Laundry control method, system, device and medium based on multi-source fusion perception

Abstract

This application relates to the field of household appliance technology, specifically to a washing control method, system, computer device, and storage medium based on multi-source fusion sensing. The method includes: during the washing stage, determining washing state parameters of the clothes in the tub and water quality change parameters of the washing water based on acquired spatial detection signals and water quality detection signals, respectively; dynamically adjusting the washing control parameters of the washing equipment based on the washing state parameters and the water quality change parameters until washing is complete; during the rinsing or spin-drying stage, acquiring real-time operating parameters of the washing equipment's drive motor; if the real-time operating parameters meet preset operating conditions, switching to a first sensing mode and performing foam state evaluation based on drive load parameters; if the real-time operating parameters do not meet the preset operating conditions, switching to a second sensing mode to perform foam state evaluation based on the spatial detection signals; and controlling the washing equipment to perform rinsing actions based on the foam state evaluation results.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and more specifically, to a washing machine control method, system, computer device, and storage medium based on multi-source fusion sensing. Background Technology

[0002] Currently, in the field of washing equipment control, single-sensor or simple multi-sensor parallel detection methods are commonly used to achieve automated control of the washing process. However, existing solutions are relatively isolated in terms of sensing dimensions, lacking in-depth utilization of the coupling relationship between the physical motion state of clothing and the chemical / physical parameters of water quality, resulting in lagging or insufficient accuracy in washing strategy adjustments. Simultaneously, during the rinsing or spin-drying stages, the high-frequency vibrations and electromagnetic interference generated by the high-speed operation of the motor severely affect the detection accuracy of spatial detection sensors. Furthermore, relying solely on motor load feedback makes it difficult to accurately determine the foam state under low-speed or abnormal operating conditions, leading to poor foam detection robustness and a tendency for misjudgments or missed detections, thus affecting washing performance and operational safety.

[0003] Therefore, there is an urgent need for a multi-source fusion sensing and control method that can adapt to complex working conditions and provide comprehensive perception. Summary of the Invention

[0004] This application provides a washing control method, system, computer device, and storage medium based on multi-source fusion sensing.

[0005] The first aspect of this application provides a laundry control method based on multi-source fusion sensing, comprising: During the washing stage, based on the acquired spatial detection signals and water quality detection signals, the washing status parameters of the clothes in the tub and the water quality change parameters of the washing water are determined respectively. The washing control parameters of the washing equipment are dynamically adjusted based on the washing status parameters and the water quality change parameters until the washing is completed. During the rinsing or dehydration stage, the real-time operating parameters of the drive motor of the washing equipment are obtained; If the real-time operating parameters meet the preset operating conditions, switch to the first sensing mode and perform foam state assessment based on the driving load parameters; if the real-time operating parameters do not meet the preset operating conditions, switch to the second sensing mode to perform foam state assessment based on the space detection signal. The washing machine is controlled to perform rinsing actions based on the foam state assessment results.

[0006] In one optional embodiment of this application, the washing state parameters include a motion efficiency index and / or a tangling degree index, and the water quality change parameters include a water turbidity value; The step of dynamically adjusting the washing control parameters of the washing equipment based on the washing status parameters and the water quality change parameters until the washing is completed includes: The washing cycle is adjusted based on the water turbidity value and the motion efficiency index. Based on the water turbidity value and the entanglement index, anti-entanglement intervention or adjustment of the washing water level is performed.

[0007] In an optional embodiment of this application, adjusting the washing cycle based on the water turbidity value and the motion efficiency index includes: If the water turbidity value is greater than or equal to the preset turbidity threshold, and the motion efficiency index is greater than or equal to the first efficiency threshold, then the operation of shortening the washing cycle or reducing the motor start-stop ratio is executed. If the water turbidity value is greater than or equal to a preset turbidity threshold, and the motion efficiency index is less than a second efficiency threshold, then the operation of raising the washing water level or extending the washing time is performed; and / or, The step of performing anti-tangling intervention or adjusting the washing water level based on the water turbidity value and the tangling index includes: If the water turbidity value is greater than or equal to the third concentration threshold, and the entanglement index is greater than the first entanglement threshold, then the water level raising and anti-entanglement actions are performed.

[0008] In one optional embodiment of this application, the real-time operating parameters include the real-time rotational speed of the drive motor; correspondingly, the preset operating condition is whether the real-time rotational speed of the drive motor reaches a preset rotational speed range.

[0009] In an optional embodiment of this application, the foam state assessment based on driving load parameters includes: The operating current of the drive motor within the preset speed range is obtained, and the operating current is compared with a plurality of preset foam current limits; The foam level is determined based on the comparison results, and the rinsing action is controlled based on the foam level; and / or, The foam state assessment based on the space probe signal includes: Extract the reflection characteristics of the spatial detection signal within the washing tub; wherein the reflection characteristics include at least one of the following: change in reflection cross-sectional area, signal attenuation, or change in dielectric constant; The foam level is determined based on the change in the reflection characteristics, and the rinsing action is controlled based on the foam level.

