Method, device and laundry equipment for detecting the state of the medium inside a drum

Abstract

The application relates to the technical field of sensing detection of washing equipment, and provides a drum medium state detection method and device and washing equipment, which comprises the following steps: acquiring medium impedance collected by an electrode assembly in a drum rotating process and a drum mechanical angle; determining an immersion angle interval of the electrode assembly based on state changes of the medium impedance; obtaining liquid level information based on a geometric relationship between the immersion angle interval and a drum cross section, and / or obtaining a medium state parameter based on impedance sample distribution characteristics in the immersion angle interval. The application is free from the dependence on an air pressure pipe and a pressure sensor, eliminates the influence of rotating speed fluctuation on detection results, realizes synchronous identification of liquid level accurate calculation and medium state parameters such as foam and turbidity, and improves detection reliability and intelligent control level.

Description

Technical Field

[0001] This application relates to the field of sensing and detection technology for washing equipment, specifically to a method, device, and washing equipment for detecting the state of media inside the drum. Background Technology

[0002] In drum washing equipment, water level, foam, and turbidity are key parameters affecting the control of the washing program. Existing technologies generally use air pressure conduits in conjunction with pressure sensors to indirectly detect the water level. This method relies on the air pressure changes in the air chamber between the inner and outer drums, which can easily lead to misjudgments of the water level due to scaling, blockage, aging, and air leakage of the conduits. Furthermore, for some new compact drum structures, the space for laying air pressure conduits is limited.

[0003] Existing time duty cycle-based detection schemes implicitly assume that the drum must be rotating at an absolutely uniform speed. However, in actual engineering, drum washing machines experience significant transient fluctuations in motor speed under different loads of clothing and different washing stages (such as water intake, tumbling, and rinsing), and these speed fluctuations are unavoidable due to physical laws. Under such non-uniform speed conditions, the actual immersion arc corresponding to the same time percentage will drift, causing the traditional "time duty cycle" detection method to inevitably produce significant cumulative errors, failing to accurately reflect the true liquid level and leading to misjudgments of water intake. At the same time, the foam layer generated during the washing process can cause abnormal impedance signals, resulting in falsely high water levels. Furthermore, existing single-electrode detection schemes cannot distinguish between foam interference and water turbidity within the same sensing path, making it impossible to achieve accurate joint detection of multiple parameters.

[0004] Therefore, there is an urgent need for a detection solution that does not rely on air pressure pipelines, is unaffected by speed fluctuations, and can simultaneously identify the states of multiple media. Summary of the Invention

[0005] This application provides a method, apparatus, and washing equipment for detecting the state of media inside a drum, which solves the technical problems of low reliability caused by the reliance on air pressure pipelines for drum media detection, and the inability of single electrode detection under rotating conditions to distinguish multiple media states due to interference from speed fluctuations.

[0006] To achieve the above objectives, this application adopts the following technical solution: Firstly, a method for detecting the state of media inside a drum is provided, including: Acquire the dielectric impedance and mechanical angle of the drum by the electrode assembly during drum rotation; The immersion angle range of the electrode assembly is determined based on the state change of the dielectric impedance. Liquid level information is obtained based on the geometric relationship between the immersion angle range and the drum cross-section, and / or medium state parameters are obtained based on the impedance sample distribution characteristics within the immersion angle range.

[0007] Based on the above technical solution, in the drum medium state detection method provided in this application, by mapping the change of medium impedance to the drum mechanical angle domain, and using the immersion angle interval to replace the traditional time duty cycle or air pressure value as the detection benchmark, the influence of drum speed fluctuation on the detection results is fundamentally eliminated, and the physical dependence on air pressure conduit and pressure sensor is eliminated; at the same time, by reusing data within the same immersion angle interval, the liquid level can be calculated through geometric relationships, and the medium state can be identified by analyzing impedance distribution characteristics, thus realizing multi-parameter joint detection under a single path.

[0008] In conjunction with the first aspect above, in one possible implementation, determining the immersion angle range of the electrode assembly based on the state change of the dielectric impedance includes: When the medium impedance meets the preset immersion conditions, the current mechanical angle of the roller is recorded as the water entry angle. When the medium impedance meets the preset separation condition, the current mechanical angle of the drum is recorded as the water outlet angle. The immersion angle range is determined based on the water inlet angle and the water outlet angle.

[0009] By capturing the precise mechanical angle corresponding to the impedance abrupt change point, a direct mapping relationship between the medium boundary and the drum position was established, avoiding boundary identification drift caused by uneven rotation speed and ensuring the accuracy of the immersion angle range.

[0010] In conjunction with the first aspect above, in one possible implementation, the mechanical angle of the roller is obtained by: obtaining the electrical angle of the drive motor; and calculating the mechanical angle of the roller based on the electrical angle of the drive motor, the number of pole pairs of the drive motor, and the transmission relationship between the drive motor and the roller.

[0011] This implementation method directly utilizes the electrical parameters inside the motor drive system to analyze the actual position of the roller, eliminating the need for additional encoders or position sensors. This reduces hardware costs and assembly complexity while ensuring the accuracy of angle acquisition.

[0012] In conjunction with the first aspect above, in one possible implementation, obtaining the liquid level information based on the immersion angle range and the geometric relationship of the drum cross-section includes: determining the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle; or, determining the water arc angle of the electrode assembly based on 360° minus the difference between the water outlet angle and the water inlet angle, and determining the immersion half-angle of the electrode assembly based on the water arc angle. The liquid level height is determined based on the immersion half-angle of the electrode assembly and the inner radius of the drum.

[0013] This implementation method is based on the geometric characteristics of a horizontally placed cylinder, which converts angular information into continuous liquid level height values, rather than a simple fixed-point switching quantity. This makes the liquid level detection resolution depend only on the angular sampling accuracy and geometric parameters, thus achieving high-precision continuous liquid level measurement.

[0014] In conjunction with the first aspect above, in one possible implementation, the medium state parameters include foam state parameters and / or liquid turbidity state parameters; obtaining the medium state parameters based on the impedance sample distribution characteristics within the immersion angle range includes: obtaining the foam state parameters and / or the liquid turbidity state parameters based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range.

[0015] This approach fully leverages the differences in electric field response among different media. By analyzing the statistical characteristics of impedance data within the same angular range, it distinguishes media properties and achieves multi-dimensional water quality sensing without the need for additional optical or dedicated turbidity sensors.

