WO2018077251A1

WO2018077251A1 - Washing machine

Info

Publication number: WO2018077251A1
Application number: PCT/CN2017/108135
Authority: WO
Inventors: 辻野圭则
Original assignee: 青岛海尔洗衣机有限公司; Aqua株式会社
Priority date: 2016-10-27
Filing date: 2017-10-27
Publication date: 2018-05-03
Also published as: JP2018068539A; JP7016104B2

Abstract

A washing machine (1), the washing machine (1) comprising: an image recognition unit (7), which recognizes images of a washing bucket (1b) and of areas in the vicinity thereof; a moving object sensing unit (8), which senses the washing bucket (1b) and moving objects in the vicinity thereof according to a plurality of images having different recognition times which are recognized by means of the image recognition unit (7); and a control unit (1g), which changes operation control according to the presence or absence of a moving object sensed by means of the moving object sensing unit (8) or the amount of movement of the moving object. The washing machine (1) enables more precise control, shorter operation time, and more accurate abnormality sensing by means of correctly recognizing the state of laundry.

Description

washing machine

Technical field

The present invention relates to a washing machine having a washing function.

Background technique

The washing machine installed in a general household or a laundromat or the like performs a predetermined amount of water supply into the washing tub, and the washing is performed by stirring the washings in the washing tub by a pulsator or by rotating the washing tub itself.

In such a washing machine, in order to control the state in the washing tub more accurately, a washing machine having an image recognizing unit for recognizing the state inside the washing tub by an image has been proposed (for example, refer to Patent Document 1) .

The washing machine described in Patent Document 1 grasps the state of the water level, the state of the laundry, the color pattern, the state of the dirt, or the abnormality sensing based on the state of the image in the washing machine.

Prior art literature

Patent literature

Patent Document 1: Japanese Patent Laid-Open Publication No. 2003-190688

Summary of the invention

Problems to be solved by the invention

However, the washing machine described in Patent Document 1 performs recognition in the washing tub realized by the image by a single image obtained at a timing corresponding to each purpose. Therefore, the operation of the washing machine cannot be determined by the image obtained in the washing machine described in Patent Document 1.

On the other hand, there has recently been a demand for a washing machine that can more accurately recognize the movement of the washing machine and the state of the laundry in the control of the washing machine, thereby enabling more precise control, shortening of the operation time, and More accurate abnormal sensing, etc.

The present invention has an object of eliminating the above-described problems, and an object of the invention is to provide a washing machine capable of more accurately recognizing the operation of the washing machine and the state of the laundry.

Solution to solve the problem

The present invention is a washing machine characterized by comprising: an image recognition unit that recognizes an image of a region of the washing tub and its vicinity; and a moving object sensing unit that is different according to the recognition time recognized by the image recognition unit An image to sense a moving object of the washing tub and its vicinity; and a control device that changes the control in operation according to the presence or absence of the moving object sensed by the moving object sensing unit or the amount of movement of the moving object.

Further, the present invention is characterized in that the moving object sensing unit senses the presence or absence of a moving object in the washing tub and the magnitude of the moving amount in the washing process, and the smaller the moving amount of the moving object, the smaller The more the control device increases the speed of the motor and the longer the energization time of the motor.

Further, the present invention is characterized in that the moving object sensing unit senses the presence or absence of the water supply in the water supply process, and the control device detects the water supply abnormality when there is no water supplied.

Further, the present invention is characterized in that the moving object sensing unit senses the presence or absence of a moving object in the washing tub before the start of the operation, and the control device permits the start of the operation when the moving object is absent.

Further, the present invention is characterized in that the moving object sensing unit senses the presence or absence of a moving object in the washing tub and its vicinity at the end of dehydration, and the control device releases the locking of the cover when the moving object disappears.

Further, the present invention is characterized in that the moving object sensing unit senses a movement amount in a direction orthogonal to a core direction of the washing tub at the start of the dehydration process, and in a case where the movement amount is larger than a prescribed value, The control device determines that the laundry is biased, temporarily stops the dehydration, and performs the scattering operation of the laundry.

