CN109554882B - Automatic double-drum washing machine - Google Patents
Automatic double-drum washing machine Download PDFInfo
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- CN109554882B CN109554882B CN201811470312.3A CN201811470312A CN109554882B CN 109554882 B CN109554882 B CN 109554882B CN 201811470312 A CN201811470312 A CN 201811470312A CN 109554882 B CN109554882 B CN 109554882B
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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
- D06F29/00—Combinations of a washing machine with other separate apparatus in a common frame or the like, e.g. with rinsing apparatus
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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
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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
- D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00
- D06F39/02—Devices for adding soap or other washing agents
- D06F39/022—Devices for adding soap or other washing agents in a liquid state
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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
- D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00
- D06F39/08—Liquid supply or discharge arrangements
- D06F39/083—Liquid discharge or recirculation arrangements
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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
- D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00
- D06F39/08—Liquid supply or discharge arrangements
- D06F39/087—Water level measuring or regulating devices
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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
- D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00
- D06F39/08—Liquid supply or discharge arrangements
- D06F39/088—Liquid supply arrangements
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
The invention relates to an automatic double-tub washing machine, comprising: the water level detection device is arranged in a washing barrel of the double-barrel washing machine and used for detecting the water level in the washing barrel to be output as the current water level in the barrel; the water inlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water inlet mode of the washing barrel; the water outlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water outlet mode of the washing barrel; the distribution identification device is used for extracting one or more foam objects from the high-value area based on preset foam image characteristics and determining the corresponding supplementary dosage of the laundry detergent based on the number of the one or more foam objects; wherein the greater the number of the one or more foam objects, the less the laundry detergent refill amount is determined. By the invention, the accurate control of the washing effect can be realized.
Description
Technical Field
The invention relates to the field of double-drum washing machines, in particular to an automatic double-drum washing machine.
Background
The double-tub washing machine is a washing and dewatering 2-in-one washing machine, and consists of one washing tub and one dewatering tub. The washing and dewatering can be carried out separately, but the water intake and drainage can be completed manually, the washing machine has high cleaning degree, low power consumption and optional washing and dewatering time.
The double-drum washing machine sold in the domestic market is composed of a washing drum and a dewatering drum, washing and dewatering can be respectively carried out, but water inlet and water discharge can be completed manually during washing, the washing machine is high in cleanliness, low in power consumption, free in washing and dewatering time selection, free in washing time selection from 0-15 minutes, free in dewatering time selection from 0-5 minutes, and wide in washing range, and buzzing prompts exist after dewatering is finished, and two-gear or three-gear water flow washing selection exists. The casing of the washing machine is generally made of two types, namely common steel plate spray plastics or aluminum alloy casing. The spray-molded steel plate is beautiful and elegant; the aluminum alloy shell never rusts. The washing capacity is 2-6 kg, the large capacity is suitable for washing large pieces such as bedsheets and blankets, and the double-drum washing machine has the advantages of low price, simple structure, convenience in operation, light weight, convenience in carrying and the like.
Disclosure of Invention
The invention provides an automatic double-drum washing machine, aiming at solving the technical problem that the manual adding precision of the laundry detergent of the current double-drum washing machine is insufficient.
Therefore, the invention needs to have the following three key points: (1) in order to maintain the constant concentration of the laundry detergent in the washing bucket during the first rinsing, the dosage of the laundry detergent to be supplemented is determined on the basis of the targeted detection of the quantity of the foam in the bucket, so that the washing effect is ensured and the waste of the laundry detergent is avoided; (2) in specific image detection, the duplication degree grade identification processing is carried out on each target in the image to obtain a target area with the lowest duplication degree grade, so that the whole image is replaced to facilitate subsequent further processing; (3) when curves with curvatures exceeding a limited amount still exist in the curvature-adjusted image, curve adjustment is continued, wherein curve adjustment of corresponding intensity is performed based on an average value of the respective curvatures of the respective curves.
