Laundry treating apparatus control method, device, apparatus, and storage medium

Abstract

The application belongs to the technical field of intelligent household appliances, and particularly relates to a clothes processing device control method, device, equipment and storage medium. A clothes processing device provided with a radar device acquires motion information of a target at a current moment and detects a position based on a detection signal of the radar device at the current moment; determines whether the motion information at the current moment is noise information based on the motion information at the current moment and motion information of the target at a previous moment; if not, acquires a predicted position of the target at the current moment based on stored motion information at N moments before the current moment and a predicted position at the previous moment; determines a target position of the target according to the predicted position and the detected position; and performs display control based on the target position. In this way, interference signals reflected by an inner drum are avoided from being misjudged as signals reflected by a user, so that the accuracy of user position acquisition is reduced.

Description

Technical Field

[0001] This application belongs to the field of smart home appliance technology, specifically relating to a control method, device, equipment, and storage medium for clothing processing equipment. Background Technology

[0002] To optimize the user experience, existing technologies dynamically adjust the displayed content based on the distance between the user and the garment processing equipment, such as adjusting the font size. This method of adjusting the displayed content relies on accurate detection of the user's position.

[0003] To achieve accurate user location detection, garment handling equipment is gradually incorporating radar devices as a detection method. The radar device emits electromagnetic wave signals, which are reflected upon contact with the user's body. The radar device determines the user's location based on the received reflected signals.

[0004] However, in practical applications, due to the divergent characteristics of electromagnetic signals, some of the electromagnetic signals emitted by the radar device are reflected and amplified at the inner drum of the garment processing equipment, forming interference signals. These interference signals reduce the accuracy of the radar device in detecting the user's location. Summary of the Invention

[0005] This application provides a control method, apparatus, device, and storage medium for a garment processing equipment, which addresses the problem that due to the divergence characteristics of electromagnetic wave signals, some electromagnetic wave signals emitted by a radar device are reflected and amplified at the inner drum of the garment processing equipment, forming interference signals that reduce the accuracy of the radar device in detecting the user's location.

[0006] In a first aspect, this application provides a control method for a garment processing device, wherein the garment processing device is equipped with a radar device, and the method includes:

[0007] Based on the detection signal of the radar device at the current moment, the motion information of the target at the current moment is obtained, and the position is detected;

[0008] Based on the motion information at the current moment and the motion information of the target at the previous moment, determine whether the motion information at the current moment is noise information;

[0009] If not, then based on the motion information of the N time points before the current time and the predicted position of the previous time point, the predicted position of the target at the current time point is obtained.

[0010] The target location of the target is determined based on the predicted location and the detected location;

[0011] Display control is performed based on the target location.

[0012] In one possible implementation, determining whether the motion information at the current moment is noise information based on the motion information at the current moment and the motion information of the target at the previous moment includes:

[0013] If the direction of motion represented by the motion information at the current moment is the same as the direction of motion represented by the motion information at the previous moment, then based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment, it is determined whether the motion information at the current moment is noise information.

[0014] In one possible implementation, determining whether the motion information at the current moment is noise information based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment includes:

[0015] Based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment, the offset speed of the target at the current moment is determined.

[0016] If the offset speed is less than the speed threshold, then the motion information at the current moment is determined to be non-noise information;

[0017] If the offset speed is greater than or equal to the speed threshold, then the motion information at the current moment is determined to be noise information.

[0018] In one possible implementation, determining the target location of the target based on the predicted location and the detected location includes:

[0019] The offset distance is determined based on the detected position and the predicted position;

[0020] If the offset distance is less than a distance threshold, the target position of the target is determined based on the detection position;

[0021] If the offset distance is greater than or equal to the distance threshold, then the cumulative number of times the target is lost is updated;

[0022] If the cumulative number of lost targets is less than the number of lost targets threshold, then the target location is determined based on the predicted location.

[0023] The method further includes:

[0024] If the cumulative number of lost targets is greater than or equal to the threshold number, then the target is determined to have left the detection area.

[0025] In one possible implementation, after determining the target location of the target based on the predicted location and the detected location, the method further includes:

[0026] Based on the offset distance, the first position weight corresponding to the detection position and the second position weight corresponding to the predicted position are determined from the preset position weight mapping relationship;

[0027] The detection position is corrected according to the first position weight, and the predicted position is corrected according to the second position weight, and the weighted position is determined according to the corrected detection position and the corrected predicted position.

[0028] The predicted position is updated according to the weighted position, and the updated predicted position, the motion information, and the detected position are stored.

[0029] In one possible implementation, the display control based on the target location includes:

[0030] Determine the distance range of the target based on the target location;

[0031] Based on the current operating stage of the clothing processing equipment and the display parameters corresponding to the distance range, the target display information is determined;

[0032] The target display information is displayed on the display interface of the clothing processing equipment.

[0033] In one possible implementation, determining the target display information based on the current operating stage of the clothing processing equipment and the display parameters corresponding to the distance range includes:

[0034] The display information and the display level of each optional display content within the display information are determined based on the current operating stage of the garment processing equipment.

[0035] The minimum display level is determined based on the distance range, and at least one target display content with a display level higher than or equal to the minimum display level is obtained from the display information;

[0036] Target display information is determined based on the at least one target display content and the display parameters corresponding to the distance range.

[0037] Secondly, this application provides a control device for a garment processing equipment, applied to a garment processing equipment equipped with a radar device, comprising: an acquisition module, a determination module, and a control module, wherein:

[0038] The acquisition module is used to acquire the target's motion information at the current moment, and detect its position, based on the radar device's detection signal at the current moment.

