CN114000303A

CN114000303A - Control method and device of washing machine, storage medium and washing machine

Info

Publication number: CN114000303A
Application number: CN202111349649.0A
Authority: CN
Inventors: 王玺瑞; 王永光
Original assignee: TCL Home Appliances Hefei Co Ltd
Current assignee: TCL Home Appliances Hefei Co Ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-02-01
Anticipated expiration: 2041-11-15

Abstract

The application discloses a control method and device of a washing machine, a storage medium and the washing machine, comprising: determining the washing stage of the washing machine; controlling an image collector to shoot the inner space of the inner barrel to obtain a first image; setting target operation parameters according to the washing stage and the first image; and executing target operation corresponding to the washing stage according to the target operation parameters. Target operation parameters can be set according to the washing stage of the washing machine and the shot first image, and then the operation mode of the washing machine is adaptively adjusted according to the target operation parameters, so that the performance of the washing machine is improved.

Description

Control method and device of washing machine, storage medium and washing machine

Technical Field

The application relates to the technical field of washing machines, in particular to a control method and device of a washing machine, a storage medium and a washing machine.

Background

The washing machine is provided with washing programs according to different washing requirements, and after a user selects the washing program, the washing machine directly executes washing operation according to the washing program.

Because the washing program is set as a fixed execution step, the condition in the inner drum of the washing machine is not considered in the execution process, so that the self-adaptive adjustment can not be carried out according to the actual condition of the inner drum of the washing machine.

Disclosure of Invention

The embodiment of the application provides a control method and device of a washing machine, a storage medium and the washing machine, which can perform self-adaptive adjustment according to the condition in an inner barrel of the washing machine.

In a first aspect, embodiments of the present application provide a control method of a washing machine,

the washing machine comprises an inner barrel and an image collector, wherein the image collector is used for shooting an image of the inner space of the inner barrel;

the method comprises the following steps:

determining the washing stage of the washing machine;

controlling an image collector to shoot the inner space of the inner barrel to obtain a first image;

setting target operation parameters according to the washing stage and the first image;

and executing target operation corresponding to the washing stage according to the target operation parameters.

In a second aspect, an embodiment of the present application further provides a control device for a washing machine, including:

the state acquisition module is used for determining the washing stage of the washing machine;

the image acquisition module is used for shooting the inner space of the inner barrel of the washing machine to obtain a first image;

the parameter setting module is used for setting target operation parameters according to the washing stage and the first image;

and the washing machine control module is used for controlling the washing machine to execute target operation corresponding to the washing stage according to the target operation parameters.

In a third aspect, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, which, when run on a computer, causes the computer to execute the control method of a washing machine as provided in any of the embodiments of the present application.

In a fourth aspect, an embodiment of the present application further provides a washing machine, where the washing machine includes an inner barrel and an image collector, the image collector is configured to capture an image of an inner space of the inner barrel, the inner barrel and the image collector are controlled by a washing program, and when the washing program is activated, the control method of the washing machine provided in any embodiment of the present application is executed.

According to the technical scheme provided by the embodiment of the application, the washing stage of the washing machine is determined, and the first image of the inner barrel in the washing stage is shot. And then, analyzing the first image in combination with the washing stage to obtain a target operation parameter, wherein the washing machine can execute a target operation corresponding to the washing stage according to the target operation parameter, so that the internal condition of the washing machine is monitored in real time, and targeted adaptive adjustment is performed according to the condition of the clothes in the inner cylinder of the washing machine, so that the clothes in the inner cylinder can be better processed in each washing stage, the washing performance of the washing machine is improved, and the washing quality of the clothes is further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a first flowchart illustrating a control method of a washing machine according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a first image provided in an embodiment of the present application.

Fig. 3 is a second flowchart of a control method of a washing machine according to an embodiment of the present disclosure.

Fig. 4 is a third flowchart illustrating a control method of a washing machine according to an embodiment of the present disclosure.

Fig. 5 is a fourth flowchart illustrating a control method of a washing machine according to an embodiment of the present disclosure.

Fig. 6 is a fifth flowchart illustrating a control method of a washing machine according to an embodiment of the present disclosure.

Fig. 7 is a sixth flowchart of a control method of a washing machine according to an embodiment of the present disclosure.

Fig. 8 is a schematic structural diagram of a control device of a washing machine according to an embodiment of the present application.

Fig. 9 is a schematic structural diagram of a washing machine according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The embodiment of the application provides a control method of a washing machine, and an execution main body of the control method of the washing machine can be the control device of the washing machine provided by the embodiment of the application or the washing machine integrated with the control device of the washing machine. The control device of the washing machine can be realized in a hardware or software mode, and the washing machine can be an electric appliance for washing clothes, such as a pulsator washing machine, a drum washing machine or a stirring washing machine.

Of course, the main body of the washing machine control method may also be an electric appliance such as a shoe washing machine, a dish washing machine and the like which has an inner barrel and is similar to the washing machine in structure, and the clothes mentioned in the washing machine control method refer to clothes in a broad sense, and generally refer to articles which can be put into the washing machine and ensure the normal operation of the washing machine.

Therefore, it should be noted that the control method of the washing machine provided by the embodiment of the present application can be applied to an electric appliance having the same or similar principle as the washing machine, as long as the washing machine can wash the articles, and the application based on the manner is within the protection scope claimed by the present application.

For the washing machine provided by the embodiment of the application, the washing machine is further provided with an image collector, and the image collector is used for shooting the image of the inner space of the inner barrel of the washing machine. Based on this, this application embodiment also provides the setting mode to the image collector.

For example, the image collector can be installed on one side of the door glass basin of the washing machine, which faces the inner barrel, opposite to the position of the inner barrel, when the door is closed, the image collector is located in the inner barrel, and the specific installation position of the image collector on the door glass basin can also be set according to actual needs, and is not limited here as long as the internal space of the inner barrel can be shot.

For example, the image collector can be further mounted on a window pad on the outer side of the inner barrel of the washing machine, and particularly arranged on the inner side wall of the window pad relative to the inner barrel, wherein the window pad is used for being embedded with a door body of the washing machine and protrudes outwards relative to the inner barrel, and the image collector is arranged on the inner side wall of the window pad, so that the inner space of the inner barrel can be directly photographed.