Effect of the invention

According to the present invention, it is possible to provide a washing machine capable of more precise control, shortening of the operation time, and more accurate abnormality sensing by more accurately recognizing the operation of the washing machine and the state of the laundry.

The washing machine of the present invention more accurately recognizes the action of the laundry during the washing process, thereby enabling Control of the motor that is compatible with the amount of laundry.

The washing machine of the present invention senses that water supply is not performed during the water supply by image, whereby the water supply abnormality can be more accurately sensed.

The washing machine of the present invention senses the presence of a moving object different from the laundry at the start of washing by an image, whereby the permission to start the washing can be performed more accurately.

The washing machine of the present invention senses the time when the existence of the moving object disappears at the end of the dehydration by the image, whereby the safety can be ensured, and the time from the stop of the operation of the washing tub to the unlocking of the lid can be shortened, thereby further shortening Washing time.

The washing machine of the present invention can quickly eliminate the eccentricity caused by the bias of the laundry, thereby shortening the time of the dehydration process.

DRAWINGS

Fig. 1 is an external view of a washing machine 1 according to an embodiment of the present invention.

2 is a schematic cross-sectional view of the same washing machine 1.

3 is a block diagram of an electrical system of the same washing machine 1.

4 is a schematic explanatory diagram of an image G of the same embodiment.

FIG. 5 is a view for explaining a control flow of the washing machine 1 of the same embodiment.

FIG. 6 is a flowchart for explaining a control flow in the operation start determination.

Fig. 7 is a flowchart showing a water supply abnormality determination.

Fig. 8 is a flow chart showing a control flow showing a washing process.

Fig. 9 is a flow chart showing the flow of the bias determination in the dehydration process.

Fig. 10 is a flow chart showing the flow of the lid lock release determination in the dehydration process.

detailed description

Hereinafter, an embodiment of the present invention will be described with reference to Figs. 1 to 10 .

FIG. 1 is a schematic external view showing a configuration of a washing machine 1 of the present embodiment. FIG. 2 is an explanatory view showing the action of a partial longitudinal section of the washing machine 1 of the present embodiment.

As shown in FIGS. 1 and 2, the washing machine 1 employs the present invention in a washing machine 1 called a so-called vertical full-automatic washing machine in which the axial direction of the washing tub 1b extends in a substantially vertical direction.

The washing machine 1 of the present embodiment mainly includes a casing 1a having a substantially rectangular parallelepiped shape, and a washing tub 1b including an outer tub 2 and an inner tub 3 having an axis extending substantially vertically.

The casing 1a includes a cover 12 disposed on the upper surface side and an opening 11 for exposing the washing tub 1b when the cover 12 is in an open state. The washing tub 1b includes an outer tub 2 for storing water, an inner tub 3 disposed inside the outer tub 2, and a pulsator (agitating blade) 4 rotatably disposed on the bottom surface of the inner tub 3.

3 is a block diagram showing an electrical system of the washing machine 1. As shown in FIG. 2 and FIG. 3, the washing machine 1 includes a driving device 1c inside the casing 1a as a constituent element that is electrically or electrically driven, and has a motor for rotationally driving the inner tub 3 and the pulsator 4. 5 and a motor drive unit 6 for driving the motor 5; a water supply device 1d for supplying water to the washing tub 1b; a drain device 1e for discharging water stored in the washing tub 1b to the outside; a cover locking device 1f, The cover 12 provided in the casing 1a is locked to prevent the opening 11 of the upper surface of the casing 1a from being exposed; and the control device 1g is mainly used to control the respective constituent elements in accordance with the operation of the operation portion 9 by the user.

With the above configuration, in the operation, the washing machine 1 basically mainly rotates only the pulsator 4 in the washing process S2 (Fig. 5) by the action of the driving device 1c, and the inner tub 3 and the pulsator 4 are integrally formed in the dehydrating process. High speed rotation.

In the present embodiment, the control device 1g corresponds to a so-called computer system including a CPU, a memory such as a ROM or a RAM. In addition to the operation of the operation unit 9 by the user, the control device 1g is based on information from the image recognition unit 7 and the moving object sensing unit 8 disposed in the casing 1a. It is responsible for the control in each process of the washing machine 1.