[0039] The determining module is used to determine whether the motion information at the current moment is noise information based on the motion information at the current moment and the motion information of the target at the previous moment;

[0040] The control module is used to obtain the predicted position of the target at the current moment based on the motion information of N moments before the current moment and the predicted position of the previous moment, if the information is not noise.

[0041] The determining module is further configured to determine the target location of the target based on the predicted location and the detected location;

[0042] The control module is also used to perform display control based on the target position.

[0043] In one possible implementation, the determining module is further configured to:

[0044] If the direction of motion represented by the motion information at the current moment is the same as the direction of motion represented by the motion information at the previous moment, then based on the speed of motion represented by the motion information at the current moment and the speed of motion represented by the motion information at the previous moment, it is determined whether the motion information at the current moment is noise information.

[0045] In one possible implementation, the determining module is further configured to:

[0046] Based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment, the offset speed of the target at the current moment is determined.

[0047] If the offset speed is less than the speed threshold, then the motion information at the current moment is determined to be non-noise information;

[0048] If the offset speed is greater than or equal to the speed threshold, then the motion information at the current moment is determined to be noise information.

[0049] In one possible implementation, the determining module is further configured to:

[0050] The offset distance is determined based on the detected position and the predicted position;

[0051] If the offset distance is less than a distance threshold, the target position of the target is determined based on the detection position;

[0052] If the offset distance is greater than or equal to the distance threshold, then the cumulative number of times the target is lost is updated;

[0053] If the cumulative number of lost targets is less than the number of lost targets threshold, then the target location is determined based on the predicted location.

[0054] The determining module is further configured to:

[0055] If the cumulative number of lost targets is greater than or equal to the threshold number, then the target is determined to have left the detection area.

[0056] In one possible implementation, the determining module is further configured to:

[0057] Based on the offset distance, the first position weight corresponding to the detection position and the second position weight corresponding to the predicted position are determined from the preset position weight mapping relationship;

[0058] The detection position is corrected according to the first position weight, and the predicted position is corrected according to the second position weight, and the weighted position is determined according to the corrected detection position and the corrected predicted position.

[0059] The predicted position is updated according to the weighted position, and the updated predicted position, the motion information, and the detected position are stored.

[0060] In one possible implementation, the control module is further configured to:

[0061] Determine the distance range of the target based on the target location;

[0062] Based on the current operating stage of the clothing processing equipment and the display parameters corresponding to the distance range, the target display information is determined;

[0063] The target display information is displayed on the display interface of the clothing processing equipment.

[0064] In one possible implementation, the control module is further configured to:

[0065] The display information and the display level of each optional display content within the display information are determined based on the current operating stage of the garment processing equipment.

[0066] The minimum display level is determined based on the distance range, and at least one target display content with a display level higher than or equal to the minimum display level is obtained from the display information;

[0067] Target display information is determined based on the at least one target display content and the display parameters corresponding to the distance range.

[0068] Thirdly, this application also provides a garment processing device, comprising: a housing, a control device, a radar device, a signal shielding device, and a display device, wherein:

[0069] The display device is disposed on the front panel or top panel of the enclosure and is used for display.

[0070] The radar device is installed inside the housing, with its signal transmitting end and signal receiving end facing the front panel of the housing and spaced at a predetermined distance from the front panel.

[0071] The signal shielding device is disposed between the front panel and the signal receiving end, and is used to block the interference signal reflected by the inner drum of the clothing processing equipment from entering the signal receiving end;

[0072] The control device is used to perform the method as described in any of the first aspects.

[0073] In one possible implementation, the control device includes: a processor, and a memory communicatively connected to the processor;

[0074] The memory stores computer-executed instructions;

[0075] The processor executes computer execution instructions stored in the memory to implement the garment handling equipment control method as described in the first aspect.

[0076] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a computer, are used to implement the clothing processing equipment control method as described in the first aspect.

[0077] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps of the scheme recommendation method as described in any of the first aspects.

[0078] The clothing handling equipment control method, apparatus, device, and storage medium provided in this application acquire the target's motion information and detection position at the current moment based on the detection signal from a radar device. It then combines this with the motion information from the previous moment to determine whether the motion information is noise. If it is not noise, it uses the motion information from N moments prior to the current moment and the detection position from the previous moment to obtain the predicted position at the current moment. This predicted position is then combined with the detection position to determine the target position, and finally, display control is performed. Through this method, the radar device's detection signal is converted into the user's motion information. By combining this with the motion information from the previous moment to determine noise, it avoids misinterpreting interference signals reflected from the inner tube as signals reflected by the user, thus preventing a decrease in the accuracy of user position acquisition. Attached Figure Description

[0079] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0080] Figure 1 A scenario diagram provided for an embodiment of this application;

[0081] Figure 2 A flowchart illustrating a garment processing equipment control method provided in this application embodiment. Figure 1 ;

[0082] Figure 2a A schematic diagram of a clothing processing device display interface provided in an embodiment of this application. Figure 1 ;

[0083] Figure 2b A schematic diagram of a clothing processing device display interface provided in an embodiment of this application. Figure 2 ;

[0084] Figure 2c A schematic diagram of a clothing processing device display interface provided in an embodiment of this application. Figure 3 ;

[0085] Figure 3 A flowchart illustrating a garment processing equipment control method provided in this application embodiment. Figure 2 ;

[0086] Figure 4 A flowchart illustrating a garment processing equipment control method provided in this application embodiment. Figure 3 ;

[0087] Figure 5 This is a schematic diagram of the structure of a clothing processing equipment control device provided in an embodiment of this application;

[0088] Figure 6a A schematic diagram of the structure of a garment processing device provided in this application embodiment. Figure 1 ;

[0089] Figure 6b A schematic diagram of the structure of a garment processing device provided in this application embodiment. Figure 2 ;

[0090] Figure 7 for Figure 6a A structural schematic diagram of the radar device, signal shielding device, and front panel;

[0091] Figure 8 for Figure 6a A schematic diagram of the control device.

