CN114000303B

CN114000303B - Control method and device of washing machine, storage medium and washing machine

Info

Publication number: CN114000303B
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: 2024-06-04
Anticipated expiration: 2041-11-15
Also published as: CN114000303A

Abstract

The application discloses a control method and device of a washing machine, a storage medium and the washing machine, wherein the control method comprises the following steps: determining a 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 the target operation corresponding to the washing stage according to the target operation parameters. The target operation parameters can be set according to the washing stage of the washing machine and the shot first image, so that the operation mode of the washing machine is adaptively adjusted according to the target operation parameters, and 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 the washing machine.

Background

The washing machine is provided with a washing program according to different washing demands, 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 barrel of the washing machine is not considered in the execution process, and thus, the self-adaptive adjustment cannot be carried out according to the actual condition of the inner barrel 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, and the self-adaptive adjustment can be performed according to the conditions in an inner barrel of the washing machine.

In a first aspect, an embodiment of the present application provides a control method of a washing machine,

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

the method comprises the following steps:

determining a 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 the 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 apparatus 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 operations corresponding to the washing stage according to the target operation parameters.

In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having stored thereon a computer program which, when run on a computer, causes the computer to perform 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, including an inner tub and an image collector, where the image collector is used to capture an image of an inner space of the inner tub, the inner tub 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 the embodiments of the present application is performed.

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. Then, the first image is analyzed in combination with the washing stage, the target operation parameters can be obtained, the washing machine can execute the target operation corresponding to the washing stage according to the target operation parameters, so that the internal condition of the washing machine is monitored in real time, and the targeted self-adaptive adjustment is carried out according to the condition of clothes in the inner barrel of the washing machine, so that the clothes in the inner barrel 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 of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a control method of a washing machine according to an embodiment of the present application.

Fig. 2 is a schematic diagram of a first image according to an embodiment of the present application.

Fig. 3 is a schematic flow chart of a control method of a washing machine according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of a third control method of a washing machine according to an embodiment of the present application.

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

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

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

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

Fig. 9 is a schematic structural view 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 accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present application based on the embodiments of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may 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 pulsator washing machine.

Of course, the execution main body of the control method of the washing machine can also be an electric appliance such as a shoe washing machine, a dish washing machine and the like which are provided with an inner barrel and have similar structures with the washing machine, and the clothes mentioned in the control method of the washing machine refer to the clothes with wide meaning and generally refer to the 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 application can be used for an electric appliance with the same or similar principle as the washing machine, as long as the electric appliance can clean articles, and the application based on the method belongs to the protection scope of the application.

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

For example, the image collector may be mounted on a side of the door glass tub of the washing machine facing the inner tub, opposite to the inner tub, and when the door is closed, the image collector is located in the inner tub, and a specific mounting position of the image collector on the door glass tub may be set according to actual needs, which is not limited herein, as long as an inner space of the inner tub can be photographed.

The image collector can be installed on a window pad on the outer side of the inner cylinder of the washing machine, and the window pad is specifically arranged on the inner side wall of the window pad opposite to the inner cylinder, wherein the window pad is used for being embedded with a door body of the washing machine, and the window pad protrudes outwards relative to the inner cylinder, and the image collector is arranged on the inner side wall of the window pad, so that the inner space of the inner cylinder can be directly shot.

It can be understood that, for the setting mode of the image collector, the above examples are only used to illustrate the settable positions of the image collector, and are not used to limit the setting positions of the image collector, and those skilled in the art can set the installation positions of the image collector according to actual requirements, or make the image collector and the washing machine integrally set, only it is required to illustrate that any setting mode of the image collector capable of capturing the inner space of the inner cylinder can be used in the embodiments of the present application.

Of course, to the condition that the image collector is influenced to shoot in the washing process, protection measures to the image collector can be further arranged, for example, parts such as a protective cover and the like can be arranged outside the image collector, water entering or being stained with water stains, foam and the like of the image collector are avoided, and therefore shooting quality is guaranteed.

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

The image collector can be connected with a control board of the washing machine, after the image collector is connected with the control board, the image collector and the inner barrel 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 schematic flow chart of a control method of a washing machine according to an embodiment of the application. The specific flow of the control method of the washing machine provided by the embodiment of the application can be as follows:

101. The washing stage in which the washing machine is located is determined.

For the washing process of the washing machine, the different washing process may include different washing stages, wherein the washing stages include a water inlet stage, a water replenishing stage, a washing stage, a defoaming stage, a rinsing stage, a dehydrating stage, a drying stage, etc., which are not illustrated herein, since the types of the washing stages are relatively large.

