WO2017004787A1 - 智能洗衣机及其控制方法 - Google Patents

智能洗衣机及其控制方法 Download PDF

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Publication number
WO2017004787A1
WO2017004787A1 PCT/CN2015/083436 CN2015083436W WO2017004787A1 WO 2017004787 A1 WO2017004787 A1 WO 2017004787A1 CN 2015083436 W CN2015083436 W CN 2015083436W WO 2017004787 A1 WO2017004787 A1 WO 2017004787A1
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Prior art keywords
laundry
image
volume
washing machine
detergent
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PCT/CN2015/083436
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English (en)
French (fr)
Inventor
罗辉
李光煌
谭和华
覃国秘
钟志威
Original Assignee
深圳市赛亿科技开发有限公司
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Priority to CN201580028822.3A priority Critical patent/CN106687638A/zh
Priority to PCT/CN2015/083436 priority patent/WO2017004787A1/zh
Publication of WO2017004787A1 publication Critical patent/WO2017004787A1/zh

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/34—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of water filling
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/37—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of metering of detergents or additives
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/44—Control of the operating time, e.g. reduction of overall operating time
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/02—Characteristics of laundry or load
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/02—Water supply
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/42—Detergent or additive supply
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/56—Remaining operation time; Remaining operational cycles

Definitions

  • the invention relates to the field of washing machines, in particular to a smart washing machine and a control method thereof.
  • the existing smart washing machine can set different washing modes according to different clothing materials or washing requirements.
  • existing smart washing machines include a cotton and linen washing mode, a chemical fiber washing mode, and the like.
  • the existing intelligent washing machine the amount of detergent, the water level, and the running time are fixed. That is, in the same working mode, when the quantity and volume of the washed laundry are different, the existing smart washing machine still uses the fixed amount of detergent, the water level, and the running time to perform corresponding operations on the laundry, and cannot be washed according to the actual laundry. The choice of the appropriate amount of detergent, water level and running time. Therefore, the existing smart washing machine still cannot meet the user's demand for intelligent washing machine.
  • a smart washing machine comprising an image capture device and a microprocessor, the image capture device for collecting an image of a laundry in a laundry tub, the micro The processor is configured to process the image according to the image to obtain a preferred operation control parameter, the control parameter including at least a water level, a quantity of the detergent, and a running time;
  • the microprocessor includes: a three-dimensional image reconstruction module, configured to reconstruct a three-dimensional model of the laundry; an integral operation module for calculating a volume of the laundry according to the three-dimensional model of the laundry; and an analysis module for calculating the control parameter and the control unit according to at least the volume of the laundry and a preset algorithm And for controlling the operation of the smart washing machine according to the control parameter.
  • a control method for a smart washing machine comprising: collecting an image of the laundry in the smart washing machine; reconstructing a three-dimensional model of the laundry according to the collected image; calculating the laundry according to the three-dimensional model of the laundry The volume; the water level, the amount of detergent, and the running time are calculated according to at least the volume of the laundry and a preset algorithm, and the operation of the smart washing machine is controlled according to the water level, the amount of the detergent, and the running time.
  • the above intelligent washing machine and the control method thereof can automatically calculate the amount of detergent, the washing water level, and the running time according to the combined parameters of the volume, volume and weight of the laundry, which simplifies the originally cumbersome operation and intelligently improves the washing machine.
  • Figure 1 is a schematic view of a smart washing machine.
  • FIG. 2 is a functional block diagram of the smart washing machine of the first embodiment.
  • FIG. 3 is a diagram showing a sub-function block of the three-dimensional image reconstruction module shown in FIG. 2.
  • FIG. 4 is a flowchart of a control method of the smart washing machine of the first embodiment.
  • FIG 5 is a sub-flow diagram of the control method shown in Figure 4.
  • Fig. 6 is a functional block diagram of the smart washing machine of the second embodiment.
  • Fig. 7 is a flowchart of a control method of the smart washing machine of the second embodiment.
  • the smart washing machine 100 includes a main body 1 and a washing tub 10 disposed in the main body 1.
  • the laundry tub 10 is used to receive the laundry 102.
  • the smart washing machine 100 further includes an input unit 20, an image capture device 30, a microprocessor 40, and a display device 50.
  • the image capture device 30 is disposed on the main body 1 of the washing machine for taking an image of the laundry to be washed in the tub 10.
  • Image acquisition device 30 includes one or more cameras mounted within the washing machine. As shown in FIG. 1, in the present embodiment, the image capture device 30 preferably includes two cameras 12, 13 disposed at a predetermined distance X. The angles of the cameras 12, 13 with the vertical direction, that is, the shooting angles are set to ⁇ and ⁇ , respectively. The cameras 12, 13 are used to take an image of the laundry in the tub 10 and send the image to the microprocessor 40.