[0092] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0093] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0094] To improve the user experience, existing technologies dynamically adjust display parameters, such as font size, based on the distance between the user and the garment processing equipment. This relies on accurate user location detection. To achieve precise detection, garment processing equipment is increasingly employing radar devices, which determine the user's location by emitting electromagnetic wave signals and receiving reflected signals. However, due to the divergent characteristics of electromagnetic wave signals, some of the electromagnetic wave signals emitted by the radar device are reflected and amplified at the inner drum of the garment processing equipment, creating interference signals. These interference signals reduce the accuracy of the radar device in detecting the user's location.

[0095] This application provides a control method for a garment handling device. Based on the detection signal from a radar device, it acquires the target's motion information and detection position at the current moment. Combining this with the motion information from the previous moment, it determines whether the motion information is noise. If it is not noise, it uses the motion information from N moments prior to the current moment and the detection position from the previous moment to obtain the predicted position at the current moment. This predicted position is then combined with the detection position to determine the target position, and finally, display control is performed. By converting the radar device's detection signal into the user's motion information and using the motion information from the previous moment to determine noise, it avoids misinterpreting interference signals reflected from the inner drum as signals reflected by the user, thus preventing a decrease in the accuracy of user position acquisition.

[0096] The technical solutions of this application and how they solve the aforementioned technical problems are described in detail below with specific embodiments. These specific embodiments may exist independently or in combination with each other. Identical or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0097] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of this application. A radar device within the clothing handling equipment sends detection signals at a preset cycle. These signals are reflected upon contact with the user and received by the radar device's receiver. A single detection signal can be used to indicate the target's location, while multiple consecutive detection signals can be used to determine the target's motion information. For example... Figure 1As shown, the radar device of the garment processing equipment emits a detection signal, and at this time, the target is moving towards the garment processing equipment. The radar device reports that it has received detection signal 3 at the current moment, that is, the detection signal reflected back by the target at position c. Before the current moment, the radar device also sequentially reported detection signal 1 reflected back by the target at position a, and detection signal 2 reflected back by the target at position b. The garment processing equipment combines the stored data corresponding to detection signal 2 with the data processing of detection signal 3 to obtain the user's detection position and movement information at the current moment.

[0098] Furthermore, to avoid interference from inner tube reflections affecting target location determination, noise information is assessed by combining the stored data corresponding to detection signal 2 and the current motion information. If the noise is determined to be non-noise, position prediction is performed based on the stored data corresponding to detection signals 1 and 2 to obtain the predicted target position at the current moment. This predicted position is then combined with the detected position to determine the target's actual location. To ensure the target can clearly view the content on the display device during the current moment and subsequent movement, display information is determined based on the target position and displayed on the garment processing equipment's display device.

[0099] It should be noted that the radar device detects the movement of objects. In other words, any moving object can be detected by the radar device, such as a robot vacuum cleaner, pets, or children. However, these objects differ from users of the clothing handling equipment in terms of their speed and shape. For energy conservation, the radar device can filter out only the detection signals indicating the user based on the target's shape and speed, and then proceed with subsequent target location confirmation and display control steps. If the clothing handling equipment is equipped with other sensors for detecting the user, such as cameras and infrared sensors, these sensors can assist in filtering the detection signals. For ease of explanation, this embodiment and subsequent embodiments only describe the detection signals generated by the user's reflection, i.e., the target corresponding to the detection signal is the user.

[0100] Furthermore, clothing processing equipment can be household appliances such as washing machines, dryers, and garment care equipment used to process clothing.

[0101] Figure 2 A flowchart illustrating a garment processing equipment control method provided in this application embodiment. Figure 1 .like Figure 2 As shown, the method includes:

[0102] S201. Based on the radar device's detection signal at the current moment, obtain the target's motion information at the current moment, and detect its position.

[0103] In this step, an increasing number of garment handling devices are incorporating radar to achieve accurate user location detection. The radar emits electromagnetic wave signals, which are reflected upon contact with the user's body. The radar determines the user's location based on the received detection signals. However, in practical applications, due to the divergent characteristics of electromagnetic waves, some of the electromagnetic wave signals emitted by the radar are reflected and amplified at the inner drum of the garment handling equipment, creating interference signals. These interference signals are misinterpreted by the garment handling equipment as signals reflected by the user, reducing the accuracy of the radar device in detecting the user's location based on the detection signals.

[0104] Furthermore, since user movement around the garment handling equipment is typically continuous and smooth, without sudden, drastic changes, if the detection signal is generated by reflection from the user, the motion information obtained from this signal, while changing over time, is usually gradual and small in magnitude. Based on this characteristic, this embodiment converts the detection signal received by the radar device into the target's motion information at the current moment, and determines whether the detection signal is an interference signal generated by reflection from the inner tube based on this motion information and the motion information from the previous moment; that is, it performs noise information judgment.

[0105] Considering that in real-world scenarios, detection signals may lag or be lost at certain times due to environmental interference or equipment processing delays, display control based solely on the detection position determined by the current detection signal would risk lag or jumps in the displayed information, impacting the user experience. Therefore, this embodiment also determines the predicted position of the target at the current time using the detection signal received by the radar device, and combines the predicted position with the detection position determined by the current detection signal for display control.

[0106] Specifically, based on the detection signal reported by the radar device at the current moment, the detection signal is processed to obtain the target's detection position at the current moment. The target's detection position at the previous moment is obtained, and the position change is calculated based on the current detection position and the previous detection position. Then, the target's velocity is determined based on the position change and the time interval. The target's detection position at the current moment and the user's detection position at the previous moment are located on a coordinate graph. The target's direction of motion at the current moment is determined based on the slope of the line connecting the two detection positions. The user's motion information at the current moment is determined based on the direction of motion and the velocity.