[0010] In an optional embodiment of this application, prior to the washing stage, the method further includes: The space detection unit is activated to emit a detection signal. Based on the intensity, delay time, and signal characteristics of the received echo signal, the load and material type of the underwear in the washing tub are calculated. Based on the load and the material type, initial washing parameters are determined; wherein, the initial washing parameters include at least one of the following: washing water volume, washing time, motor start-stop ratio, detergent dosage, and spin-drying speed.

[0011] In an optional embodiment of this application, the method further includes: The distance between the user and the washing equipment is collected; In response to the distance being less than a first preset distance value, the device interaction interface of the washing equipment is activated; In response to the distance continuously exceeding a second preset distance value, the washing device is controlled to enter sleep mode and the device's interactive interface is closed; and / or, During the operation of the washing equipment or when a remote control command is received, the space detection unit is activated to transmit a signal into the tub. Extract low-frequency micro-motion features from the received echo signal, and determine whether the frequency of the low-frequency micro-motion features is within the preset live animal sensing frequency range and whether the live animal is located in the internal space region of the barrel. If the frequency of the low-frequency micro-motion feature is within the range of the living creature sensing frequency and the living creature is located in the internal space area, then the operation of the washing equipment will be stopped and an alarm will be triggered.

[0012] A second aspect of this application provides a laundry control system based on multi-source fusion sensing, comprising: The determination module is used to determine the washing status parameters of the clothes in the tub and the water quality change parameters of the washing water based on the acquired spatial detection signals and water quality detection signals during the washing stage. The adjustment module dynamically adjusts the washing control parameters of the washing equipment based on the washing status parameters and the water quality change parameters until the washing is finished. The acquisition module is used to acquire the real-time operating parameters of the drive motor of the washing equipment during the rinsing or dehydration stage. The evaluation module is used to switch to the first sensing mode and evaluate the foam state based on the driving load parameters if the real-time operating parameters meet the preset operating conditions; and to switch to the second sensing mode to evaluate the foam state based on the space detection signal if the real-time operating parameters do not meet the preset operating conditions. The control module is used to control the washing equipment to perform rinsing actions based on the foam state assessment results.

[0013] A third aspect of this application provides a computer device, including: a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above methods.

[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the preceding claims.

[0015] The multi-source fusion sensing laundry control method provided in this application achieves refined control of the washing process during the washing stage by utilizing two-dimensional spatial and water quality data from spatial detection signals and water quality detection signals. During the rinsing and spin-drying stage, it adaptively switches sensing modes based on the real-time operating parameters of the washing equipment's drive motor, ensuring the robustness of foam detection across the entire domain. It fully leverages the advantages of different sensors under various operating conditions to comprehensively perceive the washing status, fundamentally improving the intelligence level and operational reliability of the washing equipment. In summary, this application provides a laundry control method with higher intelligence and reliability, capable of adapting to complex operating conditions and providing comprehensive sensing. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of a laundry device in a multi-source fusion sensing laundry control method provided in one embodiment of this application; Figure 2 A flowchart of a multi-source fusion sensing laundry control method provided in one embodiment of this application; Figure 3 A schematic diagram of a multi-source fusion sensing laundry control system provided in one embodiment of this application; Figure 4 This is a schematic diagram of a computer device structure provided in one embodiment of this application. Detailed Implementation

[0017] In the process of developing this application, the inventors discovered an urgent need for a multi-source fusion sensing control method that can adapt to complex working conditions and provide comprehensive sensing capabilities. To address the aforementioned problem, embodiments of this application provide a laundry control method, system, computer device, and storage medium based on multi-source fusion sensing.

[0018] The solutions in this application embodiment can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0019] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0020] The washing control method based on multi-source fusion sensing provided in this application is applied to a washing control system, which includes at least the following: Figure 1 The system includes various sensor data acquisition modules such as millimeter-wave radar sensors, turbidity sensors, temperature sensors, water level sensors, motor sensing modules, and MCU controllers. These are not exhaustive and can be flexibly selected or configured according to actual needs. A millimeter-wave radar sensor is a human detection radar sensor integrated into the display panel for sensing the distance between the user and the washing machine. Other components include: a turbidity sensor installed at the washing machine door seal to detect the load of clothes, degree of tangling, movement efficiency, and the presence of living beings; a temperature sensor located between the inner and outer drums to detect the turbidity of the water; a water temperature sensor located at the bottom of the outer drum; a water level sensor installed on the side of the machine and connected to the air chamber via a vent hose to detect the water level; a motor sensing module integrated into the motor drive board to drive and detect the motor's operating status and load parameters during operation; and an MCU controller integrated into the washing machine's computer board for data acquisition and processing from various sensors, ultimately converting the data into control commands and enabling communication with the user's remote terminal.

[0021] Example 1 Please see Figure 1 and Figure 2 The washing machine control method based on multi-source fusion sensing provided in this application includes the following steps 100-500: Step 100: During the washing stage, based on the acquired spatial detection signal and water quality detection signal, determine the washing state parameters of the clothes in the tub and the water quality change parameters of the washing water, respectively.

[0022] Space detection signals refer to washing parameter information or environmental information of washing equipment obtained through non-contact sensing. Water quality detection signals refer to parameter signals used to characterize the evolution of the physicochemical properties of the washing medium.

[0023] Step 200: Dynamically adjust the washing control parameters of the washing equipment based on the washing status parameters and water quality change parameters until the washing is completed.

