CN116136064A

CN116136064A - Clothes detection method and device, clothes care machine and storage medium

Info

Publication number: CN116136064A
Application number: CN202111357618.XA
Authority: CN
Inventors: 王世宇; 方化
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Yijia Intelligent Electronic Technology Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Yijia Intelligent Electronic Technology Co Ltd
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2023-05-19
Also published as: WO2023087466A1

Abstract

The embodiment of the application discloses a clothes detection method, a clothes detection device, a clothes care machine and a storage medium, and relates to the technical field of ultrasonic detection. Specifically, an echo signal received by an open ultrasonic transceiver in the clothes care machine in a preset time period is obtained (the echo signal is a signal after an ultrasonic signal sent by the open ultrasonic transceiver is reflected by an obstacle); further determining at least one pulse number, wherein the pulse number is the number of echo signals detected by the open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations; and determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that at least one pulse quantity meets the preset condition. According to the embodiment of the application, the clothes detection is carried out according to the characteristic that the pulse quantity corresponding to different quantity of clothes is in the fixed quantity range, so that the clothes detection result is prevented from being influenced by interference signals of other time periods, and the clothes detection precision is improved.

Description

Clothes detection method and device, clothes care machine and storage medium

Technical Field

The embodiment of the application relates to the technical field of ultrasonic detection, in particular to a clothes detection method and device, a clothes care machine and a storage medium.

Background

The existing clothes nursing machine can determine whether clothes are hung on the clothes hangers arranged in the nursing machine box body before clothes nursing is carried out, and then the quantity of the clothes in the box body is determined. When the follow-up clothes nursing machine carries out clothes nursing, the operation duration can be adapted to be adjusted according to the determined clothes quantity, so that the power consumption is effectively controlled, and the user experience is improved.

At present, the clothes care machine detects whether clothes are in the following modes: and controlling the transmitting end of the closed ultrasonic detection device to transmit ultrasonic signals, further determining the echo time of the echo signals received by the receiving end of the closed ultrasonic detection device, and determining which clothes hanger is hung with clothes according to the echo time.

However, the ultrasonic signal sent by the transmitting end of the closed ultrasonic detection device is easily transmitted to the receiving end through the probe shell structure, the circuit and other ways, and the receiving of the echo signal is interfered, so that the accuracy of clothes detection is affected, and the erroneous judgment is caused. Thus, the above-described method determines whether the laundry is hung on the hanger with low accuracy.

Disclosure of Invention

The embodiment of the application provides a clothes detection method, a clothes detection device, a clothes care machine and a storage medium, and solves the problem that the clothes detection accuracy of an existing ultrasonic detection device is low.

In a first aspect, embodiments of the present application provide a laundry detection method applied to a laundry care machine including an open-type ultrasonic transceiver, specifically, the laundry detection method includes: acquiring echo signals received by an open type ultrasonic transceiver within a preset time length (the preset time length is in direct proportion to the depth of an inner container of the clothes care machine); further determining at least one pulse number, wherein the pulse number is the number of echo signals detected by the open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations; after that, in case that at least one pulse number satisfies a preset condition, it is determined that there is laundry in an area corresponding to the open type ultrasonic transceiver. The echo signal is a signal obtained by reflecting an ultrasonic signal transmitted from the open type ultrasonic transceiver by an obstacle.

In practical application, the pulse number of the echo signals in different sub-time periods is also different for different situations of the existence of clothes in the corresponding detection area in the clothes care machine box. According to the scheme provided by the embodiment of the application, the clothes detection is performed by detecting the pulse quantity corresponding to the sub-duration in the echo signals, so that the interference influence of different time periods on the echo signals can be synthesized, the influence of the interference signals of other time periods on the clothes detection result is avoided, and the clothes detection accuracy is improved.

Further, because the detection precision of clothing effectively promotes, consequently, follow-up when carrying out the clothing nursing, can further confirm the clothing quantity in the clothing nursing machine, according to the clothing quantity of accurate detection, the adaptation adjusts the operation duration of clothing nursing machine, ensures that the clothing nursing machine is accurate to adjust the operation duration, avoids clothing nursing machine operating time overlength to lead to the energy consumption extravagant, optimizes the energy efficiency management effect of clothing nursing machine, optimizes user's use experience.

In one possible design manner, the at least two sub-durations include at least two of a first sub-duration, a second sub-duration, and a third sub-duration, the second sub-duration being located after the first sub-duration, and the third sub-duration being located after the second sub-duration; the number of echo signals detected by the open type ultrasonic transceiver in the first sub-period is a first pulse number, the number of echo signals detected by the open type ultrasonic transceiver in the second sub-period is a second pulse number, and the number of echo signals detected by the open type ultrasonic transceiver in the third sub-period is a third pulse number; the at least one pulse number includes at least one of a first pulse number, a second pulse number, and a third pulse number.

The above "preset conditions" include: in the case where the at least one pulse number includes a first pulse number, the first pulse number is greater than or equal to a first threshold; in the case where the at least one pulse number includes a second pulse number, the second pulse number is greater than or equal to a second threshold; in the case where the at least one pulse number includes a third pulse number, the third pulse number is less than or equal to a third threshold.

In one possible design, the at least one pulse number includes a first pulse number, a second pulse number, and a third pulse number, and the laundry detecting method further includes:

in the case that the first pulse number is smaller than the first threshold value, the second pulse number is smaller than the second threshold value, and the third pulse number is larger than the third threshold value, it is determined that no laundry is present in the region corresponding to the open type ultrasonic transceiver.

In one possible design, the at least one pulse number includes a target pulse number and a third pulse number, the target pulse number includes a first pulse number or a second pulse number, and the laundry detecting method further includes:

if the target pulse number includes the first pulse number, determining that no clothing exists in the area corresponding to the open-type ultrasonic transceiver if the first pulse number is smaller than a fourth threshold value and the third pulse number is larger than a third threshold value; in the case that the target pulse number includes the second pulse number, if the second pulse number is smaller than the fifth threshold value and the third pulse number is larger than the third threshold value, it is determined that no laundry exists in the region corresponding to the open type ultrasonic transceiver.

