WO2023020573A1 - 衣物处理设备及其液位测定方法 - Google Patents

衣物处理设备及其液位测定方法 Download PDF

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WO2023020573A1
WO2023020573A1 PCT/CN2022/113288 CN2022113288W WO2023020573A1 WO 2023020573 A1 WO2023020573 A1 WO 2023020573A1 CN 2022113288 W CN2022113288 W CN 2022113288W WO 2023020573 A1 WO2023020573 A1 WO 2023020573A1
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liquid level
image
drum
contour line
level height
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PCT/CN2022/113288
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English (en)
French (fr)
Inventor
赵志强
许升
刘凯
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重庆海尔滚筒洗衣机有限公司
海尔智家股份有限公司
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Publication of WO2023020573A1 publication Critical patent/WO2023020573A1/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
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/18—Washing liquid level
    • 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 
    • 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
    • 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
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/04—Signal transfer or data transmission arrangements
    • 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
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14—Arrangements for detecting or measuring specific parameters
    • D06F34/22—Condition of the washing liquid, e.g. turbidity
    • 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
    • D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00 
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • the invention relates to the technical field of clothing processing equipment, and specifically provides a clothing processing equipment and a liquid level measuring method thereof.
  • Clothes processing equipment such as washing machines are major household appliances in people's lives. With the continuous improvement of people's quality of life and the continuous development of technology, the degree of automation of laundry processing equipment such as washing machines is getting higher and higher, and people's requirements for comprehensive performance such as control accuracy and energy saving of laundry processing equipment are also getting higher and higher.
  • drum washing machines have great advantages in water saving.
  • a liquid level sensor is arranged in the water storage cylinder, and the liquid level sensor determines the height of the water level in the water storage cylinder through the detected water pressure.
  • the controller controls the water supply system to stop supplying water to the water storage cylinder.
  • the weight of the clothes has a certain influence on the water pressure received by the water level sensor, resulting in inaccurate detection results of the water level sensor, thereby affecting the precise control of the drum washing machine.
  • the image in the drum is collected by the infrared camera without being affected by visible light, and a clearer image can be obtained, so that the liquid level in the drum can be determined more accurately after processing the collected image.
  • the present invention aims to solve the above-mentioned technical problem, that is, to solve the problem that the detection result of the liquid level of the existing drum washing machine is not accurate enough.
  • the present invention provides a method for measuring the liquid level of a laundry processing device
  • the laundry processing device includes a box body, a drum disposed in the box, and an infrared camera for collecting images inside the drum
  • the liquid level measurement method includes: collecting images in the drum; extracting image features of the images; and determining the liquid level in the drum based on the image features and the stored mapping relationship between the image features and the liquid level.
  • the image features include contour line features of the liquid level in the drum.
  • the contour line features include the length of the contour line, "determine the liquid level in the drum based on the image features and the stored mapping relationship between the image features and the liquid level height.”
  • the step of "level height” includes: determining the liquid level height in the drum based on the length of the contour line and the stored mapping relationship between the length of the contour line and the liquid level height.
  • the contour line features include the image area of the area surrounded by the contour line
  • “determine the The step of "liquid level in the drum” includes: determining the liquid level in the drum based on the image area of the area enclosed by the contour line and the stored mapping relationship between the image area and the liquid level.
  • the stored image features include standard liquid level profile images of different liquid level heights, "determine the cylinder
  • the step of "liquid level height within” includes: respectively determining the coincidence degree of the contour line of the liquid level in the cylinder in the collected image and the contour line in the standard liquid level contour image of different liquid level; The standard liquid level profile image with the highest coincidence degree of the contour line of the liquid surface in the drum; according to the standard liquid level profile image with the highest coincidence degree, the corresponding liquid level height is obtained from the stored mapping relationship between the image feature and the liquid level height. the liquid level in the drum.
  • the step of "extracting the image features of the image” includes: performing grayscale transformation on the image; filtering by high-pass filtering; denoising; Image segmentation; using Hough transform to obtain the contour line characteristics of the liquid surface in the drum; obtaining the corrected contour line characteristics of the liquid surface in the drum by curve fitting.
  • the step of "extracting the image features of the image” further includes: judging whether the collected image is a color image; If the collected image is a color image, grayscale processing is performed on the color image.
  • the infrared camera is arranged on the door or window pad at the side of the box.
  • the present invention can collect the image in the drum through the infrared camera and extract the image features of the image, and determine the liquid level in the drum based on the image features and the stored mapping relationship between the image features and the liquid level height, It avoids the problem of inaccurate detection results in the method of detecting the liquid level height by the liquid level sensor in the drum washing machine, ensures the accuracy of the detection results, and is beneficial to the precise control of the drum washing machine.
