Washing device and bubble overflow detection method thereof, electronic equipment and storage medium

Abstract

The invention provides a bubble overflow detection method of a washing device, which comprises the following steps: acquiring point cloud data according to a depth image in an inner barrel of the washing device, and judging whether a defoaming process needs to be executed according to the point cloud data. The point cloud data is accurately obtained through the sensing device, the phenomenon that the washing device is damaged due to the fact that foam overflows the washing device is avoided, and the cleaning efficiency of the washing device is improved.

Description

Technical Field

[0001] This invention relates to the field of washing, and in particular to a washing device, a method for detecting overflow bubbles, an electronic device, and a storage medium thereof. Background Technology

[0002] As people's consumption levels rise, fully automatic washing machines have become an essential household appliance. Currently, fully automatic washing machines are very popular among consumers due to their high degree of automation, bringing convenience but also new problems.

[0003] Washing machines require detergent or washing powder to remove stains from clothes during the washing process. The mixture of detergent and water produces a large amount of foam, which can easily lead to overflow. In severe cases, this can cause component failure or damage. Even worse, overflowing foam can cause users to slip and fall, posing a safety hazard. Foam overflowing into the machine's wiring can also cause electrical components or circuit boards to malfunction, leading to short circuits and fires. During the rinsing stage, overflow can cause the machine to spin-dry while still wet, resulting in motor overheating and a sharp increase in current, creating a safety risk for users. Current technology typically detects foam during the draining and spin-drying stages based on changes in drum pressure or water level. Detecting foam during the washing process is either impossible or prohibitively expensive, making it difficult to accurately and promptly determine if overflow is present.

[0004] Therefore, it is necessary to develop a new method for detecting overflow bubbles in washing devices to solve the above problems. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, the present invention aims to provide a washing device and its foam overflow detection method, electronic device, and storage medium. During the washing process, point cloud data is obtained through a sensing device. Based on the point cloud data, foam height and foam growth rate are obtained, allowing for timely and accurate judgment of excessive foam and preventing foam overflow. This method can promptly and accurately acquire the foam situation during the washing process and execute a defoaming process in a timely manner, effectively avoiding the risk of foam overflow.

[0006] To achieve the objectives of this invention, the following technical solution is adopted:

[0007] A method for detecting overflow foam in a washing device includes the following steps:

[0008] Point cloud data is obtained based on the depth image inside the inner drum of the washing device;

[0009] Determine whether a defoaming process needs to be performed based on the point cloud data.

[0010] Furthermore, the depth image is acquired by a sensing device configured within the washing device.

[0011] Furthermore, acquiring point cloud data based on the depth image inside the inner drum of the washing device specifically includes:

[0012] The sensing device is calibrated. The two mutually perpendicular directions of the cross-section of the inner drum of the washing device are the first direction and the second direction, respectively, and the direction of the rotation axis of the inner drum is the third direction. A three-dimensional coordinate system is established. The point cloud data is the projection data of each point in the first direction, the second direction, and the third direction.

[0013] Furthermore, after acquiring point cloud data, the process also includes:

[0014] The presence of foam inside the inner cylinder is determined based on the point cloud data.

[0015] Furthermore, determining whether foam exists inside the inner cylinder based on the point cloud data specifically includes:

[0016] Taking the horizontal direction in the cross-section of the inner cylinder as the first or second direction, determine whether the data fluctuation range of the point cloud data in the second or first direction is within a first threshold.

[0017] If it does not meet the requirements, then there is no bubble;

[0018] If the conditions are met, then determine whether the point cloud data has continuity in the third direction;

[0019] If there is continuity, then there is a bubble.

[0020] Furthermore, it also includes the following steps: if there is no continuity, the inner cylinder is configured to rotate and then continue to collect point cloud data to determine continuity.

[0021] Furthermore, determining whether a defoaming process needs to be executed based on the point cloud data specifically includes:

[0022] Acquire the point cloud data in the second or first direction, and record it as height data;

[0023] The foam height is obtained by filtering based on the height data;

[0024] Determine whether the foam height exceeds the second threshold;

[0025] If the foam height exceeds the second threshold, the washing device performs a defoaming process;

[0026] If the foam height does not exceed the second threshold, the foam height will continue to be monitored.