[0016] In conjunction with the first aspect above, in one possible implementation, obtaining the foam state parameter based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range includes: determining a first foam level parameter characterizing a large amount of foam when the impedance samples within the immersion angle range are generally in a preset high impedance range and the dispersion is greater than a preset dispersion threshold; and determining a second foam level parameter characterizing a small amount of foam when the impedance samples within the immersion angle range are generally below the preset high impedance range and the dispersion is less than or equal to the preset dispersion threshold.

[0017] This implementation method utilizes the physical characteristics of high impedance and unstable contact caused by the gas-liquid mixing of foam medium. By combining the impedance amplitude and fluctuation criteria, it effectively solves the industry pain point that traditional electrode methods easily misjudge foam as water.

[0018] In conjunction with the first aspect above, in one possible implementation, obtaining the liquid turbidity state parameter based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range includes: selecting stable immersion impedance samples within the immersion angle range whose fluctuation is lower than a preset fluctuation threshold and whose duration meets a preset range; determining a reference impedance value based on the stable immersion impedance samples; and matching the reference impedance value with a preset turbidity calibration range to obtain the liquid turbidity state parameter.

[0019] This approach eliminates transient interference by screening stable samples, extracts a reference impedance that reflects the conductivity of the water body, quantifies turbidity by utilizing the negative correlation between impurity content and impedance, and further eliminates cross-interference of foam residue on turbidity detection through stability criteria.

[0020] In conjunction with the first aspect above, in one possible implementation, before determining the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle, the method further includes: acquiring the water inlet angle and the water outlet angle for multiple consecutive rotation cycles; calculating statistical values ​​of the water inlet angle and the water outlet angle; and removing abnormal samples that deviate from the statistical values ​​by more than a preset deviation range. The determination of the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle includes: determining the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle after removing the abnormal samples.

[0021] This implementation addresses the single-cycle pulse interference caused by clothes momentarily sticking to the electrodes inside the drum. It employs a multi-cycle statistical filtering strategy, which significantly improves the robustness of liquid level calculation while ensuring response speed, preventing water level jumps caused by occasional obstructions.

[0022] Secondly, a device for detecting the state of media inside a drum is provided, comprising: An electrode assembly, disposed on the inner wall of the drum and rotating with the drum, is used to collect dielectric impedance; an angle acquisition unit is used to acquire the mechanical angle of the drum. The processing unit, connected to the electrode assembly and the angle acquisition unit, is configured to: determine the immersion angle range of the electrode assembly based on the state change of the dielectric impedance; Liquid level information is obtained based on the geometric relationship between the immersion angle range and the drum cross-section, and / or medium state parameters are obtained based on the impedance sample distribution characteristics within the immersion angle range.

[0023] Thirdly, a washing device is provided, comprising: roller; A drive mechanism is used to drive the roller to rotate; An electrode assembly is disposed on the inner wall of the drum and rotates with the drum; The controller, communicatively connected to the drive mechanism and the electrode assembly, is configured to: acquire the dielectric impedance and drum mechanical angle collected by the electrode assembly during drum rotation; determine the immersion angle range of the electrode assembly based on the state change of the dielectric impedance; obtain liquid level information based on the geometric relationship between the immersion angle range and the drum cross-section, and / or obtain dielectric state parameters based on the impedance sample distribution characteristics within the immersion angle range; and control the operation of the washing equipment based on the liquid level information and / or the dielectric state parameters.

[0024] Beneficial effects: 1. This application abandons traditional air pressure conduits and pressure-water level sensors. By acquiring the change in medium impedance state during drum rotation and directly mapping it to the drum's mechanical angle, it uses the 'immersion angle range' formed by the water inlet and outlet angles to replace the traditional 'time duty cycle' as the detection benchmark. This completely eliminates the hidden dangers of pipe blockage and air leakage failure. It also adapts to compact drum structures without space for air pressure pipes, improving the system's long-term reliability and environmental adaptability, while avoiding the absolutely uniform speed operation conditions required by existing technologies. Since angle is a spatial geometric quantity, regardless of how drastically the drum speed fluctuates during washing, as long as the liquid level remains constant, the mechanical angle of the electrode entering and exiting the water remains constant. Therefore, this invention is naturally immune to speed fluctuations under different loads, which is physically impossible to achieve with existing time-dimensional detection schemes, thus achieving extremely high-precision liquid level calculation under dynamic operating conditions.

[0025] 2. By establishing a mapping relationship between the change in medium impedance state and the mechanical angle of the drum, and using the immersion angle range instead of the time duty cycle as the detection benchmark, the liquid level calculation process no longer depends on whether the drum rotates at a uniform speed. This effectively avoids the time accumulation error caused by speed fluctuations due to motor speed regulation and load changes, and significantly improves the water level detection accuracy under dynamic working conditions.

[0026] 3. It achieves deep reuse of sensing paths. Within the same immersion angle range, it can simultaneously identify foam volume and water turbidity by calculating the liquid level through a geometric model and analyzing the distribution characteristics of impedance samples (such as impedance level, dispersion, and stability). There is no need to add a separate optical turbidity sensor or foam sensor. While reducing hardware costs and assembly complexity, it solves the technical problem that traditional electrode methods cannot distinguish between foam and dirty water.

[0027] 4. By employing a multi-cycle statistical filtering and abnormal sample removal mechanism, the single-cycle pulse interference caused by the instantaneous contact of clothes with the electrodes during the washing process is effectively suppressed. Combined with a stable immersion sample screening strategy, the stability and confidence of the liquid level, foam and turbidity detection results are ensured, providing solid data support for the adaptive and precise control of the washing program. Attached Figure Description

[0028] Figure 1 This is a logic block diagram of the medium state detection algorithm provided in the embodiments of this application; Figure 2 A flowchart of the multi-parameter joint detection algorithm provided in the embodiments of this application; Figure 3 Comparison diagram of the axial and radial mounting structures of the electrodes provided in the embodiments of this application; Figure 4This is a schematic diagram illustrating the principle of electrode immersion zones at different water levels provided in the embodiments of this application; Figure 5 This is a schematic diagram of the electrode mounting structure and water level inside the drum provided in an embodiment of this application; 1. Drum; 2. Electrode; 3. Wiring. Detailed Implementation

[0029] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0030] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0031] Example 1 like Figure 1 and Figure 2 As shown, this embodiment provides a method for detecting the state of the medium inside a drum. This method achieves accurate perception of the internal environment of the drum through the coordinated analysis of impedance signals and mechanical angles. Specifically, the detection method includes the following steps.