  • the present invention also provides a laundry processing device, including: a memory; a processor; and a computer program, the computer program is stored in the memory and is configured to be executed by the processor to realize The method for measuring the liquid level of the laundry treatment equipment described in any one of the above technical solutions.
  • laundry treatment device has all the technical effects of the above liquid level measuring method, which will not be repeated here.
  • Fig. 1 is a schematic structural view of a drum washing machine according to an embodiment of the present invention
  • Fig. 2 is a schematic diagram of the main steps of the liquid level measuring method of the drum washing machine of the present invention
  • Fig. 3 is a flow chart of the liquid level measuring method of the drum washing machine according to the first embodiment of the present invention
  • Fig. 4 is a flowchart of a liquid level measuring method of a drum washing machine according to a second embodiment of the present invention.
  • Fig. 5 is a flowchart of a liquid level measuring method of a drum washing machine according to a third embodiment of the present invention.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated Connection; it can be a direct connection, an indirect connection through an intermediary, or an internal connection between two elements.
  • FIG. 1 is a schematic structural view of a drum washing machine according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of main steps of a liquid level measuring method of a drum washing machine according to the present invention.
  • the drum washing machine includes a box body 1 , and a water storage cylinder (not shown in the figure) and a drum 5 inside the water storage cylinder are arranged in the box body 1 .
  • a control panel 2 is arranged on the upper part of the front side plate of the box body 1, and a clothes input port 3 is arranged at a position below the control panel 2 on the front side plate of the box body, and a door body 4 is pivotally connected to the side of the clothes input port 3
  • the central area of the door body 41 is provided with an observation window 41, and the inner edge of the clothing delivery port 3 is provided with a window pad 31, and the window pad 31 is provided with an infrared camera 6, and the infrared camera 6 is connected to the controller of the drum washing machine (not shown in the figure). shown) connection.
  • the infrared camera 6 can collect images in the drum 5 and send the collected images to the controller.
  • the main steps of the liquid level measuring method of the drum washing machine include:
  • Step S1 collecting images inside the drum.
  • Infrared camera 6 collects images in drum 5 .
  • Step S2 extracting image features of the image.
  • the controller acquires the images in the drum 5 collected by the infrared camera and extracts image features therefrom.
  • Step S3 determining the liquid level in the drum based on the image features and the stored mapping relationship between the image features and the liquid level.
  • the corresponding liquid level is the current liquid level in the drum.
  • the infrared camera is used to collect images in the drum and extract the image features of the images, and determine the liquid level in the drum based on the image features and the mapping relationship between the stored image features and the liquid level height, avoiding the use of liquid level sensors in drum washing machines to detect liquid level heights
  • the method has the problem of inaccurate detection results, which ensures the accuracy of the detection results and is beneficial to the precise control of the drum washing machine.
  • FIG. 3 is a flow chart of the liquid level measuring method of the drum washing machine according to the first embodiment of the present invention.
  • the liquid level measuring method of the drum washing machine includes:
  • Step S110 collecting images inside the drum.
  • Infrared camera 6 collects images in drum 5 .
  • Step S121 performing grayscale transformation on the image.
  • the grayscale transformation is realized by grayscale stretching, so that the outline of the liquid surface in the drum 5 in the image stands out from the surrounding background.
  • Step S122 performing filtering using a high-pass filtering method.
  • Step S123 denoising processing.
  • Step S124 image segmentation is performed using the integral projection method.
  • Step S125 using Hough transform to obtain the contour line features of the liquid surface in the drum.
  • the integral projection method is used to segment the image and the Hough transform is used to obtain the contour of the liquid surface in the cylinder 5.
  • Step S126 obtaining the corrected contour line characteristics of the liquid surface in the drum through curve fitting.
  • the contour line of the liquid surface in the collected image does not continuously form a closed loop, so the contour line of the liquid surface is incomplete. Then, through curve fitting, a completely closed contour line of the corrected liquid surface is formed.
  • Step S130 determining the liquid level height in the drum based on the length of the contour line of the liquid surface in the drum and the stored mapping relationship between the length of the contour line and the liquid level height.
  • the length of the contour line of the liquid level corresponds to the liquid level height in the drum 5 and increases as the height of the liquid level in the drum 5 rises .
  • the memory of the drum washing machine controller stores the mapping relationship between the length of the contour line and the height of the liquid level. After the controller calculates the length of the contour line of the corrected liquid level, it searches and corrects it from the mapping relationship between the length of the contour line and the height of the liquid level. The liquid level height corresponding to the length of the contour line of the liquid surface after that, so as to obtain the liquid level height in the drum 5 .