  • the display device 50 includes an LED lamp and a display screen for displaying the washing operation state and the running time of the smart washing machine.
  • the input unit 20 is operative to generate a corresponding user instruction in response to a user's operation.
  • the input unit 20 includes a touch button disposed on the main body 1.
  • the microprocessor 40 includes a three-dimensional image reconstruction module 41, an integration operation module 42, an analysis module 43, a determination unit 44, and a control unit 45.
  • the above modules 41 to 45 include computerized program instructions.
  • the three-dimensional image reconstruction module 41 analyzes the image of the laundry to reconstruct a three-dimensional model of the laundry.
  • the three-dimensional image reconstruction module 41 performs three-dimensional image reconstruction processing on the received two photo data, and the principle thereof is an image-based three-dimensional reconstruction technology.
  • the 3D reconstruction technology can compare and fuse according to one image, two images taken at different shooting angles or multiple images taken at multiple shooting angles, and reconstruct the three-dimensional information of the overlapping parts in these images, but one image If the three-dimensional image reconstruction is performed, the accuracy is not enough, and the three-dimensional image reconstruction of two or more images (excluding two images) will increase the difficulty of image fusion during the reconstruction process. Therefore, different shooting is preferred in this embodiment.
  • the two garment photographs taken at an angle are compared, fused, and reconstructed into a three-dimensional image of the laundry, so an image capture device as shown in FIG. 1 is preferred.
  • the three-dimensional image reconstruction module 41 includes an image acquisition unit 411, an image processing unit 412, an image fusion unit 413, and an image reconstruction unit 414.
  • the image acquisition unit 411 is configured to acquire an image of the laundry in the laundry tub photographed by the image capture device.
  • the image processing unit 412 performs denoising processing on the image acquired by the team image acquiring unit 411.
  • the image fusion unit 413 is for processing two image folding regions to generate image fusion data.
  • the image reconstruction unit 414 is configured to reconstruct a stereo model of the laundry according to the image fusion data and the pre-stored camera pitch, focal length, and shooting angle.
  • the integral operation module product 42 is used for performing an integral operation on the stereo model of the laundry to calculate the volume of the laundry in the laundry tub.
  • the analysis module 43 is configured to calculate a corresponding control parameter according to the volume of the laundry, the selected mode, and a preset algorithm, and the control parameter includes at least a water level, a detergent amount, and a running time.
  • the predetermined algorithm includes the volume of the laundry to be a function of the above control parameters.
  • the control unit 45 is for controlling the operation of the washing machine 100 in accordance with the above control parameters.
  • step 401 it is determined whether the signal for selecting the working mode is received. If not, the default working mode of step 402 is selected; if it has been received, step 403 is directly performed.
  • the present embodiment is provided with a chemical fiber type and a cotton and linen type working mode, which can be relied on.
  • Manually selecting the working mode After manual selection, the input unit of the smart washing machine will generate a corresponding user command in response to the user's operation, and the determining unit can recognize the command and confirm the selected working mode; if the user does not select, the smart washing machine determining unit determines whether When the work mode is selected, the default work mode is automatically selected.
  • step 403 the laundry is photographed in the laundry tub.
  • the image capturing device photographs the laundry in the washing tub to obtain a complete waiting A flat image of the laundry and sent to the microprocessor.
  • Step 404 reconstructing a three-dimensional model of the laundry.
  • the three-dimensional image reconstruction module analyzes the image to establish a three-dimensional model of the laundry. Please refer to FIG. 5, which is a control flow chart of the three-dimensional image reconstruction module.
  • Step 501 Acquire an image of the laundry to be photographed by the image capturing device.
  • the camera takes a complete image of the laundry to be photographed in the washing tub and sends it to the microprocessor of the microprocessor control.
  • Step 502 Perform denoising processing on the acquired image.
  • the denoising process can improve the image fusion accuracy in the next step.
  • Step 503 confirming positional parameters of each point of the laundry according to the folding area of the image to generate image fusion data.
  • Step 504 The stereoscopic model of the laundry in the laundry tub is established according to the image after the image fusion and the distance X of the camera pre-existing in the microprocessor, the shooting angles ⁇ and ⁇ , the pixels of the camera, and the focal length, and the three-dimensional image reconstruction is completed.
  • Step 405 Calculate the volume of the laundry in the bucket according to the three-dimensional model of the laundry.
  • the integral operation module in the microprocessor integrates the stereo model to obtain the volume of the laundry in the laundry tub.
  • the principle of calculating the volume of laundry in the washing tub in the integral budget module is described in detail by taking a cylindrical washing tub as an example. After reconstructing the three-dimensional model of the laundry, the vertical distance H 2 of the camera from the top laundry is known. Because the shape of the laundry is special, the surface shape is different, and the top laundry is horizontal. It is a concave-convex plane rather than a horizontal plane, so the vertical distance H 2 of the camera from the uppermost surface of the laundry is not fixed.