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

The time of different washing stages is set, so that the time of the current washing program can be directly acquired to judge the washing stage of the washing machine, and the washing stage of the washing machine can be directly judged according to the steps executed by the washing program. The specific method for obtaining the washing stage is not limited herein, as long as the washing stage in which the washing machine is located can be obtained.

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

After determining the washing stage in which the washing machine is located, the image collector may be controlled to capture an image of the inner space of the drum according to the washing stage, and the captured image may be referred to as a first image.

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

The image collector can shoot a first image or can shoot the inner barrel continuously to obtain a plurality of frames of first images, after the plurality of frames of first images are obtained, the first images can be identified in definition, and the first image with the highest definition is picked out for analysis and processing, so that the accuracy of analysis is ensured.

Of course, the image collector can automatically fix focus in the shooting process, or can control and start the illumination function according to the light condition of the environment in the inner cylinder, and can adaptively adjust the illumination intensity, so that the light is sufficient in shooting, 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 may perform omnidirectional shooting on the inner space of the inner cylinder, thereby obtaining a panoramic view of the inner space of the inner cylinder, so as to obtain all information of the clothes from the first image.

103. Target operating parameters are set according to the laundry phase and the first image.

The first images shot in different washing stages are required to be subjected to targeted analysis according to the characteristics of the washing stages, so that target operation parameters suitable for the washing stages are obtained.

For example, when the laundry 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 method has the advantages that the operation parameters of the washing stage are adjusted by carrying out targeted analysis on the first image, real-time monitoring on the washing stage is realized, targeted treatment is carried out according to the problems occurring in different washing stages, the problems that the washing stage operates in a fixed time length and cannot be adaptively adjusted according to actual conditions in the prior art are avoided, the performance of the washing machine in different washing stages can be improved, and the targeted adjustment can be carried out according to the problems occurring in different washing stages, so that the washing quality of clothes in different washing stages is improved.

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

After the target operation parameters are obtained, the washing machine is switched from the operation of the current washing stage to the target operation based on the target operation parameters, 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 steps 101-104 are continuously executed in the next washing stage, namely, the image of the inner barrel is continuously shot, the target operation parameters are 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 parameters, so that the washing program is completed, thereby ensuring that all the washing stages of the washing program can realize self-adaptive adjustment, ensuring that each washing stage is supervised and executed, and further improving the processing quality of clothes by each washing stage.

In particular, the application is not limited by the order of execution of the steps described, as some of the steps may be performed in other orders or concurrently without conflict.

According to the control method of the washing machine, provided by 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 of the washing machine, and the target operation corresponding to the washing stage is executed based on the target operation parameters. The clothes condition in the inner barrel is monitored in real time in different washing stages, and the conditions in different washing stages can be analyzed and processed in time, so that the operation of the washing stages can be adaptively adjusted according to the clothes condition in the inner barrel, each washing stage can be adaptively adjusted based on actual requirements, the defect that the washing stages with fixed duration in the prior art cannot be adaptively adjusted is avoided, the washing quality of clothes in each washing stage is guaranteed, the processing capacity of the washing machine to the clothes is improved, and the performance of the washing machine is improved.

The method described in the previous examples is described in further detail below by way of example.

The washing stages of the washing machine have different treatment modes, so in the following examples, the scheme of the 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 limiting to the present application, and the solution of the present application can be extended to different treatment modes according to the type of the washing stage, and specifically can be determined according to the washing stage, so that the treatment modes are not listed one by one.

When the washing stage is the water inlet stage, the present application provides a second embodiment, please refer to fig. 3, fig. 3 is a second flow chart of the control method of the washing machine according to 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 laundry stages, where different laundry stages may be referred to by different names of preset stages and are not used for limiting the laundry stages, so the preset stages in the embodiments of the present application are not used for specifying a certain laundry stage, as long as different laundry stages can be distinguished.

The inner space of the inner drum that can be photographed by the image collector is illustratively a panorama in the inner drum, or a portion of the bottom of the inner drum can be photographed, and since the space content that can be photographed can be adjusted in practical applications, only the space portion where the laundry is accommodated can be photographed.

For example, the image capture device may capture an orthographic projection of the inner space of the inner tube, or may capture the inner space of the inner tube according to a tilt angle, as long as the inner space of the inner tube can be captured.

It should be noted that the first preset stage is not used to refer to the water intake stage, and thus, the first image is not used to refer to the image captured during the water intake stage, but is used to refer to the image captured during a certain washing stage.