[0027] Furthermore, if the foam height does not exceed the second threshold, the process also includes the following steps:

[0028] Depth images inside the washing device's inner drum are continuously acquired or acquired before and after the inner drum rotates. The foam growth rate obtained from the depth images at different times is used to determine whether a defoaming process needs to be performed and the intensity of defoaming.

[0029] Furthermore, the bubble growth rate is obtained specifically through the following steps:

[0030] Obtain the time difference Δt between depth images at different times;

[0031] Obtain the height difference ΔH between the height data corresponding to the depth images at different times;

[0032] The foam growth rate is obtained by using the height difference ΔH and the time difference Δt.

[0033] A washing device, and a method for detecting overflow bubbles in the washing device.

[0034] Furthermore, a sensor for acquiring depth images of the inner drum of the washing device is installed inside the door glass, door seal, or lifting rib of the washing device.

[0035] Furthermore, the sensor can be installed inside the door glass, inside the door seal, or inside the lifting rib.

[0036] An electronic device includes: a memory storing program code thereon; and a processor connected to the memory, which, when the program code is executed by the processor, implements a method for detecting overflow bubbles in a washing device.

[0037] A computer-readable storage medium having program instructions stored thereon, which, when executed, implement a method for detecting overflow bubbles in a washing device.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] This technical solution uses a sensor to obtain point cloud data to accurately identify the foam inside the washing device's inner drum. Based on the foam height and growth rate, it determines if there is excessive foam, so that a defoaming process can be executed in a timely manner, avoiding the phenomenon of foam overflowing from the washing device and causing damage. Timely execution of the defoaming process improves the cleaning efficiency of the washing device.

[0040] The above description is merely an overview of the technical solution of the present invention. To better understand the technical means of the present invention and to enable its implementation according to the description, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0041] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0042] Figure 1 This is a flowchart illustrating a method for detecting overflow foam in a washing device according to Example 1. Figure 1 ;

[0043] Figure 2 This is a simplified structural diagram of the washing device in Example 1, where the sensing device is located above the foam.

[0044] Figure 3 This is a schematic diagram of the coordinate axes of the point cloud data in Example 1;

[0045] Figure 4 This is a schematic diagram of the method for determining the presence of foam in Example 1;

[0046] Figure 5 This is a schematic diagram of the method for determining the defoaming process based on foam height in Example 1;

[0047] Figure 6 This is a schematic diagram of the method for determining the defoaming process based on the foam growth rate in Example 1. Figure 1 ;

[0048] Figure 7 This is a schematic diagram of the calculation method for the foam growth rate in Example 1;

[0049] Figure 8 This is a schematic diagram of the method for determining the defoaming process based on the foam growth rate in Example 1. Figure 2 ;

[0050] Figure 9 This is a schematic diagram of the electronic device in Example 3;

[0051] Figure 10 This is a schematic diagram of the storage medium in Example 4;

[0052] In the diagram: 1. Inner drum of the washing machine; 2. Sensor device; 3. Foam; 11. Door glass; 12. Door. Detailed Implementation

[0053] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0054] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0055] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0057] Figure 1 This is a flowchart of a foam overflow detection method for a washing device provided in Embodiment 1 of the present invention. Embodiment 1 of the present invention is applicable to real-time monitoring of foam during the washing process, so as to promptly execute the defoaming process and avoid foam overflow from the washing device causing damage to the washing device.

[0058] Example 1

[0059] like Figure 1 The method for detecting overflow foam in the washing device according to an embodiment of the present invention includes the following steps:

[0060] S1: Obtain point cloud data based on the depth image inside the inner drum of the washing device;

[0061] It should be noted that the depth image is acquired through a sensing device configured within the washing device.

[0062] Depth images are similar to grayscale images, but unlike grayscale images, depth images reflect the true distance from each point on the surface of an object to the depth sensor.