[0024] For example, when water quality parameters indicate a slowing rate of dirt leaching while washing status parameters show that clothing movement efficiency remains high, the system can determine that the cleaning target has been achieved or is close to being achieved, and then adjust the washing control parameters to shorten the remaining washing time or reduce the intensity of mechanical action. Conversely, if water quality parameters indicate that dirt concentration is still high but washing status parameters show that clothing movement is obstructed, the system can identify potential tangling risks or uneven load problems, and adjust the washing control parameters accordingly to improve clothing movement. The washing control parameters in this embodiment can be, for example, all adjustable execution variables such as motor start-stop ratio, drum speed, water inlet and outlet volume, detergent dosage, water temperature, and washing time. These are not exhaustive and can be flexibly selected or set according to actual conditions.

[0025] Step 300: During the rinsing or spin-drying stage, obtain the real-time operating parameters of the washing equipment drive motor.

[0026] The real-time operating parameters may include, but are not limited to, physical quantities that characterize the current dynamic state of the motor, such as the motor's real-time speed, torque fluctuation rate, or back electromotive force.

[0027] Step 400: If the real-time operating parameters meet the preset operating conditions, switch to the first sensing mode and perform foam state assessment based on the driving load parameters; if the real-time operating parameters do not meet the preset operating conditions, switch to the second sensing mode to perform foam state assessment based on the space detection signal.

[0028] The preset operating conditions refer to the drive motor being in a relatively stable speed range or load state suitable for the operation of a specific sensor. When the real-time operating parameters meet these conditions, it means that the drive load parameters (such as motor current, power factor, etc.) under the current operating conditions have a high signal-to-noise ratio and sensitivity to the resistance changes caused by foam. Therefore, the system automatically switches to the first sensing mode, using electrical feedback to quickly and accurately quantify the foam magnitude. Conversely, when the real-time operating parameters do not meet the preset operating conditions, such as when the motor is in abnormal conditions like low-speed start-up, speed transition, or inability to accelerate due to eccentricity, the drive load parameters are often severely interfered with by factors such as mechanical vibration and friction noise. In this case, the system switches to the second sensing mode, using spatial detection signals to perform non-contact assessment of the foam.

[0029] As a porous medium, foam has significantly different characteristics in reflecting, scattering, or attenuating electromagnetic waves or sound waves compared to liquid water and solid clothing. Therefore, even when the motor is running at low speed or in an unstable state, the spatial detection signal can still maintain a relatively stable foam characterization capability, ensuring that reliable data support can be obtained for foam detection under any operating condition, thereby avoiding incomplete rinsing or ineffective defoaming due to misjudgment.

[0030] Step 500: Control the washing equipment to perform rinsing actions based on the foam state assessment results.

[0031] For example, when the assessment results show that the foam level is below the safety threshold, the system can control the equipment to complete the rinsing process according to the standard procedure or directly proceed to the next dehydration stage; when the assessment results show that the foam level is moderate, the system can automatically add an extra rinsing cycle; and when the assessment results show that the foam level is too high or even at risk of overflow, the system can prioritize triggering a defoaming procedure (such as intermittent forward and reverse rotation, spray dilution, or heating to break the foam), and continue the regular rinsing after the foam level has decreased. This graded response rinsing strategy achieves on-demand allocation of rinsing resources, ensuring the safety of the final garments without residue, while avoiding unnecessary excessive rinsing and the resulting water and electricity consumption.

[0032] The multi-source fusion sensing laundry control method provided in this application achieves refined control of the washing process during the washing stage by utilizing two-dimensional spatial and water quality data from spatial detection signals and water quality detection signals. During the rinsing and spin-drying stage, it adaptively switches sensing modes based on the real-time operating parameters of the washing equipment's drive motor, ensuring the robustness of foam detection across the entire domain. It fully leverages the advantages of different sensors under various operating conditions to comprehensively perceive the washing status, fundamentally improving the intelligence level and operational reliability of the washing equipment. In summary, this application provides a laundry control method with higher intelligence and reliability, capable of adapting to complex operating conditions and providing comprehensive sensing.

[0033] Example 2 Based on Example 1, this example further refines the specific logic for dynamically adjusting the washing control parameters of the washing equipment during the washing stage based on washing state parameters and water quality change parameters. In this example, the washing state parameters include motion efficiency indicators and / or entanglement indicators, and the water quality change parameters include water turbidity values.

[0034] The motion efficiency index is a quantitative value calculated by analyzing the frequency, amplitude, and uniformity of clothing tumbling in the spatial detection signal. It is used to characterize the effectiveness of mechanical force acting on clothing. The entanglement index is determined based on the volume ratio or morphological entropy value of clothing agglomerates in the spatial detection signal. It is used to characterize the entanglement state of clothing in the bucket. The water turbidity value is obtained directly from the water quality detection signal and characterizes the concentration of suspended pollutant particles in the water.

[0035] Correspondingly, step 200 above, which involves dynamically adjusting the washing control parameters of the washing equipment based on washing status parameters and water quality change parameters until the washing is completed, includes the following steps 210-220: Step 210: Adjust the washing cycle based on water turbidity value and motion efficiency index.