Since the first image is photographed according to different laundry stages, different photographing operations can be performed for different laundry stages. For example, in order to facilitate the recognition of the clothes in the water inlet stage and the dewatering stage, it is necessary to perform a centrifugal operation first so that the clothes are attached to the inner wall of the inner cylinder, then perform a photographing operation to obtain a first image, and the clothes area in the first image is located at the edge position of the inner cylinder area, so that the recognition of the first image is facilitated, and then the clothes condition in the inner cylinder is obtained.

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

2011. And controlling the inner barrel to execute centrifugal operation based on the first preset time length.

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

The setting of the first preset time period can be obtained by a person skilled in the art according to experience, can be obtained by analysis according to experimental data, can be set by a user in a self-defining way, or can be used for directly executing the centrifugal operation of the dewatering stage of the washing machine.

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

Since there are various ways of performing the centrifugal operation based on the first preset time period, it is 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 moment of the image collector according to the first preset duration.

After the centrifugal operation is performed, the image pickup device may be controlled to perform a photographing operation. The rotation speed of the inner cylinder is high during centrifugal operation, so that the photographed image is easy to blur, and after the centrifugal operation is completed, the rotation speed of the inner cylinder is low or does not rotate, and at the moment, the photographed image is easy to obtain high-quality images, so that the image analysis is facilitated.

Thus, the photographing time may be set to a certain time after the lapse of the first preset time period, and the specific time is not limited thereto, as long as photographing is possible when the inner tube is rotated at a low speed or the inner tube is stationary, and any time at this stage may be used as the photographing time.

2013. Based on shooting time, controlling an image collector to shoot the inner space of the inner barrel to obtain a first image.

After the shooting time is obtained, when the shooting time is reached, the image collector is controlled to shoot the inner space of the inner barrel. Since the photographing time is set according to the first preset time period, the states of the inner cylinder are substantially the same or similar when photographing based on the photographing time, so that the quality of the photographed first image is the same or similar, wherein the image quality such as sharpness, resolution, etc.

Based on the method, the shooting time is set, so that the shot image quality is stable, the definition is high, and the clothing condition in the image is easier to acquire in the process of subsequently identifying the image.

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

The first preset stage may be a water inlet stage.

Illustratively, the first clothing image in the first image is identified, and the clothing content may be segmented from the first image based on an image segmentation technique, thereby obtaining a first clothing region. The first image comprises inner barrel content and clothes content, the inner barrel area comprises a clothes area, and the clothes area is located at the periphery of the inner barrel area.

203. An area ratio of the first clothing region in the first image is calculated, and an amount of clothing in the drum is determined based on 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 clothes can be judged according to the area ratio.

Compared with the prior art, the clothes weight judging method can give consideration to the space capacity occupied by clothes, and further improves the accuracy of calculating the clothes.

204. And determining a target water injection amount according to the laundry amount.

The mapping relation between the clothes amount and the water injection amount can be preset, and then the target water injection amount can be directly determined according to the mapping relation.

The target water injection amount may be set to be the same as or a multiple of the laundry amount so that water is injected according to the same ratio of the laundry amount.

Or the water injection rate can also be adjusted by setting a threshold, for example, when the laundry amount is smaller than a first preset threshold, the target water injection rate is a first preset water injection rate, and when the first water injection rate is greater than or equal to the first preset threshold, the target water injection rate is a second preset water injection rate. It can be understood that, according to the number of preset thresholds, there are a plurality of preset water injection amounts, and a specific setting manner 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 quantity.

After the target water injection quantity is obtained, a water injection program is started, and the corresponding water injection time is fixed because the target water injection quantity is fixed, the water injection duration is controlled according to the target water injection quantity, and the water injection is stopped after the water injection time is reached.

In this embodiment, by analyzing the area ratio of the laundry area, the laundry amount is obtained, so that the accuracy of the analysis of the laundry amount can be improved, and the target water injection amount is determined according to the laundry amount, so that a sufficient amount of water in the inner cylinder in the subsequent washing process can be ensured, so that the normal operation of the washing stage is not affected.

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

In an embodiment, the image capturing device may be improved, for example, when the image capturing device is configured to capture an image, a mask of an annular line is added, the captured first image may display an annular line, and the annular line is configured to be a plurality of annular lines from inside to outside, and the obtained first image may refer to a schematic diagram of fig. 2, where fig. 2 is a schematic diagram of the first image provided in an embodiment of the present application, and as shown in fig. 2, the first image includes an inner drum area and a clothing area, the clothing area is located at the periphery of the inner drum area, and the inner drum area is divided into a plurality of annular areas, where a spatial position of the clothing area occupying the annular area may be evaluated by using the number of annular lines, for example, the number of annular lines occupied by the innermost layer plus 1 is taken as the number of annular areas occupied by the clothing area.