  • mapping relationship between the length of the contour line and the height of the liquid level may be a continuous curve in which the height of the liquid level varies with the length of the contour line in the plane coordinate system. In this way, for any length of the contour line, the corresponding liquid level can be accurately obtained.
  • the mapping relationship between the contour line length and the liquid level height is a one-to-one relationship between multiple liquid level heights and multiple contour line lengths.
  • the corresponding liquid level height can be calculated by interpolation method, and of course the liquid level height corresponding to two adjacent contour line lengths can be averaged and directly used as the liquid level height in the drum 5 .
  • the length of the outline is calculated, and the liquid in the cylinder 5 is determined according to the length of the outline and the mapping relationship between the length of the outline and the height of the stored outline and the height of the liquid level. bit height, the amount of calculation is relatively small, and the detection speed is fast. Due to the poor light in the drum 5, the image in the drum 5 is collected by the infrared camera 6, which will not be affected by visible light, and a clearer image can be obtained, so that the drum 5 can be determined more accurately after processing the collected image. liquid level inside.
  • FIG. 4 is a flow chart of the liquid level measuring method of the drum washing machine according to the second embodiment of the present invention.
  • the liquid level measuring method of the drum washing machine includes:
  • Step S210 collecting images inside the drum.
  • Step S221 performing grayscale transformation on the image.
  • Step S222 performing filtering using a high-pass filtering method.
  • Step S224 performing image segmentation using integral projection method.
  • Step S225 using Hough transform to obtain the contour line features of the liquid surface in the drum.
  • Step S230 Determine the liquid level in the drum based on the image area of the area enclosed by the outline of the liquid surface in the drum and the stored mapping relationship between the image area and the liquid level.
  • the area of the area surrounded by the outline of the liquid level increases accordingly.
  • the area surrounded by the contour line of the liquid level corresponds to the liquid level height in the drum 5 one by one and increases with the height of the liquid level in the drum 5 . high and increased.
  • the memory of the drum washing machine controller stores the mapping relationship between the image area and the liquid level height. After the controller calculates the area of the area surrounded by the contour line of the liquid surface after correction, it searches for the mapping relationship between the image area and the liquid level height. The height of the liquid level corresponding to the area enclosed by the contour line of the corrected liquid level is used to obtain the height of the liquid level in the drum 5 .
  • the mapping relationship between the image area and the liquid level height can be a continuous curve in which the liquid level height changes with the image area in the plane coordinate system. In this way, for any area of the area enclosed by the outline, the corresponding liquid level height can be accurately obtained.
  • the mapping relationship between the image area and the liquid level height is a one-to-one correspondence relationship between multiple liquid level heights and multiple image areas, when the outline of the liquid surface extracted from the collected image When the area of the formed area is the same as one of the stored multiple image areas, the corresponding liquid level height can be obtained directly. Between two image areas, the corresponding liquid level height can be calculated by interpolation method, and of course the liquid level height corresponding to two adjacent image areas can be averaged and directly used as the liquid level height in the drum 5 .
  • FIG. 5 is a flow chart of the liquid level measuring method of the drum washing machine according to the third embodiment of the present invention.
  • the liquid level measuring method of the drum washing machine includes:
  • Step S310 collecting images inside the drum.
  • Step S321 performing grayscale transformation on the image.
  • Step S322 performing filtering using a high-pass filtering method.
  • Step S323 denoising processing.
  • Step S324 performing image segmentation using the integral projection method.
  • Step S331 respectively determining the degree of coincidence between the contour line of the liquid surface in the drum in the collected image and the contour line in the standard liquid level contour images at different liquid level heights.
  • the memory of the controller stores a series of standard contour images corresponding to different heights of the liquid level (that is, the contour image when the liquid level is at the corresponding height when no clothes are placed in the drum) and the corresponding standard contour images one by one.
  • the corresponding liquid level height The ratio of the length of the overlapping part of the contour line of the liquid surface in the cylinder 5 in the collected image to the contour line in each standard liquid level contour image to the length of the contour line in the standard liquid level contour image (ie, coincidence degree) is calculated respectively.
  • Step S332 determining the standard liquid level contour image with the highest coincidence degree with the contour line of the liquid surface in the drum in the collected images.
  • Step S333 according to the standard liquid level profile image with the highest coincidence degree, search for the corresponding liquid level height from the stored mapping relationship between image features and liquid level height to obtain the liquid level height in the drum.