That is, the washing machine 1 of the present embodiment is characterized in that it includes an image recognition unit 7 that recognizes an image of a region of the washing tub 1b and its vicinity, and a moving object sensing unit 8 that is different according to the recognition time recognized by the image recognizing unit 7. a plurality of images to sense the washing bucket 1b and the moving object in the vicinity thereof; and the control device 1g according to the presence or absence of the moving object sensed by the moving object sensing unit 8 The amount of movement of the body changes the control during operation.

Hereinafter, the control realized by the washing machine 1 having the above configuration will be described in detail.

As shown in FIGS. 1 to 3, the image recognition unit 7 captures a plurality of images G (FIG. 4) every second like a CCD camera, whereby a so-called moving image can be captured and the plurality of images G are directed to the control device 1g. send. Of course, even in the case of the above-described CCD camera, as long as it has the same function, various conventional imaging devices can be applied.

As shown in FIG. 1 to FIG. 3, the moving object sensing unit 8 acquires the image G acquired by the image recognition unit 7 from the image recognition unit 7 or the control device 1g, and compares and analyzes a plurality of image data acquired with a time difference. The presence or absence of a moving object inside the washing machine 1, that is, the amount of movement of the moving object, is measured. The presence or absence of the sensed moving object and the amount of movement are transmitted as electric data to the control device 1g. Further, in the present embodiment, a scheme such as a so-called graphics processor in which the moving object sensing unit 8 is independently mounted as the control device 1g of the above-described computer system is disclosed, but of course, it is not hindered from being adopted in the form of software. The moving object sensing unit 8 serves as a part of the function of the control device 1g.

FIG. 4 schematically shows a single image G captured by the image recognition unit 7. In the image G, a region corresponding to a part or all of the washing tub 1b and a portion close to the periphery of the washing tub 1b, a part of the water supply device 1d, or a flow path of water supplied through the water supply device 1d is imaged. In the present embodiment, in the same image, the image G is set such that the water supply area G1 is set in the vicinity of the water supply device 1d, and the washing area G2 substantially corresponds to the position of the pulsator 4 and the inner tub 3, and can be photographed and washed. The laundry in the middle; and the barrel action area G3 can photograph the outer edge of the washing tub 1b and the vicinity thereof. That is, the moving object sensing unit 8 detects the presence or absence and the amount of movement of the moving objects in the water supply area G1, the washing area G2, and the barrel operation area G3 based on the difference in the plurality of pieces of image data captured each time.

Hereinafter, the control of the washing machine 1 based on the above configuration will be described with reference to Figs. 5 to 10 . FIG. 5 shows the flow of the overall control of the processes of the washing machine 1. The washing machine 1 performs a normal operation of sequentially passing through the water supply process S1, the washing process S2, and the dehydration process S3. Then, each of these processes includes a step of controlling using the image recognition unit 7 and the moving object sensing unit 8, respectively.

The water supply process S1 includes: an operation start determination S4, and determines whether or not the water supply is permitted before starting the water supply operation; And the water supply abnormality determination S6, and the abnormality at the time of water supply is detected. It should be noted that the water supply process S1 further includes: operating the laundry C by the rotation of the pulsator 4 after the start of the operation and before the water supply, and sensing the load amount L applied to the motor 5 at the time of the operation, This is an inductance measurement of the amount of the laundry C, which is the existing washing amount sensing S5.

In the present embodiment, the washing process S2 includes a washing process and a rinsing process. Then, the washing process S2 includes a water flow controlling step S7 of controlling the state of the water flow in a state in which the upper surface of the laundry C stirred in the water is sensed during the operation of the pulsator 4. The water flow control S7 can also be applied to any of the following processes: a washing process that operates in a state where detergent is placed in the washing tub 1b, and a rinsing process for rinsing the laundry C that has passed the washing process. .

The dehydration process S3 includes a bias sensing S8, sensing the bias of the laundry C at the start of the so-called start of the rotation of the inner tub 3 and the pulsator 4, and the cover lock release determination S9, and determining whether to cancel the cover at the end. The lock of 12 and the timing of the release.