In another embodiment, when the image is segmented, a plurality of annular lines from inside to outside may be directly added to the first image or the inner barrel region, and the resulting inner barrel region may also refer to fig. 2.

Through dividing the inner barrel area into a plurality of annular areas with the annular line, can realize that the annular area that occupies through the clothing area can directly reflect the clothing volume, and this kind of mode reflects the clothing volume comparatively intuitively to need not obtain the clothing volume through calculation area occupation ratio, processing mode is comparatively simple, therefore, can improve the discernment efficiency of clothing volume.

The application further provides a third embodiment, when the washing stage is a water inlet stage, the clothes amount is determined according to the occupation condition of the annular region, and then the water injection line is determined. Referring to fig. 4, fig. 4 is a schematic flow chart of a control method of a washing machine according to an embodiment of the application.

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 in which the first image is captured by the image capturing device may refer to the description in step 201, which is not described in detail herein.

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

In step 301, the first image is obtained by performing centrifugal operation on the laundry, and then the first laundry area is located at the periphery of the inner tub area in the first image.

303. A first number of annular regions occupied by a first garment region is determined, wherein an inner drum region in the first image is divided into a plurality of annular regions by a plurality of annular lines based on inside-out.

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 calculating the occupied area of the first laundry region in the inner drum region, the number of occupied annular regions can be directly calculated, so as to directly reflect the occupied area of the first laundry region and the laundry amount.

When the number occupied by the first clothing region is calculated, the number occupied by the annular region is calculated from outside to inside and is recorded as a first number. For example, as shown in fig. 3, there may be a case where the number of the annular regions occupied by the first laundry region at different positions is different when the washing machine is actually used, and in this case, the maximum number of the occupied annular regions may be noted as the first number. Or in another embodiment, the number of annular areas occupied by the laundry at a plurality of preset positions may be calculated, and an average value or median of the number of annular areas may be recorded as the first number.

The method has the advantages that the calculated amount is simple, the clothing amount can be intuitively reflected according to the occupied first amount, the calculating efficiency of the clothing amount is further improved, and the follow-up water injection process according to the clothing amount is quickened.

304. And determining a first destination marking waterline corresponding to the first quantity.

After the first number is obtained, a first destination marking waterline is obtained according to the corresponding relation between the number of occupied annular areas and the water injection line; and the water level lines can be increased in equal proportion on the basis of the water level lines corresponding to the first quantity based on the first quantity, so that the first destination mark water line is obtained.

305. And calculating the water injection duration 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 cylinder during water injection, so that the water injection time length can be obtained directly according to the first target water injection line and the water injection quantity of each water level of the inner cylinder.

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

And water is injected into the inner cylinder based on the water injection time length, and the water level in the inner cylinder can reach the first target mark waterline under the condition that clothes are not put in.

According to the scheme of the embodiment, the clothes amount in the inner cylinder can be intuitively reflected according to the first amount occupying the annular area of the inner cylinder, the first target water injection line is obtained according to the clothes amount and the first amount, and the water injection operation is carried out 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.

After the water inlet stage is performed, the water replenishing stage is performed, that is, when the washing stage is the water replenishing stage, the present application provides a fourth embodiment, please refer to fig. 5, fig. 5 is a fourth flowchart of a control method of the washing machine according to the embodiment of the present application.

In an embodiment, the step 205 or 306 further includes:

401. And executing the washing program in 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 water replenishing is needed in the inner cylinder is judged to ensure that enough water in the inner cylinder is used for washing clothes.

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

After the previous water inlet stage is completed, the water is already introduced into the inner cylinder, so that the clothes attached to the inner wall of the inner cylinder fall off from the inner cylinder wall and sink into the bottom of the inner cylinder under the action of the water. Thus, in this step, the inner space of the inner tube needs to be re-acquired, and a second image is captured, and the manner in which the second image is captured by the image capturing device may be referred to the description in step 201 above, which is not described in detail herein.

In the second image, the clothes area is located at the bottom of the inner barrel 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 barrel, water in the inner barrel is insufficient, and when the water is insufficient, the water supplementing quantity is calculated and water supplementing is carried out according to the water supplementing quantity.

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

404. A second number of annular regions occupied by a second garment region is determined, wherein the inner drum region in the second image is divided into a plurality of annular regions by a plurality of annular lines based on inside-out.

When the number occupied by the second clothing area is calculated, the number occupied by the 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 cylinder, 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 cylinder.