According to an aspect of the present invention, there is provided an automatic twin-tub washing machine, the washing machine including:
the water level detection device is arranged in a washing barrel of the double-barrel washing machine and used for detecting the water level in the washing barrel to be output as the current water level in the barrel; the water inlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water inlet mode of the washing barrel; the water outlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water outlet mode of the washing barrel; the AT89S52 controller is positioned in the control box and is respectively connected with the water level detection device, the water inlet control device and the water outlet control device; a gun-type image pickup device disposed above the washing tub, for performing image pickup processing on the washing tub to obtain an image of the inside of the washing tub, and outputting the image of the inside of the washing tub; the instant filtering device is connected with the gun-shaped camera device and used for receiving the image in the washing barrel and performing instant filtering processing on the image in the washing barrel to obtain an instant filtering image; the first adjusting device is connected with the instant filtering device and used for executing internal curve adjustment on the instant filtering image to obtain a first adjusting image after curve adjustment; the curvature analysis device is connected with the first adjustment device and used for extracting each curvature of each curve in the first adjustment image and sending out a first output signal when the curve with the curvature exceeding a limited amount exists; a second adjustment device connected to the curve analysis device for performing curve adjustment of corresponding intensity based on an average value of respective curvatures of the respective curves upon receiving the first output signal to obtain a second adjustment image; the grade recognition device is connected with the second adjustment device and used for detecting the distance from each target in the second adjustment image to the lens so as to obtain a plurality of target areas in which a plurality of targets with the shortest distances are respectively positioned in the second adjustment image, and the following processing is executed on each target area in the plurality of target areas: acquiring each pixel value of each pixel point in the target area, deleting repeated pixel values in each pixel value to obtain the number of the remaining pixel values, and mapping the corresponding repetition degree grade based on the number of the remaining pixel values, wherein the more the number of the remaining pixel values is, the lower the corresponding repetition degree grade is mapped; the dynamic random access memory is connected with the grade identification equipment and is used for storing the mapping relation between the number of the pixel values and the corresponding repeatability grade; the target extraction equipment is connected with the grade identification equipment and used for receiving a plurality of repeatability grades respectively corresponding to the target areas and taking the target area with the lowest repeatability grade as a high-value area; the distribution identification device is connected with the target extraction device and used for extracting one or more foam objects from the high-value area based on preset foam image characteristics and determining the corresponding supplementary dosage of the laundry detergent based on the number of the one or more foam objects; in the distribution identification device, determining the corresponding laundry detergent replenishment dose based on the number of the one or more foam objects comprises: the greater the number of the one or more foam objects, the less the laundry detergent refill amount is determined; and the panel display screen is arranged on a cover plate of the double-drum washing machine, is connected with the distribution identification equipment and is used for displaying the supplementary dosage of the laundry detergent in real time, wherein the supplementary dosage of the laundry detergent is the number of bottle caps.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural view illustrating an automatic twin-tub washing machine according to an embodiment of the present invention.
Detailed Description
Embodiments of the automatic twin-tub washing machine of the present invention will be described in detail with reference to the accompanying drawings.
After the double-drum washing machine is powered on, proper detergent and water are injected according to the quantity of clothes, a washing timer is started to control the time of the electromechanical forward and reverse operation of the washing machine and the washing work, the rotating speed is reduced through a triangular belt and transmitted to a gear box, secondary speed reduction is carried out through the gear box, a wave wheel is driven to rotate in the forward and reverse directions, and the aim of washing the clothes is fulfilled by utilizing water flow generated by the forward and reverse rotation of the wave wheel. The dehydration timer controls the operation and dehydration time of the dehydration motor, the dehydration barrel is connected to the motor through the brake wheel, and the motor drives the dehydration barrel to rotate at a high speed to generate centrifugal force to separate water in the clothes from the clothes, so that the aim of drying the clothes is fulfilled.
In order to overcome the defects, the invention builds the automatic double-drum washing machine, and can effectively solve the corresponding technical problem.
Fig. 1 is a schematic structural view illustrating an automatic twin-tub washing machine according to an embodiment of the present invention, the washing machine including:
the water level detection device is arranged in a washing barrel of the double-barrel washing machine and used for detecting the water level in the washing barrel to be output as the current water level in the barrel;
the water inlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water inlet mode of the washing barrel;
the water outlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water outlet mode of the washing barrel;
the AT89S52 controller is positioned in the control box and is respectively connected with the water level detection device, the water inlet control device and the water outlet control device;
a gun-type image pickup device disposed above the washing tub, for performing image pickup processing on the washing tub to obtain an image of the inside of the washing tub, and outputting the image of the inside of the washing tub;
the instant filtering device is connected with the gun-shaped camera device and used for receiving the image in the washing barrel and performing instant filtering processing on the image in the washing barrel to obtain an instant filtering image;
the first adjusting device is connected with the instant filtering device and used for executing internal curve adjustment on the instant filtering image to obtain a first adjusting image after curve adjustment;
the curvature analysis device is connected with the first adjustment device and used for extracting each curvature of each curve in the first adjustment image and sending out a first output signal when the curve with the curvature exceeding a limited amount exists;
a second adjustment device connected to the curve analysis device for performing curve adjustment of corresponding intensity based on an average value of respective curvatures of the respective curves upon receiving the first output signal to obtain a second adjustment image;
the grade recognition device is connected with the second adjustment device and used for detecting the distance from each target in the second adjustment image to the lens so as to obtain a plurality of target areas in which a plurality of targets with the shortest distances are respectively positioned in the second adjustment image, and the following processing is executed on each target area in the plurality of target areas: acquiring each pixel value of each pixel point in the target area, deleting repeated pixel values in each pixel value to obtain the number of the remaining pixel values, and mapping the corresponding repetition degree grade based on the number of the remaining pixel values, wherein the more the number of the remaining pixel values is, the lower the corresponding repetition degree grade is mapped;
the dynamic random access memory is connected with the grade identification equipment and is used for storing the mapping relation between the number of the pixel values and the corresponding repeatability grade;
the target extraction equipment is connected with the grade identification equipment and used for receiving a plurality of repeatability grades respectively corresponding to the target areas and taking the target area with the lowest repeatability grade as a high-value area;
the distribution identification device is connected with the target extraction device and used for extracting one or more foam objects from the high-value area based on preset foam image characteristics and determining the corresponding supplementary dosage of the laundry detergent based on the number of the one or more foam objects;
in the distribution identification device, determining the corresponding laundry detergent replenishment dose based on the number of the one or more foam objects comprises: the greater the number of the one or more foam objects, the less the laundry detergent refill amount is determined;
and the panel display screen is arranged on a cover plate of the double-drum washing machine, is connected with the distribution identification equipment and is used for displaying the supplementary dosage of the laundry detergent in real time, wherein the supplementary dosage of the laundry detergent is the number of bottle caps.