  • the laundry in the bucket is a superposition of a plurality of rectangular parallelepipeds, so the laundry is divided into n rectangular parallelepipeds, and the volume V of the laundry is superposed on the volume of n cuboids of V 1 to V n .
  • V V 1 +V 2 + ⁇ +V n ,
  • the volume V of the laundry to be laundry can be calculated by the volume of the n cuboids in which the volume V of the laundry is V 1 to V n .
  • the washing tub is not limited to a cylindrical shape, and may be other hollow three-dimensional shapes.
  • the volume of the laundry can be obtained by integral operation after three-dimensional reconstruction, and the formula principle of the integral operation changes according to the shape of the washing tub.
  • Step 406 Calculate the water level, the amount of the detergent, and the running time according to the selected working mode and the volume of the laundry.
  • the analysis module prestores a volume of the laundry, a selected mode, and a preset algorithm for calculating a corresponding control parameter, and the control parameter includes at least water. Bit, amount of detergent and running time.
  • the predetermined algorithm includes the volume of the laundry to be a function of the above control parameters.
  • the functional relationship is an empirical formula obtained after a large number of experiments. In the washing mode of chemical fiber or cotton and linen, the water level is proportional to the volume of the laundry; the amount of detergent and the running time have a minimum value.
  • the amount and time of the above-mentioned detergent become larger and larger as the laundry becomes larger, and the amount of the increase is proportional to the amount of the laundry to be increased, and the ratio is proportional to the different working modes.
  • the scale factor values of the relationship are different. Therefore, the amount of detergent, the water level and the running time are calculated according to the working mode of the laundry and the measured volume of the laundry in the barrel.
  • step 407 the laundry operation is controlled based on the calculated water level, the amount of detergent, and the running time.
  • the micro-processing controls the operating elements such as the drain valve and the motor of the washing machine to complete the washing, rinsing, and dehydrating operations.
  • step 408 it is judged whether the running time has been completed. If the operation in step 407 is not completed, the program ends if it is completed.
  • the microprocessor reflects the washing operation state to the display device on the washing machine cover of the washing machine to display the LED lamp and the display screen, and the display screen displays the running time and the like. For example, when the smart washing machine is in a dehydrated state, the LED lamp corresponding to the dehydration state is blinking, and the dehydration state and the dehydration time are displayed on the display screen.
  • 6 and 6 are functional block diagrams of the smart washing machine of the second embodiment.
  • the smart washing machine 200 also includes a weight measuring module 210, an input unit 220, an image capturing device 230, a microprocessor 240, and a display device 250.
  • the weight measuring module 210 is used to measure the weight of the laundry, and a pressure resistance load cell is preferred in the present embodiment.
  • a pressure resistance load cell is preferred in the present embodiment.
  • the image capture device 230 is used to capture an image of the laundry in the tub.
  • the display device 250 includes an LED lamp and a display screen for displaying the washing operation state of the smart washing machine.
  • the input unit 220 is configured to generate a corresponding user instruction in response to a user's operation.
  • the input unit 220 includes a touch button provided on the main body.
  • the microprocessor 240 includes a three-dimensional image reconstruction module 241, an integration operation module 242, an analysis module 243, a determination unit 244, and a control unit 245.
  • the above modules 241 to 245 include computerized program instructions.
  • the three-dimensional image reconstruction module 241 analyzes the image of the laundry to reconstruct a three-dimensional model of the laundry.
  • the integral operation module 242 is configured to perform an integral operation on the stereo model of the laundry to calculate a product of the laundry object in the laundry tub.
  • the weight data of the empty drum of the washing machine is pre-stored in the analysis module 243, and the weight of the laundry is calculated by comparing the weight data with the non-empty barrel; and the analysis module 243 is further configured to use the volume of the laundry, Weight, selected mode, and preset algorithm
  • the corresponding control parameters are calculated, including the water level, the amount of detergent used, and the running time.
  • the preset algorithm includes the volume of the laundry, the weight as a function of the water level required for washing, the amount of detergent used, and the running time.
  • the control unit 245 is configured to control the washing machine 200 to operate according to the control parameter.
  • FIG. 7 Based on the functional module diagram of the smart washing machine, the flow chart of the control method of the smart washing machine according to the preferred embodiment of the present invention is shown in FIG. 7 , and the specific implementation steps are as follows:
  • step 701 it is determined whether the signal for selecting the working mode is received. If not, the step 702 is selected to select the default working mode; if it is received, the step 703 is directly performed.
  • step 703 the laundry is photographed in the laundry tub.