  • the liquid level height corresponding to the standard liquid level contour image with the highest degree of coincidence with the contour line of the liquid surface in the drum 5 in the collected images is the liquid level height of the liquid surface in the drum 5 .
  • the step of "extracting the image features of the image” further includes:
  • grayscale processing is performed on the color image
  • the collected image is a grayscale image, no grayscale processing is required.
  • weighted average method for grayscale processing is only a specific processing method, which can be adjusted in practical applications, such as component method, maximum value method, and average value method.
  • the infrared camera 6 being arranged on the window pad 31 is only a specific setting method, which can be adjusted according to the actual situation, such as the infrared camera 6 can also be arranged on the door On body 4, also can be arranged on observation window 61.
  • the present invention also provides a laundry processing device, including: a memory; a processor; and a computer program, the computer program is stored in the memory and is configured to be executed by the processor to implement any of the above-mentioned embodiments.
  • a laundry processing device including: a memory; a processor; and a computer program, the computer program is stored in the memory and is configured to be executed by the processor to implement any of the above-mentioned embodiments.
  • Liquid level measurement method for laundry treatment equipment including: a memory; a processor; and a computer program, the computer program is stored in the memory and is configured to be executed by the processor to implement any of the above-mentioned embodiments.
  • the memory includes but not limited to random access memory, flash memory, read-only memory, programmable read-only memory, volatile memory, non-volatile memory, serial memory, parallel memory or registers, etc.
  • the processor includes but Not limited to CPLD/FPGA, DSP, ARM processor, MIPS processor, etc.
  • the laundry processing equipment may be a drum washing machine, an all-in-one washing and drying machine, or other suitable laundry processing equipment.