Next, a flow of each control that uses the image recognition unit 7 and the moving object sensing unit 8 described above in the present embodiment will be described with reference to FIGS. 6 to 10 .

Step S4 shown in FIG. 6 , that is, the operation start determination S4 is for preventing a problem that the washing machine 1 starts to operate when a moving object such as an animal is accidentally mixed into the laundry C in the washing machine 1 . In the step S4, the control device 1g controls, for example, whether or not the state in the casing 1a is in a state suitable for starting the operation after receiving the user's operation on the operation unit 9. Specifically, the operation start determination S4 performs control such that the moving object sensing unit 8 processes the plurality of images G that can be recognized as the moving image acquired by the image recognition unit 7, thereby, as an example, if the water is supplied When a moving object is detected in any of the area G1, the washing area G2, and the barrel operating area G3, measures are taken to prevent the start of the substantial operation.

In other words, in the step S4, the moving object sensing unit 8 senses the presence or absence of the moving object in the washing tub 1b before the start of the operation, and the control device 1g permits the start of the operation when there is no moving object.

In step S41, the control device 1g makes a determination as to whether the user has entered the operation unit 9 The operation started at the beginning of the work. When the operation of the operation unit 9 is started, the control device 1g shifts the step to step S42.

In step S42, the control device 1g determines whether or not the amount of movement of the moving object in the water supply region G1, the washing region G2, or the barrel action region G3 sensed by the moving object sensing unit 8 is greater than a predetermined movement amount threshold Th1. The movement amount threshold Th1 is set, for example, to a value near 0. It is not normally the case that a slightly moving moving object is confirmed in the washing machine 1 before the action. When it is confirmed that the moving object and the moving amount of the moving object is larger than the predetermined movement amount threshold Th1, the control device 1g shifts the step to step S43, and if it is not larger than the movement amount threshold Th1, the control device 1g shifts the step Go to step S44.

In step S43, the control device 1g performs a process of, for example, lighting a warning light (not shown) disposed in the operation unit 9 provided on the upper surface of the casing 1a or in the vicinity of the operation unit 9 without starting the operation. display. The control device 1g performs a process of prohibiting the operation of the washing machine 1 so that the operation cannot be started even if the user further operates.

In step S44, the control device 1g does not find any moving object in the casing 1a, and therefore determines that the washing machine 1 is in a state in which the operation can be normally started, for example, a process of continuing the water supply process S1 including the above-described washing amount sensing. Follow-up.

The water supply abnormality determination S6 in the step S6 shown in FIG. 7 is for avoiding an accident in which the water supply device 1d is supplied with water for the water supply process S1 in order to perform the water supply process S1.

That is, in the step S6, the moving object sensing unit 8 senses the presence or absence of the water supply in the water supply process S1, and the control device 1g detects the water supply abnormality when there is no water supplied.

In step S61, the control device 1g performs processing such as being passed through the above-described step S4. After the water supply to the washing tub 1b is permitted, the water supply device 1d is operated to start supplying water to the washing tub 1b.

In step S62, the control device 1g determines whether or not the water level in the washing tub 1b has reached a predetermined set water level based on a value detected by a water level sensor or the like (not shown). It should be noted that the set water level depends on the electric load applied to the pulsator 4 obtained by the washing amount sensing process S5 as the above-described step S5, in addition to the operation of the user. When the water level in the washing tub 1b reaches the set water level, the control device 1g ends the process of the water supply abnormality determination S6 itself in the step S6. If the water level in the washing tub 1b does not reach the above-described set water level, the control device 1g shifts the step to step S63.

In step S63, the control device 1g determines whether or not the amount of movement of the moving object in the water-feeding region G1 in the moving object sensing unit 8 is greater than a predetermined movement amount threshold Th2 for the image G acquired by the image recognition unit 7. The movement amount threshold Th2 is set, for example, to a value near 0. It is considered that the moving object that moves slightly in the water supply area G1 is highly likely to be supplied from the water supply apparatus 1d. When the moving object is confirmed in the water supply area G1 and the moving amount of the moving object is larger than the predetermined movement amount threshold Th2, the process proceeds to step S62, and if it is not greater than the movement amount threshold Th2, the process proceeds to step S64.

