CN109208245B - Automatic clothes washing method - Google Patents
Automatic clothes washing method Download PDFInfo
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- CN109208245B CN109208245B CN201811073828.4A CN201811073828A CN109208245B CN 109208245 B CN109208245 B CN 109208245B CN 201811073828 A CN201811073828 A CN 201811073828A CN 109208245 B CN109208245 B CN 109208245B
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F35/00—Washing machines, apparatus, or methods not otherwise provided for
- D06F35/005—Methods for washing, rinsing or spin-drying
- D06F35/006—Methods for washing, rinsing or spin-drying for washing or rinsing only
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F19/00—Washing machines using vibrations for washing purposes
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/14—Arrangements for detecting or measuring specific parameters
- D06F34/18—Condition of the laundry, e.g. nature or weight
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Abstract
The invention discloses an automatic clothes washing method, which comprises the following steps: controlling a driving device to drive the two groups of chains to rotate so that the clothes vertically hung between the two groups of chains rotate along with the two groups of chains; controlling two groups of image acquisition devices respectively arranged at the front side and the rear side in the washing body to respectively acquire images of the front side and the back side of the clothes; acquiring clothes images transmitted by the two groups of image acquisition devices, identifying whether the clothes have stains according to the clothes images, and recording the positions and the ranges of the stains if the clothes have the stains; when the clothes rotate to pass through the washing head, the washing head is controlled to wash the position of the stain on the clothes according to the recorded position and range of the stain.
Description
Technical Field
The invention relates to the technical field of clothes washing, in particular to an automatic clothes washing method.
Background
The washing machines on the market at present mainly comprise a pulsator washing machine and a drum washing machine, wherein the pulsator washing machine is mainly used for fully mixing and contacting washing water mixed with a clothes treating agent with clothes, and fully rubbing and contacting the clothes and lines on the inner barrel wall of a washing barrel by turning over the clothes so as to achieve the cleaning effect on the clothes; the drum washing machine rotates the drum by the mechanical work of the motor, the clothes are lifted and dropped in the drum continuously, and then lifted and dropped again to do repeated motion, and the clothes are washed clean under the combined action of the washing powder and the water.
The existing method for identifying the dirt of the clothes by the washing machine comprises the steps of pre-washing the clothes, measuring the turbidity of washing water by a turbidity sensor, then washing the clothes once and measuring the turbidity of the washing water, setting a washing mode and a gear of the washing machine according to the difference value of the two times of the turbidity of the washing water, and being incapable of identifying the dirt on the specific position of the clothes, so that the washing machine only washes the clothes equally in a large range, and is difficult to completely remove the dirt on the clothes in the washing process.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an automatic washing method, aiming at the defects that the existing washing machine in the prior art cannot identify the stains on the specific positions of the clothes, so that the washing machine only performs large-range equivalent washing on the clothes, and the stains on the clothes are difficult to completely remove in the washing process.
The invention provides an automatic clothes washing method, which comprises the following steps:
the control driving device drives the two groups of chains to rotate so that clothes vertically hung between the two groups of chains rotate, and the two groups of chains are wound into a quadrilateral structure and are arranged on the left side and the right side in the washing body and used for driving the clothes to continuously rotate;
controlling two groups of image acquisition devices respectively arranged at the front side and the rear side in the washing body to respectively acquire images of the front side and the back side of the clothes;
acquiring the clothes images transmitted by the two groups of image acquisition devices, identifying whether the clothes have stains according to the clothes images, and recording the position and range of the stains if the clothes have the stains;
when the clothes rotate to pass through the washing head, the washing head is controlled to wash the position of the dirt on the clothes according to the recorded position and range of the dirt, and the washing head is arranged at the bottom of the clothes washing body and can slide left and right on the bottom of the clothes washing body.
Optionally, the identifying whether the laundry has the stain according to the laundry image includes:
identifying the clothes image through a convolutional neural network to identify whether stains exist in the clothes;
and when the dirt exists in the clothes, identifying and segmenting the clothes image to obtain the position and the range of the dirt.