[0107] S202. Based on the motion information at the current moment and the motion information of the target at the previous moment, determine whether the motion information at the current moment is noise information.

[0108] In this step, since user movement behavior is typically continuous and smooth, the motion information obtained from the detection signal generated by the user's reflection, although dynamically changing over time, exhibits a relatively small trend. Therefore, the target's motion change can be determined based on the target's motion information at the current moment and the motion information at the previous moment. It is then determined whether this motion change exceeds the expected range, and based on the determination result, whether the motion information at the current moment is noise information is judged. Specifically, if the motion change exceeds the expected range, the corresponding motion information at the current moment is noise information; if the motion change does not exceed the expected range, the corresponding motion information at the current moment is not noise information.

[0109] Furthermore, since the aforementioned acquired motion information is used to indicate the target's direction of motion and speed at the current moment, the motion changes obtained based on the motion information at the current moment and the motion information at the previous moment are used to characterize the changes in the target's direction of motion and speed.

[0110] S203. If not, then based on the motion information of the N time points before the current time and the predicted position of the previous time point, obtain the predicted position of the target at the current time point.

[0111] In this step, the target's motion information is considered to change dynamically over time. If user position prediction is based on only a small amount of motion information, the obtained predicted position may become overly dependent on the instantaneous state at a particular moment, reducing the reliability of the target position. Therefore, this embodiment limits the amount of motion information used for position prediction. In other words, the operation of obtaining the predicted position is performed only when the amount of motion information before the current moment is greater than or equal to a preset number. Similarly, if the amount of position information before the current moment is less than the preset number, the aforementioned operations of receiving the radar device's detection signal, determining the detection position and motion information, and determining whether the motion information is noise are repeated until the amount of motion information before the current moment is greater than or equal to the preset number.

[0112] Specifically, when it is determined that the motion information at the current moment is not noise, the motion information of the N moments prior to the current moment, as well as the prediction information of the previous moment, are obtained. The comprehensive motion information of the target is determined based on the motion information of the N moments, and the predicted position of the target at the current moment is determined based on this comprehensive motion information, the time interval between the current moment and the previous moment, and the predicted position of the target at the previous moment. This embodiment does not impose any limitation on how to determine the comprehensive motion information of the target based on the motion information of the N moments; it can be selected according to the actual situation. For example, filtering methods, machine learning methods, geometric analysis methods, etc., can be used. Since the aforementioned methods are all prior art, this embodiment will not elaborate further. For example, N can be any value from 4 to 7.

[0113] S204. Determine the target location based on the predicted location and the detected location.

[0114] In this step, the target's current detection position directly reflects the radar's observation results at that moment. However, these observation results may be delayed or lost at certain times due to environmental interference or equipment processing delays. Therefore, it is necessary to determine the reliability of the detection position by using the predicted position; that is, the target position is determined by combining the predicted position and the detection position. This target position is used for subsequent display control.

[0115] Furthermore, when determining the target location, the offset distance between the detected location and the predicted location is an important indicator of data reliability. A small offset distance indicates that the target's detected location at the current moment is basically consistent with the predicted movement trend based on historical data. However, considering that the predicted location is determined based on historical data prior to the current moment, its reliability is slightly lower than the direct observation result from the radar device at the current moment—that is, the detected location. In this case, the detected location can be directly used as the target location to ensure the real-time nature of the target location determination.

[0116] However, if the offset distance is large, it indicates that the radar device's detection signal at the current moment is affected by factors such as environmental interference or equipment processing delays, resulting in unreliable detection position. Therefore, the target position can be determined based on the predicted position.

[0117] S205. Based on the target position, perform display control.

[0118] In this step, if the displayed information remains unchanged when the distance between the user and the garment processing device changes, the user may not be able to clearly obtain key information, thus reducing the observation effect and interactive experience. Therefore, to ensure that the user can efficiently and accurately obtain the required information at any distance, the displayed information on the display interface needs to be dynamically adjusted according to the distance range between the user and the garment processing device. For example, the distance range between the target and the garment processing device is determined based on the target location, and the target display content and its display parameters are determined based on the distance range. Based on the target display content and the corresponding display parameters, the target display information is determined and displayed on the display interface. The specific implementation method is as follows:

[0119] Determine the distance range of the target based on the target location;

[0120] The display information and the display level of each optional display content within the display information are determined based on the current operating stage of the garment processing equipment.

[0121] The minimum display level is determined based on the distance range, and at least one target display content with a display level higher than or equal to the minimum display level is obtained from the display information;

[0122] Target display information is determined based on the at least one target display content and the display parameters corresponding to the distance range;

[0123] The target information is displayed on the display interface of the garment processing device.

[0124] For example, the current operating stage of the clothing processing equipment is the washing stage, and the corresponding display information is:

[0125] Optional display content a: Remaining runtime: 59 minutes, display level a is level 3;

[0126] Optional display content b: Current operating stage: washing stage, display level b is level 2;

[0127] Optional display content c: Running program: wool washing program, display level c is level 1.

[0128] If the minimum display level is determined to be level 1 based on the distance range 'a' of the target, the corresponding target display content is "Remaining runtime: 59 minutes", "Current operating stage: Washing stage", and "Running program: Wool washing program". The display parameter for distance range 'a' is font size 12. Therefore, the target display information corresponding to distance range 'a' is shown in the following diagram on the garment processing equipment display interface: Figure 2a As shown.