In step S64, the control device 1g determines that there is an abnormality in the water supply device 1d. Specifically, the control device 1g stops the operation of the water supply device 1d, and performs, for example, a warning light spot (not shown) disposed in the operation portion 9 provided on the upper surface of the casing 1a or in the vicinity of the operation portion 9. Bright and other warnings are displayed. Further, the control device 1g performs a process of prohibiting the operation of the washing machine 1 so that the operation cannot be started even if the user further operates.

In Fig. 8, mainly in the flow control of step S7 shown in Fig. 8(a), the control device 1g is for performing a washing process S2 based on the amount of the laundry C sensed by the above-described washing amount sensing S5. The water flow required in the process determines and corrects the stirring of the laundry C.

That is, in this step S7, the moving object sensing unit 8 senses the presence or absence of the moving object in the washing tub 1b in the washing process S2 and the magnitude of the moving amount, and the moving amount of the moving object is large. The smaller the size, the more the control device 1g increases the rotational speed of the motor 5 and extends the energization time to the motor 5.

In step SP71, the control device 1g sets the initial value of the power S required for the washing process S2 based on the signal of the load amount L given as the washing amount sensing S5 in the above-described step S5. Specifically, the intensity S of the water flow in the washing tub 1b is determined by setting the motor rotation speed of the motor 5 and the motor energizing time set for driving the pulsator 4 to be multi-stage or stepless, respectively.

Here, as shown in the figure (b) of the same figure, in the present embodiment, the intensity S of the water flow is set to five stages. In other words, the motor rotation speed of the drive pulsator 4 and the motor energization time are relatively increased or decreased, and the intensity of the water flow can be set to five levels.

In step SP72, the control device 1g sets the total amount of movement Ds obtained from the plurality of images G before the elapse of T time obtained by the image recognition unit 7 to the reference value 0, that is, Ds=0. It should be noted that the T time refers to a time unit that can be arbitrarily set.

In step SP73, the control device 1g further determines the movement amount Dc based on the plurality of images G photographed before the passage of the T time, and adds it to the movement amount total Ds.

In step S74, the control device 1g determines whether or not the T time has elapsed. If the T time has not elapsed, the control device 1g shifts the step to step S73. If the T time has elapsed, the control device 1g shifts the step to step S75.

In step S75, the control device 1g determines whether or not the total movement amount Ds is larger than the predetermined upper limit threshold Thα. When the total movement amount Ds is equal to or less than the predetermined upper limit threshold value Thα, the control device 1g shifts the step to step 76. If the total movement amount Ds is larger than the predetermined upper limit threshold value Thα, the control device 1g shifts the step to step S77. Here, the predetermined upper limit threshold value Thα is an upper limit value of the amount of operation of the upper surface side of the laundry C assumed based on the load amount L.

In step S76, the control device 1g determines whether or not the total movement amount Ds is smaller than the predetermined lower limit threshold Thβ. If the total movement amount Ds is smaller than the predetermined lower limit threshold Thβ, the control device 1g shifts the step to step S78. When the total movement amount Ds is equal to or greater than the predetermined lower limit threshold Thβ, the control device 1g shifts the step to step S79. Here, the predetermined lower limit threshold value Thβ is a lower limit value of the amount of operation of the upper surface side of the laundry C assumed based on the load amount L.

In step S77, the control device 1g performs a process of lowering the intensity S of the water flow by one step. In the present embodiment, when the intensity S of the water flow is the smallest one, the control device 1g does not perform any processing. As an example of the case where the step S77 is executed, it is conceivable that the actual amount of the laundry C is smaller than the amount assumed by the washing amount sensing S5.

In step S78, the control device 1g performs a process of increasing the water flow by one step. In the present embodiment, when the intensity S of the water flow is the maximum 5, the control device 1g does not perform any processing. As an example of the case where this step S78 is performed, it is conceivable that the actual amount of the laundry C is larger than the amount assumed by the washing amount sensing S5.