[0063] In this embodiment, the sensing device is a TOF (Time of Flight) camera. The principle of a TOF camera is to continuously send modulated light sources or pulses to a target object, and then the TOF camera receives the light returning from the target object. By measuring the round-trip time of the modulated light source or the probe light pulses, the distance to the target object is obtained. This technology is basically similar to the principle of 3D laser sensors. 3D laser sensors scan point by point, obtaining depth distance; while TOF cameras simultaneously obtain the depth information of the entire image and acquire a depth image.

[0064] like Figure 2 As shown, the detection range of the sensing device is between light rays OM and ON. The sensing device emits matrix light and receives the reflected matrix light to obtain a depth image.

[0065] In this embodiment, the light source module of the TOF camera includes a structured light emitter and a laser emitter, which can simultaneously emit structured light and modulated laser light, which are then received by the TOF camera to obtain a depth image. This embodiment of the TOF camera fully combines TOF technology and structured light technology, improving the measurement accuracy of TOF technology at close range and overcoming the measurement limitations of TOF technology for black objects and low-reflectivity objects at close range. This significantly improves the accuracy of the final output depth image, enhances its anti-interference capabilities, and makes it suitable for more complex environments, thus broadening the product's applicability.

[0066] Compared to other 3D cameras, the depth information calculation of a TOF camera is not affected by the grayscale and features of the object's surface, and it can perform 3D detection very accurately. Moreover, TOF cameras are more economical, compact and simple, making them very suitable for occasions that require lightweight and small-sized cameras.

[0067] In a preferred embodiment, depth images can be acquired using several TOF cameras to make the results more accurate.

[0068] It should be noted that the acquisition of point cloud data based on depth images inside the washing device's inner drum specifically includes:

[0069] The sensing device is calibrated, with the first and second directions being the two mutually perpendicular directions of the cross-section of the inner drum of the washing device, and the third direction being the rotation axis of the inner drum. A three-dimensional coordinate system is established; the point cloud data is the projection data of each point in the first, second, and third directions. In this embodiment, as... Figure 3 As shown, with the sensing device as the center O, the horizontal direction of the inner cylinder cross-section is the x-axis, the vertical direction of the inner cylinder cross-section is the y-axis, and the rotation axis of the inner cylinder is the z-axis, a three-dimensional coordinate system O-xyz is established; the point cloud data of the inner cylinder in the three-dimensional coordinate system O-xyz is obtained based on the depth image.

[0070] The Time-of-Flight (TOF) camera can obtain the 3D coordinates of the object inside the inner cylinder in the TOF camera's 3D coordinate system based on the depth image inside the inner cylinder, represented as (x, y, z). Point cloud data is the set of 3D coordinates of each pixel in the TOF camera's 3D coordinate system, T = {(x1, y1, z1), (x2, y2, z2), ..., (x...}. i y i , z i )}, where i represents the total number of point cloud data collected.

[0071] S2: Determine whether a defoaming process needs to be executed based on the point cloud data.

[0072] It should be noted that after acquiring point cloud data, the following is also included:

[0073] The presence of foam inside the inner cylinder is determined based on point cloud data.

[0074] Specifically, such as Figure 4 As shown, determining the presence of foam inside the inner cylinder based on point cloud data specifically includes:

[0075] S201: The horizontal direction in the cross-section of the inner cylinder is the first direction or the second direction;

[0076] S202: Determine whether the fluctuation range of point cloud data in the second or first direction is within the first threshold.

[0077] S203: If not met, then there is no bubble;

[0078] S204: If the condition is met, determine whether the point cloud data has continuity in a third direction;

[0079] S205: If there is continuity, then there is foam.

[0080] S206: If there is no continuity, then configure the inner cylinder to continue collecting point cloud data after rotation to determine continuity.

[0081] Specifically, data fluctuations can be determined by the difference between the point cloud data in the second direction and the data in the third direction. For example, in this embodiment, the second direction is preset to a specific y-value. Since bubbles exhibit an uneven state, the data in the third direction of the point cloud data can well reflect this characteristic of bubbles. For example, based on the point cloud data, a specific y-value is established (e.g., at y = y). f The point cloud data is mapped to a two-dimensional Cartesian coordinate system xz, where the x-coordinate represents the horizontal position of the inner cylinder and the z-coordinate represents the position along the rotation axis of the inner cylinder. Specifically, for example, filtering out all y-coordinates... f The point cloud data of the values ​​form a set T YF Calculate set T YF The difference between adjacent z values ​​is denoted as the first difference. The fluctuation range of the first difference is determined. If the fluctuation range of the first difference is less than the preset threshold Z, the value is considered a first difference. b This allows us to determine that the first difference fluctuates within a preset threshold. It should be noted that Z... b y f The value can be a point value or a value in Z. b y f The range of values ​​formed around the given value.