[0032] Step S100: Obtain the dielectric impedance and mechanical angle of the drum collected by the electrode assembly during the drum rotation process.

[0033] In this embodiment, the electrode assembly 2 is installed on the inner wall of the roller 1 and rotates synchronously with the roller 1 to sense the conductivity characteristics of the medium inside the roller 1 in real time.

[0034] The dielectric impedance reflects the electrical properties of the medium between electrodes 2, and its value changes dynamically with the composition of the medium (such as water, foam, clothing, etc.). Simultaneously, the system synchronously acquires the current mechanical angular position of roller 1.

[0035] It should be noted that the mechanical angle of the roller refers to the absolute or relative rotational position of roller 1 in the spatial coordinate system, rather than simply the amount of time elapsed. This data acquisition method based on angle fundamentally decouples the detection results from the dependence on the constant rotational speed of the roller. Even if roller 1 is in a non-uniform rotational state caused by acceleration, deceleration, or load fluctuations, as long as the current mechanical angle can be accurately determined, the accuracy of subsequent analysis can be guaranteed.

[0036] For example, the mechanical angle can be calculated from the electrical parameters of the motor drive system, or it can be read directly from an independent position sensor.

[0037] Step S200: Determine the immersion angle range of the electrode assembly based on the state change of the dielectric impedance.

[0038] During the implementation process, when the electrode assembly 2 enters the liquid medium as the roller 1 rotates, the medium impedance will undergo a significant jump; similarly, when the electrode assembly 2 leaves the liquid medium, the impedance will also exhibit a reverse jump.

[0039] This embodiment monitors these impedance state abrupt changes and maps them to the corresponding drum mechanical angle, thereby defining the angle range of the electrode assembly 2 in the immersion state, i.e., the immersion angle range.

[0040] It should be noted that the immersion angle range is essentially a spatial dimension concept used to characterize the arc size covered by the liquid surface on the cross-section of the drum.

[0041] In this embodiment, the drum mechanical angle can be calculated in real time by combining the motor electrical angle with the number of pole pairs and the reduction ratio. During actual washing, the drum speed may fluctuate dramatically within each revolution due to factors such as clothing tumbling and eccentric rotation. If time-based statistics are used, any minute speed fluctuation will be accumulated and amplified into a detection error. However, this application anchors the spatial position of the electrodes at the instant of water entry and exit from a physical geometric perspective. This "static braking" analytical method eliminates the need for the system to acquire any speed data or maintain a stable speed, fundamentally eliminating the interference of speed fluctuations on detection accuracy and significantly improving the robustness of the detection results.

[0042] Compared to the time duty cycle statistics method used in traditional technologies, the angle domain boundary recognition method has significant technical advantages: the time duty cycle implicitly assumes a constant rotation speed; once the rotation speed fluctuates, the actual liquid level corresponding to the same time percentage will drift. However, the immersion angle range directly corresponds to the physical geometry of the liquid; regardless of the drum's rotation speed, as long as the liquid level remains constant, the immersion angle range remains constant. Therefore, this step establishes the concept of replacing time statistics with spatial angles, laying the foundation for high-precision dynamic detection.

[0043] Step S300: Obtain liquid level information based on the geometric relationship between the immersion angle range and the drum cross-section, and / or obtain medium state parameters based on the impedance sample distribution characteristics within the immersion angle range.

[0044] The processing unit performs multi-dimensional analysis and utilization of the determined immersion angle range.

[0045] On the one hand, since drum 1 is usually cylindrical, there is a definite geometric function relationship between the immersion angle range and the liquid level height inside the drum. By solving the geometric function relationship, the abstract angle value can be transformed into intuitive liquid level information, such as liquid level height, liquid level percentage, or equivalent volume.

[0046] On the other hand, the large number of impedance samples collected within the same immersion angle range also contain rich information about the medium's properties. By analyzing the statistical distribution characteristics of these samples, such as mean, variance, volatility, or stability, the specific state of the medium can be further identified, such as the amount of foam or the degree of turbidity of the water.

[0047] In practical applications, the output mode can be selected according to control requirements: it can output only liquid level information for water inlet control, or only media state parameters for water quality monitoring, or both can be output simultaneously to achieve comprehensive adaptive adjustment of the washing program.

[0048] This single-path, multi-parameter multiplexing mechanism not only avoids the cost and assembly complexity of adding extra sensors, but also ensures that liquid level judgment and media identification are based on a completely consistent spatial window, eliminating the risk of misjudgment caused by misalignment of sampling time and space.

[0049] For example, if a high level of liquid is detected and a high foaming characteristic is identified at the same time, the controller can determine that it is a false water level and perform drainage or defoaming treatment, thereby significantly improving the intelligence level and operational reliability of the washing equipment.

[0050] Example 2 In this embodiment, the method for determining the immersion angle range and the mechanism for obtaining the mechanical angle of the drum mentioned in Embodiment 1 are further refined.

[0051] The immersion angle range of the electrode assembly is determined based on the state change of the dielectric impedance, including: When the medium impedance meets the preset immersion conditions, record the current roller mechanical angle as the water entry angle. When the medium resistance meets the preset separation condition, record the current drum mechanical angle as the water outlet angle. The immersion angle range is determined based on the water inlet angle and the water outlet angle.

[0052] Among them, the preset immersion condition and the preset detachment condition are the triggering criteria used to determine whether the electrode assembly 2 enters or leaves the liquid medium.

[0053] For example, when electrode assembly 2 rotates from the air region into the water body, the dielectric impedance between electrodes 2 will show a significant decreasing trend because the conductivity of water is much higher than that of air.

[0054] The system monitors the impedance value in real time. Once the impedance drops below the preset immersion threshold, it is determined that the preset immersion condition is met, and the mechanical angle of the roller at this moment is immediately locked as the water entry angle. Conversely, when the electrode assembly 2 rotates with the roller 1 to leave the water body and enter the air area, the medium impedance will increase significantly. When the impedance rises above the preset detachment threshold, it is determined that the preset detachment condition is met, and the mechanical angle of the roller at this moment is locked as the water exit angle.

[0055] Through this threshold triggering and angle latching synchronization mechanism, the system accurately transforms the abstract impedance state change into angular boundary points in the spatial domain, thereby constructing an immersion angle range that characterizes the liquid surface coverage area.