[0036] For example, when the water turbidity value remains at a high level and the motion efficiency index is also high, it indicates that the clothes are undergoing sufficient mechanical rubbing and a large amount of dirt is still being released. At this time, the system determines that it is in the high-efficiency cleaning stage, and maintains the current washing intensity or shortens the remaining washing cycle in a timely manner according to the preset curve to avoid over-washing and damaging the clothes. Conversely, if the water turbidity value is high but the motion efficiency index is significantly low, it may mean that the clothes are too heavy and the tumbling is weak, or that too much detergent foam masks the true turbidity. In this case, the washing time is extended or the water level is increased to improve the washing environment.

[0037] Step 220: Implement anti-tangling intervention or adjust the washing water level based on the water turbidity value and tangling index.

[0038] During actual washing, if the turbidity value of the water stops decreasing or even fluctuates, and the tangling index exceeds the normal range, this usually does not mean the clothes are clean. Rather, it means the clothes are severely tangled, hindering the penetration and exchange of washing water, causing distortion in the turbidity detected by the sensor in certain areas. In this situation, the system will trigger anti-tangling intervention actions, such as alternating forward and reverse rotation, a shaking program, or pausing agitation, while simultaneously increasing the washing water level to increase buoyancy and assist in untangling. Conversely, if the turbidity value decreases steadily and the tangling index is low, it indicates that the washing process is smooth and no additional intervention is needed.

[0039] This embodiment adjusts the washing cycle based on the water turbidity value and the motion efficiency index, and performs anti-tangling intervention or adjusts the washing water level based on the water turbidity value and the tangling degree index. This not only ensures the uniformity of the washing effect, but also reduces the risk of motor overload and clothing wear caused by clothing tangling from the source, thereby improving the washing effect and washing safety performance.

[0040] Example 3 Step 210 above, adjusting the washing cycle based on water turbidity and motion efficiency indicators, includes the following two situations: In the first case, if the water turbidity value is greater than or equal to the preset turbidity threshold and the motion efficiency index is greater than or equal to the first efficiency threshold, then the operation of shortening the washing cycle or reducing the motor start-stop ratio will be performed. The preset turbidity threshold can be an absolute concentration value or a difference threshold relative to the initial turbidity baseline value of the washing water (e.g., ΔT1), used to confirm that there is still a sufficient amount of dirt precipitated in the water; the first efficiency threshold E1 is used to characterize the state of sufficient tumbling of clothes and effective mechanical force transmission. When both are satisfied, it indicates that the current washing intensity is sufficient to quickly remove stains, and the system can confidently perform operations to shorten the washing cycle (e.g., reduce the remaining time by 5-10 minutes) or reduce the motor start-stop ratio (e.g., adjust from 15 seconds forward rotation followed by 5 seconds of stop to 10 seconds forward rotation followed by 8 seconds of stop), thereby significantly saving energy and protecting clothes while ensuring washing cleanliness.

[0041] In the second case, if the water turbidity value is greater than or equal to the preset turbidity threshold and the motion efficiency index is less than the second efficiency threshold E2 (E2≤E1), then the operation of raising the washing water level or extending the washing time is performed. For example, at a certain washing moment, the turbidity value of the water is detected to be higher than the preset turbidity threshold, but the motion efficiency index is lower than the second efficiency threshold E2. In this case, traditional solutions rely solely on the turbidity threshold for judgment and control, which may lead the system to misjudge that the water is still very dirty and requires continued high-intensity washing. This implementation, by introducing the motion efficiency index, allows the system to identify this as an abnormal "inefficient and turbid" condition. The high turbidity at this time is not due to efficient stain removal, but is most likely due to the heavy load of clothes causing weak tumbling, insufficient detergent dissolution creating a false impression of localized high concentration, or excessive foam interfering with the detection of the optical sensor. In this situation, if the cycle is shortened incorrectly, the washing efficiency will inevitably drop significantly; even if the original cycle is maintained, insufficient mechanical force may prevent effective stain removal. Therefore, this embodiment uses a dual-parameter joint judgment of the preset turbidity threshold and the motion efficiency index to accurately identify this condition and trigger an increase in the washing water level (increasing buoyancy to assist tumbling) or an extension of the washing time (compensating for insufficient mechanical work), thereby avoiding the blind spot of single-parameter decision-making and improving the reliability of washing condition judgment.

[0042] In an optional embodiment, step 220 above, which involves performing anti-tangling intervention or adjusting the washing water level based on the water turbidity value and tangling index, includes the following steps: If the water turbidity value is greater than or equal to the third concentration threshold and the entanglement index is greater than the first entanglement threshold, then the water level will be raised and anti-entanglement actions will be performed.

[0043] The third concentration threshold ΔT3 and the first entanglement threshold Q1 form a coupled judgment condition. In actual washing processes, sometimes the turbidity value of the water remains high or even fluctuates upwards, but the clothes are not clean. This is because severely entangled clothes form dense clumps that hinder the overall circulation and exchange of washing water within the drum, causing a lag in water renewal in the sensor area. The detected turbidity value is actually old data from a localized stagnant water zone, rather than the true cleanliness of the entire drum of water. This embodiment judges the situation by comprehensively considering both the turbidity value and the entanglement index. Only when both exceed the limit is it determined to be a "turbidity distortion caused by entanglement" condition, and then immediately executes actions such as raising the water level (using buoyancy to loosen the clothes) and anti-entanglement actions (e.g., alternating forward and reverse shaking, pausing agitation, etc.). This ensures the timeliness and accuracy of anti-entanglement intervention, avoiding energy waste and the risk of clothing wear caused by ineffective washing.