Optionally, before the identifying the clothing image by the convolutional neural network, the method further includes:
acquiring a data set consisting of sample pictures of various clothes and carrying out noise reduction processing on the data set, wherein the sample pictures are marked with positions of stains on the clothes, ranges of the stains and colors of the stains;
constructing a convolutional neural network structure, and dividing the convolutional neural network structure into two sub-network structures, wherein the two sub-network structures comprise a full convolutional neural network structure and a network structure formed by combining a random forest edge detection algorithm and a superpixel algorithm;
and training the convolutional neural network structure by adopting the data set subjected to noise reduction processing to obtain the trained convolutional neural network structure.
Optionally, the identifying the clothing image by the convolutional neural network comprises:
identifying and segmenting stains on the clothes image by adopting the full-convolution neural network structure to obtain a first image;
recognizing stain edges on the clothes image by adopting a random forest edge detection algorithm, and performing superpixelization processing on the stain edge image obtained by recognition by adopting a superpixel algorithm to obtain a second image;
and combining the first image and the second image in an overlapping manner to obtain an identification image marked with the stain position and range.
Optionally, the method further comprises: controlling the extension of the telescopic push rod to enable the touch sensor on the telescopic push rod to be in contact with the clothes;
acquiring a tactile image transmitted by the tactile sensor, and classifying and identifying the material of the clothes by adopting multiple labels of a convolutional neural network according to the tactile image;
and adjusting the washing intensity and the washing time of the washing head according to the identified and obtained material of the clothes.
Optionally, the controlling and driving device drives the two sets of chains to rotate specifically includes:
the control driving device drives the two groups of chains to intermittently rotate;
controlling the two groups of image acquisition devices to slide left and right on the horizontal rod and acquiring images of the front and back surfaces of the clothes on the same horizontal plane;
the driving device is a stepping motor, the pulse gap of the stepping motor is larger than or equal to the time required by the two groups of image acquisition devices to slide the whole horizontal rod, and the advancing distance corresponding to each step of the stepping motor is smaller than or equal to the length of the two groups of image acquisition devices capable of acquiring the clothes images in the vertical direction.
Optionally, the controlling the washing head to wash the position where the stain is present on the laundry specifically includes:
after the two groups of image acquisition devices acquire the preset number of pulse gaps of the clothes images at intervals, sequentially reading the positions and the ranges of the stains according to the sequence of the clothes images transmitted by the two groups of image acquisition devices and controlling the washing head to wash the positions of the stains on the clothes.
Optionally, the method further comprises: after the washing head starts to work, the pulse gap of the stepping motor is adjusted to be larger than or equal to the maximum time between the time required by the two groups of image acquisition devices to slide the whole horizontal rod and the time required by the washing head to wash the currently washable stain.
Optionally, each group of image acquisition devices includes a light source and two camera lenses, the light source is in a strip shape, and the two camera lenses are respectively arranged above or below the light source;
and the group of image acquisition devices are arranged on a cabinet door of the washing body.
Optionally, the washing head is an ultrasonic washing head, and the washing head is connected with a washing control motor and is driven by the washing control motor to perform horizontal linear motion.
The invention has the following beneficial effects:
according to the invention, clothes are vertically hung between the two groups of chains and are enabled to rotate along with the chains, the image acquisition device is controlled to acquire clothes images in the rotation process of the clothes, after the positions of stains are identified and acquired according to the clothes images, when the clothes rotate to pass through the washing head at the bottom, the washing head is controlled to perform key washing on the stains on the clothes according to the positions of the stains identified and acquired, so that the removal of the stains on the specific positions of the clothes is realized, and the stains on the clothes can be effectively removed.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural diagram of a laundry device according to an embodiment of the present invention;
fig. 2 is a rear view illustrating a structure of a laundry device according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of an automatic laundry method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a process of identifying whether stains exist in the laundry according to the laundry image according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a process for recognizing a clothing image through a convolutional neural network according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.