[0129] If the minimum display level is determined to be level 2 based on the distance range b of the target, the corresponding target display content is "Remaining runtime: 59 minutes" and "Current operating stage: Washing stage," and the display parameter for distance range b is font size 13. Therefore, the display information for the target corresponding to distance range b, as shown in the illustration on the garment processing equipment display interface, is as follows: Figure 2b As shown.

[0130] If the minimum display level is determined to be level 3 based on the distance range c of the target, the corresponding target display content is "Remaining runtime: 59 minutes," and the display parameter for distance range c is font size 16. Therefore, the display information for the target corresponding to distance range c, as shown in the illustration on the garment processing equipment's display interface, is as follows: Figure 2c As shown.

[0131] This application provides a control method for clothing processing equipment. Based on the detection signal of a radar device, it acquires the target's motion information and detection position at the current moment. Combining this with the motion information from the previous moment, it determines whether the motion information is noise. If it is not noise, it uses the motion information from N moments prior to the current moment and the detection position from the previous moment to obtain the predicted position at the current moment. This predicted position is then combined with the detection position to determine the target position, and finally, display control is performed. By converting the radar device's detection signal into the target's motion information and combining it with the motion information from the previous moment to determine noise, it avoids interference signals reflected from the inner drum reducing the accuracy of the user's position acquisition. Simultaneously, by comprehensively considering the predicted and detected positions for display control, it allows users to clearly and quickly obtain the necessary information from the clothing processing equipment's display interface, improving the user experience.

[0132] Figure 3 A flowchart illustrating a garment processing equipment control method provided in this application embodiment. Figure 2 This embodiment provides a detailed explanation of the steps involved in determining whether the motion information at the current moment is noise. For example... Figure 3 As shown, the method includes:

[0133] S301. Determine whether the motion direction represented by the motion information at the current moment is consistent with the motion direction represented by the motion information at the previous moment.

[0134] In this step, the user's movement is typically smooth and continuous, indicating that the user's motion information does not change drastically within a short period. For example, when a user moves from one location to another, the changes in speed and direction are gradual. Therefore, the differences in motion information obtained by the radar device based on detection signals detected at adjacent moments are relatively small.

[0135] Furthermore, the interference signal generated by reflection from the inner cylinder, due to the rotation of the inner cylinder and the variation in rotational speed with different operating stages, causes the motion information obtained from the interference signal to exhibit irregular and discontinuous characteristics in terms of the change in motion direction. Therefore, to simplify the noise information confirmation process, it is preferable to determine whether the motion information at the current moment is noise information based on the motion direction.

[0136] Specifically, the direction of motion represented by the motion information at the current moment is determined to be consistent with the direction of motion represented by the motion information at the previous moment.

[0137] S302. If they are consistent, then the target's offset speed at the current moment is determined based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment.

[0138] In this step, besides the direction of movement, the rotational speed of the inner drum of the garment processing equipment changes with different operating stages. This causes the speed represented by the motion information obtained from the interference signal generated by the inner drum's reflection to also change continuously, and the change is quite large. In contrast, the speed represented by the operating information obtained from the detection signal generated by the user's reflection, while changing over time, changes less significantly.

[0139] Therefore, when the direction of motion is determined to be the same based on the motion information at the current moment and the motion information at the previous moment, the offset velocity is further calculated based on the motion velocity represented by the motion information at the current moment and the motion velocity represented by the motion information at the previous moment.

[0140] S303. If the offset speed is less than the speed threshold, then the motion information at the current moment is determined to be non-noise information.

[0141] In this step, the velocity threshold is used to indicate whether the change in the target's velocity between the current moment and the previous moment exceeds a reasonable range. The velocity threshold can be 0.3 m / s to 0.5 m / s.

[0142] Determine the relationship between the offset velocity and the velocity threshold. If the offset velocity is less than the velocity threshold, it means that the change in the target's velocity between the current moment and the previous moment is within a reasonable range, and the motion information at the current moment is determined to be noise information.

[0143] S304. If the offset speed is greater than or equal to the speed threshold, then the motion information at the current moment is determined to be noise information.

[0144] In this step, the relationship between the offset velocity and the velocity threshold is determined. When the offset velocity is greater than or equal to the velocity threshold, it indicates that the change in the target's velocity between the current moment and the previous moment exceeds the reasonable range, and the motion information at the current moment is determined to be noise information.

[0145] For example, the target's motion information at the previous moment was: southeast direction, 1.2 m / s, and its motion information at the current moment is: southeast direction, 2 m / s. The velocity threshold is 0.5 m / s.

[0146] Since the target's motion information at both the previous and current moments indicates a southeast direction, the offset velocity is further calculated as: 2 - 1.2 = 0.8 m / s. Since the offset velocity of 0.8 m / s is greater than the velocity threshold of 0.5 m / s, the motion information at the current moment is determined to be noise.

[0147] S305. If there is a discrepancy, the motion information at the current moment is determined to be noise information.

[0148] In this step, when the direction of motion represented by the motion information at the current moment is different from the direction of motion represented by the motion information at the previous moment, it indicates that the difference between the target's motion at the current moment and the previous moment exceeds a reasonable range. Therefore, the motion information at the current moment is determined to be noise information, that is, the detection signal at the current moment is an interference signal generated by the reflection of the inner cylinder.

[0149] In one possible implementation, to further reduce the impact of interference signals reflected from the inner drum on user location confirmation, an initial shielding device within the garment processing equipment is used to shield the interference signals before noise information judgment. The shielding device is located between the radar device and the front panel of the garment processing equipment. The specific structure will be described in subsequent embodiments and will not be elaborated upon here.