It can be understood that, as for the setting mode of the image collector, the above example is only used to illustrate the position where the image collector can be set, and is not used to limit the setting position of the image collector, and a person skilled in the art can set the installation position of the image collector according to actual requirements, or make the image collector and the washing machine integrally set, and it is only required to illustrate that all the setting modes of the image collector capable of shooting the internal space of the inner cylinder can be used in the embodiment of the present application.

Certainly, for the condition that the shooting of the image collector is influenced in the washing process, protective measures for the image collector can be further set, for example, a protective cover and other parts can be arranged outside the image collector, so that the image collector is prevented from being polluted by water or water stain, foam and the like, and the shooting quality is ensured.

In some embodiments, the image collector not only has a shooting function, but also has an illumination function, that is, the illumination function is started in the shooting process, so that the quality of the shot image can be improved.

The image collector can be connected with a control panel of the washing machine, after the image collector is connected with the control panel, the image collector and the inner drum can be controlled through a washing program, and when the washing program is started, the control method of the washing machine provided by the embodiment of the application can be realized.

Referring to fig. 1, fig. 1 is a first flowchart illustrating a control method of a washing machine according to an embodiment of the present disclosure. The specific flow of the control method of the washing machine provided by the embodiment of the application can be as follows:

101. determining the washing stage of the washing machine.

For the washing program of the washing machine, the different washing machine programs may include different washing machine stages, wherein the washing stage includes a water inlet stage, a water replenishing stage, a washing stage, a defoaming stage, a rinsing stage, a dewatering stage, a drying stage, and the like, and the washing stage is not illustrated herein because the types of the washing stage are many.

Therefore, in the starting process of the washing machine, the washing stage of the current washing machine can be judged according to the selected washing program. For example, when the current laundry program is a quick washing program, the current laundry program may include a water inlet stage, a washing stage, a rinsing stage and a dewatering stage, and the current laundry stage of the washing machine may be obtained by judging the progress of the quick washing program.

The time spent in different washing stages is set, the time spent in the current washing program can be directly obtained to judge the washing stage of the washing machine, and the washing stage of the washing machine can also be directly judged according to the steps executed by the washing program. The specific obtaining manner of the washing stage is not limited here, as long as the washing stage of the washing machine can be obtained.

102. And controlling the image collector to shoot the inner space of the inner barrel to obtain a first image.

After the washing stage of the washing machine is determined, the image of the inner space of the inner tub can be photographed by controlling the image collector according to the washing stage, and the photographed image is referred to as a first image.

The door body cannot be opened in the operation process of the washing machine, so that the image collector is always positioned in the washing machine and can shoot the internal image of the inner barrel.

For example, the image collector can shoot a first image, and can also continuously shoot the inner cylinder to obtain a plurality of frames of first images, after the plurality of frames of first images are obtained, the definition of the first images can be identified, the first images with the highest definition are selected from the first images for analysis, and then the accuracy of analysis is guaranteed.

Certainly, the image collector can also perform automatic focusing in the shooting process, or control and start the illumination function according to the light condition of the environment in the inner cylinder, and adaptively adjust the illumination intensity, so that the light during shooting is sufficient, and a first image with high quality is obtained.

In some embodiments, the image collector may be further configured to be rotatable, so that the image collector can perform omnidirectional shooting on the inner space of the inner barrel, and then obtain a panoramic view of the inner space of the inner barrel, which is convenient for acquiring all information of the clothes from the first image.

103. Target operation parameters are set according to the laundry stage and the first image.

The first images shot in different washing stages need to be subjected to targeted analysis according to the characteristics of the washing stages, and then target operation parameters adaptive to the washing stages are obtained.

For example, when the washing stage is a water inlet stage, the first image needs to be analyzed based on the water inlet condition; when the washing stage is a washing stage, the first image needs to be analyzed based on the washing condition.

The washing machine has the advantages that the running parameters of the washing stage are adjusted through the targeted analysis of the first image, the real-time monitoring of the washing stage is achieved, targeted processing is conducted according to the problems occurring in different washing stages, the problems that the washing stage runs for a fixed time in the prior art and self-adaptive adjustment cannot be conducted according to actual conditions are solved, the performance of the washing machine in different washing stages can be improved, targeted adjustment can be conducted according to the problems occurring in different washing stages, and the washing quality of clothes in different washing stages is improved.

104. And executing target operation corresponding to the washing stage according to the target operation parameters.

After the target operation parameter is obtained, the washing machine is switched from the operation of the current washing stage to the target operation based on the target operation parameter, after the target operation is completed, the operation of the next washing stage is executed according to the washing program of the washing machine, and the step 101 and the step 104 are continuously executed in the next washing stage, namely, the image of the inner cylinder is continuously shot, the target operation parameter is determined according to the shot image and the next washing stage, and then the next washing stage is continuously adjusted according to the target operation parameter, so that the washing program is completed, all washing stages of the washing program can be ensured to realize self-adaptive adjustment, each washing stage is ensured to be supervised and executed, and the treatment quality of the clothes in each washing stage is improved.

In particular implementation, the present application is not limited by the execution sequence of the described steps, and some steps may be performed in other sequences or simultaneously without conflict.

By the washing machine control method in the embodiment of the application, the target operation parameters can be obtained according to the analysis result by shooting the internal image of the inner barrel and carrying out targeted analysis on the shot image based on the washing stage where the washing machine is located, and the target operation corresponding to the washing stage can be executed based on the target operation parameters. The clothes condition in the inner cylinder is monitored in real time in different washing stages, the condition appearing in different washing stages can be analyzed and processed in time, the operation of the washing stages can be adjusted in a self-adaptive mode according to the condition of the clothes in the inner cylinder, each washing stage can be adjusted in a self-adaptive mode based on actual requirements, the defect that the washing stages with fixed time in the prior art cannot be adjusted in a self-adaptive mode is overcome, the washing quality of the clothes in each washing stage is guaranteed, the clothes processing capacity of the washing machine is improved, and the performance of the washing machine is improved.

The method according to the preceding embodiment is illustrated in further detail below by way of example.