For convenience of understanding, the following description will be made in detail on a specific apparatus to which the automatic washing method according to the embodiment of the present invention is applied. Referring to fig. 1 and 2, fig. 1 is a schematic structural view of a laundry device according to an embodiment of the present invention, and fig. 2 is a rear structural view of the laundry device according to the embodiment of the present invention. The embodiment of the invention provides a washing device, which comprises: the washing machine comprises a washing body 1, wherein a group of chains 2 are respectively arranged on the left side and the right side inside the washing body 1, and the two groups of chains 2 are wound into a quadrilateral structure; the top of the washing body 1 is provided with a stepping motor 3, the stepping motor 3 drives a chain 2 to continuously rotate through shaft couplings at two ends, the stepping motor 3 is controlled through pulse signals, the stepping motor 3 can intermittently drive the chain 2 to rotate, and the distance of each rotating step of the stepping motor 3 is consistent. The clothes are vertically hung between the two groups of chains 2, can rotate 360 degrees in four surfaces of the washing body 1 along with the rotation of the chains 2, namely, the clothes return to the front surface of the washing body 1 from the front surface-bottom surface-back surface-top surface of the washing body 1. The washing machine is characterized in that a washing head is arranged on the bottom surface of the washing body 1, the washing head is arranged downwards, when clothes pass through the bottom surface of the washing body 1, the clothes can be washed, the washing head is connected with a washing control motor 4, and the washing head can be driven to slide in the horizontal direction, so that the washing head can wash the position of the clothes in the horizontal direction, namely, the clothes are transversely washed. In particular, the washing head may be an ultrasonic washing head, and the clothes are subjected to interlayer washing by ultrasonic vibration, that is, two layers of the clothes are washed simultaneously. The front side and the rear side of the interior of the washing body 1 are respectively provided with an image acquisition device, one group of image acquisition devices are arranged on a cabinet door of the washing body 1, and the other group of image acquisition devices can be arranged in the central position of the interior of the washing body 1. Each group of image acquisition devices comprises a light source 6 and two camera lenses 5, wherein the light source 6 can be a strip-shaped LED lamp, and the two camera lenses 5 are respectively arranged above or below the light source 6; the light source 6 can polish the clothes when the clothes pass by so as to facilitate the shooting of images by the two camera lenses 5. In addition, a telescopic push rod can be arranged between the two camera lenses 5 of one group of image acquisition devices, a touch sensor 7 is arranged at the top end of the telescopic push rod, when clothes pass through, the telescopic rod extends out, the touch sensor 7 at the top end of the telescopic rod is enabled to be tightly attached to the clothes, and the touch sensor 7 is used for identifying the material of the clothes.
The washing machine is characterized in that a control processor can be further arranged in the washing body, and the control processor is respectively connected with the stepping motor, the washing control motor, the image acquisition device and the control motor of the telescopic push rod and used for controlling each motor to work according to the clothes image acquired by the image acquisition device.
In order to describe the laundry device in detail, an automatic washing method applied to the laundry device will be described in detail.
As shown in fig. 3, fig. 3 is a schematic flow chart of an automatic laundry method according to an embodiment of the present invention. The embodiment of the invention provides an automatic clothes washing method, which comprises the following steps:
s101, controlling a driving device to drive two groups of chains to rotate so that clothes vertically hung between the two groups of chains rotate, wherein the two groups of chains are wound into a quadrilateral structure and are arranged on the left side and the right side of the inside of a washing body and used for driving the clothes to continuously rotate;
after the clothes are vertically hung in the washing body, the control processor controls the driving device to drive the two groups of chains to rotate intermittently. Wherein; the pulse gap of the stepping motor is larger than or equal to the time required for the two groups of image acquisition devices to slide the whole horizontal rod, and the advancing distance corresponding to each step of the stepping motor is smaller than or equal to the length of the two groups of image acquisition devices capable of acquiring the clothes images in the vertical direction.
S102, controlling two groups of image acquisition devices respectively arranged at the front side and the rear side in the washing body to respectively acquire images of the front side and the back side of the clothes;
in the process of rotating the clothes, after recognizing that the clothes enter the range where the image acquisition devices can acquire images, controlling the two groups of image acquisition devices to slide left and right on the horizontal rod and acquiring images of the front side and the back side of the clothes on the same horizontal plane. It is understood that, in order to avoid that the image capturing device is always in the working state, a detector for detecting the rotation of the clothes, such as an infrared reflection sensor, may be installed on the same horizontal line of the image capturing device, and after the rotation of the clothes into the working range of the image capturing device is detected, the driving device is controlled to stop the rotation chain and simultaneously control the image capturing device to capture the image. Because the washing body is in a sealed state when in a working state, the inside of the washing body is easy to be in a dark state, so that a clear image can be obtained by the image acquisition device, a light source can be arranged around the image acquisition device, and the light source is used for lighting when the image acquisition device shoots the image.