[0150] This application provides a control method for a clothing handling device. The method determines whether the direction of motion of the current operating information is the same as that of the previous moving information. Based on the determination result, it further obtains the offset velocity based on the current operating information and the previous moving information. Then, it determines whether the current moving information is noise information based on the relationship between the offset velocity and a velocity threshold, or directly determines that the current moving information is noise information. This method simplifies the complexity of noise information judgment, avoids using interference information generated by content reflection as the basis for determining the user's position, and improves the reliability of the solution.

[0151] Figure 4 A flowchart illustrating a garment processing equipment control method provided in this application embodiment. Figure 3 This embodiment provides a detailed explanation of the steps for determining the target location based on the current detection location and the predicted location. For example... Figure 4 As shown, the method includes:

[0152] S401. Determine the offset distance based on the detected position and the predicted position.

[0153] In this step, when using radar to confirm the user's location, the current detected position may be delayed or lost due to environmental interference or equipment latency. To improve the reliability of the target position used for display control, a comprehensive judgment needs to be made in conjunction with the predicted position. The offset distance between the current detected position and the predicted position is a key indicator for determining the target position: if the offset distance is small, it indicates that the current detected position is consistent with the predicted trend, and the detected position can be directly used to ensure real-time performance; if the offset distance is large, it indicates that the current detected position is unreliable.

[0154] Furthermore, in the process of continuously determining the target position based on the detection and predicted positions at multiple times, if there are too many instances of large offset distances, it indicates that the predicted position is also affected, reducing reliability. Therefore, to make the obtained target position more reliable, this embodiment introduces a cumulative number of lost positions to determine the reliability of the predicted position. The cumulative number of lost positions is counted once when the offset distance is large. Therefore, when determining the detection position at the current time based on the offset distance is unreliable, the cumulative number of lost positions is further determined, and the reliability of the predicted position is determined based on the cumulative number of lost positions, that is, whether the target position at the current time can be determined based on the predicted position.

[0155] Therefore, the offset distance should be determined based on the detection location and the predicted location.

[0156] S402. If the offset distance is less than the distance threshold, determine the target position of the target based on the detection position.

[0157] In this step, the distance threshold is used to indicate whether the detection position at the current moment is reliable, that is, whether the target position can be determined based on the detection position. For example, the distance threshold can be any value between 30cm and 50cm.

[0158] Specifically, the relationship between the offset distance and the distance threshold is obtained. When it is determined that the offset distance is less than the distance threshold, it means that the detection position at the current moment meets the prediction expectation, and the target position of the target is determined directly based on the detection position.

[0159] Furthermore, since there is a difference between the current detection position and the predicted position, if the predicted position at the previous moment is used to calculate the current predicted position, the deviation between the predicted position and the actual detection position will gradually accumulate, eventually causing the predicted result to deviate further and further from the target's trajectory. To prevent the accumulation of prediction errors, this embodiment dynamically corrects the predicted position based on the detection position when the reliability of the current detection position is determined. The specific process is as follows:

[0160] Based on the offset distance, the first position weight corresponding to the detection position and the second position weight corresponding to the predicted position are determined from the preset position weight mapping relationship;

[0161] The detection position is corrected according to the first position weight, and the predicted position is corrected according to the second position weight, and the weighted position is determined according to the corrected detection position and the corrected predicted position.

[0162] The predicted position is updated according to the weighted position, and the updated predicted position, the motion information, and the detected position are stored.

[0163] For example, the predicted position is (2,3), the current detection position is (2.2,2.8), and the distance threshold is 40cm.

[0164] The offset distance is calculated as follows: Since the offset distance of 28cm is less than the distance threshold of 40cm, the detection position at the current moment is considered reliable. Querying the position weight mapping relationship, we determine that the weight of the first position corresponding to the detection position is 0.4, and the weight of the second position corresponding to the predicted position is 0.6.

[0165] The detection position is corrected based on the first position weight, resulting in a corrected detection position of (0.88, 1.12). The prediction position is corrected based on the second position weight, resulting in a corrected prediction position of (1.2, 1.8). The weighted position is calculated as (2.08, 2.92).

[0166] S403. If the offset distance is greater than or equal to the distance threshold, then update the cumulative number of times the target is lost.

[0167] In this step, the relationship between the offset distance and the distance threshold is obtained. When it is determined that the offset distance is greater than or equal to the distance threshold, it means that the detection position at the current moment does not meet the prediction expectation. The cumulative number of times the target is lost is obtained and the cumulative number of times is updated.

[0168] S404. If the cumulative number of lost targets is less than the threshold, the target location is determined based on the predicted location.

[0169] In this step, the number of attempts threshold is used to indicate whether the predicted location is reliable. For example, the number of attempts threshold can be 3 to 4.

[0170] Obtain the relationship between the updated cumulative number of lost items and the number threshold. When it is determined that the cumulative number of lost items is less than the number threshold, it indicates that the predicted location is reliable and the target location can be directly determined based on the predicted location.

[0171] S405. If the cumulative number of lost targets is greater than or equal to the threshold, then the target is determined to have left the detection area.

[0172] In this step, the relationship between the updated cumulative number of lost targets and the number threshold is obtained. When it is determined that the cumulative number of lost targets is greater than or equal to the number threshold, it indicates that the predicted location is unreliable, and the target is determined to have left the detection area.

[0173] This application provides a control method for a garment handling device. The method determines an offset distance between a detection position and a predicted position. Based on the relationship between the offset distance and a distance threshold, it determines whether to directly determine the target position based on the detection position, or to update the cumulative number of target loss attempts. Furthermore, based on the relationship between the cumulative number of loss attempts and a threshold, it determines whether to determine the target position based on the predicted position, or to determine if the target has left the detection area. This method avoids the accumulation of prediction errors that reduce the reliability of the predicted position, thereby preventing a decrease in the effectiveness of displaying and controlling the target position obtained from the predicted and detection positions.