It should be noted that, when the laundry absorbs water sufficiently, the water level in the inner tub is not higher than the height of the laundry relative to the bottom of the inner tub, and when the laundry absorbs water less, the water level in the inner tub is higher than the height of the laundry relative to the bottom of the inner tub, but the water level line is smaller than the first-order mark water line, so in this embodiment, the second laundry area refers to the area of the laundry and water.

405. And determining a second destination labeling waterline corresponding to the second quantity.

The height of the second clothes area is consistent with the height of the annular area occupied by the second quantity, and the water level corresponding to the second quantity can be directly set as a second destination mark waterline.

406. And when the second-order labeling waterline is smaller than the first-order labeling waterline, executing water supplementing operation in a second preset stage until the water level in the inner cylinder reaches the first-order labeling waterline.

And when the second target water injection line is smaller than the first target water injection line, water supplementing operation is performed, and the water quantity of each water level of the inner cylinder is known because the difference between the first target water injection line and the second target water injection line is known, so that the water injection duration can be directly determined, and the water injection operation is performed according to the water injection duration, so that the water level in the inner cylinder reaches the first target water level line.

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:

When the second target water injection line is larger than the first target water injection line, a water injection abnormality alarm is sent out, and a water discharge operation is executed according to the first target water injection line until the water level in the inner cylinder is reduced to the first target water injection line.

It can be understood that when the water quantity is insufficient after water inflow, the water supplementing operation can be performed, when the water quantity is excessive after water inflow, the water draining operation can be performed, and when the water quantity is normal after water inflow, the water supplementing operation or the water draining operation is not needed to be performed, and the next washing stage can be directly skipped.

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

step 405 may also be: and determining a second target water injection amount according to the laundry amount.

Step 406 may also be: and when the second target water injection rate is smaller than the first target water injection rate in the step 204, executing water replenishing operation in a second preset stage until the water quantity in the inner cylinder reaches the first target water injection rate.

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

In this embodiment, by capturing the second image, the water inlet condition of the water inlet stage is further determined, and then the difference between the water level in the inner cylinder after water is introduced and the set water injection line is analyzed from the second image, and then the water supplementing operation is performed when the water amount is insufficient until the water level reaches the first target water line, so that the water absorption condition of the clothes can be considered, and the water can be properly supplemented to the inner cylinder, thereby ensuring the normal operation of the washing stage, ensuring that the water amount is consistent with the clothes amount, saving water and cleaning the clothes.

When the washing stage is the dewatering stage, the present application provides a fifth embodiment, referring to fig. 6, fig. 6 is a schematic flow chart of a control method of a 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 this step, the steps 2011-2013 are performed, so that the clothes are attached to the inner wall of the inner cylinder, and specific implementation steps are not repeated here.

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

503. A plurality of third numbers of annular areas occupied by the third clothing areas in a plurality of preset directions respectively are determined, wherein the inner drum area in the first image is divided into a plurality of annular areas by a plurality of annular lines based on the inner side to the outer side.

Wherein when the spin-drying is performed, the distribution of the laundry on the inner drum wall may be uneven due to the inertia of different laundry when the inner drum performs the centrifugal operation, which may affect the spin-drying effect, so that it is necessary to re-photograph the first image at the time of the spin-drying stage and recognize the third laundry area in the first image and the number of the third laundry area occupying the annular area.

504. And determining the clothes deflection amount in the inner drum according to the difference value between the maximum value and the minimum value in the third quantity.

In calculating the laundry bias amount, please refer to fig. 3, the circle center of the annular area is taken as a base point, the annular area can be divided into four directions by a plurality of rays, for example, by a cross, and then a third amount of occupied third laundry areas in each direction is calculated, wherein the occupied areas are bounded by the areas occupied by the innermost laundry, thus obtaining the laundry amounts distributed in each direction, and the laundry bias amount is calculated according to the laundry amounts in each different direction. In calculation, according to the clothes amount in the direction with the maximum clothes amount and the clothes amount in the direction with the minimum clothes amount, the difference between the two clothes amounts is obtained, and then the clothes deflection amount is obtained.

505. Determining a target rotation frequency and a target rotation angle of the inner cylinder according to the clothes deflection amount;

After the difference between the maximum laundry amount and the minimum laundry amount is obtained, the rotation frequency and the rotation angle of the inner drum may be set according to the magnitude of the difference. When the laundry amount in a certain direction is too large, the rotation center can be reversely offset by setting the rotation angle, so that the effect of correcting unbalanced load is achieved, and the direction of the minimum laundry amount can be used as the direction for the reverse offset.

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

506. And controlling the inner cylinder to perform forward and reverse rotation operation.

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

507. The inner cylinder is controlled to rotate according to the rotation frequency and the rotation angle so as to execute centrifugal operation in a third preset stage.