For the washing stages of the above washing machine, different washing stages have different treatment methods, and therefore, in the following embodiments, the scheme of the present application will be described in detail by listing several washing stages. It should be noted that the following treatment modes based on different washing stages are only used as examples and are not intended to limit the present invention, and the scheme of the present invention can be extended to different treatment modes according to the type of the washing stage, and can be specifically determined according to the washing stage, and thus, they are not listed again.

When the washing stage is a water inlet stage, the present application provides a second embodiment, please refer to fig. 3, and fig. 3 is a second flowchart of the control method of the washing machine provided in the embodiment of the present application.

In an embodiment, the step 101 further includes:

201. and controlling the image collector to shoot the inner space of the inner barrel to obtain a first image.

The water inlet stage is referred to as a first preset stage, and it is understood that the first preset stage, the second preset stage, the third preset stage, the fourth preset stage, and the like mentioned in the following embodiments all represent different washing stages, where the different washing stages may be referred to by preset stages with different names and are not used for limiting the washing stages, and therefore, the preset stage in the embodiment of the present application is not used for referring to a specific washing stage as long as the different washing stages can be distinguished.

For example, the inner space of the inner drum that can be shot by the image collector refers to a panoramic view in the inner drum, or a part at the bottom of the inner drum can be shot, and since the content of the space that can be shot can be adjusted in practical application, the image collector only needs to be capable of shooting the space part containing the clothes.

For example, the image capturing device may capture an orthographic projection of the inner space of the inner cylinder, or may capture an image according to a certain inclination angle, as long as the image can capture the inner space of the inner cylinder.

It should be noted that the first preset stage is not used to refer to the water inlet stage, and thus the first image is not used to refer to the image taken in the water inlet stage, and the first image is only used to describe that the image taken in a certain washing stage is taken in the washing stage.

Since the first image is photographed according to different washing stages, different photographing operations can be performed for different washing stages. For example, in order to facilitate identification of the conditions of the clothes in the water inlet stage and the dehydration stage, a centrifugal operation needs to be performed first to attach the clothes to the inner wall of the inner drum, and then a shooting operation is performed to obtain a first image, where the clothes area in the first image is located at an edge position of the inner drum area, so as to facilitate identification of the first image and further obtain the conditions of the clothes in the inner drum.

Thus, in some embodiments, step 201 may further comprise:

2011. and controlling the inner barrel to execute centrifugal operation based on a first preset time.

The purpose of performing the centrifugal operation is to make the clothes fit on the inner wall of the inner drum, and therefore, a first preset time period needs to be set, so that the inner drum performs the centrifugal operation for a sufficient time period to ensure that the clothes fit on the inner wall of the inner drum.

The setting of the first preset time period can be obtained by a person skilled in the art according to experience, or can be obtained by analyzing experimental data, or can be set by a user in a customized manner, or the centrifugal operation of the dewatering stage of the washing machine is directly executed.

For example, the time period for performing the centrifugal operation may be set by the washing machine according to the weight of the laundry, for example, when the laundry is heavy, the time period required for the heavy laundry to be attached to the inner wall of the drum is shorter based on the inertia of the laundry, and thus, the time period may be appropriately shortened based on the first preset time period, whereas, when the laundry is heavy, the time period may be appropriately lengthened based on the first preset time period.

Since there are various ways of performing the centrifugal operation based on the first preset duration, they are not listed here one by one, as long as it is possible to attach the laundry to the inner wall of the inner tub by the centrifugal operation.

2012. And determining the shooting time of the image collector according to the first preset time length.

After the centrifugal operation is finished, the image collector can be controlled to carry out shooting operation. The rotating speed of the inner cylinder is high during centrifugal operation, and the shot image is easy to blur, so that after the centrifugal operation is completed, the rotating speed of the inner cylinder is low or the inner cylinder does not rotate, and the shot image is easy to obtain a high-quality image, and is beneficial to analyzing the image.

Therefore, the shooting time may be set to a certain time after the first preset time period, and the specific time is not limited herein as long as the shooting can be performed when the inner drum rotates at a low speed or when the inner drum is stationary, and any time at this stage can be used as the shooting time.

2013. And controlling the image collector to shoot the inner space of the inner barrel based on the shooting time to obtain a first image.

And after the shooting time is obtained, when the shooting time is reached, controlling the image collector to shoot the inner space of the inner barrel. Since the shooting time is set according to the first preset time length, the states of the inner cylinders are basically the same or similar when shooting is carried out based on the shooting time, so that the quality of the shot first images is the same or similar, wherein the quality of the images is the definition, the resolution and the like.

Based on this, through setting up the moment of shooing, can guarantee that the image quality of shooing is stable, the definition is high, and in the in-process of follow-up discernment image, the clothing condition in the image is acquireed more easily.

202. When the washing stage is a first preset stage, a first clothes area in the first image is identified.

Wherein, the first preset stage can be a water inlet stage.

For example, a first image of the clothing in the first image is identified, and the clothing content may be segmented from the first image based on an image segmentation technique, so as to obtain a first clothing region. The first image comprises inner cylinder content and clothes content, the inner cylinder area comprises a clothes area, and the clothes area is located on the periphery of the inner cylinder area.

203. And calculating the area ratio of the first clothes area in the first image, and determining the clothes amount in the inner drum according to the area ratio.

After the first clothes area is obtained, the area ratio of the first clothes area can be obtained according to the ratio of the first clothes area to the first image because the size of the first image is fixed, and after the area ratio is obtained, the quantity of the clothes can be judged according to the area ratio.

Compared with the mode of judging the amount of the clothes through the weight of the clothes in the prior art, the method has the advantages that the space capacity occupied by the clothes can be considered, and the accuracy of calculating the amount of the clothes is improved.

204. The target water injection amount is determined according to the amount of laundry.

Wherein, the mapping relationship between the laundry amount and the water injection amount may be preset, and then the target water injection amount may be directly determined according to the mapping relationship.

The target water injection amount may also be set to be the same as the amount of laundry or to be a multiple of the amount of laundry so that water is injected in equal proportion to the amount of laundry.