[0174] Figure 5 This is a schematic diagram of a control device for a garment processing equipment provided in an embodiment of this application. The garment processing equipment control device 50 is applied to a garment processing equipment, which is equipped with a radar device. Figure 5 As shown, the garment processing equipment control device 50 includes: an acquisition module 501, a determination module 502, and a control module 503, wherein:

[0175] The acquisition module 501 is used to acquire the target's motion information at the current moment and detect its position based on the radar device's detection signal at the current moment.

[0176] The determining module 502 is used to determine whether the motion information at the current moment is noise information based on the motion information at the current moment and the motion information of the target at the previous moment;

[0177] The control module 503 is used to obtain the predicted position of the target at the current moment based on the motion information of N moments before the current moment and the predicted position of the previous moment, if the information is not noise.

[0178] The determining module 502 is further configured to determine the target position of the target based on the predicted position and the detected position;

[0179] The control module 503 is also used to perform display control based on the target position.

[0180] In one possible implementation, the determining module 502 is further configured to:

[0181] If the direction of motion represented by the motion information at the current moment is the same as the direction of motion represented by the motion information at the previous moment, then based on the speed of motion represented by the motion information at the current moment and the speed of motion represented by the motion information at the previous moment, it is determined whether the motion information at the current moment is noise information.

[0182] In one possible implementation, the determining module 502 is further configured to:

[0183] Based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment, the offset speed of the target at the current moment is determined.

[0184] If the offset speed is less than the speed threshold, then the motion information at the current moment is determined to be non-noise information;

[0185] If the offset speed is greater than or equal to the speed threshold, then the motion information at the current moment is determined to be noise information.

[0186] In one possible implementation, the determining module 502 is further configured to:

[0187] The offset distance is determined based on the detected position and the predicted position;

[0188] If the offset distance is less than a distance threshold, the target position of the target is determined based on the detection position;

[0189] If the offset distance is greater than or equal to the distance threshold, then the cumulative number of times the target is lost is updated;

[0190] If the cumulative number of lost targets is less than the number of lost targets threshold, then the target location is determined based on the predicted location.

[0191] The determining module 502 is further configured to:

[0192] If the cumulative number of lost targets is greater than or equal to the threshold number, then the target is determined to have left the detection area.

[0193] In one possible implementation, the determining module 502 is further configured to:

[0194] Based on the offset distance, the first position weight corresponding to the detection position and the second position weight corresponding to the predicted position are determined from the preset position weight mapping relationship;

[0195] The detection position is corrected according to the first position weight, and the predicted position is corrected according to the second position weight, and the weighted position is determined according to the corrected detection position and the corrected predicted position.

[0196] The predicted position is updated according to the weighted position, and the updated predicted position, the motion information, and the detected position are stored.

[0197] In one possible implementation, the control module 503 is further configured to:

[0198] Determine the distance range of the target based on the target location;

[0199] Based on the current operating stage of the clothing processing equipment and the display parameters corresponding to the distance range, the target display information is determined;

[0200] The target information is displayed on the display interface of the garment processing device.

[0201] In one possible implementation, the control module 503 is further configured to:

[0202] The display information and the display level of each optional display content within the display information are determined based on the current operating stage of the garment processing equipment.

[0203] The minimum display level is determined based on the distance range, and at least one target display content with a display level higher than or equal to the minimum display level is obtained from the display information;

[0204] Target display information is determined based on the at least one target display content and the display parameters corresponding to the distance range.

[0205] This embodiment provides a clothing processing equipment control device that can execute the clothing processing equipment control method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0206] Figure 6a A schematic diagram of the structure of a garment processing device provided in this application embodiment. Figure 1 .like Figure 6a As shown, the garment processing equipment includes a housing, a control device, a radar device, a signal shielding device, and a display device, wherein:

[0207] The display device is located on the front panel of the enclosure and is used for display.

[0208] The radar device, the signal shielding device, and the control device are all housed within the enclosure. The control device is used to execute the method described in any of the preceding descriptions. The signal shielding device is used to block interference signals reflected from the inner drum of the clothing processing equipment from entering the signal receiving end of the radar device.

[0209] The garment processing equipment is a vertically placed rectangular box, with the enclosed area inside serving as the installation space. The control unit, radar unit, and signal shielding unit are all housed within this installation space. The front panel and the door of the garment processing equipment are located on the same side of the equipment, with the front panel positioned above the door. The display device is located on the front panel of the box.

[0210] In one possible implementation, the display device may also be located on the top panel of the garment handling equipment, see reference. Figure 6b .

[0211] Figure 7 for Figure 6a A structural diagram of the radar unit, signal shielding device, and front panel. (See diagram below.) Figure 7 As shown, the signal transmitting end and signal receiving end of the radar device face the front panel of the housing and are spaced at a preset distance from the front side.

[0212] A signal shielding device is installed between the front panel and the signal receiver to block interference signals reflected from the inner drum of the clothing processing equipment from entering the signal receiver.

[0213] When the radar device is operating, the electromagnetic wave signal emitted by the signal transmitter is transmitted through the front panel and away from the garment handling equipment. Therefore, the front panel must be made of a material that allows electromagnetic wave signals to pass through, such as glass.

[0214] Furthermore, considering that the electromagnetic wave signal emitted by the radar device will be reflected when it encounters the front panel of the garment processing equipment, if the distance is too close, the reflected wave may superimpose with the emitted wave, forming a standing wave or interference, leading to inaccurate radar signal or increased noise. Taking into account the phase characteristics of electromagnetic waves, a preset distance is set between the radar device and the front panel, so that the reflected wave signal and the emitted wave signal are out of phase at the radar receiver, minimizing interference and improving the purity of the radar signal. For example, the preset distance can be 3mm-9mm.