Based on this embodiment, because the rotation frequency and the rotation angle of inner tube have been debugged, then can not cause the clothing unbalanced load condition of great degree, and then inner tube rocks when having avoided centrifugal operation to and send the noise, influence washing machine's life, realized normal centrifugal operation, promoted the clothing furthest dehydration, improved dehydration efficiency.

In addition, during the washing process, the laundry is stained with a lot of foam due to the use of the detergent, and during the rinsing process, the washing machine cannot determine the amount of foam, so that foam may be stained on the laundry after the rinsing, resulting in the laundry not being washed cleanly.

Based on this, the present application provides a sixth embodiment, which can be applied to a washing stage and a rinsing stage, and referring to fig. 7, fig. 7 is a sixth flowchart of a control method of a washing machine according to an 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 in which the third image is captured by the image capturing device may refer to the description in step 201, which is not described in detail herein. It should be noted that the third image captured at this stage may not be required to perform steps 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 of course, may be applied to other stages as long as the washing stage is performed after the detergent is applied, which is not limited herein.

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

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

When the bubbles are more, the bubbles stained on the laundry can be smaller by performing the defoaming operation, thereby ensuring the cleanliness of the laundry surface.

Wherein, can set up the defoaming duration before carrying out the defoaming operation to guarantee that foam on the clothing is little enough, for example, when the foam volume is great, can set up longer defoaming duration, when the foam volume is less, can set up shorter defoaming duration.

In one example, the foam amount may be compared to 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 the defoaming period may be calculated from the difference.

Wherein, can set up the correspondence between foam quantity and defoaming duration according to the empirical value, can obtain the defoaming duration that needs based on this correspondence.

604. And executing defoaming operation in a fourth preset stage according to the defoaming time.

When the defoaming operation is performed according to the calculated defoaming time length, the foam quantity on the clothes is smaller than the preset foam threshold value, and further the surface of the clothes is cleaned, so that detergent residues are smaller, clothes cannot be hardened, and the using effect of the clothes is affected.

Wherein, the washing machine is further provided with a shaking detection device, and in some embodiments, the method provided by the embodiment of the application further comprises the following steps:

in the process of shooting operation of the image collector, detecting the shaking amount of the inner cylinder through a shaking detection device;

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

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

As can be seen from the above, the control method of the washing machine provided by the embodiment of the invention can give consideration to the occupied space of the clothes and the clothes amount in the water inlet stage, analyze the required water inlet time length, improve the analysis precision of the water amount, and continuously analyze whether water is needed to be supplemented after the water inlet stage, when the water is needed to be supplemented, the water supplementing time length can be determined according to the water level condition in the inner cylinder, and the water absorption condition of the clothes can be taken into consideration, so that the water can be properly supplemented to the inner cylinder, thereby ensuring the normal operation of the washing stage, and the water amount is identical with the clothes amount, thereby saving water and washing the clothes cleanly; in the dehydration stage, the target rotation frequency and the target rotation angle can be determined according to the unbalanced load condition of clothes, and the inner cylinder can be controlled to execute centrifugal operation again according to the target rotation frequency and the target rotation angle, so that the conditions of shaking the inner cylinder and generating noise to influence the service life of the washing machine due to centrifugal operation in the prior art are avoided, the dehydration effect on the clothes is improved, and the service life of the washing machine is ensured; and when the foam quantity is too much, the foam quantity is analyzed to obtain the defoaming time, and the defoaming operation is performed, so that the surface of the clothes can be cleaned, the detergent residue is smaller, the clothes cannot be hardened, and the using effect of the clothes is affected. Therefore, the self-adaptive adjustment of the washing machine based on actual requirements in each washing stage is realized, so that the washing quality of clothes in each washing stage is ensured, the processing capacity of the washing machine on the clothes is improved, and the performance of the washing machine is improved.

A control apparatus 700 of a washing machine is also provided in an embodiment. 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 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, as follows:

A state acquisition module 701, configured to determine a washing stage in which the washing machine is located;

the image acquisition module 702 is used for shooting the inner space of the inner barrel of the washing machine to obtain a first image;

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

The washing machine control module 704 is configured to control the washing machine to perform 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 the first preset time length.

The image acquisition module 702 is further configured to:

determining shooting time of an image collector according to a first preset duration;

Based on shooting time, controlling an image collector to shoot the inner space of the inner barrel 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 occupation ratio of the first clothes area in the first image, and determining the clothes amount in the inner drum according to the area occupation ratio;

Determining a target water injection amount according to the laundry amount;

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 quantity.