Alternatively, the water injection amount may be adjusted by setting a threshold, for example, when the amount of the laundry is less than a first preset threshold, the target water injection amount is a first preset water injection amount, and when the first amount is greater than or equal to the first preset threshold, the target water injection amount is a second preset water injection amount. It can be understood that, according to the set number of the preset threshold, a plurality of preset water injection amounts are provided, and the specific setting mode can be selected by those skilled in the art according to actual requirements.

205. And executing water injection operation corresponding to the first preset stage according to the target water injection amount.

And after the target water injection amount is obtained, starting a water injection program, controlling the water injection time according to the target water injection amount to be certain, and stopping water injection after the water injection time is reached.

In the embodiment, the amount of the clothes is obtained by analyzing the area ratio of the clothes area, the analysis precision of the amount of the clothes can be improved, the target water injection amount is determined according to the amount of the clothes, and the sufficient amount of water in the inner drum in the subsequent washing process can be ensured so as not to influence the normal operation of the washing stage.

In some embodiments, the inner tube region in the first image is divided into a plurality of annular regions by a plurality of annular lines from inside to outside, wherein, based on the implementation, the following embodiments are exemplified:

in an embodiment, the image capturing device may be modified, for example, when the image capturing device is set to capture, a circular line mask is added, a circular line is displayed on a first captured image, and the circular line is set to be a plurality of circular lines from inside to outside, and the first captured image may refer to the schematic diagram of fig. 2, where fig. 2 is a schematic diagram of the first image provided in the embodiment of the present application, as shown in fig. 2, the first image includes an inner cylinder region and a fabric region, the fabric region is located at a periphery of the inner cylinder region, and the inner cylinder region is divided into a plurality of circular regions, where a spatial position of the circular region occupied by the fabric region may be evaluated by the number of the circular lines, for example, the number of the circular lines occupied by an innermost layer plus 1 is taken as the number of the circular regions occupied by the fabric region.

In another embodiment, when the image is segmented, a plurality of inside-out annular lines can be added directly on the first image or in the inner tube region, and the obtained inner tube region can also refer to fig. 2.

The inner cylinder area is divided into the plurality of annular areas by the annular lines, the amount of the clothes can be directly reflected through the annular areas occupied by the clothes areas, the amount of the clothes can be directly reflected in the mode, the amount of the clothes does not need to be obtained by calculating the area ratio, the processing mode is simple, and therefore the recognition efficiency of the amount of the clothes can be improved.

The clothes amount can be analyzed according to the occupation situation of the annular area, therefore, the third embodiment is further provided, and when the clothes washing stage is a water inlet stage, the clothes amount is determined according to the occupation situation of the annular area, and then the water injection line is determined. Referring to fig. 4, fig. 4 is a third flowchart illustrating a control method of a washing machine according to an embodiment of the present disclosure.

In another embodiment, the step 101 further includes:

301. and controlling the image collector to shoot the inner space of the inner barrel to obtain a first image.

The manner of obtaining the first image by the image collector may refer to the description in step 201, and will not be described in detail here.

302. When the washing stage is a first preset stage, a first clothes area in the first image is identified.

Since the laundry is centrifuged in step 301, and then a first image is captured, in the first image, the first laundry region is located at the periphery of the inner drum region.

303. A first number of annular regions occupied by a first fabric region is determined, wherein an inner tube region in the first image is divided into a plurality of annular regions by a plurality of annular lines based on from inside to outside.

Referring to fig. 2, the inner drum region is divided into a plurality of annular lines to divide the inner drum region into a plurality of annular regions, and when the area occupied by the first clothing region in the inner drum region is calculated, the number of the occupied annular regions can be directly calculated, so that the area occupied by the first clothing region and the quantity of the clothing can be directly reflected.

When the number occupied by the first clothes area is calculated, the number of the occupied annular areas is calculated from outside to inside and is recorded as a first number. For example, as shown in fig. 3, when the washing machine is actually used, there may be a case where the number of the ring-shaped areas occupied by the first laundry area at different positions is different, and in this case, the maximum number of the occupied ring-shaped areas may be recorded as the first number. Alternatively, in another embodiment, the number of the ring-shaped areas occupied by the clothes at the plurality of preset positions may be calculated respectively, and the average value or the median number of the plurality of numbers may be recorded as the first number.

The method is simple in calculated amount, the amount of the clothes can be visually reflected according to the occupied first amount, the calculation efficiency of the amount of the clothes is further improved, and the subsequent water injection process according to the amount of the clothes is accelerated.

304. And determining a first target water injection line corresponding to the first quantity.

After obtaining the first number, obtaining a first target water injection line according to the corresponding relation between the number of the occupied annular areas and the water injection line; and on the basis of the first quantity, increasing the water level line in an equal proportion on the basis of the water level line corresponding to the first quantity to obtain a first target water injection line.

305. And calculating the water injection time length according to the first target water injection line.

After the first target water injection line is obtained, water is injected into the bottom of the inner barrel during water injection, so that the water injection duration can be directly obtained according to the water injection amount of each water level of the first target water injection line and the inner barrel.

306. And executing the water injection operation of the first preset stage according to the water injection duration.

And water is injected into the inner barrel based on the water injection time, and the water level in the inner barrel can reach a first target water injection line under the condition that the clothes are not put in.

According to the scheme of the embodiment, the amount of clothes in the inner barrel can be visually reflected according to the first amount of the occupied annular area of the inner barrel, the first target water injection line is obtained according to the amount of the clothes and the first amount, and water injection operation is executed according to the first target water injection line, so that the step of determining the first target water injection line is simplified, and the water injection efficiency is improved.

Referring to fig. 5, fig. 5 is a fourth flowchart illustrating a control method of a washing machine according to an embodiment of the present invention, wherein the water feeding stage is performed and then the water replenishing stage is performed, that is, the washing stage is the water replenishing stage.

In an embodiment, the

step

205 or 306 further includes:

401. and executing the washing program of the second preset stage. Wherein the second preset stage is a water inlet stage.

When the water replenishing operation is performed, after the water inlet stage, whether the water replenishing is needed in the inner drum or not is judged, so that enough water in the inner drum is ensured to be used for washing the clothes.