S103, acquiring the clothes images transmitted by the two groups of image acquisition devices, identifying whether the clothes have stains according to the clothes images, and recording the positions and the ranges of the stains if the clothes have the stains;
in order to accurately acquire the position of the stain, a coordinate system may be constructed and the position of the stain may be recorded in the form of (x, y) immediately after the bottom of the laundry enters a range where the image acquisition device can acquire the image. Wherein, the length of x axle is the length of the horizontal smooth rod of carrying image acquisition device in the coordinate system, because the length of horizontal smooth rod is greater than the width of clothing, consequently, can guarantee that the spot on the clothing all can be discerned, and the length of y axle is then decided according to the length of clothing. When the dirt is a dirt block with a large range, the coordinate points on the outer side of the dirt block can be recorded, and the area surrounded by the coordinate points on the outer side is used as the range of the dirt, so that the dirt block can be conveniently washed subsequently, meanwhile, the processor can be conveniently controlled to record the range of the dirt, and a large number of coordinate points are not recorded.
And S104, when the clothes rotate to pass through the washing head, controlling the washing head to wash the position of the dirt on the clothes according to the recorded position and range of the dirt, wherein the washing head is arranged at the bottom of the clothes washing body and can slide left and right on the bottom of the clothes washing body.
It should be noted that, because the image acquisition devices are arranged at the front and rear sides inside the washing body, the washing head is arranged at the bottom of the washing body, and the positions where the image acquisition devices and the washing head are arranged are fixed, that is, the distance from the rotation of the clothes from the image acquisition devices to the position of the washing head is fixed, and because the distance from the rotation of the chain driven by the stepping motor after receiving each pulse signal is also fixed, the distance between the position of the image acquisition devices and the position of the washing head can be converted into a specific pulse number. After the two groups of image acquisition devices acquire a preset number of pulse gaps of the clothes images for the first time at intervals (the preset number is the specific pulse number converted), according to the sequence of the clothes images transmitted by the two groups of image acquisition devices, the positions and the ranges of stains are sequentially read, and the washing head is controlled to slide left and right on the base of the washing body, so that the positions of the stains on the clothes are washed.
In addition, after the washing head starts to work, the pulse gap of the stepping motor can be adjusted to be larger than or equal to the maximum time between the time required by the two groups of image acquisition devices to slide the whole horizontal rod and the time required by the washing head to wash the currently washable stain. It will be appreciated that in the case of longer laundry, the bottom of the laundry has rotated to the bottom of the washing body and is subjected to washing by the washing head, while the upper part of the laundry may still be vertically on the front of the washing body and has not been subjected to photographing by the image capturing device. In this case, in order to ensure that the two processes can be smoothly completed while the washing head washes the bottom of the laundry at the pulse gap of the stepping motor and the image acquiring device acquires the image of the remaining part of the laundry, the pulse gap of the stepping motor can be adjusted to be greater than or equal to the maximum time between the time required for the two sets of image acquiring devices to slide the whole horizontal bar (i.e., the time required for the image acquiring device to acquire the coordinate points of one set of laundry stains) and the time required for the washing head to wash the currently washable stains. Because the image acquisition device acquires the clothes image before the washing head washes clothes stains, the control processor can calculate the time for washing the stains by the washing head in advance according to the stains on the clothes image, and compares the time with the time required by the image acquisition device for acquiring coordinate points of a group of clothes stains, and determines the pulse gap of a subsequent stepping motor to be the maximum value of the comparison in advance, so that the image acquisition device or the washing head is always in a working state, and the clothes washing efficiency is improved.