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

Determining a first number of annular areas occupied by a first garment area, wherein an inner drum area in a first image is divided into a plurality of annular areas by a plurality of annular lines based on inside-out;

Determining a first destination labeling waterline corresponding to the first quantity;

Calculating water injection time length 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 time length.

In some embodiments, the 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 clothing region in a second image;

Determining a second number of annular areas occupied by a second garment area, wherein the inner drum area in the second image is divided into a plurality of annular areas by a plurality of annular lines based on inside-out;

Determining a second destination labeling waterline corresponding to the second quantity;

When the second eye-labeling waterline is less than the first eye-labeling waterline, the washing machine control module 704 is further configured to:

and executing water supplementing operation in the second preset stage until the water level in the inner cylinder reaches the first target mark waterline.

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 clothing areas in a plurality of preset directions respectively, wherein the inner drum area in the third image is divided into a plurality of annular areas by a plurality of annular lines based on the inner side to the outer side;

determining a laundry bias amount 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 cylinder according to the clothes deflection amount;

the washing machine control module 704 is also configured to:

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

the inner cylinder is controlled to rotate according to the rotation frequency and the rotation angle so as to execute centrifugal operation in a third preset stage.

In some embodiments, the 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 quantity corresponding to the third image;

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

the washing machine control module 704 is also configured to:

And executing defoaming operation in a fourth preset stage according to the defoaming time.

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 also used for:

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 belongs to the same concept as the control method of the washing machine in the above embodiment, and any method provided in the control method embodiment of the washing machine may be implemented by the control device 700 of the washing machine, and the specific implementation process is detailed in the control method embodiment of the washing machine and will not be described herein.

As can be seen from the above, the control device for a washing machine provided by the embodiment of the application can take account of the occupied space of clothes and the clothes amount in the water inlet stage, analyze the required water inlet time length, improve the analysis precision of the water amount, continuously analyze whether water is needed to be supplemented after the water inlet stage, and determine the water supplementing time length according to the water level condition in the inner cylinder when the water is needed to be supplemented, and can take account of the water absorption condition of the clothes so as to properly supplement the water to the inner cylinder, thereby ensuring the normal operation of the washing stage, ensuring that the water amount is consistent with the clothes amount, 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 unbalanced load condition of clothes, and the inner cylinder can be controlled to execute centrifugal operation again according to the target rotation frequency and the target rotation angle, so that the conditions of shaking the inner cylinder and generating noise to influence the service life of the washing machine due to centrifugal operation in the prior art are avoided, the dehydration effect on the clothes is improved, and the service life of the washing machine is ensured; and when the foam quantity is too much, the foam quantity is analyzed to obtain the defoaming time, and the defoaming operation is performed, so that the surface of the clothes can be cleaned, the detergent residue is smaller, the clothes cannot be hardened, and the using effect of the clothes is affected. Therefore, the self-adaptive adjustment of the washing machine based on actual requirements in each washing stage is realized, so that the washing quality of clothes in each washing stage is ensured, the processing capacity of the washing machine on the clothes is improved, and the performance of the washing machine is improved.

The embodiment of the application also provides a washing machine which can be a device with a touch screen or a touch key, 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 view 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. It will be appreciated by persons skilled in the art that the configuration of the washing machine shown in the drawings is not limiting and may include more or fewer components than shown, or certain 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 and processes of the washing machine 800 by running 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 the instructions corresponding to the processes of one or more application programs into the memory 802 according to the following steps, and the processor 801 executes the application programs stored in the memory 802, thereby implementing various functions:

determining a washing stage of the washing machine;

The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, 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 into account the space occupied by the clothes and the amount of clothes, analyze the required water inlet time length, improve the analysis accuracy of the water amount, and continuously analyze whether water is needed to be replenished after the water inlet stage, when water is needed to be replenished, the water replenishing time length can be determined according to the water level condition in the inner cylinder, and the water suction condition of the clothes can be taken into account, so as to properly replenish water to the inner cylinder, thereby ensuring the normal operation of the washing stage, and the water amount is identical to the amount of clothes, so that water is saved and clothes can be washed cleanly; in the dehydration stage, the target rotation frequency and the target rotation angle can be determined according to the unbalanced load condition of clothes, and the inner cylinder can be controlled to execute centrifugal operation again according to the target rotation frequency and the target rotation angle, so that the conditions of shaking the inner cylinder and generating noise to influence the service life of the washing machine due to centrifugal operation in the prior art are avoided, the dehydration effect on the clothes is improved, and the service life of the washing machine is ensured; and when the foam quantity is too much, the foam quantity is analyzed to obtain the defoaming time, and the defoaming operation is performed, so that the surface of the clothes can be cleaned, the detergent residue is smaller, the clothes cannot be hardened, and the using effect of the clothes is affected. Therefore, the self-adaptive adjustment of the washing machine based on actual requirements in each washing stage is realized, so that the washing quality of clothes in each washing stage is ensured, the processing capacity of the washing machine on the clothes is improved, and the performance of the washing machine is improved.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer readable storage medium, and those skilled in the art will understand that all or part of the steps in implementing the method of the above embodiment may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the program when executed includes the following steps:

determining a washing stage of the washing machine;