In one possible design, the method for detecting clothes further includes:

In a case where it is determined that there is laundry in the area corresponding to the open type ultrasonic transceiver, the laundry amount is determined to be one.

In a second aspect, embodiments of the present application provide a laundry detecting apparatus applied to a laundry care machine including an open-type ultrasonic transceiver, and in particular, the laundry detecting apparatus includes: the acquisition module is used for acquiring echo signals received by the open type ultrasonic transceiver within a preset time length (the preset time length is in direct proportion to the depth of the liner of the clothes care machine); the detection module is used for determining at least one pulse quantity, wherein the pulse quantity is the quantity of echo signals detected by the open type ultrasonic transceiver in one sub-time length; and the determining module is used for determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that at least one pulse quantity meets the preset condition. Here, the echo signal is a signal after the ultrasonic signal transmitted by the open type ultrasonic transceiver is reflected by the obstacle, and the preset duration includes at least two sub-durations.

In one possible design manner, the at least two sub-durations include at least two of a first sub-duration, a second sub-duration, and a third sub-duration, where the second sub-duration is located after the first sub-duration and the third sub-duration is located after the second sub-duration; the number of echo signals detected by the open type ultrasonic transceiver in the first sub-period is a first pulse number, the number of echo signals detected by the open type ultrasonic transceiver in the second sub-period is a second pulse number, and the number of echo signals detected by the open type ultrasonic transceiver in the third sub-period is a third pulse number; the at least one pulse number includes at least one of a first pulse number, a second pulse number, and a third pulse number;

In one possible design, the at least one pulse number includes a first pulse number, a second pulse number, and a third pulse number, and the determining module is further configured to:

In one possible design, the at least one pulse number includes a target pulse number and a third pulse number, the target pulse number including the first pulse number or the second pulse number, and the determining module is further configured to:

The determination module is also for: in a case where it is determined that there is laundry in the area corresponding to the open type ultrasonic transceiver, the laundry amount is determined to be one.

In a third aspect, embodiments of the present application provide a laundry care machine comprising:

an open-type ultrasonic transceiver, a memory and one or more processors, the open-type ultrasonic transceiver being connected to the processors;

the memory is used for storing computer execution instructions;

the processor is configured to invoke the computer-executable instructions and control the operation of the open-ended ultrasonic transceiver such that, when the laundry care machine is in operation, the computer-executable instructions are executed to implement the laundry detection method as in the first aspect.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium comprising computer instructions that, when run on a laundry care machine, cause the laundry care machine to perform a laundry detection method as in the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product comprising computer instructions which, when run on a laundry care machine, cause the laundry care machine to perform a laundry detection method according to the first aspect and any one of its possible designs.

For a detailed description of the second aspect and the fifth aspect and various implementations thereof in the embodiments of the present application, reference may be made to the detailed description of the first aspect and various implementations thereof; moreover, the advantages of the second aspect and the various implementations thereof may be referred to as analyzing the advantages of the first aspect and the various implementations thereof, and will not be described herein.

These and other aspects of embodiments of the present application will be more readily apparent from the following description.

Drawings

Fig. 1 is a schematic structural view of a laundry care machine in an embodiment of the present application;

FIG. 2 is a schematic diagram of the connection of a garment inspection device and an ultrasonic panel in an embodiment of the present application;

FIG. 3 is a flowchart of a method for detecting clothes according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an echo signal in an embodiment of the present application;

FIG. 5 is a schematic diagram of an echo signal in an embodiment of the present application;

FIG. 6 is a laundry detection flow chart of a laundry care machine in an embodiment of the present application;

fig. 7 is a schematic structural view of a clothes detecting apparatus according to an embodiment of the present application;

fig. 8 is a schematic structural connection diagram of a laundry machine according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of specific embodiments thereof is given with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

It should be noted that in this application relational terms such as first and second are used solely to distinguish one entity or action or object from another entity or action or object without necessarily requiring or implying any actual such relationship or order between such entities or actions or objects. For example, "first" and "second" of a first touch operation and a second touch operation are used to distinguish between interactive operations of two different time touch screen cover plates. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The application provides a clothes detection method, which aims at judging whether the pulse quantity meets the preset condition or not based on the pulse quantity of at least one sub-duration in an echo signal by detecting the pulse quantity of the echo signal in different sub-durations so as to determine whether clothes exist in an area corresponding to an open type ultrasonic transceiver or not, and further, the accurate detection of the clothes is realized.

Wherein the ultrasonic signal is a part of an acoustic wave, an acoustic wave of a frequency above 20KHZ which is inaudible to the human ear, which is generated by vibrations of a substance and which can only propagate in a medium. When the ultrasonic signal encounters an obstacle in the propagation process, the ultrasonic signal is reflected back to the open type ultrasonic transceiver, and the signal is an echo signal. According to the embodiment of the application, by receiving the part of echo signals, the quantity characteristics of the echo signals of the part of echo signals in different time periods are utilized to accurately detect clothes in corresponding areas.

The clothes detection method provided by the embodiment of the application is mainly applied to the clothes care machine. Fig. 1 shows a schematic structural view of a laundry care machine. As shown in fig. 1, in a cabinet liner of a laundry care machine, an ultrasonic panel 11 and a hanger 12 are provided, the hanger 12 being for hanging laundry. When the clothes care machine operates, clothes are hung on the clothes hanger 12, and clothes care operations are executed by utilizing equipment such as spraying, drying and the like arranged on the inner container of the box body, so that the clothes care function of the clothes care machine is realized.