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  • Textile Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)

Abstract

一种衣物处理设备及其液位测定方法，涉及衣物处理设备技术领域，旨在解决现有滚筒洗衣机的液位高度检测结果不够精确的问题。为此目的，本衣物处理设备包括箱体（1）、设置于箱体（1）内的滚筒（5）以及用于采集滚筒（5）内图像的红外摄像头（6），液位测定方法包括：采集滚筒（5）内的图像；提取图像的图像特征；基于图像特征以及存储的图像特征与液位高度的映射关系确定滚筒内的液位高度。本装置能够通过红外摄像头（6）采集滚筒内的图像并提取图像特征，基于图像特征以及存储的图像特征与液位高度的映射关系确定滚筒内的液位高度，避免了滚筒洗衣机采用液位传感器检测液位高度的方式存在检测结果不精确的问题，保证了检测结果的精确度，有利于精确化控制。

Description

衣物处理设备及其液位测定方法 技术领域
本发明涉及衣物处理设备技术领域，具体提供一种衣物处理设备及其液位测定方法。
背景技术
洗衣机等衣物处理设备是人们生活中的主要家用电器。随着人们生活品质的不断提升以及技术的不断发展，洗衣机等衣物处理设备的自动化程度越来越高，人们对于衣物处理设备的控制精度、节能等综合性能要求也越来越高。
与波轮洗衣机相比，滚筒洗衣机在节水方面具有很大的优势。为了满足洗衣需求并进一步发挥节水优势，在洗涤不同量的衣物时，需要向盛水筒内注入对应量的洗涤水。通常，盛水筒内设置有液位传感器，液位传感器通过检测到的水压来确定盛水筒内的水位高度。当盛水筒内的水位达到所需水量对应的水位高度时，控制器控制供水系统停止向盛水筒内供水。不过，衣物的重量对水位传感器受到的水压存在一定的影响，导致水位传感器的检测结果不精确，从而影响滚筒洗衣机的精确化控制。通过红外摄像头采集滚筒内的图像，不会受到可见光的影响，能够得到更加清晰的图像，从而在对采集的图像进行处理后能够更加准确地确定滚筒内的液位高度。
因此，本领域需要一种新的技术方案来解决上述问题。
发明内容
本发明旨在解决上述技术问题，即，解决现有滚筒洗衣机的液位高度检测结果不够精确的问题。
在第一方面，本发明提供一种衣物处理设备的液位测定方法，所述衣物处理设备包括箱体、设置于所述箱体内的滚筒以及用于采集所述滚 筒内图像的红外摄像头，所述液位测定方法包括：采集所述滚筒内的图像；提取所述图像的图像特征；基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度。
在上述液位测定方法的优选技术方案中，所述图像特征包括所述滚筒内液面的轮廓线特征。
在上述液位测定方法的优选技术方案中，所述轮廓线特征包括所述轮廓线的长度，“基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度”的步骤包括：基于所述轮廓线的长度以及存储的轮廓线长度与液位高度的映射关系确定所述滚筒内的液位高度。
在上述液位测定方法的优选技术方案中，所述轮廓线特征包括所述轮廓线围成区域的图像面积，“基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度”的步骤包括：基于所述轮廓线围成区域的图像面积以及存储的图像面积与液位高度的映射关系确定所述滚筒内的液位高度。
在上述液位测定方法的优选技术方案中，存储的图像特征包括不同液位高度的标准液面轮廓图像，“基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度”的步骤包括：分别确定采集的图像中所述滚筒内液面的轮廓线与不同液位高度的标准液面轮廓图像中的轮廓线的重合度；确定与采集的图像中所述滚筒内液面的轮廓线重合度最高的标准液面轮廓图像；根据重合度最高的标准液面轮廓图像从存储的图像特征与液位高度的映射关系中查找对应的液位高度得到所述滚筒内的液位高度。
在上述液位测定方法的优选技术方案中，“提取所述图像的图像特征”的步骤包括：对所述图像进行灰度变换；采用高通滤波法进行滤波；去噪处理；采用积分投影法进行图像分割；采用Hough变换获得所述滚筒内液面的轮廓线特征；通过曲线拟合得到修正后的所述滚筒内液面的轮廓线特征。
在上述液位测定方法的优选技术方案中，在“对所述图像进行灰度变换”的步骤之前，“提取所述图像的图像特征”的步骤还包括：判断采 集的图像是否为彩色图像；若采集的图像为彩色图像，则对彩色图像进行灰度处理。
在上述液位测定方法的优选技术方案中，“对彩色图像进行灰度处理”的步骤包括：采用加权平均法进行灰度处理；其中，灰度值＝0.3R+0.6G+0.1B。
在上述液位测定方法的优选技术方案中，所述红外摄像头设置于所述箱体侧部的门体或者窗垫上。