402. And controlling the image collector to shoot the inner space of the inner barrel to obtain a second image.

It should be noted that, after the last water inlet stage is completed, because the water has entered the inner cylinder, the clothes attached to the inner wall of the inner cylinder fall off from the inner cylinder wall and sink to the bottom of the inner cylinder under the action of the water. Therefore, in this step, the inner space of the inner cylinder needs to be collected again, and the second image is obtained by shooting, and the way of obtaining the second image by shooting through the image collector can refer to the description in the above step 201, and will not be described in detail here.

In the second image, the clothes area is located at the bottom of the inner cylinder area, so that whether the clothes absorb excessive water or not can be known only by the height of the clothes image relative to the bottom of the inner cylinder, and the water in the inner cylinder is insufficient.

403. A second garment region in the second image is identified.

404. A second number of annular regions occupied by a second fabric region is determined, wherein the inner tube region in the second image is divided into a plurality of annular regions by a plurality of annular lines based on from inside to outside.

When the number occupied by the second clothes area is calculated, the number of the occupied annular area is accumulated from bottom to top and is recorded as a second number.

Because the clothes are all sunk at the bottom of the inner drum, the horizontal line of the annular area of the uppermost layer occupied by the second clothes area can reflect the water level condition in the inner drum.

It should be noted that, in the case that the laundry absorbs enough water, the water level in the drum is not higher than the height of the laundry with respect to the bottom of the drum, and in the case that the laundry absorbs little water, the water level in the drum is higher than the height of the laundry with respect to the bottom of the drum, but the water level at this time is smaller than the first target water filling line, so in this embodiment, the second laundry area refers to the area of the laundry and water.

405. And determining a second target water injection line corresponding to the second quantity.

Wherein, the height of the second clothes area is consistent with the height of the second number occupying the annular area, and the water level corresponding to the second number can be directly set as a second target water filling line.

406. And when the second target water injection line is smaller than the first target water injection line, executing water supplementing operation in a second preset stage until the water level in the inner barrel reaches the first target water injection line.

The difference between the first target water injection line and the second target water injection line is judged by comparing the first target water injection line with the second target water injection line, and when the second target water injection line is smaller than the first target water injection line, water supplementing operation is carried out.

In some embodiments, since the washing machine has a stationary beat after the water filling operation, if the water filling stage fails, the step 405 further includes:

and when the second target water injection line is larger than the first target water injection line, sending out a water injection abnormity alarm, and executing water drainage operation according to the first target water injection line until the water level in the inner barrel is reduced to the first target water injection line.

It can be understood that the water replenishing operation can be performed when the water amount is insufficient after water is supplied, the water draining operation can be performed when the water amount is excessive after water is supplied, and the water replenishing operation or the water draining operation is not required to be performed when the water amount is normal after water is supplied, and the next washing stage can be directly skipped.

Of course, corresponding to step 203, calculating the area ratio of the first clothes region in the first image, and determining the amount of clothes in the inner tub according to the area ratio, step 404 may also be: calculating the area ratio of the second clothes area in the second image, and determining the amount of clothes in the inner drum according to the area ratio;

step 405 may also be: the second target water injection amount is determined according to the laundry amount.

Step 406 may also be: when the second target water injection amount is smaller than the first target water injection amount in the step 204, the water supplement operation in the second preset stage is executed until the water amount in the inner cylinder reaches the first target water injection amount.

The water supplementing quantity can be directly calculated according to the first water injection quantity and the second water injection quantity, the water supplementing duration can be obtained according to the water supplementing quantity, and then the water supplementing operation is executed according to the water supplementing duration.

In this embodiment, through shooting the second image, further judge the circumstances of intaking stage, and then separate out the difference of the water level in the inner tube and the water injection line of settlement behind the intaking from the second image, and then carry out the moisturizing operation when the water yield is not enough, reach first target water injection line until the water level, the circumstances of absorbing water of clothing can be compromise to this kind of mode to suitably supply water to the inner tube, thereby guarantee the normal operating of washing stage, and the water yield is identical with the clothing volume, both water conservation can wash clean clothing again.

When the washing stage is a dewatering stage, the present application provides a fifth embodiment, please refer to fig. 6, and fig. 6 is a fifth flowchart of the control method of the washing machine according to the embodiment of the present application.

In an embodiment, the step 101 further includes:

501. and controlling the image collector to shoot the inner space of the inner barrel to obtain a first image.

In addition, the above-mentioned step 2011-2013 is executed in this step, so that the clothes are attached to the inner wall of the inner cylinder, and the specific implementation steps are not described herein again.

502. And when the washing stage is a third preset stage, identifying a third clothes area in the first image.

503. And determining a plurality of third numbers of annular areas occupied by the third clothes areas in a plurality of preset directions respectively, wherein the inner cylinder area in the first image is divided into a plurality of annular areas by a plurality of annular lines from inside to outside.

When the inner drum is centrifugally operated due to inertia of different clothes, the clothes may be unevenly distributed on the inner drum wall, which may affect the dewatering effect, so that the first image during the dewatering stage needs to be re-photographed, the third clothes area in the first image needs to be identified, and the number of the third clothes area occupying the annular area needs to be identified.

504. And determining the amount of the clothes deviated in the inner drum according to the difference value between the maximum value and the minimum value in the third numbers.

When calculating the laundry amount, please refer to fig. 3, the circle center of the annular region is used as a base point, the direction is indicated by a plurality of rays, for example, the annular region can be divided into four directions by a cross, and then a third number of the third laundry regions occupied in each direction is calculated, wherein the occupied regions are defined by the regions occupied by the innermost laundry, so as to obtain the amount of laundry distributed in each direction, and the laundry amount is calculated according to the amount of laundry in each direction. In the calculation, the difference between the direction having the largest amount of laundry and the direction having the smallest amount of laundry is obtained according to the amount of laundry in the direction having the largest amount of laundry, and the laundry deviation amount is obtained.

505. Determining a target rotation frequency and a target rotation angle of the inner drum according to the amount of the clothes to be unevenly loaded;

when the difference between the maximum amount of laundry and the minimum amount of laundry is obtained, the rotation frequency and the rotation angle of the inner tub can be set according to the magnitude of the difference. When the amount of the clothes in a certain direction is too large, the rotating center can be reversely offset by setting the rotating angle, so that the offset load is corrected, and the direction of the minimum amount of the clothes can be used as the direction when the rotating center is reversely offset.