The ultrasonic plate 11 is provided with a plurality of sets of open ultrasonic transceivers. In practical applications, the ultrasonic panel 11 may be mounted at a back panel inside the hermetic container. The ultrasonic plate 11 may be installed at the back plate inside the closed box (i.e., installed at the back plate opposite to the door plate); the top in the airtight box also can be set up, can also set up the bottom in the airtight box, can also set up on the door plant, and this application embodiment does not do fixed restriction to its concrete setting position. The position of the ultrasonic panel 11 shown in fig. 1 is exemplified at the back plate inside the hermetic container.

Each of the open type ultrasonic transceivers may include a transmitting probe 111 and a receiving probe 112, which are disposed at positions corresponding to the positions of the hangers 12, to transmit ultrasonic signals through the regions of the open type ultrasonic transceivers corresponding to the hangers 12, and thus to detect laundry through echo signals.

Illustratively, the open ultrasonic transceiver is mounted at the back plate inside the enclosure and at a height of two centimeters below the hanger. Therefore, echo signal detection can be carried out corresponding to clothes with different lengths, and the clothes detection effect is optimized.

In practical application, a group of open ultrasonic transceivers can be correspondingly arranged every time one clothes hanger 12 is arranged according to the actual hardware configuration of the clothes care machine, so that the ultrasonic signal transmission and the echo signal reception of the open ultrasonic transceivers corresponding to the clothes detection areas are realized, and the accuracy of determining the clothes quantity is improved.

Of course, the setting position of the open type ultrasonic transceiver can be adaptively adjusted according to different clothes detection scenes, so as to accurately perform signal transmission and reception of the corresponding clothes detection area.

Each of the open-ended ultrasonic transceivers in the embodiments of the present application is coupled to a processor in a laundry care machine. Fig. 2 shows how each of the open-type ultrasonic transceivers is connected to a processor in the laundry care machine. Referring to fig. 2, taking an example in which the laundry care machine includes three open type ultrasonic transceivers (e.g., an open type ultrasonic transceiver 1, an open type ultrasonic transceiver 2, and an open type ultrasonic transceiver 3), a processor is connected to a transmitting probe Tx1 of the open type ultrasonic transceiver 1 through a port Tx1-io, and a processor is connected to a receiving probe Rx1 of the open type ultrasonic transceiver 1 through a port Rx 1-io; the processor is connected with the transmitting probe Tx2 of the open type ultrasonic transceiver 2 through a port Tx2-io, and is connected with the receiving probe Rx2 of the open type ultrasonic transceiver 2 through a port Rx 2-io; the processor is connected to the transmitting probe Tx3 of the open type ultrasonic transceiver 3 through the port Tx3-io, and the processor is connected to the receiving probe Rx3 of the open type ultrasonic transceiver 3 through the port Rx 1-io.

When clothes are detected, the clothes detection device sends pulse signals to the sending probes of the corresponding open ultrasonic transceivers so that the ultrasonic probes send ultrasonic signals to detection areas of the corresponding open ultrasonic transceivers, echo signals of the ultrasonic signals are received through the receiving probes of the ultrasonic transceivers, and whether clothes exist in the areas corresponding to the detection areas of the current open ultrasonic transceivers can be determined through analysis based on the echo signals.

The following describes a laundry detection method according to an embodiment of the present application with reference to fig. 1 and 2.

Fig. 3 is a flowchart of a clothes detection method according to an embodiment of the present application. The laundry detection method provided in the present embodiment may be performed by a laundry detection device. The laundry detecting device may be implemented in software and/or hardware. The laundry detecting device may be the laundry care machine, a processor in the laundry care machine, or a control module for detecting the amount of laundry in the laundry care machine.

The following description will be made taking a laundry detecting apparatus as an example of a main body performing a laundry detecting method. Referring to fig. 3, the laundry detection method specifically includes:

s110, acquiring echo signals received by the open type ultrasonic transceiver within a preset time period.

The echo signal is a signal obtained by reflecting an ultrasonic signal transmitted by the open type ultrasonic transceiver by an obstacle. The preset duration is proportional to the depth of the liner of the laundry care machine.

When the clothes are detected, the clothes detection device sends pulse signals to the sending probes of the open ultrasonic transceivers correspondingly arranged in the areas according to the areas needing to be detected at present, so that the sending probes emit ultrasonic signals in the areas needing to be detected at present.

When the ultrasonic signal propagates in the area, the echo signal is reflected to the open ultrasonic transceiver by encountering an obstacle, and the echo signal is received by a receiving probe of the open ultrasonic transceiver. The clothes detection device can further analyze and process to determine whether clothes exist in the current detection area by acquiring the echo signals of the ultrasonic signals.

Specifically, as shown in fig. 4, in a scenario in which the clothes 13 are hung on the clothes hanger 12 in the detection area corresponding to the open type ultrasonic transceiver, when the clothes 13 are encountered during the propagation, the ultrasonic signal emitted from the transmitting probe 111 of the open type ultrasonic transceiver reflects the echo signal to the open type ultrasonic transceiver, and the receiving probe 112 receives the echo signal.

As shown in fig. 5, in a case where the clothes hanger 12 corresponding to the detection area of the open-type ultrasonic transceiver is not hung with clothes, the ultrasonic signal emitted from the transmitting probe 111 of the open-type ultrasonic transceiver will reflect the echo signal to the open-type ultrasonic transceiver after reaching the wall surface of the inner container of the clothes care machine, and the receiving probe 112 receives the echo signal.

It will be appreciated that, during the propagation of the ultrasonic signal in the corresponding region of the liner of the laundry care machine, for different obstacles (such as laundry or liner wall surface), the open-type ultrasonic transceiver will receive echo signals with different signal characteristics in different time periods after reflecting the echo signals. In addition, according to the two conditions of existence of clothes in the corresponding area, the echo signals returned by the inner container wall surface of the box body are different in signal characteristics due to interference of different obstacles.