  • the image capture device captures the laundry in the laundry tub and sends a complete plan of the laundry to the microprocessor;
  • Step 704 reconstructing a three-dimensional model of the laundry.
  • the three-dimensional image reconstruction module in the microprocessor of the microprocessor performs three-dimensional image reconstruction based on the received image of the laundry to obtain a three-dimensional model of the laundry in the laundry tub;
  • Step 705 Calculate the volume of the laundry in the bucket according to the three-dimensional model of the laundry.
  • the integral processing module in the microprocessor performs an integral operation on the three-dimensional model to obtain a volume of the laundry in the washing tub;
  • the weight is measured.
  • Step 707 comparing the weight data of the empty bucket.
  • the weight of the bucket when the smart washing machine is pre-stored in the analysis module is pre-stored. Waiting to be washed After the laundry is placed in the inner tub, the load cell measures the weight of the bucket and subtracts the weight data of the pre-stored empty bucket in the analysis module to obtain the weight of the laundry in the laundry tub.
  • the weight of the laundry is calculated.
  • steps 703-705 and steps 706-708 may be performed synchronously or sequentially, and the sequential adjustments have no effect on the control program.
  • step 709 it is determined whether the preset data collection times have been completed. If not, the process returns to step 703 to continue collecting data. If yes, step 710 is directly performed.
  • the volume data and the weight data of the laundry can be repeatedly collected, and the average value thereof is respectively solved, in order to reduce the error caused by collecting data only once, and the present invention can set the data to be collected multiple times.
  • step 710 the average value of the laundry volume and weight obtained by multiple measurements is calculated separately.
  • Step 711 calculating the water level, the amount of the detergent, and the running time according to the selected working mode and the average value of the laundry volume in the laundry and the average of the weight.
  • the analysis module in the microprocessor prestores the volume, weight, mode of selection, and preset algorithm of the laundry to calculate the water level, the amount of detergent, and the running time.