[0056] like Figure 4 As shown, under different water level conditions, the arc length of the electrode assembly 2 immersed in the water is different, and the corresponding water entry angle and water exit angle also change accordingly.

[0057] At low water levels, the immersion angle range is narrow, and the difference between the ingress angle and the egress angle is small. As the water level rises, the immersion angle range gradually widens, the ingress angle is advanced, and the egress angle is delayed.

[0058] This corresponding geometric relationship indicates that the immersion angle range is a direct spatial mapping of the liquid level height, rather than an indirect time statistic. Therefore, regardless of the rotational speed of drum 1, as long as the liquid level remains constant, the measured entry and exit angles are constant, which fundamentally guarantees the physical authenticity of the test results.

[0059] In a further implementation, this embodiment provides an implementation method for obtaining the mechanical angle of the roller without the need for an additional position sensor.

[0060] Specifically, the mechanical angle of the roller is obtained as follows: the electrical angle of the drive motor is obtained; based on the electrical angle of the motor, the number of pole pairs of the drive motor, and the transmission relationship between the drive motor and the roller, the mechanical angle of the roller is calculated.

[0061] In washing equipment, the drive motor is typically equipped with a high-precision driver or control chip, capable of outputting the electrical angle information of the motor rotor in real time. Using this existing electrical parameter, combined with the number of pole pairs of the motor itself and the reduction gear ratio between the motor shaft and drum 1, the actual mechanical position of drum 1 can be mathematically calculated. As an example conversion formula, the drum mechanical angle can be expressed as:

[0062] in, This refers to the real-time mechanical angle of the roller, in degrees. The electric angle of the drive motor is given by feedback, in degrees; P is the number of pole pairs of the drive motor; i is the transmission reduction ratio between the drive motor and the drum.

[0063] It should be noted that in practical engineering applications, corresponding modifications or changes can be made based on the motor type (such as BLDC, PMSM, etc.), transmission structure (such as belt drive, direct drive, etc.), and the definition of the zero angle. Furthermore, although this embodiment preferably utilizes the internal electrical parameters of the motor to analyze the mechanical angle to reduce hardware costs, in other embodiments, the mechanical angle of the roller can also be directly obtained through external encoders, Hall sensors, or visual recognition.

[0064] The core advantage of using mechanical angles instead of timestamps as the detection benchmark in this embodiment is that it eliminates the cumulative error caused by speed fluctuations.

[0065] In traditional duty cycle detection schemes, the system assumes that the drum rotates at a constant speed and calculates the liquid level by statistically analyzing the immersion time of the electrodes. However, frequent motor starts and stops and speed fluctuations caused by load changes during the washing process can disrupt the assumption of constant speed, resulting in different actual immersion arcs for the same time percentage, thus leading to significant misjudgments of the water level.

[0066] In contrast, this embodiment directly anchors the detection dimension to spatial angles. Even if the instantaneous rotational speed of drum 1 differs at the moment of water entry and exit, or if the rotational speed is not constant throughout the entire rotation cycle, the recorded water entry and exit angles still accurately reflect the true geometric position of the liquid surface. This natural immunity to rotational speed fluctuations makes the method of this application particularly suitable for complex scenarios with variable speed conditions such as washing and dehydration, significantly improving the robustness and accuracy of media state detection.

[0067] Example 3 In this embodiment, in order to further improve the reliability and accuracy of liquid level detection under complex washing conditions, the liquid level information acquisition process mentioned in Example 1 was optimized by introducing an anti-interference filtering mechanism and an accurate geometric solution model.

[0068] Specifically, before determining the immersion half-angle of the electrode assembly based on the water inlet and outlet angles, the process also includes: Obtain the inlet and outlet angles for multiple consecutive rotation cycles; Calculate the statistical values ​​of the water inlet angle and the water outlet angle; Remove abnormal samples that deviate from the statistical value by more than the preset deviation range.

[0069] During the actual operation of drum 1, the movement of the inner clothes as the drum tumbles has a high degree of randomness and instantaneity.

[0070] During certain rotation cycles, clothing may briefly adhere to the surface of electrode assembly 2, causing a drastic change in dielectric impedance. This can lead the system to misjudge the timing of water inflow or outflow, resulting in incorrect angle records. Directly using single-cycle data containing such interference for level calculation will inevitably lead to significant fluctuations or even complete distortion of the results.

[0071] This embodiment constructs an angle dataset within a time window by collecting samples of the ingress and egress angles from multiple consecutive rotation cycles (e.g., 3 to 5 rotations, or other cycles sufficient to reflect the stable state of the liquid surface).

[0072] Based on this, a statistical value for the dataset is calculated. This statistical value can be an arithmetic mean, weighted average, or median, etc., to characterize the true trend of the current liquid surface boundary. Subsequently, each sample is compared with this statistical value. If the deviation of a sample exceeds a preset deviation range, the sample is determined to be an outlier caused by transient factors such as clothing obstruction and is removed.

[0073] This filtering strategy based on multi-period statistical characteristics can effectively suppress signal noise caused by non-liquid surface factors at the physical level, ensuring that the angle data involved in subsequent geometric calculations only reflects the true geometric shape of the liquid surface, thereby significantly enhancing the robustness and environmental adaptability of the detection algorithm.

[0074] After completing the above data cleaning, the immersion half-angle of the electrode assembly is determined based on the inlet and outlet angles after removing abnormal samples. Then, the liquid level height is determined based on the immersion half-angle of the electrode assembly and the inner radius of the drum.

[0075] like Figure 4 and Figure 5 As shown, roller 1 is typically a horizontally placed cylindrical container, and there is a defined geometric function relationship between the liquid level inside and the arc of the electrode assembly 2 immersed in the liquid. Specifically, the electrode assembly is immersed at half an angle... The angle of the filtered water outlet Angle of entry into water The difference is determined by half of the total difference. The half-angle should be submerged. It visually represents the size of the central angle covered by the liquid surface on the cross-section of the drum.

[0076] In another implementation, when the water inlet angle is ahead of the water outlet angle (i.e., the immersion range of the electrode crosses the 360° / 0° boundary), the water arc angle of the electrode assembly can be determined by calculating '360° minus the difference between the water outlet angle and the water inlet angle'. This water arc angle is geometrically equivalent to the immersion angle range.