The storage medium may be ROM/RAM, magnetic disk, optical disk, etc. The steps in the control method of any washing machine provided by the embodiment of the present application can be executed due to the computer program stored in the storage medium, so that the beneficial effects of any control method of a washing machine provided by the embodiment of the present application can be achieved, which are detailed in the previous embodiments and are not described herein.

The control method, the device, the medium and the washing machine of the washing machine provided by the embodiment of the application are described in detail, and specific examples are applied to the explanation of the principle and the implementation mode of the application, and the explanation of the above examples is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the present description should not be construed as limiting the present application in summary.

Claims

1. The control method of the washing machine is characterized by comprising an inner cylinder and an image collector, wherein the image collector is used for shooting images of the inner space of the inner cylinder;

The method comprises the following steps:

determining a washing stage in which the washing machine is located;

Controlling the 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, wherein the target operation parameters comprise a target water injection quantity, a target mark waterline, a target rotation frequency and a target rotation angle;

Executing target operation corresponding to the washing stage according to the target operation parameters;

Wherein, control the image collector shoot the inner space of inner tube obtains first image, includes:

controlling the inner cylinder to execute centrifugal operation based on a first preset duration;

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

Based on the shooting moment, controlling the image collector to shoot the inner space of the inner barrel to obtain the first image;

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

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

Determining a plurality of third numbers of annular areas occupied by the third clothing areas in a plurality of preset directions respectively, wherein the inner drum area in the first image is divided into a plurality of annular areas by a plurality of annular lines based on the inner to outer direction;

And executing the target operation corresponding to the washing stage according to the target operation parameters, wherein the target operation comprises the following steps:

Controlling the inner cylinder to execute forward and reverse rotation operation;

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

2. The control method of a washing machine according to claim 1, wherein the target operation parameter is a target water injection amount;

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;

Determining the target water injection amount according to the laundry amount;

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

3. The control method of a washing machine according to claim 1, wherein the target operation parameter is a target water injection line;

Determining a first number of annular areas occupied by the first garment area, wherein an inner drum area in the first image is divided into a plurality of annular areas by a plurality of annular lines based on inside-out;

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

4. The control method of a washing machine as claimed in claim 3, wherein after the performing the water filling operation of the first preset stage according to the water filling time period, 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 clothing region in the second image;

Determining a second number of annular areas occupied by the second garment area, wherein an inner drum area in the second image is divided into a plurality of annular areas by a plurality of annular lines based on inside-out;

And when the second target mark waterline is smaller than the first target mark waterline, executing the water supplementing operation of the second preset stage until the water level in the inner cylinder reaches the first target mark waterline.

5. The control method of a washing machine according to any one of claims 1 to 4, wherein a shake detection device is further provided on the washing machine;

The method further comprises the steps of:

in the process of shooting operation of the image collector, detecting the shaking amount of the inner cylinder through the shaking detection device;

When the shaking amount is larger than a preset shaking threshold, the rotating speed of the inner cylinder is adjusted to the target rotating speed according to the target rotating speed corresponding to the preset shaking threshold.

6. A control device of a washing machine, comprising:

The parameter setting module is used for setting target operation parameters according to the washing stage and the first image, wherein the target operation parameters comprise a target water injection quantity, a target mark waterline, a target rotation frequency and a target rotation angle;

The washing machine control module is used for controlling the washing machine to execute target operations corresponding to the washing stage according to the target operation parameters;

the control device realizes the following control:

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

Based on the shooting moment, controlling the image acquisition module to shoot the inner space of the inner barrel to obtain the first image;

7. A computer-readable storage medium, having stored thereon a computer program, characterized in that the computer program, when run on a computer, causes the computer to perform the control method of a washing machine as claimed in any one of claims 1 to 5.

8. A washing machine comprising an inner tub and an image collector for capturing images of an inner space of the inner tub, the inner tub and the image collector being controlled by a washing program, when the washing program is activated, the control method of the washing machine according to any one of claims 1 to 5 is performed.