Based on the principle, the embodiment of the application can further determine whether clothes exist in the detection area of the current open type ultrasonic transceiver according to different signal characteristics of the echo signals by acquiring the echo signals to analyze and process.

In general, after an open-type ultrasonic transceiver transmits an ultrasonic signal, an echo signal reflected by clothing reaches a receiving probe of the open-type ultrasonic transceiver. And the return time of the echo signal returned when the ultrasonic signal reaches the wall surface of the inner container is relatively long. Therefore, in order to completely acquire the echo signal of the ultrasonic signal for effective clothing detection, the preset duration of the echo signal needs to be set according to the depth of the inner container of the box body. And subsequently, when the clothes detection device acquires the echo signals received by the receiving probe, extracting the echo signals according to the preset duration.

Wherein, the preset time length is required to be in direct proportion to the depth of the liner of the clothes care machine.

It will be appreciated that the longer the depth of the liner, the later the time that the echo signal reflected by the liner wall is received by the receiving probe. In order to completely acquire the echo signals returned by the wall surface of the liner, the length of time is preset according to the depth of the liner of the box body, so that the receiving probe can completely receive the echo signals returned by the wall surface of the liner of the clothes care machine within the preset length of time, and the echo signal detection effect is optimized.

Optionally, the embodiment of the application uses an open type ultrasonic transceiver as the device for transmitting the ultrasonic signal and receiving the echo signal thereof. The open type ultrasonic transceiver has the characteristics of convergence of a transmitted waveform, small angle, small aftershock and long range, and can effectively avoid unnecessary signal interference and realize accurate fixed-point detection of ultrasonic signals.

Since a plurality of clothes hangers may be arranged in the clothes care machine, different clothes hangers need to be provided with different open ultrasonic transceivers so as to realize clothes detection in corresponding areas. In order to reduce direct signal interference of different detection areas, an open type ultrasonic transceiver is adopted, and the characteristics of convergence of a transmission waveform, small angle, small aftershock and long range are utilized to concentrate the transmission direction of ultrasonic signals transmitted by the open type ultrasonic transceiver, so that echo signal generation outside the detection areas is reduced, further, receiving interference of the echo signal is reduced, and the clothes detection effect is optimized.

Optionally, before acquiring the echo signals received by the open ultrasonic transceiver within the preset time, the clothes detection device sends pulse signals with a set number and a set frequency to the sending probe, so that the sending probe sends ultrasonic signals to the corresponding detection channel. The set number and the set frequency of the pulse signal transmission can be adaptively set according to the actual clothes detection requirement.

Illustratively, when the clothes detection is carried out, 8 40KHz pulse signals are sent to the sending probe through the clothes detection device, and then ultrasonic signals are generated. The 8 40KHz pulse signals are the set number and the set frequency of the pulse signal transmission determined according to the actual test effect. Based on the output pulse signal, the effect of the corresponding received echo signal is better, so that the accuracy of clothes detection can be further improved.

S120, determining at least one pulse number, wherein the pulse number is the number of echo signals detected by the open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations.

During the transmission of the ultrasonic signal, a part of the signal can be directly transmitted from the transmitting probe to the receiving probe in a short time, and the part of the signal does not pass through a broad propagation medium (such as air in the clothes treating machine) but is conducted through a hardware structure or a circuit wiring of the open type ultrasonic transceiver. This portion of the signal is generally referred to as the aftershock signal. Taking the laundry care machine of the embodiment of the present application as an example, the aftershock signal generally appears intensively within 0.5ms after the ultrasonic signal is sent out. The part of signals can be determined by adaptive experiment detection according to the different specific hardware structures and circuit wiring designs of the open type ultrasonic transceiver. The clothes detection device can exclude analysis processing of the echo signals in the preset time according to the receiving time period corresponding to the aftershock signals from the echo signals in the preset time period aiming at the echo signals acquired in the preset time period because the aftershock signals can influence clothes emission and detection analysis of echo signals reflected by the inner container wall surface of the box body.

Similarly, when no clothing exists in the detection area, the echo signals reflected by the inner container of the box body are encountered in the transmission process of the corresponding ultrasonic signals, and the echo signals are returned to the open type ultrasonic transceiver in the corresponding time period of the preset time period. According to the actual test, the echo signals also show a regular change on the time axis. Namely, the pulse number in the echo signal of the corresponding subsection of the sub-time length is in certain regularity.

Based on the above principle, the laundry detection method provided by the embodiment of the present application performs laundry detection according to the pulse number by determining the pulse number in each sub-duration of the preset duration.

It can be understood that according to the time sequence of signal reflection, the aftershock signal, the echo signal reflected by the clothes or the echo signal reflected by the inner container of the box body under the condition of no clothes can reach the open type ultrasonic transceiver in different time periods. Namely, according to the two conditions that whether clothes are placed in the corresponding detection area of the open type ultrasonic transceiver, the echo signals can reach the ultrasonic transceiver in the corresponding time period. Therefore, according to the time period corresponding to the echo signals reflected by the clothes and the echo signals reflected by the inner container of the box body, at least two corresponding sub-time periods are determined in the preset time periods, the echo signals of the at least two sub-time periods are aftershock signals, and the echo signals reflected by the clothes or the echo signals reflected by the inner container of the box body can be used as a data basis to judge whether clothes exist in the corresponding area of the open type ultrasonic transceiver or not through statistics of the pulse number of the echo signals in the at least two sub-time periods.

The at least two sub-durations in this embodiment include at least two of a first sub-duration, a second sub-duration, and a third sub-duration. The second sub-length is located after the first sub-length and the third sub-length is located after the second sub-length. The number of echo signals detected by the open type ultrasonic transceiver at the first sub-time is a first pulse number, the number of echo signals detected by the open type ultrasonic transceiver at the second sub-time is a second pulse number, and the number of echo signals detected by the open type ultrasonic transceiver at the third sub-time is a third pulse number. The at least one pulse number includes at least one of a first pulse number, a second pulse number, and a third pulse number.