  • the preset algorithm includes the relationship between the volume of the laundry, the weight and the water level required for washing, the amount of the detergent, and the running time, and the functional relationship is also empirically obtained.
  • step 712 the laundry operation is controlled based on the calculated water level, the amount of detergent, and the running time.
  • control unit adjusts operating elements such as a drain valve and a motor of the washing machine to complete washing and rinsing. And dehydration and other operations.
  • step 713 it is judged whether the running time has been completed. If the operation in step 712 is not completed, the washing is completed if completed.
  • the microprocessor reflects the washing operation status to the display device on the washing machine cover of the washing machine, that is, the LED light and the display screen, and the display time shows the running time.
  • the above program adds a load cell for calculating the volume of the laundry and measuring the volume and weight of the laundry multiple times.
  • the main purpose is to reduce the measurement error and prevent the obtained water level, the amount of the detergent, and the accuracy of the running time from being insufficient. Waste of resources.

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Abstract

一种智能洗衣机（100）的控制方法，该智能洗衣机（100）的控制方法包括如下步骤：采集智能洗衣机（100）内待洗衣物（102）的图像；根据采集的图像重构待洗衣物（102）的立体模型；根据待洗衣物（102）的立体模型计算待洗衣物（102）的体积；至少根据待洗衣物（102）的体积和预设算法计算出水位、洗涤剂的用量以及运行时间；以及根据所述水位、洗涤剂的用量以及运行时间控制所述智能洗衣机（100）的运行。采用上述的智能洗衣机（100）的控制方法可以自动选择洗涤所需的水位、洗涤剂的用量以及运行时间，提高了洗衣机智能化程度。

Description

智能洗衣机及其控制方法 技术领域
本发明涉及洗衣机领域，尤其涉及一种智能洗衣机及其控制方法。
背景技术
现有的智能洗衣机可以依据不同的衣物材质或者是洗涤需求设定不同的洗涤模式。例如，现有的智能洗衣机包括棉麻洗涤模式和化纤洗涤模式等。
然而，现有的智能洗衣机在一种工作模式下，洗涤剂的用量、水位、运行时间是固定的。即，在同一工作模式下，洗涤的衣物的数量和体积差别较大时，现有的智能洗衣机仍采用固定的洗涤剂的用量、水位、运行时间对衣物进行相应的操作，无法根据实际衣物洗涤需求选择合适的洗涤剂的用量、水位和运行时间。因此，现有的智能洗衣机仍满足不了用户对洗衣机智能化的需求。
发明内容
有鉴于此，实有必要提供一种更加智能化的智能洗衣机。
此外，还有必要提供一种更加智能化的智能洗衣机的控制方法。
一种智能洗衣机，所述智能洗衣机包括图像采集装置和微处理器，所述图像采集装置用于采集洗衣桶内的待洗衣物的图像，所述微 处理器用于根据图像进行处理以获得较佳的运行控制参数，所述控制参数至少包括水位、洗涤剂的用量以及运行时间；所述的微处理器包括：三维图像重构模块，用于重构待洗衣物的立体模型；积分运算模块，用于根据待洗衣物的立体模型计算待洗衣物体积；分析模块，用于至少根据待洗衣物体积和预设算法计算出所述控制参数以及控制单元，用于根据所述控制参数来控制所述智能洗衣机的运行。
一种智能洗衣机的控制方法，所述控制方法包括：采集所述智能洗衣机内待洗衣物的图像；根据采集的图像重构待洗衣物的立体模型；根据待洗衣物的立体模型计算待洗衣物的体积；至少根据待洗衣物的体积和预设算法计算出水位、洗涤剂的用量以及运行时间以及根据所述水位、洗涤剂的用量以及运行时间控制所述智能洗衣机的运行。
