reference gap greater than a second preset difference, the physical gap between the corresponding position of the inner cylinder and the outer cylinder is relatively large. In this case, the load eccentricity state of the inner cylinder is predicted to be severe eccentricity. For example, the value of λ2 can be 58%~62%.

[0089] For example, when the load eccentricity of the inner drum is severe, in the execution of the control program, the inner drum is controlled to rotate alternately at a first preset low speed along the first direction and the second direction, which are two opposite rotation directions. The process then returns to step S11 for execution. This allows for feedback of the control result after executing the corresponding program, and continued image data acquisition to determine whether the eccentricity has reached a uniform load state. In the case of severe eccentricity, the first shaking program is initiated, controlling the inner drum to rotate alternately at a first preset low speed along the first direction and the second direction to shake the clothes. The first direction and the second direction are two opposite rotation directions. Then, the process returns to step S11 to re-predict the load eccentricity. If the re-prediction result does not restore the uniform load state, then depending on whether the predicted structure is moderately or severely eccentric, the corresponding shaking program is initiated. This cycle continues until the predicted structure is in a uniform load state, and then normal dehydration is performed.

[0090] In this embodiment, the process involves: acquiring image data → image data processing → determining the load eccentricity state → executing the corresponding control program. In cases of severe or moderate load eccentricity, the acquired image data is returned, enabling the eccentricity detection method of this disclosure to form a closed-loop control until the load eccentricity state reaches a uniform load state, at which point the high-speed dehydration process begins.

[0091] In one embodiment, the image data may include multiple sets of temporally continuous image data. That is, in step S11, multiple sets of temporally continuous image data of the relative positions of the inner and outer cylinders in the radial direction are acquired in real time. Therefore, the physical gap obtained in step S12 includes multiple sets of physical gaps. These multiple sets of physical gaps can reflect the gap variation trend, and thus, based on the multiple sets of temporally continuous image data, the gap variation trend between the inner and outer cylinders can be determined. Based on the gap variation trend, the load eccentricity state of the inner cylinder can be better predicted.

[0092] Understandably, the dehydration stage typically includes a low-speed dehydration process and a high-speed dehydration process. During the low-speed dehydration process, the inner drum rotates at a lower speed than during the high-speed dehydration process. The low-speed dehydration process is also shorter in duration.

[0093] In one embodiment, the eccentricity detection method of this disclosure may further include: in response to the start of the dehydration process, performing steps S11 to S13 within a preset time period, wherein the preset time period is the period from the start time of the dehydration process to a first time, and the time difference between the first time and the start time of the dehydration process is a preset duration.

[0094] After the dehydration program starts, the garment processing equipment enters the dehydration stage. The preset time period can be during the low-speed dehydration process, or the preset time period can be the low-speed dehydration process itself. During the low-speed dehydration process, the inner drum rotates at a lower speed, and even if there is eccentricity, the low inner drum speed will not cause strong vibrations in the garment processing equipment. By executing steps S11 to S13 during the preset time period when the inner drum rotates at a lower speed, the non-uniform changes in the gap between the inner and outer drums can be identified in advance based on the changes in the physical gap between them, and it is possible to predict whether eccentricity will occur during the high-speed dehydration process. If a mild to moderate or severe eccentricity is predicted, corresponding measures can be taken to intervene in advance to avoid load eccentricity during the high-speed dehydration process and ensure that the high-speed dehydration process is entered under a uniform load.

[0095] In this embodiment, eccentricity discrimination rules are set using a first preset difference and a second preset difference to classify the load eccentricity state. This enables intelligent discrimination or prediction of load eccentricity states as evenly distributed, mild to moderate, and severe, providing a reliable basis for subsequent control strategies and improving the level of intelligence. Furthermore, the controller dynamically adjusts the operating parameters of the garment processing equipment, including speed, direction, and working stage, based on the load eccentricity discrimination results, forming a closed-loop feedback control mechanism. This allows for proactive intervention before or in the early stages of high-speed dehydration eccentricity, preventing abnormal vibration and mechanical damage.