The time lengths of the first sub-time length, the second sub-time length and the third sub-time length can be the same or different, and the time length of the sub-time length is not fixedly limited according to the actual clothing detection scene setting.

And S130, determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that at least one pulse quantity meets the preset condition.

After determining the at least one pulse number, judging whether the at least one pulse number meets a preset condition, and determining that clothes exist in an area corresponding to the open type ultrasonic transceiver when determining that the corresponding pulse number meets the preset condition. Specifically, according to the embodiment of the application, by taking the size relation between the pulse number and the corresponding threshold value as a preset condition, whether clothes exist in the area corresponding to the open type ultrasonic transceiver is determined according to the determined size relation.

In practical application, under the two conditions that clothes exist in the corresponding area and clothes do not exist in the corresponding area can be determined according to an actual test, so that the threshold value of the pulse quantity corresponding to each sub-duration is set, and whether clothes exist in the corresponding area of the open type ultrasonic transceiver can be judged through threshold value comparison when clothes are detected based on the pulse quantity in the follow-up process.

The first time length and the second time length are set corresponding to the time period of the clothes reflecting the echo signals, and the echo signals are formed due to mutual rebound of ultrasonic signals among clothes, clothes and side edges. Based on the pulse number change rule of the echo signals, comparing the first pulse number detected by the first sub-time and/or the pulse number detected by the second sub-time with corresponding thresholds, and judging whether the ultrasonic transceiver is used for placing clothes or not.

In addition, the third sub-time is set corresponding to the time period of the echo signals reflected by the inner container of the box body, and as the echo signals reflected by the box body encounter the clothes to cause multiple rebound or signal absorption when the clothes are placed in the corresponding area of the ultrasonic transceiver, the pulse number of the echo signals reflected by the corresponding area is different from that of the echo signals reflected by the corresponding area when the clothes are not placed in the corresponding area. Based on the pulse number of the part of echo signals, the pulse number detected by the third sub-time is compared with a corresponding threshold value, so that clothes detection is performed.

It should be noted that, according to the actual test result, the corresponding sub-duration and the threshold value of the corresponding pulse number may be preset according to different regularity of the pulse number change of the echo signal.

Optionally, the embodiment of the application determines the laundry amount according to the magnitude relation between the at least one pulse amount and the corresponding threshold value. The method comprises the steps of obtaining echo signals corresponding to preset time length, dividing the echo signals into three sections according to a first sub-time length, a second sub-time length and a third sub-time length, respectively counting the pulse number of each sub-time length, and further comparing corresponding thresholds according to the pulse number to detect clothes.

Specifically, the preset conditions include: in the case where the at least one pulse number includes a first pulse number, the first pulse number is greater than or equal to a first threshold; or including, in the event that the at least one pulse number includes a second pulse number, the second pulse number being greater than or equal to a second threshold; or including a third number of pulses less than or equal to a third threshold in the event that the at least one number of pulses includes the third number of pulses.

That is, in the case that the at least one pulse number includes the first pulse number, if the first pulse number is greater than or equal to the first threshold value, it is determined that there is laundry in the region corresponding to the open type ultrasonic transceiver. In the case where the at least one pulse number includes a second pulse number, if the second pulse number is greater than or equal to a second threshold value, it is determined that there is clothing in the area corresponding to the open-type ultrasonic transceiver. In the case where the at least one pulse number includes a third pulse number, if the third pulse number is less than or equal to a third threshold value, it is determined that there is clothing in the area corresponding to the open-type ultrasonic transceiver.

Illustratively, as shown in fig. 6, the laundry detecting apparatus determines an echo signal received by the receiving probe 4 ms from the start of the last pulse signal transmitted by the transmitting probe of the ultrasonic transceiver. This part of the echo signal is then divided into 4 segments at 1 millisecond intervals, denoted t1, t2, t3 and t4. Wherein, since the echo signal of the t1 period mainly comprises the aftershock signal, when the clothes detection is performed, the signal is eliminated, and only at least one section of echo signals of the t2, t3 and t4 parts are extracted for the clothes detection. It can be understood that the aftershock signal and the echo signal reflected by the wall surface of the liner in the absence of clothes are respectively received in the t1 and t4 time periods, and when different numbers of clothes are placed in the box body, the echo signal in the t2 and t3 time periods also has a waveform with regular change, and the waveform is formed due to mutual rebound of the ultrasonic signal among the clothes, the clothes and the side edges. And counting the pulse numbers of the t2, t3 and t4 part echo signals, namely n2, n3 and n4, and further comparing at least one of the pulse numbers n2, n3 and n4 with a corresponding threshold value to obtain a clothes detection result.

For example, referring to fig. 6, in the embodiment of the present application, according to the pulse number change rule of the first sub-duration and the second sub-duration echo signals when the corresponding area has the laundry, and the pulse number change rule of the third sub-duration echo signals when the corresponding area does not have the laundry, the first threshold is 25, the second threshold is 12, and the third threshold is 2.

And judging that clothes exist in the corresponding area of the current ultrasonic transceiver when the time period n2 of t2 is greater than or equal to 25 pulses, or the time period n3 of t3 is greater than or equal to 12 pulses, or the time period n4 of t4 is less than or equal to 2 pulses, namely, n2 is greater than or equal to 25, n3 is greater than or equal to 12, or n4 is less than or equal to 2.

Further, on the basis of the laundry detection method as shown in fig. 3, when the at least one pulse number includes the first pulse number, the second pulse number, and the third pulse number, the laundry detection apparatus determines that no laundry exists in the region corresponding to the open-type ultrasonic transceiver in a case where the first pulse number is smaller than the first threshold value, the second pulse number is smaller than the second threshold value, and the third pulse number is larger than the third threshold value.