在采用上述技术方案的情况下，本发明能够通过红外摄像头采集滚筒内的图像并提取图像的图像特征，基于图像特征以及存储的图像特征与液位高度的映射关系确定滚筒内的液位高度，避免了滚筒洗衣机采用液位传感器检测液位高度的方式存在检测结果不精确的问题，保证了检测结果的精确度，有利于滚筒洗衣机的精确化控制。
在第二方面，本发明还提供了一种衣物处理设备，包括：存储器；处理器；以及计算机程序，所述计算机程序存储于所述存储器中，并被配置为由所述处理器执行以实现上述任一项技术方案所述的衣物处理设备的液位测定方法。
需要说明的是，该衣物处理设备具有上述液位测定方法的全部技术效果，在此不再赘述。
附图说明
下面结合附图来描述本发明的优选实施方式，附图中：
图1是本发明一种实施例的滚筒洗衣机的结构示意图；
图2是本发明滚筒洗衣机的液位测定方法的主要步骤示意图；
图3是本发明第一种实施例的滚筒洗衣机的液位测定方法的流程图；
图4是本发明第二种实施例的滚筒洗衣机的液位测定方法的流程图；
图5是本发明第三种实施例的滚筒洗衣机的液位测定方法的流程图。
附图标记列表：
1、箱体；2、控制面板；3、衣物投放口；31、窗垫；4、门体；41、观察窗；5、滚筒；6、红外摄像头。
具体实施方式
首先，本领域技术人员应当理解的是，下面描述的实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。例如，虽然本发明是以滚筒洗衣机为例进行介绍的，但是这并不能对本发明的保护范围构成限制，本领域技术人员可以根据需要对其作出调整，以便适应具体的应用场合，如本发明的衣物处理设备的液位测定方法也适用于洗干一体机或其他合适的衣物处理设设备等。显然，调整后的技术方案仍将落入本发明的保护范围。
需要说明的是，在本发明的描述中，术语“上”、“下”、“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系，这仅仅是为了便于描述，而不是指示或暗示所述装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
此外，还需要说明的是，在本发明的描述中，除非另有明确的规定和限定，术语“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，还可以是两个元件内部的连通。对于本领域技术人员而言，可根据具体情况理解上述术语在本发明中的具体含义。
下面参照图1和图2，来对本发明的滚筒洗衣机的液位测定方法进行介绍。其中，图1是本发明一种实施例的滚筒洗衣机的结构示意图；图2是本发明滚筒洗衣机的液位测定方法的主要步骤示意图。
如图1所示，滚筒洗衣机包括箱体1，箱体1内设置有盛水筒(图中未示出)以及设置有盛水筒内的滚筒5。箱体1的前侧板的上部设置有控制面板2，箱体的前侧板上位于控制面板2下方的位置设置有衣物投放口3，衣物投放口3的侧部枢转连接有门体4，门体41的中部区域设置有观察窗41，衣物投放口3的内侧缘处设置有窗垫31，窗垫31上设置有红外线摄像头6，红外摄像头6与滚筒洗衣机的控制器(图中未示出)连接。红外摄像头6能够采集滚筒5内的图像并将采集到的图像发送至控制器。
如图2所示，滚筒洗衣机的液位测定方法的主要步骤包括：
步骤S1、采集滚筒内的图像。
红外摄像头6采集滚筒5内的图像。
步骤S2、提取图像的图像特征。
控制器获取红外摄像头采集到的滚筒5内的图像并从中提取图像特征。
步骤S3、基于图像特征以及存储的图像特征与液位高度的映射关系确定滚筒内的液位高度。
当提取的图像特征与存储的多个图像特征中的一个相匹配时，则与之对应的液位高度即为当前滚筒内液位的高度。
通过红外摄像头采集滚筒内的图像并提取图像的图像特征，基于图像特征以及存储的图像特征与液位高度的映射关系确定滚筒内的液位高度，避免了滚筒洗衣机采用液位传感器检测液位高度的方式存在检测结果不精确的问题，保证了检测结果的精确度，有利于滚筒洗衣机的精确化控制。
下面参照3，来对本发明的第一种实施例进行介绍。其中，图3是本发明第一种实施例的滚筒洗衣机的液位测定方法的流程图。
如图3所示，在本发明的第一种实施例中，滚筒洗衣机的液位测定方法包括：
步骤S110、采集滚筒内的图像。
红外摄像头6采集滚筒5内的图像。
步骤S121、对图像进行灰度变换。
例如，采用灰度拉伸实现灰度变换，从而使得图像中滚筒5内的液面轮廓线从周围背景凸显出来。
步骤S122、采用高通滤波法进行滤波。
步骤S123、去噪处理。
滤波后的图像中存在很多拉散的小噪声点和短线，通过去噪处理，将离散的噪声点以及长度小于设定阈值的线段去除。
步骤S124、采用积分投影法进行图像分割。
步骤S125、采用Hough变换获得滚筒内液面的轮廓线特征。
在采用积分投影法对图像分割以及采用Hough变换获得滚筒5内液 面的轮廓线。
步骤S126、通过曲线拟合得到修正后的滚筒内液面的轮廓线特征。
由于存在滚筒5内衣物的一部分露出液面的情况，采集的图像中液面的轮廓线并非连续形成闭环，因此液面的轮廓线存在不完整的情况。再通过曲线拟合，形成完整闭合的修正后的液面的轮廓线。
步骤S130、基于滚筒内液面的轮廓线的长度以及存储的轮廓线长度与液位高度的映射关系确定滚筒内的液位高度。