[0077] Furthermore, considering the inner radius R of drum 1, the real-time liquid level height h can be calculated using the following formula:

[0078] Where h is the real-time liquid level height inside the drum, usually in millimeters or centimeters; R is the inner radius of the drum, which is half of the inner diameter of the drum; The immersion angle of the electrode assembly is half-angle, measured in degrees or radians. From Figure 4 It can be clearly observed that as the liquid level changes from low to high, the submerged half-angle... As the liquid level gradually increases, the corresponding liquid level height h also increases non-linearly.

[0079] This geometric model makes full use of the structural characteristics of the transverse cylinder, accurately converting the abstract angular domain measurement values ​​into the linear liquid level required for engineering control, completely eliminating the dependence on pneumatic conduits or pressure sensors. Furthermore, since the input angular data has been filtered as described above, the calculated liquid level height has extremely high confidence.

[0080] In practical applications, liquid level information can be represented in other forms depending on the control requirements. For example, the immersion half-angle can be directly output. It serves as a representation of the liquid level ratio; or it is based on the immersion half-angle. The equivalent value of the liquid volume can be calculated by further calculating the length of the drum; or the mapping relationship between the angle and the liquid level can be established by means of table lookup, polynomial fitting, etc., to adapt to drums with non-standard circular cross sections or complex inner wall structures such as lifting ribs.

[0081] In addition, the preset deviation range for abnormal sample rejection can be set as a fixed angle threshold (such as ±10°) or dynamically adjusted according to the dispersion of historical data to adapt to the detection stability requirements under different loads and rotation speeds.

[0082] Example 4 In this embodiment, the specific identification method of the medium state parameters mentioned in Embodiment 1 is refined, and the foam state identification mechanism based on impedance distribution characteristics is elaborated.

[0083] Specifically, the medium state parameters include foam state parameters and / or liquid turbidity state parameters; Medium state parameters are obtained based on the impedance sample distribution characteristics within the immersion angle range, including: foam state parameters and / or liquid turbidity state parameters based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range.

[0084] This embodiment utilizes the unique electrical response characteristics of foam media to effectively distinguish it from liquid water.

[0085] At the physical level, foam is a gas-liquid mixture formed by detergent solution encapsulating air. Since air is a poor conductor of electricity, when electrode assembly 2 passes through the foam layer, the current conduction path is blocked or compressed by numerous bubbles, resulting in a significantly higher measured dielectric impedance than that of pure liquid water. Simultaneously, the foam structure exhibits high instability; the continuous generation, merging, and bursting of bubbles, along with the relative sliding caused by the rotation of the drum, leads to high-frequency random fluctuations in the effective contact area between the electrode and the medium, resulting in drastic dispersion in the impedance data.

[0086] In contrast, liquid water (even turbid water) has a continuous conductive phase and a relatively stable flow field, with lower impedance values ​​and gentler fluctuations. Therefore, by jointly analyzing the amplitude level and statistical dispersion of impedance samples within the immersion angle range, a reliable criterion for characterizing foam quantity can be constructed, fundamentally solving the technical problem that the traditional single-threshold electrode method easily misjudges foam as high water level.

[0087] Furthermore, based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range, foam state parameters are obtained, including: When the impedance samples within the immersion angle range are all in the preset high impedance range and the dispersion is greater than the preset dispersion threshold, the first foam level parameter that characterizes the large amount of foam is determined. When the impedance samples within the immersion angle range are all lower than the preset high impedance range and the dispersion is less than or equal to the preset dispersion threshold, the second foam level parameter characterizing small foam quantity is determined.

[0088] In the further implementation process, the processing unit first extracts all impedance sampling points belonging to the current immersion angle range from the buffer. For the calculation of the impedance level, the arithmetic mean, geometric mean, or median of all samples within this range can be used to characterize the overall amplitude trend, so as to eliminate the influence of individual extreme noise points.

[0089] To quantify the degree of dispersion, statistical indicators such as standard deviation, variance, coefficient of variation, or range can be used. For example, defining impedance level... The median of the impedance samples within the interval is used to define the degree of dispersion. This represents the standard deviation of the impedance samples within the interval. When detected... and When the current medium environment meets the physical characteristics of foam, the first foam level parameter is output, indicating the presence of excessive foam in the container; conversely, when... and When the medium is determined to be mainly liquid water, the second foam level parameter is output to indicate whether the foam quantity is normal or there is no foam.

[0090] in, This is the lower threshold value for the preset high impedance range. These two thresholds are preset discrete thresholds, which can be obtained through experimental calibration and can be adaptively adjusted according to factors such as detergent type and water temperature.

[0091] In practical applications, foam state parameters can also be expressed as a continuously changing foam quantity index, or divided into three or more multi-level grades (such as micro foam, medium foam, and heavy foam) to meet the refined foam control requirements of different washing programs.

[0092] Furthermore, although this embodiment preferably uses the dual criteria of "impedance level + dispersion" to improve the recognition accuracy, in some scenarios where the accuracy requirement is not high, a rough judgment can also be made based solely on the level of impedance or solely on the magnitude of dispersion. These variations should all be covered within the scope of protection of this application.

[0093] By employing the aforementioned foam identification method based on impedance distribution characteristics, this application enables precise quantitative assessment of foam state without adding any extra optical sensors or dedicated foam sensors, relying solely on existing electrode components and angle detection links. This identification method not only boasts extremely low hardware costs but also avoids the problem of optical methods being susceptible to interference from water mist and stains by directly detecting the intrinsic electrical properties of the medium. Furthermore, it overcomes the inherent limitation of traditional pressure-based detection methods in distinguishing between foam and water, providing solid data support for intelligent defoaming control in subsequent washing processes.

[0094] Example 5 In this embodiment, another method for identifying the medium state parameters mentioned in Example 1 is refined, with a focus on elaborating the liquid turbidity identification mechanism based on stable immersion reference impedance.

[0095] Specifically, the medium state parameters include foam state parameters and / or liquid turbidity state parameters; the medium state parameters are obtained based on the impedance sample distribution characteristics within the immersion angle range, including: Based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range, foam state parameters and / or liquid turbidity state parameters are obtained.

[0096] Furthermore, based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range, liquid turbidity state parameters are obtained, including: Select stable immersion impedance samples with fluctuations below a preset fluctuation threshold and a continuous angle within a preset range from the immersion angle range. Determine the reference impedance value based on stable immersion impedance samples; The reference impedance value is matched with the preset turbidity calibration range to obtain the liquid turbidity state parameters.