On the other hand, when the at least one pulse number includes a target pulse number including the first pulse number or the second pulse number and the third pulse number includes the first pulse number, the laundry detecting apparatus determines that there is no laundry in the region corresponding to the open-type ultrasonic transceiver if the first pulse number is less than a fourth threshold and the third pulse number is greater than the third threshold in a case where the target pulse number includes the first pulse number. If the target pulse number includes the second pulse number, if the second pulse number is smaller than a fifth threshold value and the third pulse number is larger than the third threshold value, it is determined that no clothing exists in the area corresponding to the open-type ultrasonic transceiver.

For example, as shown in fig. 6, the fourth threshold is 2, the fifth threshold is 2, and when the period of time n2 is less than 25 pulses, the period of time n3 is less than 2 pulses, and the period of time n4 is greater than 2 pulses, that is, when n2<25, n3<12, and n4>2, it is determined that no clothing exists in the corresponding area of the current ultrasonic transceiver.

On the other hand, when the period n2 of t2 is less than or equal to 2 pulses and the period n4 of t4 is greater than 2 pulses, or when the period n3 of t3 is less than or equal to 2 pulses and the period n4 of t4 is greater than 2 pulses, that is, when n2<25 or n3<12 and n4>2, it is determined that no clothing exists in the current ultrasonic transceiver corresponding region.

Because the pulse number change rule of the reflected echo signals is different in the dry and wet states of the clothes, according to the pulse number change rule of the echo signals of the clothes in the first sub-time period and the second sub-time period in different dry and wet states, the first threshold, the second threshold, the third threshold, the fourth threshold and the fifth threshold are set to respectively correspond to the dry state and the wet state of the clothes for clothes detection, and therefore a more accurate clothes detection effect is achieved.

Finally, based on the judging flow, whether clothes exist in the corresponding area of the ultrasonic transceiver can be finally determined. In the actual clothes judging scene, according to the actual change regularity of the pulse number of the echo signals, the sub-duration and the threshold value of the corresponding number can be adaptively set, and the corresponding rated judging flow is selected for clothes detection. Specific detection comparison processes for detecting clothes based on the pulse number are not limited fixedly, and are not repeated here.

Alternatively, the laundry detecting device determines the laundry amount as one in the case where it is determined that laundry exists in the area corresponding to the open type ultrasonic transceiver, on the basis of the laundry detecting flow shown in fig. 3. After the clothing detection result of the area corresponding to the open ultrasonic transceiver is determined, the clothing quantity of the detection area is output, so that the clothing quantity in the clothing care machine can be counted conveniently.

Since the number of laundry in the area corresponding to the open type ultrasonic transceiver is 1 in the case where it is determined that the laundry exists in the area. The laundry detecting device may determine the amount of laundry in the laundry care machine based on the laundry detecting result by counting the laundry detecting result of the corresponding region of each of the open-type ultrasonic transceivers.

It can be appreciated that the ultrasonic transceivers are provided for each hanger for hanging clothes in the clothes care machine, so that the clothes detection device can detect ultrasonic signals corresponding to the clothes placement area based on each ultrasonic transceiver, and further judge whether clothes exist in each detection area (namely, each hanger) based on echo signals. The clothes quantity of the current clothes care machine can be determined by counting the clothes detection results of all clothes hangers, and then the running time of the clothes care machine can be adaptively adjusted.

For example, if three clothes hangers are arranged in the clothes care machine, whether the clothes are present in the three clothes hangers is judged based on the clothes detection method, and then the quantity of the clothes in the clothes care machine is determined. The total time of clothes nursing is adjusted and the nursing program is adjusted according to different clothes quantity.

Taking the example of rapid clothing care, one garment care for 20 minutes, two for 25 minutes, and three for 30 minutes. More garments require the care machine to provide more steam, higher auxiliary heating power, etc., such as a 2 minute steam requirement for one garment, a half minute increase per increment.

When the nursing mode related to the spraying process is adopted, the spraying process is independently carried out on each clothing placement area, and the placement position of the clothing is effectively judged, so that the invalid operation of the spraying process can be avoided, the more efficient nursing effect can be achieved, and the equipment operation energy efficiency and the use experience are optimized.

In one embodiment, the garment detection device may further configure an ultrasonic signal transmission timing of each of the open-type ultrasonic transceivers in advance, and control each of the open-type ultrasonic transceivers to transmit an ultrasonic signal at the corresponding ultrasonic signal transmission timing. When the clothes care machine is provided with a plurality of ultrasonic transceivers to detect clothes in a plurality of detection areas, in order to avoid the situation that the ultrasonic transceivers detect ultrasonic signals in parallel, the mutual interference of signals occurs in each detection area, and then received echo signals contain signals reflected by other detection areas, so that clothes detection in the current detection area is interfered.

Based on this, when laundry detection is performed, the ultrasonic signal transmission timing of each open type ultrasonic transceiver is set in advance so that each open type ultrasonic transceiver sequentially transmits ultrasonic signals at different times. Correspondingly, each open-ended ultrasonic transceiver will also receive ultrasonic signals at different points in time in sequence.

In order to further reduce the signal interference, it is provided that after one ultrasonic transceiver receives the ultrasonic signal, the next ultrasonic transceiver starts to transmit the ultrasonic signal. Therefore, signal interference can be avoided, the clothes detection precision is further improved, and the clothes detection effect is optimized.