[0096] In this embodiment of the disclosure, the combination of the image acquisition device and the image processing module can be called an image recognition device. The image recognition device is used to execute steps S11 and S12, thereby the image recognition device can identify the physical gap between the inner cylinder and the outer cylinder.

[0097] The eccentricity detection method of this disclosure can be applied to the weighing and high-speed dehydration process of clothing. Assuming that the preset reference gap between the inner wall of the outer cylinder and the outer wall of the inner cylinder is 10mm, the load to be processed is clothing to be processed, the first preset difference is 10%, and the second preset difference is 60%.

[0098] After draining, the clothes are saturated with water. The first step is to determine the weight of the clothes: After the washed clothes are drained, the motor does not start, and the inner drum sinks due to the weight of the clothes. By analyzing the initial distribution of the clothes using real-time image data, if the clothes to be spun are concentrated near the drum opening (i.e., the outer end of the inner drum), then... Figure 4 If the physical gap D1 between the bottom of the inner drum and the outer drum in the first image acquisition area is significantly smaller than D2 in the second image acquisition area and D3 in the third image acquisition area, the physical gap between the top of the inner drum and the outer drum will be the opposite of the bottom gap. This situation is very unfavorable for dehydration. In this case, a prompt message can be issued to remind the user to help place the clothes evenly or further back.

[0099] The second step is to predict the load eccentricity: The motor starts, and the inner cylinder rotates at a low speed, stabilizing at approximately 50 rpm. During this time, the gap between the inner and outer cylinders will fluctuate periodically as the inner cylinder rotates. This low-speed rotation is maintained for 10 seconds to determine the physical gap (e.g., the gap peak value). Because the inner cylinder is in a circular motion, the gap peak values ​​reflected in the area image data acquired by the four (or more) image acquisition modules within the 10-second low-speed rotation period should be almost equal. If the differences between the three gap values ​​D1, D2, and D3 obtained by each image acquisition module are very small (≤1mm or 10%), and the differences compared with the preset reference gap are less than the first preset difference, then the loaded clothes are considered to be evenly laid on the inner drum wall, and it is determined to be a uniform load state. The motor can be accelerated to the maximum speed for dehydration. If the three gap values ​​D1, D2, and D3 all have obvious periodic peaks, it indicates that there are eccentric clothes. First, it is determined whether the peak values ​​of gaps D1, D2, and D3 are less than 4mm (or less than 40% of the preset reference gap, or the difference between the peak value of the gap and the preset reference gap is greater than 60% of the preset reference gap). If so, it is directly determined to be a serious eccentricity. If all gap peak values ​​are greater than 40% of the preset reference gap (or the difference between the peak value of the gap and the preset reference gap is between the first preset difference and the second preset difference), it is determined to be a mild to moderate eccentricity. Furthermore, the sizes of D1, D2, and D3 can be compared to determine the different levels of eccentric mass based on the degree of inclination of the inner cylinder. For example, the eccentric mass can be divided into different levels from 300g to 800g (corresponding values ​​can be preset in the program, such as: the inclination angle of the inner cylinder can be calculated by the ratio of the gap value to the length of the inner cylinder, and each inclination angle corresponds to a different level of eccentric mass).

[0100] When both the inner and outer cylinders are cylindrical, refer to Figure 3 When the first, second, and third image acquisition areas are located at the right, middle, and left ends of the inner cylinder, respectively, and the inner cylinder is eccentrically positioned upwards at the outer end (right end), then [D3-D1] / [D2-D1] = 2. If the image recognition accuracy is very high, the deformation of the inner cylinder can be identified. For example, if the middle part of the inner cylinder bulges towards the outer cylinder, D2 will further decrease, then [D3-D1] / [D2-D1] > 2. Therefore, when [D3-D1] / [D2-D1] > 2, it indicates that the middle part of the inner cylinder bulges towards the outer cylinder, and the load eccentricity can be determined to be concentrated in the middle. Similarly, the locations of concentrated eccentricities such as front eccentricity and rear eccentricity can be identified.