In the embodiment of the invention, after the image acquisition device is adopted to acquire the clothes image, the clothes image is identified to acquire the position of the stain, and then the washing head is controlled to perform key washing on the stain on the clothes according to the position of the stain acquired by identification, so that the stain on the specific position of the clothes can be removed, and the stain on the clothes can be effectively removed; in addition, the whole clothes can be comprehensively cleaned at the position without stains, the stains on the clothes are pertinently cleaned while the clothes are washed, and fine stains can be effectively removed while the clothes are efficiently and energy-saving.
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating a process of identifying whether stains exist in clothes according to a clothes image according to an embodiment of the present invention, in an implementation manner of the embodiment of the present invention, the identifying whether stains exist in clothes according to the clothes image may specifically include:
s201, acquiring a data set formed by sample pictures of various clothes and carrying out noise reduction processing on the data set, wherein the sample pictures are marked with positions of stains on the clothes, ranges of the stains and colors of the stains;
s202, constructing a convolutional neural network structure, and dividing the convolutional neural network structure into two sub-network structures, wherein the two sub-network structures comprise a full convolutional neural network structure and a network structure formed by combining a random forest edge detection algorithm and a superpixel algorithm;
s203, training the convolutional neural network structure by adopting the data set subjected to noise reduction processing to obtain a trained convolutional neural network structure;
s204, identifying the clothes image through the trained convolutional neural network structure convolutional neural network so as to identify whether the clothes have stains;
s205, when the clothes have dirt, the clothes image is identified and segmented, and the position and the range of the dirt are obtained.
Specifically, referring to fig. 5, fig. 5 is a schematic flowchart of a process of identifying a clothing image through a convolutional neural network according to an embodiment of the present invention, where the identifying the clothing image through the convolutional neural network includes:
s301, inputting a clothes image;
s302, identifying and segmenting stains on the clothes image by adopting the full convolution neural network structure to obtain a first image;
s303, identifying the stain edge on the clothes image by adopting a random forest edge detection algorithm;
s304, performing superpixelization processing on the stain edge image obtained by identification by adopting a superpixel algorithm to obtain a second image;
s305, overlapping and combining the first image and the second image to obtain an identification image marked with the stain position and the stain range.
Because the materials of the washed clothes are different, in order to avoid bad washing or excessive washing, an implementation manner provided by the embodiment of the invention further comprises: controlling the extension of the telescopic push rod to enable the touch sensor on the telescopic push rod to be in contact with the clothes; acquiring a tactile image transmitted by the tactile sensor, and classifying and identifying the material of the clothes by adopting multiple labels of a convolutional neural network according to the tactile image; and adjusting the washing intensity and the washing time of the washing head according to the identified and obtained material of the clothes.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An automatic laundry method, comprising:
the control driving device drives the two groups of chains to rotate so that clothes vertically hung between the two groups of chains rotate, and the two groups of chains are wound into a quadrilateral structure and are arranged on the left side and the right side in the washing body and used for driving the clothes to continuously rotate;
controlling two groups of image acquisition devices respectively arranged at the front side and the rear side in the washing body to respectively acquire images of the front side and the back side of the clothes;
acquiring the clothes images transmitted by the two groups of image acquisition devices, identifying whether the clothes have stains according to the clothes images, and recording the position and range of the stains if the clothes have the stains;
when the clothes rotate to pass through the washing head, the washing head is controlled to wash the position of the dirt on the clothes according to the recorded position and range of the dirt, and the washing head is arranged at the bottom of the clothes washing body and can slide left and right on the bottom of the clothes washing body.
2. The automatic laundry method according to claim 1, wherein the identifying whether the laundry has the stain according to the laundry image comprises:
identifying the clothes image through a convolutional neural network to identify whether stains exist in the clothes;
and when the dirt exists in the clothes, identifying and segmenting the clothes image to obtain the position and the range of the dirt.
3. The automatic laundry method according to claim 2, wherein before the identifying the laundry image by the convolutional neural network, further comprising:
acquiring a data set consisting of sample pictures of various clothes and carrying out noise reduction processing on the data set, wherein the sample pictures are marked with positions of stains on the clothes, ranges of the stains and colors of the stains;
constructing a convolutional neural network structure, and dividing the convolutional neural network structure into two sub-network structures, wherein the two sub-network structures comprise a full convolutional neural network structure and a network structure formed by combining a random forest edge detection algorithm and a superpixel algorithm;
and training the convolutional neural network structure by adopting the data set subjected to noise reduction processing to obtain the trained convolutional neural network structure.