As can be seen from the above description, by acquiring an echo signal received by the open-type ultrasonic transceiver within a preset period of time, the echo signal is a signal after the ultrasonic signal sent by the open-type ultrasonic transceiver is reflected by an obstacle; the preset duration is in direct proportion to the depth of the liner of the clothes care machine; determining at least one pulse quantity, wherein the pulse quantity is the quantity of echo signals detected by an open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations; and determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that at least one pulse quantity meets the preset condition. By adopting the technical means, the pulse quantity of at least one sub-duration is detected in the echo signal, and whether the pulse quantity meets the preset condition is judged so as to determine whether clothes exist in the area corresponding to the open type ultrasonic transceiver, so that the influence of interference signals of other time periods on the clothes detection result can be avoided, and the accuracy of clothes detection is improved. Further, the clothes quantity of the clothes care machine is accurately determined, so that the running time length of the clothes care machine can be accurately adjusted, and the running energy efficiency and the use experience of equipment are optimized.

The foregoing description of the solution provided in the embodiments of the present application has been mainly presented in terms of a method. To achieve the above functions, it includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The embodiment of the present application may divide the functional modules of the laundry detection device (the laundry detection device may be the laundry care machine or the processor in the laundry care machine) according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.

Fig. 7 is a schematic structural view of a clothes detecting apparatus according to the present application, based on the above embodiments. Referring to fig. 7, the laundry detecting apparatus provided in this embodiment specifically includes: an acquisition module 21, a detection module 22 and a determination module 23.

The acquiring module 21 is configured to acquire an echo signal received by the open-type ultrasonic transceiver within a preset duration, where the echo signal is a signal after an ultrasonic signal sent by the open-type ultrasonic transceiver is reflected by an obstacle; the preset duration is proportional to the depth of the liner of the laundry care machine.

The detection module 22 is configured to determine at least one pulse number, where the pulse number is the number of echo signals detected by the open-type ultrasonic transceiver in one sub-duration, and the preset duration includes at least two sub-durations.

The determining module 23 is configured to determine that there is clothing in an area corresponding to the open-type ultrasonic transceiver if at least one pulse number satisfies a preset condition.

Optionally, the at least two sub-durations include at least two of a first sub-duration, a second sub-duration, and a third sub-duration, the second sub-duration being located after the first sub-duration, the third sub-duration being located after the second sub-duration; the number of echo signals detected by the open type ultrasonic transceiver at the first sub-time is a first pulse number, the number of echo signals detected by the open type ultrasonic transceiver at the second sub-time is a second pulse number, and the number of echo signals detected by the open type ultrasonic transceiver at the third sub-time is a third pulse number; the at least one pulse number includes at least one of a first pulse number, a second pulse number, and a third pulse number.

Correspondingly, the preset conditions include: in the case where the at least one pulse number includes a first pulse number, the first pulse number is greater than or equal to a first threshold; in the case where the at least one pulse number includes a second pulse number, the second pulse number is greater than or equal to a second threshold; in the case where the at least one pulse number includes a third pulse number, the third pulse number is less than or equal to a third threshold.

Optionally, the at least one pulse number includes a first pulse number, a second pulse number, and a third pulse number. Correspondingly, the determining module 23 is further configured to:

Optionally, the at least one pulse number includes a target pulse number and a third pulse number, and the target pulse number includes the first pulse number or the second pulse number. Accordingly, the determining module 23 is further configured to:

if the target pulse number includes the first pulse number, determining that no clothing exists in the area corresponding to the open-type ultrasonic transceiver if the first pulse number is smaller than a fourth threshold value and the third pulse number is larger than a third threshold value;

In the case that the target pulse number includes the second pulse number, if the second pulse number is smaller than the fifth threshold value and the third pulse number is larger than the third threshold value, it is determined that no laundry exists in the region corresponding to the open type ultrasonic transceiver.

Optionally, the determining module 23 is further configured to: in a case where it is determined that there is laundry in the area corresponding to the open type ultrasonic transceiver, the laundry amount is determined to be one.

The method comprises the steps that echo signals received by an open type ultrasonic transceiver in a preset time period are obtained, and the echo signals are signals after the ultrasonic signals sent by the open type ultrasonic transceiver are reflected by obstacles; the preset duration is in direct proportion to the depth of the liner of the clothes care machine; determining at least one pulse quantity, wherein the pulse quantity is the quantity of echo signals detected by an open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations; and determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that at least one pulse quantity meets the preset condition. By adopting the technical means, the pulse quantity of at least one sub-duration is detected in the echo signal, and whether the pulse quantity meets the preset condition or not is judged to determine whether clothes exist in the area corresponding to the open type ultrasonic transceiver, so that the influence of interference signals of other time periods on the clothes detection result can be avoided, and the accuracy of clothes detection is improved.

Moreover, the clothes quantity of the clothes care machine is accurately determined, so that the running time length of the clothes care machine can be accurately adjusted, and the running energy efficiency and the use experience of the equipment are optimized.

The clothes detection device provided by the embodiment of the application can be used for executing the clothes detection method provided by the embodiment, and has corresponding functions and beneficial effects.

On the basis of the above-described embodiments, the present application also provides a laundry care machine, referring to fig. 8, comprising: a processor 31, a memory 32, a communication module 33, an input device 34, an output device 35, and an open ultrasonic transceiver 36.

The number of processors in the laundry care machine may be one or more, and the number of memories in the laundry care machine may be one or more. The open-ended ultrasonic transceiver, processor, memory, communication module, input device and output device of the laundry care machine may be connected by a bus or other means.

The memory 32 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and a module, such as program instructions/modules corresponding to the laundry detection method according to any embodiment of the present application (e.g., an acquisition module, a detection module, and a determination module in the laundry detection device).

The memory may mainly include a memory program area and a memory data area. The storage program area may store an operating system, at least one application program required for a function, among others. The storage data area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.

In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The communication module 33 is used for data transmission, and the open type ultrasonic transceiver 36 is used for transmitting ultrasonic signals and receiving echo signals.

The processor 31 executes various functional applications of the apparatus and data processing by executing software programs, instructions and modules stored in the memory, i.e., implements the laundry detection method described above.

The input means 34 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output means 35 may comprise a display device such as a display screen.