[0101] For evenly loaded conditions, the normal method can be used, controlling the maximum speed based on the weight of the water-containing load. For example, if the weight of water-containing clothes in a 10kg washing machine is 10kg, the motor speed can be increased to 1100rpm. If the water absorption rate is high and the weight of water-containing clothes exceeds 10kg, the motor speed can be controlled at a maximum of 800rpm. At this time, the image recognition device works in conjunction with the gravity sensing module to first determine whether the load is balanced, and then determine the weight of the load.

[0102] For eccentric loads, different shaking strategies are implemented according to different levels of eccentricity. For severe eccentricity, the inner drum is rotated alternately in both directions at ultra-low speed. For moderate to slight eccentricity, the inner drum is rotated at low speed. Closed-loop feedback is used until the eccentricity value is within a controllable range, at which point the dehydration process officially begins. The maximum motor speed is also limited according to the level of eccentricity. For example, for an eccentricity of approximately 800g, the maximum motor speed is limited to 800rpm.

[0103] The eccentricity detection method disclosed herein is applicable to equipment such as washing machines, dryers with dehydration functions, and washer-dryer combos, and is applicable to various rotary dehydration equipment such as drum washing machines and industrial washing machines.

[0104] This disclosure also provides a garment processing device according to one embodiment. The garment processing device includes an outer cylinder and an inner cylinder located inside the outer cylinder. The inner cylinder is used to hold the load to be processed. The garment processing device further includes: an image acquisition device for acquiring image data of the relative position of the inner cylinder and the outer cylinder in the radial direction in real time; an image processing module for determining the physical gap between the inner cylinder and the outer cylinder based on the image data; and a controller for determining the load eccentricity state of the inner cylinder based on the physical gap. The specific functions of the image acquisition device, the image processing module, and the controller can be referred to above, and will not be detailed here.

[0105] In one embodiment, multiple image acquisition areas are provided between the inner and outer cylinders along the axial direction of the inner cylinder. In each image acquisition area, a first marking strip is provided circumferentially on the outer peripheral wall of the inner cylinder, and a second marking strip is provided circumferentially on the inner peripheral wall of the outer cylinder. The image acquisition device is also used to acquire, in real time, regional image data of the relative positions of the corresponding first and second marking strips in each image acquisition area, the image data including image data of each region.

[0106] In one embodiment, the plurality of image acquisition areas include a first image acquisition area, a second image acquisition area, and a third image acquisition area. The garment processing device further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located outside the first end of the inner drum along the axial direction of the inner drum. The first image acquisition area is disposed around the outer periphery of the second end of the inner drum, the second end of the inner drum being opposite to the first end; the second image acquisition area is located in the middle of the inner drum and is disposed around the outer periphery of the inner drum; the third image acquisition area is disposed around the outer periphery of the first end of the inner drum.

[0107] In one embodiment, the garment handling device further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located on the outer side of a first end of the inner drum along the axial direction of the inner drum; the image acquisition device includes a plurality of image acquisition modules, the plurality of image acquisition modules being located on the inner side of a first end wall of an outer drum, the first end wall being the end wall of the outer drum facing the first end of the inner drum, the plurality of image acquisition modules being evenly arranged circumferentially on the inner side of the first end wall of the outer drum. Exemplarily, the number of the plurality of image acquisition modules is even, with image acquisition modules provided on the outer sides of both the upper and lower ends of the inner drum, and on the outer sides of both the left and right ends of the inner drum.

[0108] The specific structure of each component and the technical effects it achieves can be found above, and will not be detailed here.

[0109] The clothing processing equipment disclosed herein may include washing machines, dryers with dehydration functions, and other similar equipment.

[0110] According to embodiments of this disclosure, an electronic device is also provided. The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, which, when executed, enable the at least one processor to perform the eccentricity detection method according to any embodiment of this disclosure.

[0111] This disclosure also provides a readable storage medium storing a computer program that, when executed by a processor, implements the eccentricity detection method as described in any embodiment of this disclosure.