4. The automatic laundry method according to claim 3, wherein the identifying the laundry image by the convolutional neural network comprises:
identifying and segmenting stains on the clothes image by adopting the full-convolution neural network structure to obtain a first image;
recognizing stain edges on the clothes image by adopting a random forest edge detection algorithm, and performing superpixelization processing on the stain edge image obtained by recognition by adopting a superpixel algorithm to obtain a second image;
and combining the first image and the second image in an overlapping manner to obtain an identification image marked with the stain position and range.
5. An automatic laundry method according to claim 1, further comprising: controlling the extension of the telescopic push rod to enable the touch sensor on the telescopic push rod to be in contact with the clothes;
acquiring a tactile image transmitted by the tactile sensor, and classifying and identifying the material of the clothes by adopting multiple labels of a convolutional neural network according to the tactile image;
and adjusting the washing intensity and the washing time of the washing head according to the identified and obtained material of the clothes.
6. The automatic laundry method according to claim 1, wherein the controlling the driving device to drive the two sets of chains to rotate specifically comprises:
the control driving device drives the two groups of chains to intermittently rotate;
controlling the two groups of image acquisition devices to slide left and right on the horizontal rod and acquiring images of the front and back surfaces of the clothes on the same horizontal plane;
the driving device is a stepping motor, the pulse gap of the stepping motor is larger than or equal to the time required by the two groups of image acquisition devices to slide the whole horizontal rod, and the advancing distance corresponding to each step of the stepping motor is smaller than or equal to the length of the two groups of image acquisition devices capable of acquiring the clothes images in the vertical direction.
7. The automatic laundry method according to claim 6, wherein the controlling the washing head to wash the position where the stain is present on the laundry specifically comprises:
after the two groups of image acquisition devices acquire the preset number of pulse gaps of the clothes images at intervals, sequentially reading the positions and the ranges of the stains according to the sequence of the clothes images transmitted by the two groups of image acquisition devices and controlling the washing head to wash the positions of the stains on the clothes.
8. The automatic laundry method according to claim 7, further comprising: after the washing head starts to work, the pulse gap of the stepping motor is adjusted to be larger than or equal to the maximum time between the time required by the two groups of image acquisition devices to slide the whole horizontal rod and the time required by the washing head to wash the currently washable stain.
9. The automatic laundry method according to claim 1, wherein each group of image capturing devices comprises a light source and two cameras, the light source is strip-shaped, and the two cameras are respectively disposed above or below the light source;
and the group of image acquisition devices are arranged on a cabinet door of the washing body.
10. The automatic laundry method according to claim 1, wherein the washing head is an ultrasonic washing head, and the washing head is connected with a washing control motor for horizontal linear movement under the driving of the washing control motor.
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| CN110004664B (en) * | 2019-04-28 | 2021-07-16 | 深圳数联天下智能科技有限公司 | Clothes stain recognition method and device, washing machine and storage medium |
| CN111020969A (en) * | 2019-11-27 | 2020-04-17 | 青岛海尔滚筒洗衣机有限公司 | Washing method, washing device, electronic equipment and storage medium |
| CN111598141A (en) * | 2020-04-26 | 2020-08-28 | 月亮小屋(中国)有限公司 | Model training method, clothes washing method, system, device and medium |
| CN116988244A (en) * | 2023-09-28 | 2023-11-03 | 江苏华一机械有限公司 | Ultrasonic cleaning optimization method and system for fabric |
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| FR2634958B1 (en) * | 1988-07-29 | 1990-12-28 | Crouzet Sa | CHAIN OF SPEED REGULATION OF A LAUNDRY WASHING MACHINE |
| CN101575787B (en) * | 2008-05-05 | 2011-03-09 | 吴小国 | Spraying-type automatic airing washing machine |
| CN107447442B (en) * | 2017-08-31 | 2020-04-10 | 深圳市盛路物联通讯技术有限公司 | Alarm method based on image recognition technology and intelligent device |
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