[0082] Whether x-values ​​are continuous can be determined by checking if the difference in the x-direction between adjacent points is less than a preset threshold X in the x-direction. aIf the difference is less than the threshold value, the value is considered continuous. In other embodiments, the continuity of the x-value can also be determined by checking whether the average difference in the x-direction of all adjacent points is less than a preset threshold value X in the x-direction. b If it is less than, then it is considered continuous.

[0083] If, in either of the above two scenarios, a continuous segment of data fluctuates within the threshold, it indicates the presence of foam within the inner cylinder, and the data segment is determined to be foam data information.

[0084] It should be noted that, as Figure 5 As shown, determining the presence of foam inside the inner cylinder based on point cloud data specifically includes:

[0085] S207: Obtain the point cloud data in the second direction or the first direction, and record it as height data;

[0086] S208: Filter the foam height based on the height data;

[0087] S209: Determine whether the foam height exceeds the second threshold;

[0088] S210: If the foam height exceeds the second threshold, the washing device performs a defoaming process;

[0089] S211: If the foam height does not exceed the second threshold, the foam height is continuously monitored.

[0090] In this embodiment, the data y in the second direction of the point cloud data represents the height data. When the sensing device is located between the bubbles, the bubble height is obtained by acquiring the maximum value in the height data. For example, the maximum value in the height data is y. max Then the foam height H is y max .

[0091] In another embodiment, the sensing device is located above the foam. The foam data shows that the foam height is low at this time, so there is no need to consider the risk of overflowing foam, and therefore there is no need to specifically calculate the foam height.

[0092] In this embodiment, the foam height is the height at which defoaming is necessary when the foam inside the inner drum of the washing device is too high. The defoaming process can be spray defoaming, hot air defoaming, etc.

[0093] In another preferred embodiment, if the foam height does not exceed the second threshold, the method further includes the following step:

[0094] S212: Continuously collect or collect depth images inside the washing device's inner drum before and after the inner drum rotates, so as to determine whether a defoaming process needs to be performed and the defoaming intensity based on the foam growth rate obtained from the depth images at different times.

[0095] Specifically, such as Figure 6 As shown, it includes the following steps:

[0096] S2121: If the foam growth rate is less than or equal to the preset rate, then execute a low-intensity defoaming process;

[0097] S2122: If the foam growth rate is greater than the preset rate, a high-intensity defoaming process will be executed.

[0098] Among them, such as Figure 7 As shown, the bubble growth rate is obtained through the following steps:

[0099] S213: Obtain the time difference Δt between depth images at different times;

[0100] S214: Obtain the height difference △H corresponding to the height data of the depth images at different times;

[0101] S215: The foam growth rate is obtained based on the height difference ΔH and the time difference Δt.

[0102] For example, if the foam height is measured at intervals of 0.5 seconds and is successively 30mm and 31mm (i.e., Δt = 0.5mm and ΔH = 1mm), then the foam growth rate is (31-30) / 0.5 = 20mm / s. If the preset rate is set to 25mm / s, then the foam growth rate of 20mm / s is less than the preset rate of 25mm / s, and the defoaming process is not executed.

[0103] In this embodiment, performing defoaming processes of varying intensities based on different foam heights within the inner cylinder reduces energy consumption to some extent.

[0104] In another embodiment, such as Figure 8 As shown, determining whether a defoaming process needs to be performed by using the foam growth rate obtained from depth images at different times also includes:

[0105] S2123: Obtain the bubble growth rate and start timing, with a measurement time of t;

[0106] S2124: Calculate the first time threshold required to reach the preset height based on the foam growth rate;

[0107] S2125: Determine the comparison relationship between t and the first time threshold, and decide whether to start the defoaming process.