[0112] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0114] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0116] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0117] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0118] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0119] In the description of this specification, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0120] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0121] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0122] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0123] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this disclosure. To simplify this disclosure, the components and arrangements of specific examples are described above. Of course, these are merely examples and are not intended to limit this disclosure. Furthermore, reference numerals and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0124] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure, and any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed herein, and the combination of different parts of different embodiments without conflict, should all be covered within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An eccentricity detection method, characterized in that, An image acquisition method is applied to a garment processing device, the garment processing device including an outer cylinder and an inner cylinder located inside the outer cylinder, the inner cylinder being used to hold the load to be processed, and multiple image acquisition areas being arranged between the inner cylinder and the outer cylinder along the axial direction of the inner cylinder; the method includes: Step S11: Real-time acquisition of regional image data showing the relative positions of the inner cylinder and the outer cylinder in each of the image acquisition areas; Step S12: Determine the physical gap between the inner cylinder and the outer cylinder based on the image data of each region; Step S13: Determine the load eccentricity state of the inner cylinder based on the physical gap.

2. The method according to claim 1, characterized in that, In each of the image acquisition areas, a first marking strip is provided circumferentially on the outer peripheral wall of the inner cylinder, and a second marking strip is provided circumferentially on the inner peripheral wall of the outer cylinder; The real-time acquisition of regional image data showing the relative positions of the inner cylinder and the outer cylinder within each of the image acquisition areas includes: Real-time acquisition of regional image data showing the relative positions of the first and second marker bands in each of the image acquisition areas.

3. The method according to claim 1, characterized in that, The plurality of image acquisition areas include a first image acquisition area, a second image acquisition area and a third image acquisition area. The garment processing device also includes a drive assembly for driving the inner drum to rotate. The drive assembly is located outside the first end of the inner drum along the axial direction of the inner drum. The first image acquisition area is arranged around the outer periphery of the second end of the inner cylinder, and the second end of the inner cylinder is opposite to the first end; the second image acquisition area is located in the middle of the inner cylinder and is arranged around the outer periphery of the inner cylinder; the third image acquisition area is arranged around the outer periphery of the first end of the inner cylinder.

4. The method according to claim 1, characterized in that, The garment processing device further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located outside the first end of the inner drum along the axial direction of the inner drum; the garment processing device further includes multiple image acquisition modules, the multiple image acquisition modules being located inside the first end wall of the outer drum, the first end wall being the end wall of the outer drum facing the first end of the inner drum, the multiple image acquisition modules being evenly arranged circumferentially inside the first end wall of the outer drum, the real-time acquisition of regional image data of the relative position of the inner drum and the outer drum in each of the image acquisition areas includes: The image data of each region is acquired in real time through the multiple image acquisition modules.

5. The method according to claim 4, characterized in that, The number of the plurality of image acquisition modules is even. The image acquisition modules are arranged above and below the outer side of the inner cylinder, and are arranged to the left and right sides of the outer side of the inner cylinder.

6. The method according to claim 1, characterized in that, Determining the physical gap between the inner cylinder and the outer cylinder based on the image data of each of the aforementioned regions includes: The image data of each region is processed to obtain the image gap value between the inner cylinder and the outer cylinder in each image acquisition area; Based on the image gap values, the physical gap between the inner cylinder and the outer cylinder in each image acquisition area is determined.

7. The method according to claim 6, characterized in that, The step of determining the physical gap between the inner cylinder and the outer cylinder in each of the image acquisition areas based on each of the image gap values ​​includes: Based on the image gap values, the physical gap between the inner cylinder and the outer cylinder in each image acquisition area is determined using the principle of triangle similarity.

8. The method according to claim 6, characterized in that, Determining the load eccentricity state of the inner cylinder based on the physical clearance includes: The load eccentricity state of the inner cylinder is determined based on the physical gap of each image acquisition area and the preset reference gap.