[0044] Example 4 Real-time operating parameters include the real-time speed of the drive motor; correspondingly, the preset operating condition is whether the real-time speed of the drive motor reaches the preset speed range.

[0045] For example, the preset speed range can be set to 250 rpm to 300 rpm, or calibrated to other speed ranges that can ensure the stability of the motor's back electromotive force and keep the mechanical vibration at a controllable level, depending on the number of motor pole pairs and load characteristics.

[0046] The motor sensing module is configured to continuously collect real-time speed feedback from the drive motor during the rinsing or dehydration stage and send it to the MCU controller. The MCU controller has pre-stored threshold data for the aforementioned preset speed range and uses a real-time comparison algorithm to determine whether the current speed falls within that range. This embodiment, without increasing hardware costs, effectively compensates for the limitations of a single sensor in determining the operating conditions through software-level numerical judgment alone, thereby improving the accuracy and robustness of rinsing control under all operating conditions.

[0047] Example 5 The foam state assessment based on the driving load parameters in step 400 above includes the following steps 410-420: Step 410: Obtain the operating current of the drive motor within the preset speed range, and compare the operating current with multiple preset foam current limits; The control system has multiple pre-stored foam current limits, which are current threshold boundaries characterizing different degrees of foam accumulation, obtained through extensive experimental calibration. For example, a first foam current limit q1, a second foam current limit q3, and a third foam current limit q4 are set, where q1... <q3<q4。

[0048] Step 410: Determine the foam level based on the comparison results, and control the rinsing action based on the foam level.

[0049] When the real-time collected operating current q is less than q1, it is determined that the foam level is low or there is no foam residue. The system control equipment completes the rinsing process according to the standard procedure or directly enters the dehydration stage. When q is between q1 and q3, it is determined to be a medium foam level, and the system automatically adds an extra rinsing cycle to ensure cleaning. When q is greater than q3 or even exceeds q4, it is determined to be a high foam level or there is a risk of overflow. The system prioritizes triggering defoaming actions (such as performing intermittent forward and reverse shaking, spray dilution, or heating to break bubbles), and continues the subsequent rinsing procedure only after the operating current drops back to a safe range. This embodiment is based on a graded response strategy with multi-level current limits, making full use of the high signal-to-noise ratio of motor load feedback under high-speed operating conditions to achieve rapid quantification and precise handling of foam status.

[0050] In an optional embodiment of this application, the foam state assessment based on space probe signals in step 400 above includes the following steps 430-440: Step 430: Extract the changes in the reflection characteristics of the spatial detection signal inside the washing tub; Among them, the changes in reflection characteristics include at least one of the following: changes in reflection cross-sectional area, changes in signal attenuation, or changes in dielectric constant; Step 440: Determine the foam level based on the change in reflection characteristics, and control the execution of rinsing actions based on the foam level.

[0051] When the space detection unit emits electromagnetic wave signals into the tank, the foam layer may cause negative effects such as changes in the reflection cross-sectional area of ​​the echo signal, signal attenuation, and changes in the dielectric constant. This embodiment of the application determines the foam level based on changes in reflection characteristics and controls the rinsing action based on the foam level. This achieves foam perception under low-speed conditions, ensuring that the system can obtain reliable foam assessment data regardless of the motor's operating state, thereby guaranteeing the continuity and robustness of the rinsing control strategy across the entire operating range.

[0052] Example 6 Prior to the washing stage, the aforementioned washing control method based on multi-source fusion sensing also includes the following steps: The space detection unit is activated to emit a detection signal. Based on the intensity, delay time, and signal characteristics of the received echo signal, the load and material type of the underwear in the washing tub are calculated.

[0053] Based on the load and the material type, initial washing parameters are determined; wherein, the initial washing parameters include at least one of the following: washing water volume, washing time, motor start-stop ratio, detergent dosage, and spin-drying speed.

[0054] For example, a parameter matching mapping table or adaptive calculation model with multiple load ranges and material combinations can be pre-built. Once the specific load value and material category are obtained, the system automatically looks up the table or calculates to generate a set of optimal initial washing parameters. Through the precise pre-identification in this embodiment, dynamic adjustments are always fine-tuned under a reasonable initial state, thereby significantly improving the convergence speed and robustness of the entire multi-source fusion sensing and control system. Furthermore, these initial parameters can also serve as a prerequisite for calibrating water quality detection signal benchmark values ​​(such as turbidity in clear water), ensuring that the calculation of subsequent water quality change parameters is not affected by initial water volume errors, further strengthening the inherent consistency of multi-source data fusion.