在日常使用过程中，随着滚筒5内的液面的高度升高，液面的轮廓线的长度随之增长。设置在固定位置的红外摄像头6拍摄的滚筒5内的图像中，液面的轮廓线的长度与滚筒5内的液位高度一一对应并且随着滚筒5内的液面的高度升高而增长。滚筒洗衣机控制器的存储器内存储轮廓线长度与液位高度的映射关系，控制器计算出修正后的液面的轮廓线的长度后，从轮廓线长度与液位高度的映射关系中查找与修正后的液面的轮廓线的长度对应的液位高度，从而得到滚筒5内的液位高度。
需要说明的是，轮廓线长度与液位高度的映射关系可以是在平面坐标系内液位高度随轮廓线长度变化的一条连续的曲线。这样，对于任意的轮廓线的长度，均能够准确地获得对应的液位高度。在另外一种可行的实施方式中，轮廓线长度与液位高度的映射关系是多个液位高度与多个轮廓线长度一一对应的关系，当从采集的图像中提取的液面的轮廓线长度与存储的多个轮廓线长度中的一个相同时可以直接得到对应的液位高度，当从采集的图像中提取的液面的轮廓线长度位于存储的两个大小相邻的两个轮廓线长度之间时，可以用插值法计算出对应的液位高度，当然也可以将相邻的两个轮廓线长度对应的液位高度求平均值之后直接作为滚筒5内的液位高度。
通过对采集到的图像处理后提取出滚筒5内液面的轮廓线后计算轮廓线的长度，根据轮廓线的长度以及存储的轮廓线的长度与液位高度的映射关系确定滚筒5内的液位高度，计算量相对较小，检测速度较快。由于滚筒5内的光线不佳，通过红外摄像头6采集滚筒5内的图像，不会受到可见光的影响，能够得到更加清晰的图像，从而在对采集的图像进行处理后能够更加准确地确定滚筒5内的液位高度。
下面参照4，来对本发明的第二种实施例进行介绍。其中，图4是本发明第二种实施例的滚筒洗衣机的液位测定方法的流程图。
如图4所示，在本发明的第二种实施例中，滚筒洗衣机的液位测定方法包括：
步骤S210、采集滚筒内的图像。
步骤S221、对图像进行灰度变换。
步骤S222、采用高通滤波法进行滤波。
步骤S223、去噪处理。
步骤S224、采用积分投影法进行图像分割。
步骤S225、采用Hough变换获得滚筒内液面的轮廓线特征。
步骤S226、通过曲线拟合得到修正后的滚筒内液面的轮廓线特征。
步骤S230、基于滚筒内液面的轮廓线围成区域的图像面积以及存储的图像面积与液位高度的映射关系确定滚筒内的液位高度。
在日常使用过程中，随着滚筒5内的液面的高度升高，液面的轮廓线围成区域的面积随之增大。设置在固定位置的红外摄像头6拍摄的滚筒5内的图像中，液面的轮廓线围成区域的面积与滚筒5内的液位高度一一对应并且随着滚筒5内的液面的高度升高而增大。滚筒洗衣机控制器的存储器内存储图像面积与液位高度的映射关系，控制器计算出修正后的液面的轮廓线围成的区域的面积后，从图像面积与液位高度的映射关系中查找与修正后的液面的轮廓线围成区域的面积对应的液位高度，从而得到滚筒5内的液位高度。
需要说明的是，图像面积与液位高度的映射关系可以是在平面坐标系内液位高度随图像面积变化的一条连续的曲线。这样，对于任意的轮廓围成区域的面积，均能够准确地获得对应的液位高度。在另外一种可行的实施方式中，图像面积与液位高度的映射关系是多个液位高度与多个图像面积一一对应的关系，当从采集的图像中提取的液面的轮廓线围成区域的面积与存储的多个图像面积中的一个相同时可以直接得到对应的液位高度，当从采集的图像中提取的液面的轮廓线区域的面积位于存储的两个大小相邻的两个图像面积之间时，可以用插值法计算出对应的液位高度，当然也可以将相邻的两个图像面积对应的液位高度求平均值 之后直接作为滚筒5内的液位高度。
下面参照5，来对本发明的第二种实施例进行介绍。其中，图5是本发明第三种实施例的滚筒洗衣机的液位测定方法的流程图。
如图5所示，在本发明的第三种实施例中，滚筒洗衣机的液位测定方法包括：
步骤S310、采集滚筒内的图像。
步骤S321、对图像进行灰度变换。
步骤S322、采用高通滤波法进行滤波。
步骤S323、去噪处理。
步骤S324、采用积分投影法进行图像分割。
步骤S325、采用Hough变换获得滚筒内液面的轮廓线特征。
步骤S331、分别确定采集的图像中滚筒内液面的轮廓线与不同液位高度的标准液面轮廓图像中的轮廓线的重合度。
控制器的存储器中存储有一系列分别对应于不同高度的液面的标准轮廓图像(即滚筒内没有投放衣物的情况下液面位于对应高度情况下的轮廓图像)以及与对应的标准轮廓图像一一对应的液位高度。分别计算采集的图像中滚筒5内液面的轮廓线与每一个标准液面轮廓图像中轮廓线重合部分的长度占标准液面轮廓图像中轮廓线长度的比例(即重合度)。
步骤S332、确定与采集的图像中滚筒内液面的轮廓线重合度最高的标准液面轮廓图像。
比较计算的多个重合度的大小，确定与采集的图像中滚筒5内液面的轮廓线重合度最高的标准液面轮廓图像。
步骤S333、根据重合度最高的标准液面轮廓图像从存储的图像特征与液位高度的映射关系中查找对应的液位高度得到滚筒内的液位高度。
与采集的图像中滚筒5内液面的轮廓线重合度最高的标准液面轮廓图像对应的液位高度为滚筒5内液面的液位高度。
通过这样的设置，无需对采用Hough变换获得滚筒内液面的轮廓线特征进一步进行曲线拟合，避免了拟合后的完整封闭轮廓线与实际轮廓线的图像特征存在偏差，既能够确定滚筒5内液面的液位高度，又能够 进一步提高液位测定结果的精确程度。