9. The method according to claim 8, characterized in that, The step of determining the load eccentricity state of the inner cylinder based on the physical gap of each image acquisition area and a preset reference gap includes: When the difference between each physical gap in each image acquisition area and the preset reference gap is less than the first preset difference, the load eccentricity state of the inner cylinder is determined to be a uniform load state; or, In response to the existence of at least one physical gap in at least one of the image acquisition areas having a difference greater than a second preset difference from the preset reference gap, the load eccentricity state of the inner cylinder is determined to be severe eccentricity, where the second preset difference is greater than the first preset difference; or... In response to the fact that the difference between each physical gap in each of the image acquisition areas and the preset reference gap is greater than or equal to the first preset difference and less than the second preset difference, the load eccentricity state of the inner cylinder is determined to be a slight eccentricity.

10. The method according to claim 9, characterized in that, Also includes: When the load eccentricity of the inner cylinder is in a uniform load state, the maximum rotational speed of the inner cylinder is determined based on the load mass. or, When the load eccentricity of the inner cylinder is severely eccentric, the inner cylinder is controlled to rotate alternately at a first preset low speed along the first direction and the second direction respectively. The first direction and the second direction are two opposite rotation directions, and the process returns to step S11. or, When the load eccentricity of the inner cylinder is in a state of moderate to slight eccentricity, the inner cylinder is controlled to rotate at a second preset low speed, and the process returns to step S11.

11. The method according to claim 1, characterized in that, Each of the aforementioned regional image data includes temporally continuous regional image data, and the physical gaps include multiple sets of temporally continuous physical gaps.

12. The method according to claim 1, characterized in that, In response to the start of the dehydration process, steps S11 to S13 are executed within a preset time period. The preset time period is the period from the start time of the dehydration process to a first time. The time difference between the first time and the start time of the dehydration process is a preset duration. The rotational speed of the inner cylinder during the preset time period is lower than the rotational speed of the inner cylinder during the high-speed dehydration process.

13. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.

14. A garment processing device, characterized in that, The garment processing equipment includes an outer cylinder and an inner cylinder located inside the outer cylinder. The inner cylinder is used to hold the load to be processed. Multiple image acquisition areas are provided between the inner cylinder and the outer cylinder, along the axial direction of the inner cylinder. The garment processing equipment also includes: An image acquisition device is used to acquire, in real time, regional image data of the relative positions of the inner cylinder and the outer cylinder in each of the image acquisition areas; An image processing module is used to determine the physical gap between the inner cylinder and the outer cylinder based on the image data of each region. A controller is used to determine the load eccentricity state of the inner cylinder based on the physical clearance.

15. The garment processing equipment according to claim 14, characterized in that, In each of the image acquisition areas, a first marking strip is provided circumferentially on the outer peripheral wall of the inner cylinder, and a second marking strip is provided circumferentially on the inner peripheral wall of the outer cylinder; The image acquisition device is also used to acquire, in real time, regional image data of the relative positions of the first marker band and the second marker band in each of the image acquisition regions.

16. The garment processing equipment according to claim 15, characterized in that, The plurality of image acquisition areas include a first image acquisition area, a second image acquisition area and a third image acquisition area. The garment processing device also includes a drive assembly for driving the inner drum to rotate. The drive assembly is located outside the first end of the inner drum along the axial direction of the inner drum. The first image acquisition area is arranged around the outer periphery of the second end of the inner cylinder, and the second end of the inner cylinder is opposite to the first end; the second image acquisition area is located in the middle of the inner cylinder and is arranged around the outer periphery of the inner cylinder; the third image acquisition area is arranged around the outer periphery of the first end of the inner cylinder.

17. The garment processing equipment according to claim 14, characterized in that, The garment processing equipment further includes a drive assembly for driving the inner drum to rotate, the drive assembly being located on the outer side of the first end of the inner drum along the axial direction of the inner drum; the image acquisition device includes a plurality of image acquisition modules, the plurality of image acquisition modules being located on the inner side of the first end wall of the outer drum, the first end wall being the end wall of the outer drum facing the first end of the inner drum, the plurality of image acquisition modules being evenly arranged along the circumference of the inner drum on the inner side of the first end wall of the outer drum; The number of the plurality of image acquisition modules is even. The image acquisition modules are provided on the outer side of the upper end and the outer side of the lower end of the inner cylinder, and on the outer side of the left end and the outer side of the right end of the inner cylinder.

Images