[0055] Before washing, the environment inside the drum is relatively still with extremely low interference noise. At this time, electromagnetic wave signals emitted into the drum by spatial detection units such as radar achieve optimal signal transmission. The intensity of the echo signal is positively correlated with the total reflective cross-sectional area of ​​the clothing. Through integration, the volume of the clothing can be accurately calculated, thus estimating the load weight. The delay time corresponds to the distance from the detection unit to the clothing surface; combined with the drum's geometric model, this helps correct the accuracy of the load calculation. Signal characteristics such as spectral broadening, polarization ratio, or phase noise ensure the dielectric properties of the clothing material. Differences in different physical properties cause the echo signal to exhibit distinguishable characteristics in amplitude attenuation, phase shift, and Doppler spectrum. In an optional embodiment, the material type of the clothing can be calculated from the signal characteristics using a pre-trained material classification model or feature matching algorithm.

[0056] For example, if the initial load is 2kg and the material is wool, the automatic washing water volume is 25L, the washing time is 15 minutes, the rinsing time is 2 times, the spin-drying time is 3 minutes, the spin-drying speed is 500rpm, the motor start-stop ratio is 3 seconds ON-8 seconds OFF, and the dispensing volume is 25ml.

[0057] During the motor-stationary phase: Water is added up to 10L, and the turbidity sensor detects a turbidity value of Tub0 = 200 in the clean water. Then, water is added to the set volume (another 20L) and the washing cycle begins. During the washing process, the tangling degree Q and movement efficiency E of the clothes are continuously monitored via radar. The turbidity value Tub (Tub0-20) is measured every 3 minutes. The turbidity and radar monitoring data are fused and processed for judgment. For the first 3 minutes, Tub=190, Q=15, E=45: Tub≥(Tub0-20) and Q<30: the clothes are quite dirty, continue washing; In the second 3-minute interval, Tub=180, Q=16, E=70: Tub≥(Tub0-20) and E≥60: there is still dirt precipitation, continue the subsequent process; The third 3-minute interval (Tub=181, Q=20, E=69) indicates that the turbidity value has not changed significantly compared to the previous interval. It is assumed that the dirt has been largely removed and the degree of entanglement has increased. Therefore, washing will not continue to avoid excessive entanglement, and the process will proceed to the subsequent rinsing process.

[0058] After draining, during the spin-drying process after rinsing, control the motor speed to the spin-drying range of 250rpm-300rpm and maintain it for about 25 seconds. The motor feedback current q=2.0A, the foam current limit q1=1.5A, q2=2.1A, q3=2.5A, q1≤ q≤ q3, the foam is moderate, and an additional rinsing action is added.

[0059] Example 7 The above-mentioned washing control method based on multi-source fusion sensing also includes the following steps 610-630: Step 610: Collect the distance between the user and the washing equipment; The spatial detection unit utilizes the time-of-flight principle of electromagnetic or sound waves to calculate the radial distance of the user's body relative to the front of the washing equipment in real time. This non-contact distance sensing mechanism fundamentally changes the passive interaction mode of traditional washing equipment that relies on tactile or close-range visual confirmation, providing precise spatial location input for subsequent proactive intelligent services.

[0060] Step 620: In response to the distance being less than a first preset distance value, wake up the device interaction interface of the washing equipment; The first preset distance value defines the effective spatial boundary for user intervention, and can be set to any value between 0.8 meters and 1.2 meters. When a user is detected entering this range, the control system determines that the user is operating or viewing the device, and generates a wake-up command to drive the device's interface to switch from a low-power standby state to an active working state.

[0061] Step 630: In response to the distance being continuously greater than the second preset distance value, control the washing device to execute a sleep mode and close the device's interactive interface; The second preset distance value defines the confirmation boundary when the user leaves without any intention to operate. Its value is usually set to be greater than or equal to the first preset distance value, such as 1 meter to 1.5 meters. This creates a hysteresis interval between the first preset distance value and the second preset distance value, preventing the device's interactive interface from frequently switching between wake-up and sleep states when the user only stays or passes by the device briefly, thereby avoiding light pollution, unnecessary power consumption, and device lifespan loss.

[0062] Example 8 The above-mentioned washing control method based on multi-source fusion sensing further includes the following steps 640-660: Step 640: During the operation of the washing equipment or when a remote control command is received, activate the space detection unit to transmit a signal into the tub; For example, the MCU controller activates the space detection unit to emit millimeter radar waves, which transmit signals into the washing tub. At the same time, the echo signal is detected and the low-frequency micro-motion characteristics in the echo signal are extracted.

[0063] Step 650: Extract the low-frequency micro-motion features from the received echo signal, and determine whether the frequency of the low-frequency micro-motion features is within the preset live animal sensing frequency range (Fl~Fh) and whether the live animal is located in the internal space region of the barrel. Low-frequency micro-motion characteristics refer to the periodic physiological movements produced by living organisms under non-conscious control, mainly including chest rise and fall caused by breathing and micro-vibrations on the body surface caused by heartbeat. This embodiment solves the problem of false alarms caused by environmental interference in traditional single presence detection by using a dual verification logic of "spectral characteristics + spatial location".

[0064] Step 660: If the frequency of the low-frequency micro-motion feature is within the range of the living creature sensing frequency and the living creature is located in the internal space area, then stop the operation of the washing equipment and trigger an alarm.

[0065] The system determines whether the detection frequency is within the liveness detection frequency range (Fl~Fh) and whether the live creature is located inside the washing machine. If a live creature is detected, the washing process stops and an alarm is triggered. Simultaneously, an alarm message is sent to the user terminal via the remote module to remind the user to confirm the security of the remote control.