The target rotation frequency and the target rotation angle can be obtained according to the preset relation between the clothes offset amount and the rotation frequency and the rotation angle.

506. The inner cylinder is controlled to perform forward and reverse rotation operation.

After the centrifugal operation, the clothes are attached to the inner wall of the inner drum, and the inner drum needs to be controlled to perform forward and reverse rotation operation so as to throw the clothes off from the inner wall of the inner drum until the clothes sink to the bottom of the inner drum, and then the off-line operation is performed again according to the determined target rotation frequency and target rotation angle.

507. And controlling the inner barrel to rotate according to the rotation frequency and the rotation angle so as to execute the centrifugal operation of the third preset stage.

Based on this embodiment, because the rotational frequency and the turned angle of inner tube have been debugged, then can not cause the clothing unbalance loading condition of great degree, and then the inner tube rocks during centrifugal operation to and send the noise, influence washing machine's life, realized normal centrifugal operation, impel the clothing to dewater to the utmost extent, improved dehydration efficiency.

In addition, in the washing process, the laundry may be stained with more bubbles due to the use of detergent, and in the rinsing process, the washing machine cannot determine the amount of bubbles, so that the laundry may be stained with bubbles after rinsing, and the laundry is not cleaned.

Based on this, the present application provides a sixth embodiment, which can be applied to a washing stage and a rinsing stage, please refer to fig. 7, and fig. 7 is a sixth flowchart of the control method of the washing machine provided in the embodiment of the present application.

In an embodiment, the step 101 further includes:

601. and controlling the image collector to shoot the inner space of the inner barrel to obtain a third image.

The manner of obtaining the third image by the image collector may refer to the description in step 201, and will not be described in detail here. It should be noted that the third image captured at this stage does not need to execute the step 2011-2013. The amount of foam can be analyzed directly from the third image.

602. And when the washing stage is a fourth preset stage, determining the foam amount according to the third image.

The fourth preset stage may be a washing stage or a rinsing stage, and may also be applied to other stages as long as the detergent is put in, and the fourth preset stage is not limited herein.

For example, the foam amount may be identified through a pre-trained neural network model, that is, the third image is input into the neural network model, and then the label of the foam amount corresponding to the fourth image may be obtained.

603. And when the foam quantity is larger than a preset foam threshold value, determining defoaming duration according to the foam quantity, and taking the defoaming duration as a target parameter.

When the foam is more, the foam contaminated on the clothes can be reduced by performing the defoaming operation, so that the cleanliness of the surface of the clothes is ensured.

Wherein, can set for the defoaming duration before carrying out the defoaming operation to guarantee that the foam on the clothing is enough few, for example, when the foam volume is more, can set for a long time long for the defoaming, when the foam volume is less, can set for a long time long for the defoaming.

In one example, the foam amount may be compared with a preset foam threshold, and when the foam amount is greater than the preset foam threshold, a difference between the foam amount and the preset foam threshold may be calculated, and a defoaming time period may be calculated according to the difference.

Wherein, the corresponding relation between the foam amount and the defoaming duration can be set according to the empirical value, and the required defoaming duration can be obtained based on the corresponding relation.

604. And executing the defoaming operation of the fourth preset stage according to the defoaming duration.

When carrying out the defoaming operation according to the defoaming duration of calculating, can realize that the foam volume on the clothing is less than above-mentioned predetermined foam threshold value, and then realize cleaning the surface of clothing for detergent remains less, can not cause the clothing texture hardening, influences the result of use of clothing.

Wherein, washing machine is last still to be provided with and to shake detection device, and in some embodiments, the method that this application embodiment provided still includes:

in the process of executing shooting operation by the image collector, detecting the shaking amount of the inner barrel by a shaking detection device;

and when the shaking amount is larger than the preset shaking threshold value, adjusting the rotating speed of the inner cylinder to the target rotating speed according to the target rotating speed corresponding to the preset shaking threshold value.

The shaking amplitude of the inner barrel can be judged through the shaking calibrating device, the shaking amplitude is regarded as the shaking amount, and when the shaking amount is large, the rotating speed of the inner barrel can be properly reduced, so that the image collector can shoot clear images, the shot images are easy to recognize, and the accuracy of image analysis is improved.

From the above, in the control method of the washing machine provided by the embodiment of the invention, in the water inlet stage, the space occupied by the clothes and the amount of the clothes can be considered, the required water inlet duration can be analyzed, the water amount analysis precision can be improved, whether water is required to be supplemented or not is analyzed continuously after the water inlet stage, when water is required to be supplemented, the water supplementing duration can be determined according to the water level condition in the inner barrel, the water absorption condition of the clothes can be considered, water can be supplemented to the inner barrel properly, and therefore, the normal operation of the washing stage is ensured, the water amount is consistent with the amount of the clothes, and the clothes can be washed cleanly and saved; in the dehydration stage, the target rotation frequency and the target rotation angle can be determined according to the unbalance loading condition of the clothes, and the inner barrel can be controlled to execute centrifugal operation again according to the target rotation frequency and the target rotation angle, so that the condition that the service life of the washing machine is influenced by the shaking of the inner barrel and the generation of noise during the centrifugal operation in the prior art is avoided, the dehydration effect on the clothes is improved, and the service life of the washing machine is ensured; and when the foam volume is too much, the defoaming duration is obtained by analyzing the foam volume, the defoaming operation is executed, and the surface of the clothes can be cleaned, so that the detergent residue is small, the clothes texture is not hardened, and the using effect of the clothes is not influenced. Therefore, the washing machine can be adjusted in a self-adaptive mode based on actual requirements in each washing stage, so that the washing quality of clothes in each washing stage is guaranteed, the clothes processing capacity of the washing machine is improved, and the performance of the washing machine is improved.