[0215] Figure 8 for Figure 6a A schematic diagram of the control device. (See attached diagram.) Figure 8 As shown, the control device of the garment processing equipment includes a processor 801 and a memory 802 communicatively connected to the processor 801. Optionally, the control device of the garment processing equipment further includes a communication component 803. The processor 801, memory 802, and communication component 803 are connected via a bus 804.

[0216] The memory stores computer-executed instructions;

[0217] The processor executes computer execution instructions stored in the memory to implement the clothing processing equipment control method as described above.

[0218] At least one processor 801 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0219] Optionally, in specific implementations, the processor 801 and memory 802 are implemented independently. In this case, the processor 801 and memory 802 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.

[0220] Optionally, in a specific implementation, if the processor 801 and the memory 802 are integrated on a single chip, the processor 801 and the memory 802 can communicate through an internal interface.

[0221] This application also provides a computer storage medium storing computer execution instructions, which, when executed by a processor, implement the aforementioned clothing processing equipment control method.

[0222] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0223] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor. Both the processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the control device of a garment handling apparatus.

[0224] The division of units described herein is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0225] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0226] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0227] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0228] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0229] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a garment processing device, characterized in that, The garment processing equipment is equipped with a radar device, and the method includes: Based on the detection signal of the radar device at the current moment, the motion information of the target at the current moment is obtained, and the position is detected; Based on the motion information at the current moment and the motion information of the target at the previous moment, determine whether the motion information at the current moment is noise information; If not, then based on the motion information of the N time points before the current time and the predicted position of the previous time point, the predicted position of the target at the current time point is obtained. The target location of the target is determined based on the predicted location and the detected location; Display control is performed based on the target location.

2. The method according to claim 1, characterized in that, The step of determining whether the motion information at the current moment is noise information based on the motion information at the current moment and the motion information of the target at the previous moment includes: If the direction of motion represented by the motion information at the current moment is the same as the direction of motion represented by the motion information at the previous moment, then based on the speed of motion represented by the motion information at the current moment and the speed of motion represented by the motion information at the previous moment, it is determined whether the motion information at the current moment is noise information.

3. The method according to claim 2, characterized in that, The determination of whether the motion information at the current moment is noise information based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment includes: Based on the motion speed represented by the motion information at the current moment and the motion speed represented by the motion information at the previous moment, the offset speed of the target at the current moment is determined. If the offset speed is less than the speed threshold, then the motion information at the current moment is determined to be non-noise information; If the offset speed is greater than or equal to the speed threshold, then the motion information at the current moment is determined to be noise information.

4. The method according to claim 1, characterized in that, Determining the target location of the target based on the predicted location and the detected location includes: The offset distance is determined based on the detected position and the predicted position; If the offset distance is less than a distance threshold, the target position of the target is determined based on the detection position; If the offset distance is greater than or equal to the distance threshold, then the cumulative number of times the target is lost is updated; If the cumulative number of lost targets is less than the number of lost targets threshold, then the target location is determined based on the predicted location. The method further includes: If the cumulative number of lost targets is greater than or equal to the threshold number, then the target is determined to have left the detection area.

5. The method according to claim 4, characterized in that, After determining the target location of the target based on the predicted location and the detected location, the method further includes: Based on the offset distance, the first position weight corresponding to the detection position and the second position weight corresponding to the predicted position are determined from the preset position weight mapping relationship; The detection position is corrected according to the first position weight, and the predicted position is corrected according to the second position weight, and the weighted position is determined according to the corrected detection position and the corrected predicted position. The predicted position is updated according to the weighted position, and the updated predicted position, the motion information, and the detected position are stored.

6. The method according to claim 1, characterized in that, The display control based on the target location includes: Determine the distance range of the target based on the target location; Based on the current operating stage of the clothing processing equipment and the display parameters corresponding to the distance range, the target display information is determined; The target information is displayed on the display interface of the garment processing device.

7. The method according to claim 6, characterized in that, The step of determining the target display information based on the current operating stage of the clothing processing equipment and the display parameters corresponding to the distance range includes: The display information and the display level of each optional display content within the display information are determined based on the current operating stage of the garment processing equipment. The minimum display level is determined based on the distance range, and at least one target display content with a display level higher than or equal to the minimum display level is obtained from the display information; Target display information is determined based on the at least one target display content and the display parameters corresponding to the distance range.

8. A control device for clothing processing equipment, characterized in that, Applied to garment processing equipment, the garment processing equipment is equipped with a radar device, including: an acquisition module, a determination module, and a control module, wherein: The acquisition module is used to acquire the target's motion information at the current moment, and detect its position, based on the radar device's detection signal at the current moment. The determining module is used to determine whether the motion information at the current moment is noise information based on the motion information at the current moment and the motion information of the target at the previous moment; The control module is used to obtain the predicted position of the target at the current moment based on the motion information of N moments before the current moment and the predicted position of the previous moment, if the information is not noise. The determining module is further configured to determine the target location of the target based on the predicted location and the detected location; The control module is also used to perform display control based on the target position.

9. A garment processing device, characterized in that, include: The enclosure, control unit, radar unit, signal shielding unit, and display unit, wherein: The display device is disposed on the front panel or top panel of the enclosure and is used for display. The radar device is installed inside the housing, with its signal transmitting end and signal receiving end facing the front panel of the housing and spaced at a predetermined distance from the front panel. The signal shielding device is disposed between the front panel and the signal receiving end, and is used to block the interference signal reflected by the inner drum of the clothing processing equipment from entering the signal receiving end; The control device is used to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the clothing processing equipment control method as described in any one of claims 1 to 7.

Images