[0097] Unlike the logic in Example 4 that uses high impedance and large dispersion to identify foam, this example uses a completely different feature dimension for identifying liquid turbidity, namely, relying on the stability of impedance data and absolute amplitude benchmark.

[0098] During the washing process, the turbidity of the water is mainly determined by dissolved or suspended stains, mud, detergent residue, and impurities dissolved from the clothes.

[0099] These substances increase the ion concentration or conductive particle density in water, resulting in a decrease in dielectric impedance relative to pure water. However, in the dynamic environment of drum rotation, electrode assembly 2 will generate severe transient impedance fluctuations when passing through the gas-liquid interface or foam layer. If the original sampling data is used directly for turbidity judgment, foam interference is easily misjudged as water quality change.

[0100] Therefore, this embodiment introduces a strict stability screening mechanism as a prerequisite for turbidity identification.

[0101] Specifically, the process of selecting stable immersion impedance samples with fluctuations below a preset fluctuation threshold and a duration within a preset range from the immersion angle interval is essentially a signal purity purification process. The processing unit traverses all impedance sampling points within the current immersion angle interval and calculates the short-term fluctuations of each sampling point and its neighborhood, such as the absolute value of the difference between adjacent sampling points or the local standard deviation.

[0102] Only when the impedance fluctuation within a certain continuous angular range is consistently lower than the preset fluctuation threshold, and the continuous angular range is greater than or equal to the preset continuous angular range, is the data segment marked as a stable immersion impedance sample.

[0103] The preset fluctuation threshold here is used to eliminate high-frequency noise caused by bubble bursts, clothing rubbing, or water turbulence; while the preset duration angle range ensures that the selected sample has a sufficient time span to characterize the steady-state properties of the liquid, rather than accidental instantaneous stability.

[0104] This dual constraint effectively removes non-liquid phase factors such as foam residue, gas-liquid mixing transition zone, and clothing obstruction from the electrode surface, retaining only the pure signal segment that reflects the actual conductivity of water.

[0105] After obtaining stable immersion impedance samples, a reference impedance value is determined based on these samples. To further improve the representativeness of the data, the reference impedance value can be calculated using the median, arithmetic mean, or weighted average of the stable sample set.

[0106] For example, using the median can effectively counteract the pull of individual extreme outliers; using a weighted average can assign higher weight to samples closer to the center of the immersion angle range, because the electrodes in this area are usually fully submerged and the flow field is relatively stable, resulting in the highest data confidence. This reference impedance value represents the true conductivity level of the current washing water after eliminating dynamic interference.

[0107] Subsequently, the reference impedance value was matched with the preset turbidity calibration range to obtain the liquid turbidity state parameters. The preset turbidity calibration range is a mapping relationship library established in advance based on a large amount of experimental data. Its core rule is: pure water corresponds to the highest impedance range; as the impurity content in the water increases and the turbidity increases, the impedance value decreases monotonically.

[0108] For example, it can be divided into four levels: clear water, slightly turbid, medium turbid, and heavily turbid, each corresponding to an impedance range. When the calculated reference impedance value falls within a specific range, the corresponding turbidity level is output.

[0109] It should be noted that the stability criterion plays a crucial role in anti-interference in this embodiment. In Embodiment 4, foam was identified as "high impedance + high dispersion"; while in this embodiment, only samples that simultaneously meet the criteria of "low fluctuation + sufficient duration" are included in the turbidity calculation.

[0110] Even if the average impedance of some foam layers accidentally falls within the turbidity calibration range, their inherent high dispersion and instability prevent them from passing the stability screening threshold, thus automatically excluding them from turbidity determination. This characteristic decoupling based on physical mechanisms completely solves the industry pain point that traditional electrode methods struggle to distinguish between foam and dirty water.

[0111] As an optional optimization method, in order to address the impact of water temperature changes or detergent differences on the impedance reference during the washing process, a temperature compensation mechanism or a reference self-learning mechanism can also be introduced.

[0112] For example, an impedance-temperature correction curve can be preset in the processing unit, and the reference impedance value can be normalized and corrected according to the real-time detected water temperature before turbidity matching; or, the current clear water impedance reference can be automatically collected and updated during the initial clear water stage of each water intake, so as to offset the systematic deviation caused by electrode aging, water hardness differences or detergent formula changes.

[0113] Example 6 like Figure 1 As shown, this embodiment provides a device for detecting the state of media inside a drum. This device serves as the hardware carrier of the detection method in the aforementioned embodiment. By binding functional units with physical entities, the feasibility and certainty of the technical solution are ensured.

[0114] Specifically, the detection device includes an electrode assembly 2, an angle acquisition unit, and a processing unit.

[0115] Electrode assembly 2 is disposed on the inner wall of drum 1 and rotates with drum 1 to collect dielectric impedance. Specifically, electrode assembly 2 is the physical front end for sensing the state of the dielectric inside drum 1. Figure 3 and Figure 5 As shown, the electrode assembly 2 typically includes at least two electrodes, which are fixed to the inner wall of the roller 1 by an insulating and sealed structure and rotate synchronously with the roller 1.

[0116] In a preferred embodiment, the electrode assembly 2 can be arranged to extend along the axial direction of the roller 1 to cover a larger detection area; or, the electrode assembly 2 can be arranged at intervals along the radial or circumferential direction of the roller 1 to adapt to different internal structures of the roller.

[0117] It should be understood that although the figure shows a specific electrode arrangement, in other embodiments, as long as the electrode assembly 2 can rotate with the roller 1 and effectively sense the dielectric impedance, its specific number, shape, and installation position can be adjusted according to actual needs. In addition, in order to suppress electrode electrolytic corrosion and improve the signal-to-noise ratio, the electrode assembly 2 is usually used in conjunction with a high-frequency alternating excitation signal, but this is an optional optimization method and not a necessary limitation for realizing the basic detection function of this application.

[0118] The angle acquisition unit is used to acquire the mechanical angle of the roller. This unit provides the system with a precise spatial position reference, allowing changes in the medium impedance to be mapped onto a defined angular domain.

[0119] In practice, the angle acquisition unit can be integrated into the motor driver that drives the roller 1 to rotate. The mechanical angle of the roller is calculated by analyzing the electrical angle, number of pole pairs and transmission ratio of the motor. This method does not require additional sensors and has the advantages of low cost and compact structure.