在上述各个实施例的基础上，优选地，在“对图像进行灰度变换”的步骤之前，“提取图像的图像特征”的步骤还包括：
判断采集的图像是否为彩色图像；
若采集的图像为彩色图像，则对彩色图像进行灰度处理；
若采集的图像为灰度图像，则无需进行灰度处理。
具体而言，当采集的图像为彩色图象时，采用加权平均法进行灰度处理，按照公式“灰度值＝0.3R+0.6G+0.1B”计算每一个像素的灰度值后得到灰度图像。
需要说明的是，加权平均法进行灰度处理仅是一种具体的处理方式，在实际应用中可以对其作出调整，如可以采用分量法、最大值法、平均值法等。
可以理解的是，在上述各个实施例中，红外摄像头6是设置在窗垫31上仅是一种具体的设置方式，可以根据实际情况对其作出调整，如也可以将红外摄像头6设置在门体4上，也可以设置在观察窗61上。
另一方面，本发明还提供了一种衣物处理设备，包括：存储器；处理器；以及计算机程序，计算机程序存储于存储器中，并被配置为由处理器执行以实现上述任一项实施例的衣物处理设备的液位测定方法。
需要说明的是，存储器包括但不限于随机存储器、闪存、只读存储器、可编程只读存储器、易失性存储器、非易失性存储器、串行存储器、并行存储器或寄存器等，处理器包括但不限于CPLD/FPGA、DSP、ARM处理器、MIPS处理器等。衣物处理设备可以是滚筒洗衣机、洗干一体机或其他合适的衣物处理设设备等。
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。

Claims (10)

  1. 一种衣物处理设备的液位测定方法，其特征在于，所述衣物处理设备包括箱体、设置于所述箱体内的滚筒以及用于采集所述滚筒内图像的红外摄像头，所述液位测定方法包括：
    采集所述滚筒内的图像；
    提取所述图像的图像特征；
    基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度。
  2. 根据权利要求1所述的液位测定方法，其特征在于，所述图像特征包括所述滚筒内液面的轮廓线特征。
  3. 根据权利要求2所述的液位测定方法，其特征在于，所述轮廓线特征包括所述轮廓线的长度，“基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度”的步骤包括：
    基于所述轮廓线的长度以及存储的轮廓线长度与液位高度的映射关系确定所述滚筒内的液位高度。
  4. 根据权利要求2所述的液位测定方法，其特征在于，所述轮廓线特征包括所述轮廓线围成区域的图像面积，“基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度”的步骤包括：
    基于所述轮廓线围成区域的图像面积以及存储的图像面积与液位高度的映射关系确定所述滚筒内的液位高度。
  5. 根据权利要求2所述的液位测定方法，其特征在于，存储的图像特征包括不同液位高度的标准液面轮廓图像，“基于所述图像特征以及存储的图像特征与液位高度的映射关系确定所述滚筒内的液位高度”的步骤包括：
    分别确定采集的图像中所述滚筒内液面的轮廓线与不同液位高度的标准液面轮廓图像中的轮廓线的重合度；
    确定与采集的图像中所述滚筒内液面的轮廓线重合度最高的标准液面轮廓图像；
    根据重合度最高的标准液面轮廓图像从存储的图像特征与液位高度的映射关系中查找对应的液位高度得到所述滚筒内的液位高度。
  6. 根据权利要求3或4所述的液位测定方法，其特征在于，“提取所述图像的图像特征”的步骤包括：
    对所述图像进行灰度变换；
    采用高通滤波法进行滤波；
    去噪处理；
    采用积分投影法进行图像分割；
    采用Hough变换获得所述滚筒内液面的轮廓线特征；
    通过曲线拟合得到修正后的所述滚筒内液面的轮廓线特征。
  7. 根据权利要求6所述的液位测定方法，其特征在于，在“对所述图像进行灰度变换”的步骤之前，“提取所述图像的图像特征”的步骤还包括：
    判断采集的图像是否为彩色图像；
    若采集的图像为彩色图像，则对彩色图像进行灰度处理。
  8. 根据权利要求7所述的液位测定方法，其特征在于，“对彩色图像进行灰度处理”的步骤包括：
    采用加权平均法进行灰度处理；
    其中，灰度值＝0.3R+0.6G+0.1B。
  9. 根据权利要求1至5中任一项所述的液位测定方法，其特征在于，所述红外摄像头设置于所述箱体侧部的门体或者窗垫上。
  10. 一种衣物处理设备，其特征在于，包括：
    存储器；
    处理器；以及
    计算机程序，所述计算机程序存储于所述存储器中，并被配置为由所述处理器执行以实现权利要求1至9中任一项所述的衣物处理设备的液位检测方法。
PCT/CN2022/113288 2021-08-20 2022-08-18 衣物处理设备及其液位测定方法 WO2023020573A1 (zh)

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