The laundry machine provided by the above-mentioned embodiment can be used for executing the laundry detection method provided by the above-mentioned embodiment, and has corresponding functions and beneficial effects.

The present embodiments also provide a computer readable storage medium comprising computer instructions that, when run on a laundry care machine, cause the laundry care machine to perform the laundry detection method as described in the above embodiments.

Storage media-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (Rambus) RAM, etc.; nonvolatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a second, different computer system connected to the first computer system through a network such as the internet. The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.

The present embodiments also provide a computer program product comprising computer instructions which, when run on a laundry care machine, cause the laundry care machine to perform a laundry detection method as described above.

The laundry detecting device, the storage medium and the laundry care machine provided in the above embodiments may perform the laundry detecting method provided in any embodiment of the present application, and technical details not described in detail in the above embodiments may be referred to the laundry detecting method provided in any embodiment of the present application.

The foregoing description is only of the preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A laundry detection method, characterized by being applied to a laundry care machine including an open-type ultrasonic transceiver, the laundry detection method comprising:

Acquiring an echo signal received by the open type ultrasonic transceiver within a preset time period, wherein the echo signal is a signal after the ultrasonic signal sent by the open type ultrasonic transceiver is reflected by an obstacle; the preset time length is in direct proportion to the depth of the liner of the clothes care machine;

determining at least one pulse quantity, wherein the pulse quantity is the quantity of echo signals detected by the open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations;

and determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that the at least one pulse quantity meets the preset condition.

2. The laundry detection method according to claim 1, wherein the at least two sub-durations include at least two of a first sub-duration, a second sub-duration, and a third sub-duration, the second sub-duration being located after the first sub-duration, the third sub-duration being located after the second sub-duration; the number of echo signals detected by the open type ultrasonic transceiver at the first sub-time is a first pulse number, the number of echo signals detected by the open type ultrasonic transceiver at the second sub-time is a second pulse number, and the number of echo signals detected by the open type ultrasonic transceiver at the third sub-time is a third pulse number;

The at least one pulse number includes at least one of the first pulse number, the second pulse number, and the third pulse number;

the preset conditions include: in the case that the at least one pulse number includes the first pulse number, the first pulse number is greater than or equal to a first threshold; or including, in the event that the at least one pulse number includes the second pulse number, the second pulse number being greater than or equal to a second threshold; or comprises, in case the at least one pulse number comprises the third pulse number, the third pulse number being smaller than or equal to a third threshold value.

3. The laundry detection method according to claim 2, characterized in that the at least one pulse number includes the first pulse number, the second pulse number, and the third pulse number, the laundry detection method further comprising:

in a case where the first pulse number is smaller than the first threshold, the second pulse number is smaller than the second threshold, and the third pulse number is larger than the third threshold, it is determined that no clothing exists in an area corresponding to the open-type ultrasonic transceiver.

4. The laundry detection method according to claim 2, characterized in that the at least one pulse number includes a target pulse number and the third pulse number, the target pulse number including the first pulse number or the second pulse number, the laundry detection method further comprising:

if the target pulse number includes the first pulse number, determining that no clothing exists in an area corresponding to the open-type ultrasonic transceiver if the first pulse number is smaller than a fourth threshold value and the third pulse number is larger than the third threshold value;

if the target pulse number includes the second pulse number, if the second pulse number is smaller than a fifth threshold value and the third pulse number is larger than the third threshold value, determining that no clothing exists in an area corresponding to the open-type ultrasonic transceiver.

5. The laundry detection method according to any one of claims 1 to 4, characterized in that the laundry detection method further comprises:

and in the case that the clothing exists in the area corresponding to the open type ultrasonic transceiver, determining the number of the clothing as one.

6. A laundry detecting apparatus, characterized in that it is applied to a laundry care machine including an open-type ultrasonic transceiver, the laundry detecting apparatus comprising:

The acquisition module is used for acquiring echo signals received by the open type ultrasonic transceiver within a preset time period, wherein the echo signals are signals after the ultrasonic signals sent by the open type ultrasonic transceiver are reflected by an obstacle; the preset time length is in direct proportion to the depth of the liner of the clothes care machine;

the detection module is used for determining at least one pulse quantity, wherein the pulse quantity is the quantity of echo signals detected by the open type ultrasonic transceiver in one sub-duration, and the preset duration comprises at least two sub-durations;

and the determining module is used for determining that clothes exist in the area corresponding to the open type ultrasonic transceiver under the condition that at least one pulse quantity meets the preset condition.

7. The garment detection device of claim 6, wherein the at least two sub-durations include at least two of a first sub-duration, a second sub-duration, and a third sub-duration, the second sub-duration being subsequent to the first sub-duration, the third sub-duration being subsequent to the second sub-duration; the number of echo signals detected by the open type ultrasonic transceiver at the first sub-time is a first pulse number, the number of echo signals detected by the open type ultrasonic transceiver at the second sub-time is a second pulse number, and the number of echo signals detected by the open type ultrasonic transceiver at the third sub-time is a third pulse number;

8. The laundry detection device of claim 7, wherein the at least one pulse number comprises the first pulse number, the second pulse number, and the third pulse number, the determination module further configured to:

9. The laundry detection device of claim 7, wherein the at least one pulse number comprises a target pulse number and the third pulse number, the target pulse number comprising the first pulse number or the second pulse number, the determination module further configured to:

10. The laundry detection apparatus according to any one of claims 6-9, wherein the determining module is further configured to:

11. A laundry care machine, comprising:

the memory is used for storing computer execution instructions;

the processor is configured to invoke the computer-executable instructions and to control the operation of the open-ended ultrasonic transceiver such that, when the laundry care machine is in operation, the computer-executable instructions are executed to implement the laundry detection method according to any one of claims 1-5.

12. A computer readable storage medium comprising computer instructions which, when run on a laundry care machine, cause the laundry care machine to perform the laundry detection method according to any one of claims 1-5.