[0120] Alternatively, the angle acquisition unit can also be an independently set position sensor, such as a photoelectric encoder, Hall sensor or magnetic encoder, which directly measures the rotational position of roller 1.

[0121] Regardless of the specific form used, as long as the mechanical angle information of roller 1 can be provided in real time and accurately, it falls within the protection scope of this application.

[0122] The processing unit is connected to the electrode assembly 2 and the angle acquisition unit, and is configured to: determine the immersion angle range of the electrode assembly 2 based on the state change of the medium impedance; obtain liquid level information based on the geometric relationship between the immersion angle range and the drum cross-section; and / or obtain medium state parameters based on the impedance sample distribution characteristics within the immersion angle range.

[0123] The processing unit is the core of the device's computation and control, and it is implemented through the collaboration of specific hardware circuits and program instructions. For example, the processing unit can take the form of a microcontroller (MCU), digital signal processor (DSP), field-programmable gate array (FPGA), or application-specific integrated circuit (ASIC).

[0124] During execution, the processing unit receives impedance sampling data from electrode assembly 2 and real-time angle data from angle acquisition unit, runs the algorithm logic as described in Examples 1 to 5, completes boundary recognition, geometric calculation and feature analysis, and finally outputs high-precision liquid level information and medium state parameters.

[0125] Regarding the connection and communication methods between the various units, this application adopts an open design approach. Data transmission between the processing unit and electrode assembly 2, and the angle acquisition unit, can be achieved through either wired or wireless communication.

[0126] For example, in a wired solution, the electrical signal between the rotating side electrode assembly 2 and the stationary side processing unit can be conducted through a sliding rail contact structure; in a wireless solution, a wireless radio frequency module can be used for data interaction, and the rotating side circuit can be powered by wireless charging or inductive power extraction.

[0127] In actual products, those skilled in the art can flexibly select any applicable power supply and communication topology based on the roller structure, cost budget and reliability requirements. As long as the functional connection and information interaction between the electrode assembly 2, the angle acquisition unit and the processing unit can be realized, they should all be covered within the protection scope of this application.

[0128] Through the above-described device architecture, this embodiment translates the abstract detection method into a concrete physical entity. This not only avoids the risk of being deemed a purely intellectual rule due to a lack of hardware support, but also maximizes the coverage of patent protection by maintaining openness in power supply, communication, and sensor selection.

[0129] This device completely eliminates the reliance on air pressure ducts and pressure water level sensors, and can simultaneously realize multi-dimensional sensing of liquid level, foam and turbidity under a single sensing path, providing a highly reliable, low-cost and easy-to-integrate hardware foundation for the intelligent control of washing equipment.

[0130] Example 7 This embodiment provides a washing device, which serves as the overall application carrier of the media state detection method in the aforementioned embodiments. The washing device achieves adaptive optimization of the washing process through multi-parameter linkage intelligent control.

[0131] Specifically, the washing equipment includes a drum 1, a drive mechanism, an electrode assembly, and a controller.

[0132] Among them, drum 1 is used to hold the clothes to be washed and the washing medium; The drive mechanism is used to drive the drum 1 to rotate, so as to provide the mechanical force required for washing; The electrode assembly is set on the inner wall of the drum 1 and rotates with the drum 1 to collect the dielectric impedance in real time during the rotation process; The controller is communicatively connected to the drive mechanism and the electrode assembly, and is configured to: acquire the medium impedance and mechanical angle of the drum 1 collected by the electrode assembly during the rotation of the drum 1; determine the immersion angle range of the electrode assembly based on the state change of the medium impedance; obtain liquid level information based on the geometric relationship between the immersion angle range and the drum cross-section, and / or obtain medium state parameters based on the impedance sample distribution characteristics within the immersion angle range; and control the operation of the washing equipment based on the liquid level information and / or the medium state parameters.

[0133] like Figure 3 and Figure 5 As shown, the actual assembly position of the electrode assembly in the whole machine directly determines the effective coverage of the detection.

[0134] In a preferred embodiment, the electrode 2 extends axially along the inner wall of the drum 1. This arrangement can cover a longer detection path, which is beneficial to obtaining a sufficient number of impedance sampling points at different water levels, thereby improving the confidence of the statistical characteristics.

[0135] In another embodiment, the electrodes 2 can also be arranged at intervals along the radial or circumferential direction of the inner wall of the roller 1, or concentrated in a specific area at the bottom of the roller 1. Regardless of the arrangement, the electrodes 2 are fixed to the inner wall of the roller 1 by an insulating and sealing structure, and connected to the signal processing circuit on the rotating side by the connecting wire 3.

[0136] The core value of this embodiment lies in the controller's ability to transform the multi-dimensional sensing data calculated in the aforementioned embodiments into specific washing control commands, forming a closed-loop intelligent control of "detection-decision-execution". Since this control logic is entirely based on the results obtained through the collaborative analysis of the electrode assembly and mechanical angle, it does not rely on air pressure conduits or pressure / water level sensors. Therefore, it completely eliminates the risk of water level misjudgment caused by pipe blockage or air leakage in traditional solutions, while also avoiding the cost and structural complexity brought about by adding additional optical turbidity sensors or foam sensors.

[0137] Specifically, the controller controls the operation of the washing equipment based on liquid level information and / or media state parameters, which can be manifested as a combination of various adaptive adjustment strategies.

[0138] For example, during the water intake phase, the controller dynamically adjusts the opening degree or closing timing of the water intake valve using real-time calculated liquid level information.

[0139] Compared to traditional pneumatic water level switches that can only determine a few discrete water levels, the continuous liquid level information provided in this application enables the controller to achieve millimeter-level precise water level control, thereby accurately matching the water consumption according to the load of clothes, avoiding waste caused by excessive water intake or a decrease in washing cleanliness caused by insufficient water.

[0140] For example, during the washing or rinsing stage, the controller dynamically adjusts its operating strategy based on the identified foam state parameters. When the first foam level parameter, which indicates a large amount of foam, is detected, the controller can automatically trigger a defoaming program, such as reducing the drum speed, extending the settling time, or starting the drain pump to discharge some foam liquid, to prevent foam from overflowing the tub or affecting the tumbling force. Conversely, when the second foam level parameter, which indicates a small amount of foam, is detected, the controller can maintain the normal washing rhythm or shorten the predetermined defoaming waiting time, thereby shortening the overall operating cycle while ensuring the washing effect.