上述智能洗衣机及其控制方法可以根据待洗衣物的体积或体积和重量的组合参数自动计算出洗涤剂的用量、洗涤水位、以及运行时间，简便了原本繁琐的操作，洗衣机的智能化提高。
附图说明
下面结合附图对本发明的具体实施方式作进一步的说明：
图1为智能洗衣机的示意图。
图2为第一实施方式的智能洗衣机的功能模块图。
图3为图2所示的三维图像重构模块的子功能模块图。
图4为第一实施方式的智能洗衣机的控制方法的流程图。
图5为图4所示的控制方法的子流程图。
图6为第二实施方式的智能洗衣机的功能模块图。
图7为第二实施方式的智能洗衣机的控制方法的流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明的实施例中的技术方案进行清楚、完整的描述。
参看图1和图2，其为第一实施方式的智能洗衣机的示意图和功能模块图。
智能洗衣机100包括主体1、设置于主体1内的洗衣桶10。洗衣桶10用于收容待洗衣物102。
智能洗衣机100还包括输入单元20、图像采集装置30、微处理器40和显示装置50。
图像采集装置30设置于洗衣机主体1上，用于拍摄洗衣桶10内待洗衣物的图像。图像采集装置30包括一个或多个安装在洗衣机内的摄像头。如图1所示，在本实施方式中，图像采集装置30优选包括两个相隔预设距离X设置的两个摄像头12、13。摄像头12、13与竖直方向的呈夹角即拍摄角度分别为α和β设置。摄像头12、13用于拍摄洗衣桶10中的待洗衣物的图像，并将图像发送到微处理器40。
显示装置50包括LED灯和显示屏，用于显示智能洗衣机的洗涤运行状态和运行时间。
输入单元20用于响应用户的操作产生相应的用户指令。在本实 施方式中，输入单元20包括设置于主体1上的触摸按键。
微处理器40包括三维图像重构模块41、积分运算模块42、分析模块43、判断单元44以及控制单元45。上述模块41～45包括计算机化程序指令。
三维图像重构模块41对待洗衣物的图像进行分析，重建待洗衣物的立体模型。所述三维图像重构模块41是针对接收的两张照片数据进行三维图像重构处理，其原理是基于图像的三维重构技术。三维重构技术可根据一幅图像、不同拍摄角度拍摄的两幅图像或者多个拍摄角度拍摄的多张图像进行对比、融合，重构出这些图像中重叠部分的三维信息，然而对一张图像进行三维图像重构的话，精度不够，而对两张以上(不含两张)图像的进行三维图像重构话，将会增加重构过程中图像融合的难度，故本实施例中优选不同拍摄角度下拍摄的两张衣物照片进行对比、融合、重构出待洗衣物的三维图像，故优选如图1所示的图像采集装置。
请参看图3，所述三维图像重构模块41包括图像获取单元411、图像处理单元412、图像融合单元413和图像重构单元414。
图像获取单元411用于获取图像采集装置拍摄的洗衣桶内的待洗衣物的图像。
图像处理单元412用于队图像获取单元411获取的图像进行去噪处理。
图像融合单元413用于处理两幅图像折叠区域以生成图像融合的数据。
图像重构单元414用于根据图像融合的数据以及预存的摄像头间距、焦距、拍摄角度重构待洗衣物的立体模型。
积分运算模块积42用于对所述待洗衣物的立体模型进行积分运算，计算得到洗衣桶内待洗衣物体积。
分析模块43用于根据待洗衣物的体积、选择的模式以及预设的算法计算出相应的控制参数，该控制参数至少包括水位、洗涤剂的用量以及运行时间。该预设的算法包括待洗衣物体积与上述控制参数的函数关系。
控制单元45用于根据上述控制参数控制洗衣机100运行。
基于上述智能洗衣机的洗衣控制的功能模块图以及三维图像重构模块的子功能模块图，本发明公开了一种智能洗衣机的洗衣控制方法的流程图如图4所示，具体实施步骤如下：
步骤401，判断是否接收到选择工作模式的信号，若没接收到则选择步骤402默认的工作模式；若已接收到，则直接进行步骤403。
具体地，由于不同材质的衣物的吸水性不同，例如棉麻衣物的吸水性强于化纤类衣物，基于衣物材质方面的考虑，本实施例设有化纤类和棉麻类工作模式，此可依靠人工选择工作模式，人工选择后，智能洗衣机的输入单元将响应用户的操作产生相应的用户指令，判断单元可识别该指令，确认已选择的工作模式；若用户未选择，智能洗衣机判断单元判断是否选择工作模式后，将自动选择默认的工作模式。
步骤403，拍摄洗衣桶内待洗衣物。
具体地，由图像采集装置拍摄洗衣桶内待洗衣物，得到完整的待 洗衣物的平面图像，并发送给微处理器。
步骤404，重构待洗衣物的立体模型。
具体地，三维图像重构模块接收到图像信息后，对所述图像进行分析，建立待洗衣物的立体模型。请参看图5，其为三维图像重构模块的控制流程图。
步骤501，获取图像采集装置拍摄的待洗衣物的图像；
具体地，摄像头拍摄洗衣桶内完整的待洗衣物平面图像后发送给微处理控制的微处理器。
步骤502，对所获取的图像进行去噪处理。
具体地，由于数字图像在数字化和传输过程中常受到成像设备与外部环境噪声干扰等影响，进行去噪处理可以提高下一步骤中图像融合精度。
步骤503，根据图像的折叠区确认待洗衣物各点的位置参数以生成图像融合的数据。
步骤504，根据图像融合后的图像以及预存在微处理器中的摄像头的距离X、拍摄角度α和β、摄像头的像素、焦距建立洗衣桶内待洗衣物的立体模型，三维图像重构完成。
步骤405，根据待洗衣物的立体模型计算桶内待洗衣物的体积。
具体地，待微处理器中图像重构模块建立好洗衣桶内待洗衣物的立体模型后，微处理器中的积分运算模块将对立体模型进行积分运算得到洗衣桶内待洗衣物的体积。