[0066] Through bandpass filtering and spectral analysis algorithms, the system can accurately extract weak signals belonging to living organisms from complex background noise. Only when the target point cloud coordinates with extracted low-frequency micro-motion features fall within the volume range defined by the electronic fence are they confirmed as valid living targets. This spatial constraint mechanism effectively eliminates external interference sources such as pets lying on the washing machine lid, users staying close to the equipment, or ground vibrations, ensuring extremely high confidence in the detection results. This embodiment, by setting up this alarm mechanism, effectively prevents children or pets from accidentally entering the drum unattended during washing machine operation, improving overall operational safety and reliability.

[0067] It should be understood that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order constraint on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the diagram may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0068] Please see Figure 3 One embodiment of this application provides a washing control system 300 based on multi-source fusion sensing, including: The determination module 310 is used to determine the washing state parameters of the clothes in the tub and the water quality change parameters of the washing water based on the acquired spatial detection signal and water quality detection signal during the washing stage. The adjustment module 320 dynamically adjusts the washing control parameters of the washing equipment based on the washing status parameters and the water quality change parameters until the washing is finished. The acquisition module 330 is used to acquire the real-time operating parameters of the drive motor of the washing equipment during the rinsing or dehydration stage. The evaluation module 340 is used to switch to the first sensing mode and perform foam state evaluation based on the driving load parameters if the real-time operating parameters meet the preset operating conditions; and to switch to the second sensing mode to perform foam state evaluation based on the space detection signal if the real-time operating parameters do not meet the preset operating conditions. The control module 350 is used to control the washing equipment to perform rinsing actions based on the foam state assessment results.

[0069] In one optional embodiment of this application, the washing state parameters include a motion efficiency index and / or a tangling index, and the water quality change parameters include a water turbidity value; the adjustment module is specifically used to adjust the washing cycle based on the water turbidity value and the motion efficiency index; and to perform anti-tangling intervention or adjust the washing water level based on the water turbidity value and the tangling index.

[0070] In one optional embodiment of this application, the adjustment module 320 is specifically used to: shorten the washing cycle or reduce the motor start-stop ratio if the water turbidity value is greater than or equal to a preset turbidity threshold and the motion efficiency index is greater than or equal to a first efficiency threshold; increase the washing water level or extend the washing time if the water turbidity value is greater than or equal to a preset turbidity threshold and the motion efficiency index is less than a second efficiency threshold; and / or, the adjustment module is specifically used to: increase the water level and perform anti-tangling actions if the water turbidity value is greater than or equal to a third concentration threshold and the tangling index is greater than a first tangling threshold.

[0071] In one optional embodiment of this application, the real-time operating parameters include the real-time rotational speed of the drive motor; correspondingly, the preset operating condition is whether the real-time rotational speed of the drive motor reaches a preset rotational speed range.

[0072] In an optional embodiment of this application, the evaluation module 340 is specifically configured to: acquire the operating current of the drive motor within the preset speed range, and compare the operating current with a plurality of preset foam current limits; determine the foam level based on the comparison result, and control the execution of the rinsing action based on the foam level; the evaluation module 340 is specifically configured to: extract the reflection characteristic changes of the spatial detection signal in the space inside the washing tub; wherein the reflection characteristic changes include at least one of: reflection cross-sectional area change, signal attenuation degree, or dielectric constant change; determine the foam level based on the reflection characteristic changes, and control the execution of the rinsing action based on the foam level.

[0073] In an optional embodiment of this application, the determining module 310 is further configured to: activate the space detection unit to transmit a detection signal; calculate the load and material type of the underwear in the washing tub based on the intensity, delay time, and signal characteristics of the received echo signal; and determine the initial washing parameters based on the load and the material type; wherein the initial washing parameters include at least one of the following: washing water volume, washing time, motor start-stop ratio, detergent dosage, and spin-drying speed.

[0074] In an optional embodiment of this application, the control module 350 is further configured to: collect the distance between the user and the washing device; wake up the device interaction interface of the washing device in response to the distance being less than a first preset distance value; control the washing device to execute a sleep mode and close the device interaction interface in response to the distance being continuously greater than a second preset distance value; and / or, the control module is further configured to: activate the space detection unit to transmit a signal into the tub during the operation of the washing device or when a remote control command is received; extract low-frequency micro-motion features from the received echo signal; determine whether the frequency of the low-frequency micro-motion features is within a preset live animal sensing frequency range and whether the live animal is located in the internal space area of ​​the tub; if the frequency of the low-frequency micro-motion features is within the live animal sensing frequency range and the live animal is located in the internal space area, then stop the operation of the washing device and trigger an alarm.

[0075] For specific limitations regarding the aforementioned washing control system 300 based on multi-source fusion sensing, please refer to the limitations of the washing control method based on multi-source fusion sensing mentioned above, which will not be repeated here. Each module in the aforementioned washing control system 300 based on multi-source fusion sensing can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0076] In one embodiment, a computer device is provided, the internal structure of which can be as follows: Figure 4 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the above-described washing control method based on multi-source fusion sensing. It includes: a memory and a processor; the memory stores a computer program; and the processor executes the computer program to implement any step of the above-described washing control method based on multi-source fusion sensing.