[0141] For example, the controller can also adaptively adjust the rinsing logic based on the liquid turbidity status parameter. In traditional fixed programs, the number of rinsing cycles is usually preset and fixed, regardless of the water's cleanliness.

[0142] In this embodiment, when the controller detects a high turbidity level, it can automatically increase the number of rinses or extend the duration of a single rinse until the turbidity drops below the qualified threshold; when a low turbidity or clear water state is detected, the rinsing can be ended early or the number of rinse cycles can be reduced.

[0143] This dynamic adjustment mechanism based on real-time water quality feedback not only ensures that the cleanliness and residue of clothes meet the standards, but also significantly improves the efficiency of water resource utilization, achieving true on-demand washing.

[0144] In practice, the controller can also adjust other operating parameters such as heating temperature, detergent dosage, and spin-drying speed based on any combination of liquid level, foam, and turbidity parameters.

[0145] For example, under conditions of low liquid level and high turbidity, the detergent concentration and stirring intensity can be increased simultaneously; or under conditions of high foam and low liquid level, drainage should be prioritized over water replenishment. Furthermore, although this embodiment preferably integrates the controller as the main control board of the washing equipment, in a distributed architecture, the relevant detection and control logic can also be completed collaboratively by independent sensing modules or a cloud server. Any implementation method that controls the operation of the washing equipment based on the medium state detection results described in this application should be covered within the scope of protection of this application.

[0146] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0147] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A method for detecting the state of media inside a drum, characterized in that, include: Acquire the dielectric impedance and mechanical angle of the drum by the electrode assembly during drum rotation; The immersion angle range of the electrode assembly is determined based on the state change of the dielectric impedance. Liquid level information is obtained based on the geometric relationship between the immersion angle range and the drum cross-section, and / or medium state parameters are obtained based on the impedance sample distribution characteristics within the immersion angle range.

2. The method for detecting the state of the medium inside the drum according to claim 1, characterized in that, Determining the immersion angle range of the electrode assembly based on the state change of the dielectric impedance includes: When the medium impedance meets the preset immersion conditions, the current mechanical angle of the roller is recorded as the water entry angle. When the medium impedance meets the preset separation condition, the current mechanical angle of the drum is recorded as the water outlet angle. The immersion angle range is determined based on the water inlet angle and the water outlet angle.

3. The method for detecting the state of the medium inside the drum according to claim 2, characterized in that, The mechanical angle of the roller is obtained in the following way: Obtain the electrical angle of the drive motor; The mechanical angle of the roller is calculated based on the electrical angle of the motor, the number of pole pairs of the drive motor, and the transmission relationship between the drive motor and the roller.

4. The method for detecting the state of the medium inside the drum according to claim 2, characterized in that, Liquid level information is obtained based on the immersion angle range and the geometric relationship between the drum cross-section, including: The immersion half-angle of the electrode assembly is determined based on the water inlet angle and the water outlet angle; or, the water arc angle of the electrode assembly is determined based on 360° minus the difference between the water outlet angle and the water inlet angle, and the immersion half-angle of the electrode assembly is determined based on the water arc angle. The liquid level height is determined based on the immersion half-angle of the electrode assembly and the inner radius of the drum.

5. The method for detecting the state of the medium inside the drum according to claim 1, characterized in that, The medium state parameters include foam state parameters and / or liquid turbidity state parameters; The process of obtaining medium state parameters based on impedance sample distribution characteristics within the immersion angle range includes: obtaining the foam state parameters and / or the liquid turbidity state parameters based on at least one of impedance level, dispersion, and stability of impedance samples within the immersion angle range.

6. The method for detecting the state of the medium inside the drum according to claim 5, characterized in that, The foam state parameters are obtained based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range, including: When the impedance samples within the immersion angle range are all in a preset high impedance range and the dispersion is greater than a preset dispersion threshold, the first foam level parameter characterizing a large amount of foam is determined. When the impedance samples within the immersion angle range are generally lower than the preset high impedance range and the dispersion is less than or equal to the preset dispersion threshold, a second foam level parameter characterizing small foam quantity is determined.

7. The method for detecting the state of the medium inside the drum according to claim 5, characterized in that, Based on at least one of the impedance level, dispersion, and stability of the impedance samples within the immersion angle range, the liquid turbidity state parameters are obtained, including: Select stable immersion impedance samples with fluctuations below a preset fluctuation threshold and continuous angles within the immersion angle range; The reference impedance value is determined based on the stable immersion impedance sample. The reference impedance value is matched with a preset turbidity calibration range to obtain the liquid turbidity state parameters.

8. The method for detecting the state of the medium inside the drum according to claim 4, characterized in that, Before determining the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle, the method further includes: The water inlet angle and the water outlet angle are obtained for multiple consecutive rotation cycles; Calculate the statistical values ​​of the water inlet angle and the water outlet angle; Remove abnormal samples that deviate from the statistical value by more than a preset deviation range; The step of determining the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle includes: determining the immersion half-angle of the electrode assembly based on the water inlet angle and the water outlet angle after removing the abnormal samples.

9. A device for detecting the state of media inside a drum, applied to the method described in any one of claims 1-8, characterized in that, include: An electrode assembly, disposed on the inner wall of the drum and rotating with the drum, is used to collect dielectric impedance; Angle acquisition unit, used to acquire the mechanical angle of the roller; The processing unit, connected to the electrode assembly and the angle acquisition unit, is configured to: determine the immersion angle range of the electrode assembly based on the state change of the medium impedance; obtain liquid level information based on the geometric relationship between the immersion angle range and the drum cross-section; and / or obtain medium state parameters based on the impedance sample distribution characteristics within the immersion angle range.

10. A washing apparatus, used in the method as described in any one of claims 1-8, characterized in that, include: roller; A drive mechanism is used to drive the roller to rotate; An electrode assembly is disposed on the inner wall of the drum and rotates with the drum; The controller, communicatively connected to the drive mechanism and the electrode assembly, is configured to: acquire the dielectric impedance and drum mechanical angle collected by the electrode assembly during drum rotation; determine the immersion angle range of the electrode assembly based on the state change of the dielectric impedance; obtain liquid level information based on the geometric relationship between the immersion angle range and the drum cross-section, and / or obtain dielectric state parameters based on the impedance sample distribution characteristics within the immersion angle range; and control the operation of the washing equipment based on the liquid level information and / or the dielectric state parameters.

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