现以圆筒形洗衣桶为例详细描述积分预算模块中计算洗衣桶内 待洗衣物体积的原理。重构好待洗衣物立体模型后，从中可知摄像头离最上方待洗衣物的垂直距离H2，由于待洗衣物造型特殊，其表面形状是不一样的，最上方的待洗衣物在水平方向上为凹凸平面而非水平平面，所以摄像头离最上方的待洗衣物表面的垂直距离H2非定值。
此外，积分运算模块中预存洗衣桶的半径R以及高度H1，可据此得出洗衣桶的平面面积S＝π×R2，且可计算洗衣桶内的待洗衣物高度为h＝H1-H2，由于H2是一个变值，所以h为非定值。
视桶内待洗衣物是若干个长方体的叠加，所以将待洗衣物分割为n个长方体，待洗衣物的体积V为V1到Vn的n个长方体的体积叠加。
V＝V1+V2+``````+Vn，
其中Vi＝s×hi；其中hi为长方体的高度，即有hi＝h＝H1-H2。
s＝S/n＝π×R2/n，所以
Vi＝s×hi＝(H1-H2)×π×R2/n
据此，待洗衣物的体积V为V1到Vn的n个长方体的体积可计算得到桶内待洗衣物的体积V。
此洗衣桶不局限于圆筒形，可为其他空心立体形状，同样可三维重构后可利用积分运算得到待洗衣物的体积，此时积分运算的公式原理根据洗衣桶的形状而变化。
步骤406，根据已选的工作模式以及待洗衣物体积计算水位、洗涤剂的用量、运行时间。
具体地，所述分析模块中预存着待洗衣物的体积、选择的模式以及预设的算法，用于计算出相应的控制参数，该控制参数至少包括水 位、洗涤剂的用量以及运行时间。该预设的算法包括待洗衣物体积与上述控制参数的函数关系。所述函数关系为大量实验后所得的经验式，在化纤或者棉麻的洗涤模式下，其中水位与待洗衣物的体积成正比关系；洗涤剂的用量、运行时间均有一个最小值，当待洗衣物体积超过一定值后，上述洗涤剂的用量以及时间大小随着待洗衣物的变大和变大，其增加的量与待洗衣物体积增加的量成正比关系，不同工作模式下所述正比关系的比例系数值不同。故根据本次洗衣的工作模式以及测量所得的桶内待洗衣物体积计算洗涤剂的用量、水位以及运行时间。
步骤407，根据上述计算所得水位、洗涤剂的用量以及运行时间控制洗衣运行。
具体地，待确认洗涤所需的水位、洗涤剂的用量、运行时间后，微处理控制其调节洗衣机的排水阀、电机等操作元件，完成洗涤、漂水以及脱水等操作。
步骤408，判断运行时间是否已完成，若未完成继续步骤407中该操作，若完成则结束程序。
此外，在上述程序中，微处理器将洗涤运作状态反应到洗衣机洗衣机箱盖上的显示装置即显示LED灯以及显示屏上，另显示屏上显示运行时间等。例如，当智能洗衣机处于脱水状态时，对应着脱水状态处的LED灯闪烁，同时显示屏上显示脱水状态以及脱水时间。
基于上述实施例的优点，为了得到更加精准的水位、洗涤剂的用量、运行时间，对上述实施例中的洗衣控制方式流程进行优化，参考 图6，图6为第二实施方式的智能洗衣机的功能模块图。
智能洗衣机200还包括重量测量模块210、输入单元220、图像采集装置230、微处理器240和显示装置250。
重量测量模块210用于测量待洗衣物的重量，本实施方式中优选压力电阻称重传感器。当内桶中投放待洗衣物，洗衣桶的重量增大，传到称重传感器上的压力同时增大，通过检测到的电路中的电流值的变化可判别重量值。
图像采集装置230用于拍摄洗衣桶内待洗衣物的图像。
显示装置250包括LED灯和显示屏，用于显示智能洗衣机的洗涤运行状态。
输入单元220用于响应用户的操作产生相应的用户指令。在本实施方式中，输入单元220包括设置于主体上的触摸按键。
微处理器240包括三维图像重构模块241、积分运算模块242、分析模块243、判断单元244以及控制单元245。上述模块241～245包括计算机化程序指令。
三维图像重构模块241对待洗衣物的图像进行分析，重建待洗衣物的立体模型。
积分运算模块242用于对所述待洗衣物的立体模型进行积分运算，计算得到洗衣桶内待洗衣物体的积。
分析模块243中预存了洗衣机空桶时的重量数据，用于对比空桶时与非空桶时的重量数据计算得到待洗衣物的重量；此外分析模块243还用于根据待洗衣物的体积、重量、选择的模式以及预设的算法 计算出相应的控制参数，该控制参数包括水位、洗涤剂的用量以及运行时间。该预设的算法包括衣物体积、重量与洗涤所需水位、洗涤剂的用量以及运行时间的函数关系。
控制单元245用于根据该控制参数控制洗衣机200进行运行。
基于上述智能洗衣机的功能模块示意图，本发明公开较佳实施方式的智能洗衣机的控制方法流程图，如图7所示，具体实施步骤如下：
步骤701，判断是否接收到选择工作模式的信号，若没接收到则进行步骤702选择默认的工作模式；若已接收到，则直接进行步骤703。
步骤703，拍摄洗衣桶内待洗衣物。
具体地，图像采集装置拍摄洗衣桶内待洗衣物，并将完整的衣物平面图，并发送给微处理器；
步骤704，重构待洗衣物的立体模型。
具体地，微处理器的微处理器中三维图像重构模块基于接收的待洗衣物的图像进行三维图像重构，得到洗衣桶内待洗衣物的立体模型；
步骤705，根据待洗衣物的立体模型计算桶内待洗衣物的体积。
具体地，待三维重构后，微处理器中的积分处理模块对立体模型进行积分运算，得到洗衣桶内待洗衣物的体积；
步骤706，测量重量。
步骤707，对比空桶时的重量数据。
具体地，分析模块中预存有智能洗衣机空桶时的桶重量。待待洗 衣物放入内桶中后，称重传感器测量到桶重量，并在分析模块中与预存空桶的重量数据相减得到洗衣桶内待洗衣物重量。
步骤708，计算得到待洗衣物的重量。
上述步骤703-705与步骤706-708可同步进行，也可先后进行，其先后顺序的调整对本控制程序无影响。