[0077] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, can implement any of the steps in the washing control method based on multi-source fusion sensing described above.

[0078] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0079] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] 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.

[0081] 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.

[0082] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0083] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A laundry control method based on multi-source fusion sensing, characterized in that, include: During the washing stage, based on the acquired spatial detection signals and water quality detection signals, the washing status parameters of the clothes in the tub and the water quality change parameters of the washing water are determined respectively. The washing control parameters of the washing equipment are dynamically adjusted based on the washing status parameters and the water quality change parameters until the washing is completed. During the rinsing or dehydration stage, the real-time operating parameters of the drive motor of the washing equipment are obtained; If the real-time operating parameters meet the preset operating conditions, switch to the first sensing mode and perform a foam state assessment based on the driving load parameters; If the real-time operating parameters do not meet the preset operating conditions, switch to the second sensing mode to perform foam state assessment based on the space detection signal; The washing machine is controlled to perform rinsing actions based on the foam state assessment results.

2. The method according to claim 1, characterized in that, The washing status parameters include motion efficiency index and / or entanglement index, and the water quality change parameters include water turbidity value; The step of dynamically adjusting the washing control parameters of the washing equipment based on the washing status parameters and the water quality change parameters until the washing is completed includes: The washing cycle is adjusted based on the water turbidity value and the motion efficiency index. Based on the water turbidity value and the entanglement index, anti-entanglement intervention or adjustment of the washing water level is performed.

3. The method according to claim 2, characterized in that, The adjustment of the washing cycle based on the water turbidity value and the motion efficiency index includes: If the water turbidity value is greater than or equal to the preset turbidity threshold, and the motion efficiency index is greater than or equal to the first efficiency threshold, then the operation of shortening the washing cycle or reducing the motor start-stop ratio is executed. If the water turbidity value is greater than or equal to a preset turbidity threshold, and the motion efficiency index is less than a second efficiency threshold, then the operation of raising the washing water level or extending the washing time is performed; and / or, The step of performing anti-tangling intervention or adjusting the washing water level based on the water turbidity value and the tangling index includes: If the water turbidity value is greater than or equal to the third concentration threshold, and the entanglement index is greater than the first entanglement threshold, then the water level raising and anti-entanglement actions are performed.

4. The method according to claim 1, characterized in that, The real-time operating parameters include the real-time rotational speed of the drive motor; correspondingly, the preset operating condition is whether the real-time rotational speed of the drive motor reaches the preset rotational speed range.

5. The method according to claim 4, characterized in that, The foam state assessment based on driving load parameters includes: The operating current of the drive motor within the preset speed range is obtained, and the operating current is compared with a plurality of preset foam current limits; The foam level is determined based on the comparison results, and the rinsing action is controlled based on the foam level; and / or, The foam state assessment based on the space probe signal includes: Extract the reflection characteristics of the spatial detection signal within the washing tub; wherein the reflection characteristics include at least one of the following: change in reflection cross-sectional area, signal attenuation, or change in dielectric constant; The foam level is determined based on the change in the reflection characteristics, and the rinsing action is controlled based on the foam level.

6. The method according to claim 1, characterized in that, Prior to the washing stage, the method further includes: The space detection unit is activated to emit a detection signal. Based on the intensity, delay time, and signal characteristics of the received echo signal, the load and material type of the underwear in the washing tub are calculated. Based on the load and the material type, initial washing parameters are determined; wherein, the initial washing parameters include at least one of the following: washing water volume, washing time, motor start-stop ratio, detergent dosage, and spin-drying speed.

7. The method according to claim 1, characterized in that, The method further includes: The distance between the user and the washing equipment is collected; In response to the distance being less than a first preset distance value, the device interaction interface of the washing equipment is activated; In response to the distance continuously exceeding a second preset distance value, the washing device is controlled to enter sleep mode and the device's interactive interface is closed; and / or, During the operation of the washing equipment or when a remote control command is received, the space detection unit is activated to transmit a signal into the tub. Extract low-frequency micro-motion features from the received echo signal, and determine whether the frequency of the low-frequency micro-motion features is within the preset live animal sensing frequency range and whether the live animal is located in the internal space region of the barrel. If the frequency of the low-frequency micro-motion feature is within the range of the living creature sensing frequency and the living creature is located in the internal space area, then the operation of the washing equipment will be stopped and an alarm will be triggered.

8. A laundry control system based on multi-source fusion sensing, characterized in that, include: The determination module is used to determine the washing status parameters of the clothes in the tub and the water quality change parameters of the washing water based on the acquired spatial detection signals and water quality detection signals during the washing stage. The adjustment module dynamically adjusts the washing control parameters of the washing equipment based on the washing status parameters and the water quality change parameters until the washing is finished. The acquisition module is used to acquire the real-time operating parameters of the drive motor of the washing equipment during the rinsing or dehydration stage. The evaluation module is used to switch to the first sensing mode if the real-time operating parameters meet the preset operating conditions, and to evaluate the foam state based on the driving load parameters. If the real-time operating parameters do not meet the preset operating conditions, switch to the second sensing mode to perform foam state assessment based on the space detection signal; The control module is used to control the washing equipment to perform rinsing actions based on the foam state assessment results.

9. A computer device, comprising: A memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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