[0108] Specifically, determine whether t is greater than or equal to the first time threshold;

[0109] If t is greater than or equal to the first time threshold, then the defoaming process begins;

[0110] If t is less than the first time threshold, then t will continue to be monitored.

[0111] This threshold can be set based on the washing device information and specific needs. The threshold can be a specific value or a range of values.

[0112] For example, if the foam growth rate is 20 mm / s, the preset height is 300 mm, and the initial foam height is 150 mm, the first time threshold can be calculated to be 7.5 seconds. Timing starts when the foam growth rate is obtained, and the defoaming process begins when the time exceeds 7.5 seconds.

[0113] This application uses a depth camera to obtain depth images to accurately distinguish foam data information inside the washing device's inner drum. Based on the foam data information, it can determine if there is excessive foam, so as to promptly execute a defoaming process and avoid foam overflow that could damage the washing device. Timely execution of the defoaming process improves the cleaning efficiency of the washing device. Executing defoaming processes of different intensities according to different foam heights inside the inner drum reduces energy consumption to some extent.

[0114] Example 2

[0115] A washing device is disclosed, along with a method for detecting overflow bubbles within the washing device. A detailed description of the method can be found in the corresponding descriptions in the above-described method embodiments, and will not be repeated here. In some embodiments, the washing device can be a washing machine, and in others, a washer-dryer combo; this embodiment uses a pulsator washing machine as an example.

[0116] like Figure 2 As shown, the washing device includes an inner drum 1, a door 12, a door glass 11, and a sensor 2. The door glass 11 is mounted on the door 12. The washing device includes at least one sensor 2. This sensor can be used to acquire depth images. By acquiring depth images inside the inner drum to obtain point cloud data, the amount of foam is determined based on the point cloud data, and a defoaming process is executed in a timely manner. The sensor for acquiring depth images inside the inner drum of the washing device is installed inside the door glass, on the door seal, or inside the lifting ribs of the washing device.

[0117] In some alternative embodiments, the sensing device 2 is fixedly installed inside the door glass 11. The sensing device 2 obtains a depth image inside the inner cylinder by emitting a matrix light source into the detection space inside the cylinder. Since the sensing device 2 is fixedly installed inside the door glass, its spatial position is fixed, and the detection space is also fixed, which ensures the validity of the data collected by the sensor.

[0118] In some alternative embodiments, the sensing device 2 can also be mounted on the door seal. The sensing device 2 obtains a depth image of the inner cylinder by emitting a matrix light source into the detection space inside the inner cylinder. Since the sensing device 2 is fixedly mounted inside the door seal, its spatial position is fixed, and the detection space is also fixed, which ensures the validity of the data collected by the sensor.

[0119] In some alternative embodiments, the sensor 2 can also be installed inside the lifting rib. The sensor 2 measures the internal environment of the inner cylinder when it is in a specific position. Although the sensor 2 is fixedly installed inside the lifting rib, the position of the sensor is not fixed because the lifting rib rotates with the inner cylinder. Therefore, to ensure the validity of the data collected by the sensor, it is necessary to control the lifting rib to stop at a specific position before acquiring depth images. For example, when the lifting rib containing the sensor 2 rotates to its highest position, the detection space of the sensor 2 is also fixed, ensuring the validity of the data collected by the sensor.

[0120] The sensing device in this embodiment is a TOF camera. The 3D value of the detected object is output as a depth image in the form of a range map or point cloud, and a 2D intensity image and confidence map are also provided for each pixel in the form of grayscale values.

[0121] When using Time-of-Flight (TOF) for 3D data acquisition, it is less affected by the intensity and color of objects, and requires no edge calibration, corner setting, or other functional settings. Therefore, image processing techniques can be used to easily separate objects from the background. This acquisition process is also suitable for moving objects, performing up to 9 million distance measurements per second with millimeter-level accuracy. Compared to other 3D cameras, ToF cameras are more economical, compact, and simple, allowing for easy installation and integration.