步骤709，判断是否已完成预设的数据采集次数，若未完成，则返回步骤703继续采集数据，若完成，则直接进行步骤710。
具体地，可设定重复采集待洗衣物体积数据和重量数据，分别求解其平均值，目的在于降低仅一次采集数据带来的误差，本发明可设定多次采集数据。
步骤710，分别计算多次测量所得的衣物体积、重量的平均值。
步骤711，根据已选择的工作模式以及桶内衣物内待洗衣物体积的平均值和重量的平均值计算水位、洗涤剂的用量、运行时间。
具体地，微处理器中的分析模块预存着待洗衣物的体积、重量、选择的模式以及预设的算法，用于计算出水位、洗涤剂的用量以及运行时间。该预设的算法包括衣物体积、重量与洗涤所需水位、洗涤剂的用量以及运行时间的函数关系，同样所述函数关系为实验所得经验式。
步骤712，根据上述计算所得水位、洗涤剂的用量以及运行时间控制洗衣运行。
具体地，待确认洗涤所需的水位、洗涤剂的用量、运行时间后，控制单元调节洗衣机的排水阀、电机等操作元件，完成洗涤、漂水以 及脱水等操作。
步骤713，判断运行时间是否已完成，若未完成继续步骤712中该操作，若完成则洗衣完成。
同样，微处理器将洗涤运作状态反应到洗衣机洗衣机箱盖上的显示装置即显示LED灯以及显示屏上，另显示屏上显示运行时间等。
上述程序增设称重传感器用于计算衣物体积以及多次测量待洗衣物体积和重量主要目的是为了减小测量误差，防止所得到的水位、洗涤剂的用量、运行时间的精准度不够高而导致资源浪费。
对所公开实例的上述说明，使得本技术领域专业人员能够实现或者使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其他实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点一致的最宽范围。

Claims (10)

  1. 一种智能洗衣机，所述智能洗衣机包括图像采集装置和微处理器，所述图像采集装置用于采集洗衣桶内的待洗衣物的图像，其特征在于：所述微处理器用于根据图像进行处理以获得较佳的运行控制参数，所述控制参数至少包括水位、洗涤剂的用量以及运行时间；所述的微处理器包括：
    三维图像重构模块，用于重构待洗衣物的立体模型；
    积分运算模块，用于根据待洗衣物的立体模型计算待洗衣物体积；
    分析模块，用于至少根据待洗衣物体积和预设算法计算出所述控制参数；以及
    控制单元，用于根据所述控制参数来控制所述智能洗衣机的运行。
  2. 如权利要求1所述的智能洗衣机，其特征在于，所述图像采集装置对所述洗衣桶内的待洗衣物进行拍摄至少两张不同拍摄角度的图像。
  3. 如权利要求1所述的智能洗衣机，其特征在于，所述的三维图像重构模块包括：
    图像获取单元，获取所述图像采集装置拍摄的图像；
    图像处理单元，用于对所述的图像进行去噪处理；
    图像融合单元，用于将去噪处理后的图像进行融合处理；
    图像重构单元，用于根据融合后的图像以及摄像头间距、焦距、 拍摄角度重构待洗衣物的立体模型。
  4. 如权利要求1所述的智能洗衣机，其特征在于，所述预设算法包括衣物体积与水位、洗涤剂的用量以及运行时间的函数关系。
  5. 如权利要求1所述的智能洗衣机，其特征在于，所述微处理器还包括判断单元，所述判断单元用于判断所述微处理器是否接收到选择工作模式的信号，所述分析模块用于根据所述选择工作模式、待洗衣物的体积和所述预设算法计算出所述控制参数。
  6. 如权利要求1所述的智能洗衣机，其特征在于，所述智能洗衣机还包括称重传感器，所述称重传感器用于测量所述待洗衣物的重量，所述分析模块还用于依据所述待洗衣物的重量计算出所述控制参数。
  7. 一种智能洗衣机的控制方法，其特征在于，所述控制方法包括：
    采集所述智能洗衣机内待洗衣物的图像；
    根据采集的图像重构待洗衣物的立体模型；
    根据待洗衣物的立体模型计算待洗衣物的体积；
    至少根据待洗衣物的体积和预设算法计算出水位、洗涤剂的用量以及运行时间；以及
    根据所述水位、洗涤剂的用量以及运行时间控制所述智能洗衣机的运行。
  8. 如权利要求7所述的控制方法，其特征在于，在计算出水位、洗涤剂的用量以及运行时间步骤之前，所述控制方法还包括步骤：
    判断是否接收到选择工作模式的信号，
    根据判断结果确定工作模式；
    根据待洗衣物的体积、工作模式和预设算法计算出水位、洗涤剂的用量以及运行时间。
  9. 如权利要求7所述的控制方法，其特征在于，在计算出水位、洗涤剂的用量以及运行时间步骤之前，所述控制方法还包括步骤：
    测量装有待洗衣物的洗衣桶的重量；
    对比装有待洗衣物的洗衣桶的重量和空桶时的重量，计算出待洗衣物的重量；
    根据待洗衣物的体积、重量和预设算法计算出所述水位、洗涤剂的用量以及运行时间。
  10. 如权利要求9所述的控制方法，其特征在于，所述控制方法在计算所述水位、洗涤剂的用量以及运行时间之前还包括如下步骤：
    判断是否已完成预设的待洗衣物体积和重量数据采集次数；
    若未完成预设的待洗衣物体积和重量数据采集次数，则再次测量待洗衣物的体积和重量，
    若已完成预设的待洗衣物体积和重量数据采集次数，则分别计算多次测量的待洗衣物的体积和重量的平均值，再根据待洗衣物的体积的平均值、重量的平均值和预设算法计算出所述水位、洗涤剂的用量以及运行时间。
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