In one embodiment, a control device 700 of a washing machine is also provided. Referring to fig. 8, fig. 8 is a schematic structural diagram of a control device 700 of a washing machine according to an embodiment of the present application. The control device 700 of the washing machine is applied to the washing machine, and the control device 700 of the washing machine comprises a state acquisition module 701, an image acquisition module 702, a parameter setting module 703 and a washing machine control module 704, and comprises the following components:

a state obtaining module 701, configured to determine a washing stage of the washing machine;

an image acquisition module 702, configured to capture an internal space of an inner drum of a washing machine to obtain a first image;

a parameter setting module 703 for setting target operation parameters according to the laundry stage and the first image;

and a washing machine control module 704 for controlling the washing machine to execute a target operation corresponding to the washing stage according to the target operation parameter.

In some embodiments, the washing machine control module 704 is further configured to:

and controlling the inner barrel to execute centrifugal operation based on a first preset time.

The image acquisition module 702 is further configured to:

determining the shooting time of the image collector according to the first preset time length;

and controlling the image collector to shoot the inner space of the inner barrel based on the shooting time to obtain a first image.

In some embodiments, the parameter setting module 703 is further configured to:

when the washing stage is a first preset stage, identifying a first clothes area in the first image;

calculating the area ratio of the first clothes area in the first image, and determining the amount of clothes in the inner drum according to the area ratio;

determining a target water injection amount according to the amount of the laundry;

the washing machine control module 704 is further configured to:

and executing water injection operation corresponding to the first preset stage according to the target water injection amount.

In some embodiments, the parameter setting module 703 is further configured to:

determining a first number of annular regions occupied by a first fabric region, wherein an inner tube region in the first image is divided into a plurality of annular regions by a plurality of annular lines from inside to outside;

determining first target water injection lines corresponding to the first quantity;

calculating water injection duration according to the first target water injection line;

the washing machine control module 704 is further configured to:

and executing the water injection operation of the first preset stage according to the water injection duration.

In some embodiments, image acquisition module 702 is further configured to:

controlling an image collector to shoot the inner space of the inner barrel to obtain a second image;

the parameter setting module 703 is further configured to:

identifying a second garment region in the second image;

determining a second number of annular regions occupied by a second fabric region, wherein an inner tube region in the second image is divided into a plurality of annular regions by a plurality of annular lines based on from inside to outside;

determining a second target water injection line corresponding to the second quantity;

when the second target fill line is less than the first target fill line, the washing machine control module 704 is further configured to:

and executing water supplementing operation of a second preset stage until the water level in the inner barrel reaches a first target water injection line.

In some embodiments, the parameter setting module 703 is further configured to:

when the washing stage is a third preset stage, identifying a third clothes area in the first image;

determining a plurality of third numbers of annular areas occupied by the third clothes areas in a plurality of preset directions respectively, wherein the inner cylinder area in the third image is divided into a plurality of annular areas by a plurality of annular lines from inside to outside;

determining the amount of laundry biased in the inner tub according to a difference between a maximum value and a minimum value of the plurality of third quantities;

determining a target rotation frequency and a target rotation angle of the inner drum according to the amount of the clothes to be unevenly loaded;

the washing machine control module 704 is further configured to:

controlling the inner cylinder to perform forward and reverse rotation operation;

and controlling the inner barrel to rotate according to the rotation frequency and the rotation angle so as to execute the centrifugal operation of the third preset stage.

In some embodiments, image acquisition module 702 is further configured to:

and controlling the image collector to shoot the inner space of the inner barrel to obtain a third image.

The parameter setting module 703 is further configured to:

when the washing stage is a fourth preset stage, determining the foam amount corresponding to the third image;

when the foam amount is larger than a preset foam threshold value, determining defoaming duration according to the foam amount, and taking the defoaming duration as a target parameter;

the washing machine control module 704 is further configured to:

and executing the defoaming operation of the fourth preset stage according to the defoaming duration.

In some embodiments, the control device 700 of the washing machine in the embodiments of the present application is further provided with a shake detection module;

the shake detection module is further configured to:

when the shaking amount is greater than the preset shaking threshold, the washing machine control module 704 is further configured to:

and adjusting the rotating speed of the inner cylinder to the target rotating speed according to the target rotating speed corresponding to the preset shaking threshold value.

It should be noted that the control device 700 of the washing machine provided in the embodiment of the present application and the control method of the washing machine in the foregoing embodiments belong to the same concept, and any method provided in the control method embodiment of the washing machine can be implemented by the control device 700 of the washing machine, and the specific implementation process thereof is described in detail in the control method embodiment of the washing machine, and is not described again here.

From the above, in the water inlet stage, the control device of the washing machine provided in the embodiment of the application can give consideration to both the space occupied by the clothes and the amount of the clothes, analyze the required water inlet duration, improve the water amount analysis precision, and continuously analyze whether water needs to be supplemented or not after the water inlet stage; in the dehydration stage, the target rotation frequency and the target rotation angle can be determined according to the unbalance loading condition of the clothes, and the inner barrel can be controlled to execute centrifugal operation again according to the target rotation frequency and the target rotation angle, so that the condition that the service life of the washing machine is influenced by the shaking of the inner barrel and the generation of noise during the centrifugal operation in the prior art is avoided, the dehydration effect on the clothes is improved, and the service life of the washing machine is ensured; and when the foam volume is too much, the defoaming duration is obtained by analyzing the foam volume, the defoaming operation is executed, and the surface of the clothes can be cleaned, so that the detergent residue is small, the clothes texture is not hardened, and the using effect of the clothes is not influenced. Therefore, the washing machine can be adjusted in a self-adaptive mode based on actual requirements in each washing stage, so that the washing quality of clothes in each washing stage is guaranteed, the clothes processing capacity of the washing machine is improved, and the performance of the washing machine is improved.

The embodiment of the application also provides a washing machine which can be equipment with a touch screen or touch keys, such as a smart phone, a tablet personal computer, a palm computer, a fingerprint detector, a household appliance and the like. As shown in fig. 9, fig. 9 is a schematic structural diagram of a washing machine according to an embodiment of the present application. The washing machine 800 includes a processor 801 having one or more processing cores, a memory 802 having one or more computer-readable storage media, and a computer program stored on the memory 802 and executable on the processor. The processor 801 is electrically connected to the memory 802. Those skilled in the art will appreciate that the washing machine configurations shown in the figures are not intended to be limiting of washing machines and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

The processor 801 is a control center of the washing machine 800, connects various parts of the entire washing machine 800 using various interfaces and lines, and performs various functions of the washing machine 800 and processes data by operating or loading software programs and/or modules stored in the memory 802 and calling data stored in the memory 802, thereby performing overall monitoring of the washing machine 800.