[0122] Example 3

[0123] An electronic device 100, such as Figure 9 As shown, the device includes: a memory 101 storing program code; and a processor 102 connected to the memory, which, when executed by the processor, implements a method for detecting overflow bubbles in a washing device. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0124] Example 4

[0125] A computer-readable storage medium 200, such as Figure 10 As shown, it stores program instructions 201, which, when executed, implement a method for detecting overflow bubbles in a washing device. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it will not be repeated here.

[0126] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0127] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

[0128] The apparatus, electronic device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, electronic device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, electronic device, and non-volatile computer storage medium will not be repeated here.

[0129] Those skilled in the art will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

[0130] The systems, apparatuses, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above apparatuses are described separately as various units based on their functions. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in one or more software and / or hardware.

[0131] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0132] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0133] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0134] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0135] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0136] This specification may be described in the general context of computer-executable instructions, such as program units, that are executed by a computer. Generally, program units include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification may also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program units may reside in local and remote computer storage media, including storage devices.

[0137] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0138] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A method for detecting overflow foam in a washing device, characterized in that, Includes the following steps: Point cloud data is obtained based on the depth image inside the inner drum of the washing device; Determine whether a defoaming process needs to be performed based on the point cloud data.

2. The method for detecting overflow foam in a washing device according to claim 1, characterized in that, The depth image is acquired by a sensing device configured within the washing device.

3. The method for detecting overflow foam in a washing device according to claim 1, characterized in that, Specifically, obtaining point cloud data based on the depth image inside the inner drum of the washing device includes: The sensing device is calibrated. The two mutually perpendicular directions of the cross-section of the inner drum of the washing device are the first direction and the second direction, respectively, and the direction of the rotation axis of the inner drum is the third direction. A three-dimensional coordinate system is established. The point cloud data is the projection data of each point in the first direction, the second direction, and the third direction.

4. The method for detecting overflow foam in a washing device according to claim 3, characterized in that, After acquiring point cloud data, the following is also included: The presence of foam inside the inner cylinder is determined based on the point cloud data.

5. The method for detecting overflow foam in a washing device according to claim 4, characterized in that, Determining whether foam exists inside the inner cylinder based on the point cloud data specifically includes: Taking the horizontal direction in the cross-section of the inner cylinder as the first or second direction, determine whether the data fluctuation range of the point cloud data in the second or first direction is within a first threshold. If it does not meet the requirements, then there is no bubble; If the conditions are met, then determine whether the point cloud data has continuity in the third direction; If there is continuity, then there is a bubble.

6. The method for detecting overflow foam in a washing device according to claim 5, characterized in that, It also includes the following steps: if there is no continuity, the inner cylinder is configured to rotate and then continue to collect point cloud data to determine continuity.

7. The method for detecting overflow foam in a washing device according to claim 5, characterized in that, Determining whether a defoaming process needs to be performed based on the point cloud data specifically includes: Acquire the point cloud data in the second or first direction, and record it as height data; The foam height is obtained by filtering based on the height data; Determine whether the foam height exceeds the second threshold; If the foam height exceeds the second threshold, the washing device performs a defoaming process; If the foam height does not exceed the second threshold, the foam height will continue to be monitored.

8. The method for detecting overflow foam in a washing device according to claim 7, characterized in that, If the foam height does not exceed the second threshold, the following steps are also included: Depth images inside the washing device's inner drum are continuously acquired or acquired before and after the inner drum rotates. The foam growth rate obtained from the depth images at different times is used to determine whether a defoaming process needs to be performed and the intensity of defoaming.

9. The method for detecting overflow foam in a washing device according to claim 7, characterized in that, The bubble growth rate is obtained through the following steps: Obtain the time difference Δt between depth images at different times; Obtain the height difference ΔH between the height data corresponding to the depth images at different times; The foam growth rate is obtained by using the height difference ΔH and the time difference Δt.

10. A washing device, characterized in that, The method described in any one of claims 1 to 9 is applied.

11. The washing apparatus according to claim 10, characterized in that, The sensor that collects depth images of the inner drum of the washing machine is installed inside the door glass, door seal, or lifting rib of the washing machine.

12. An electronic device, characterized in that, include: A memory that stores program code; A processor connected to the memory, which, when the program code is executed by the processor, implements the method as described in any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that, It stores program instructions that, when executed, implement the method as described in any one of claims 1 to 9.

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