In step S79, the control device 1g determines whether or not the number of times the intensity S of the water flow has been determined based on the total amount of movement Ds has reached the designated number of times. In other words, the control device 1g determines whether or not the number of times the process of step S79 has been performed has reached the designated number of times. If it is determined that the specified number of times has not been reached, the control device 1g shifts the step to step S72. If it is determined that the designated number of times has been reached, the control device 1g ends the water flow control as the step S7.

In the bias sensing step as step S8 shown in FIG. 9, the control device 1g senses the amount of movement of the moving object in the barrel action region G3 at the start of the dehydration process S3 by the image recognition unit 7 and the moving object sensing unit 8. Thereby, the presence or absence of the laundry C, that is, the bias of the laundry, is detected.

That is, in this step S8, the moving object sensing unit 8 senses the amount of movement in the direction orthogonal to the axis direction of the washing tub 1b at the start of the dehydrating process S3, in the case where the amount of movement is larger than a prescribed value Next, the control device 1g determines that the laundry C, that is, the laundry is biased, temporarily stops the dehydration, and performs the clothes. The loose action of the object.

In step S81, the control device 1g rotates the inner tub 3 in order to start the dehydration process S3, and senses the amount of movement of the moving object in the tub movement region G3.

In step S82, the control device 1g determines whether or not the amount of movement of the moving object in the barrel action region G3 is greater than the threshold Th3. If the amount of movement of the moving object in the barrel action area G3 is greater than the threshold Th3, the control device 1g shifts the step to step S83. If the amount of movement of the moving object in the barrel operation region G3 is equal to or less than the threshold value Th3, the control device 1g shifts the step to step S84.

In step S83, the control device 1g determines that the laundry C as the laundry in the washing tub 1b has a large bias. The control device 1g stops the rotation of the inner tub 3, and performs the dispersing operation of the laundry by appropriately operating the pulsator 4, and after the dispersing operation, the process proceeds to step S81.

In step S84, the control device 1g determines whether or not the number of revolutions of the motor 5 has reached a predetermined stable rotation. If the rotational speed of the motor 5 does not reach stable rotation, the control device 1g shifts the step to step S82. If the rotational speed of the motor 5 reaches a steady rotation, the control device 1g ends the bias sensing as this step S8.

In the cover lock release determination as the step S9 shown in FIG. 10, the control device 1g stops energizing the motor 5 driven to rotate the inner tub 3 at the end of the spin-drying process S3, and then determines the G1 in all the regions by the image recognition unit 7. Whether there is a moving object in G2, G3, and after determining that there is no moving object, the lock of the cover 12 is released by controlling the cover locking device 1f.

That is, in step S9, the moving object sensing unit 8 senses the presence or absence of the moving object of the washing tub 1b and its vicinity at the end of dehydration, and the control device 1g releases the locking of the cap 12 when the moving object disappears.

In step S91, the control device 1g determines whether or not the energization of the motor 5 is stopped. When the energization of the motor 5 is stopped, the process proceeds to step S92.

In step S92, the control device 1g determines whether or not a predetermined time limit has elapsed based on the timing at which the energization of the motor 5 is stopped. When it is determined that the limited time has elapsed based on the timing at which the energization of the motor 5 is stopped, the control device 1g shifts the step to step S94. When it is not determined that the predetermined time limit has elapsed based on the timing at which the energization of the motor 5 is stopped, the control device 1g shifts the step to step S93.

In step S93, the control device 1g determines whether or not a moving object is detected in an arbitrary area by the image recognition unit 7. The control device 1g determines whether or not the amount of movement of the moving object obtained by the image recognition unit 7 is greater than Th4. In the present embodiment, Th4 is set to 0 or a value close to zero. In the case where the amount of movement of the moving object is larger than Th4, the control device 1g shifts the step to step S92. When the amount of movement of the moving object is equal to or less than Th4, the control device 1g shifts the step to step S95.

In step S94, even if the energization of the motor 5 is stopped, the predetermined time has elapsed, whereby the control device 1g determines that the motor 5 is abnormal. Specifically, in order to notify the user of the abnormality notification, the control device 1g performs a process of lighting a predetermined lamp, and stops various conventional processes for energizing all the components other than the operation unit 9.