In the embodiment of the present application, the processor 801 in the washing machine 800 loads instructions corresponding to one or more application programs in the process into the memory 802, and the processor 801 executes the application programs stored in the memory 802 according to the following steps, so as to implement various functions:

determining the washing stage of the washing machine;

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

As can be seen from the above, in the water inlet stage, the washing machine provided in this embodiment can take account of the space occupied by the clothes and the amount of the clothes, analyze the required water inlet duration, improve the water amount analysis accuracy, and continue to analyze whether water needs to be supplemented after the water inlet stage, when water needs to be supplemented, can determine the water supplementing duration according to the water level condition in the inner cylinder, and can take account of the water absorption condition of the clothes to properly supplement water to the inner cylinder, so as to ensure the normal operation in the washing stage, and the water amount and the amount of the clothes are consistent, thereby saving water and cleaning the clothes; in the dehydration stage, the target rotation frequency and the target rotation angle can be determined according to the unbalance loading condition of the clothes, and the inner barrel can be controlled to execute centrifugal operation again according to the target rotation frequency and the target rotation angle, so that the condition that the service life of the washing machine is influenced by the shaking of the inner barrel and the generation of noise during the centrifugal operation in the prior art is avoided, the dehydration effect on the clothes is improved, and the service life of the washing machine is ensured; and when the foam volume is too much, the defoaming duration is obtained by analyzing the foam volume, the defoaming operation is executed, and the surface of the clothes can be cleaned, so that the detergent residue is small, the clothes texture is not hardened, and the using effect of the clothes is not influenced. Therefore, the washing machine can be adjusted in a self-adaptive mode based on actual requirements in each washing stage, so that the washing quality of clothes in each washing stage is guaranteed, the clothes processing capacity of the washing machine is improved, and the performance of the washing machine is improved.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, the embodiments of the present application provide a computer-readable storage medium, and it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by hardware that is instructed to be implemented by a program, and the program can be stored in a computer-readable storage medium, and when executed, the program includes the following steps:

determining the washing stage of the washing machine;

The storage medium may be ROM/RAM, magnetic disk, optical disk, etc. Since the computer program stored in the storage medium can execute the steps in any of the control methods for a washing machine provided in the embodiments of the present application, the beneficial effects that can be achieved by any of the control methods for a washing machine provided in the embodiments of the present application can be achieved, and detailed descriptions thereof are omitted here for the sake of detail in the foregoing embodiments.

The above detailed description is provided for a control method, a device, a medium and a washing machine of a washing machine provided in the embodiments of the present application, and a specific example is applied in the present application to explain the principle and the implementation of the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. The control method of the washing machine is characterized in that the washing machine comprises an inner barrel and an image collector, wherein the image collector is used for shooting an image of the inner space of the inner barrel;

the method comprises the following steps:

determining a washing stage of the washing machine;

controlling the image collector to shoot the inner space of the inner barrel to obtain a first image;

2. The method of claim 1, wherein the controlling the image collector to photograph the inner space of the inner tub to obtain a first image comprises:

controlling the inner barrel to execute centrifugal operation based on a first preset time length;

determining the shooting time of the image collector according to the first preset time;

and controlling the image collector to shoot the inner space of the inner barrel based on the shooting time to obtain the first image.

3. The control method of a washing machine according to claim 2, wherein the target operation parameter is a target water injection amount;

the setting of target operating parameters according to the laundry stage and the first image includes:

determining the target water injection amount according to the amount of the laundry;

the target operation corresponding to the washing stage is executed according to the target operation parameters, and the target operation comprises the following steps:

4. The control method of a washing machine according to claim 2, wherein the target operation parameter is a target water filling line;

determining a first number of annular regions occupied by the first fabric region, wherein an inner tube region in the first image is divided into a plurality of annular regions by a plurality of annular lines from inside to outside;

determining a first target water injection line corresponding to the first quantity;

5. The control method of a washing machine as claimed in claim 4, wherein after the water filling operation of the first preset stage is performed according to the water filling duration, further comprising:

executing a washing program of a second preset stage;

controlling the image collector to shoot the inner space of the inner barrel to obtain a second image;

identifying a second garment region in the second image;

determining a second number of ring-shaped regions occupied by the second fabric region, wherein an inner tube region in the second image is divided into a plurality of ring-shaped regions by a plurality of ring-shaped lines from inside to outside;

and when the second target water injection line is smaller than the first target water injection line, executing water supplementing operation of the second preset stage until the water level in the inner barrel reaches the first target water injection line.

6. The control method of a washing machine as claimed in claim 2, wherein the target operation parameters include a target rotation frequency and a target rotation angle of the inner tub;

determining a third number of annular areas occupied by the third clothing areas in a preset direction respectively, wherein the inner tube area in the first image is divided into a plurality of annular areas by a plurality of annular lines from inside to outside;

determining the amount of laundry biased in the inner drum according to the difference between the maximum value and the minimum value of the plurality of third quantities;

determining a target rotation frequency and a target rotation angle of the inner drum according to the clothes deflection amount;

7. The control method of a washing machine according to any one of claims 1 to 6, wherein a shaking detection device is further provided on the washing machine;

the method further comprises the following steps:

in the process of executing shooting operation by the image collector, detecting the shaking amount of the inner barrel by the shaking detection device;

and when the shaking amount is larger than a preset shaking threshold value, regulating the rotating speed of the inner cylinder to the target rotating speed according to the target rotating speed corresponding to the preset shaking threshold value.

8. A control apparatus of a washing machine, characterized by comprising:

9. A computer-readable storage medium, having stored thereon a computer program, characterized in that, when the computer program is run on a computer, the computer is caused to execute the control method of a washing machine according to any one of claims 1 to 8.

10. A washing machine, characterized in that the washing machine comprises an inner drum and an image collector, the image collector is used for shooting images of the inner space of the inner drum, the inner drum and the image collector are controlled by a washing program, and when the washing program is started, the control method of the washing machine according to any one of claims 1 to 8 is executed.