In step S95, the moving object is not sensed by the image recognition unit 7, and therefore, the control device 1g performs a process of releasing the lock of the cover 12 on the lid lock device 1f. Further, after the lock of the lid 12 is released, the control device 1g performs various processes related to the end of the conventional operation such as energization of all the components of the washing machine 1 after a predetermined period of time has elapsed.

As described above, the washing machine 1 of the present embodiment can more accurately recognize the operation of the washing machine 1 and the state of the laundry C, thereby enabling more precise control, shortening of the operation time, and more accurate abnormality sensing.

In the present embodiment, the washing process S2 is more accurately identified by the water flow control as the step S7. The operation of the laundry C in this manner, whereby the control of the motor 5 suitable for the amount of the laundry C is achieved.

In the present embodiment, the water supply abnormality determination S6 in the step S6 senses that the water supply is not performed in the water supply process S1 by the image G, whereby the water supply abnormality can be more accurately sensed.

In the present embodiment, by the operation start determination S4 of the step S4, the presence of the moving object different from the laundry C at the start of washing is sensed by the image G, whereby the permission to start the washing can be performed more accurately.

In the present embodiment, by the cover lock release determination in step S9, the time when the presence of the moving object disappears at the end of dehydration is sensed by the image G, whereby safety can be secured and the washing from the washing tub 1b can be shortened. The time until the lock of the cover 12 is released is stopped. As a result, according to the present embodiment, the shortening of the washing time can be achieved.

In the present embodiment, by the bias sensing in step S8, the eccentricity due to the bias of the laundry C is quickly eliminated, so that the time of the dehydration process S3 is shortened.

The embodiment of the present invention has been described above, but the specific configuration of each component is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and scope of the invention.

For example, in the above-described embodiments, the respective steps of the operation start determination, the water supply abnormality determination, the water flow control, the bias sensing, and the lid lock release determination are separately disclosed, but the washing machine of the above-described embodiment is not denied. Controls and specific values are reflected in the other steps. For example, it is also possible to apply the data of the speed of the water flow obtained by the water flow control step to the control in the dehydration process.

Further, the detailed configuration of the specific data processing method for detecting the moving object based on the obtained image, and the control method of the motor for adjusting the water flow may be variously modified without departing from the gist of the invention.

Description of the reference signs:

1: washing machine; 1b: washing tub; 1g: control device; 12: cover; 5: motor; 8: image recognition unit; 9: moving object sensing unit; C: clothing (washing); G: image; S1: Water supply process; S2: washing process; S3: dehydration process.

Claims

A washing machine characterized by comprising:

An image recognition unit that recognizes an image of a washing tub and an area in the vicinity thereof;

a moving object sensing unit that senses a washing bucket and a moving object in the vicinity thereof according to a plurality of images different in recognition time recognized by the image recognition unit;

The control device changes the control during operation based on the presence or absence of the moving object sensed by the moving object sensing unit or the amount of movement of the moving object.
A washing machine according to claim 1, wherein

The moving object sensing unit senses the presence or absence of a moving object in the washing tub during the washing process and the amount of movement,

The smaller the magnitude of the amount of movement of the moving object, the more the control device increases the rotational speed of the motor and extends the energization time to the motor.
A washing machine according to claim 1 or 2, characterized in that

The moving object sensing unit senses the presence or absence of water supply during the water supply process,

The control device detects an abnormality in water supply when there is no water supplied.
A washing machine according to claim 1 or 2, characterized in that

The moving object sensing unit senses the presence or absence of a moving object in the washing tub before the operation starts.

The control device permits the start of operation when the moving object is absent.
A washing machine according to claim 1 or 2, characterized in that

The moving object sensing unit senses the presence or absence of a moving object in the washing tub and its vicinity at the end of dehydration,

The control device releases the locking of the cover when the moving object disappears.
A washing machine according to claim 1 or 2, characterized in that

The moving object sensing unit senses a movement amount in a direction orthogonal to a core direction of the washing tub at the start of the dehydration process,

When the amount of movement is larger than a predetermined value, the control device determines that the laundry is biased, temporarily stops the dehydration, and performs the scattering operation of the laundry.