Next, a detailed description of the structure of the automatic twin-tub washing machine of the present invention will be continued.
In the automatic double-tub washing machine: the curvature analyzing device is further configured to issue a second output signal when there is no curve with a curvature exceeding a limited amount.
In the automatic double-tub washing machine: in the second adjustment device, the first adjustment image is output as a second adjustment image when the second output signal is received.
In the automatic double-tub washing machine: in the second adjustment device, the smaller the average value of the respective curvatures of the respective curves is, the smaller the respective strengths of the performed curve adjustments are.
In the automatic double-tub washing machine: in the level recognition apparatus, the higher the signal-to-noise ratio of the second adjustment image is, the smaller the number of the plurality of targets having the shortest distance is obtained.
In the automatic double-tub washing machine: the dynamic random access memory, the grade identifying device and the target extracting device share the same power supply input end.
In the automatic double-tub washing machine: the instant filtering device is used for receiving the image in the washing bucket, acquiring the current resolution of the image in the washing bucket as the image resolution, when the image resolution is less than or equal to a preset resolution threshold, performing homomorphic filtering processing on the whole image in the washing bucket to obtain a homomorphic filtering image, and performing recursive filtering processing on the whole homomorphic filtering image to obtain an instant filtering image; the image processing device is further configured to, when the image resolution is greater than the preset resolution threshold, equally divide an image inside the washing tub into blocks of corresponding block sizes based on the distance between the image resolution and the preset resolution threshold, select homomorphic filtering processing of different corresponding intensities based on the pixel value variance of the block for each block to obtain filtering blocks, concatenate the obtained filtering blocks to obtain a concatenated filtering image, equally divide the concatenated filtering image into blocks of corresponding block sizes based on the distance between the resolution of the concatenated filtering image and the preset resolution threshold, select recursive filtering processing of different corresponding intensities based on the pixel value variance of the block for each block to obtain filtering blocks, and concatenate the obtained filtering blocks to obtain an immediate filtering image.
In the automatic double-tub washing machine: the instant filtering device is a CPLD chip which is designed by adopting VHDL language.
In the automatic double-tub washing machine: the dynamic random access memory is also connected with the instant filtering equipment and is used for receiving the instant filtering image and temporarily storing the instant filtering image;
the dynamic random access memory is further configured to store the preset resolution threshold, so as to send the preset resolution threshold to the instant filtering device when the instant filtering device is started.
In addition, DRAM (Dynamic Random Access Memory), i.e., Dynamic Random Access Memory, is the most common system Memory. DRAM can hold data only for a short time. To retain data, DRAM uses capacitive storage, so must be refreshed (refresh) once at intervals, and if the memory cells are not refreshed, the stored information is lost. (shutdown will lose data). Dynamic RAM is also comprised of a number of basic memory cells multiplexed by row and column address pins.
The structure of the DRAM is simple and efficient, and each bit only needs one transistor and one capacitor. However, the capacitance inevitably has leakage phenomenon, which causes data error if the charge is insufficient, and therefore, the capacitance must be periodically refreshed (precharged), which is also a big feature of the DRAM. Moreover, the charging and discharging of the capacitor requires a process, and the refresh frequency cannot be raised infinitely (frequency barrier), which results in that the frequency of the DRAM can easily reach the upper limit, and even if the advanced process is supported, the effect is very small. With the advancement of technology and the desire of people to overclock, these frequency barriers are being solved slowly.
The automatic double-drum washing machine is adopted, aiming at the technical problem that the cleaning effect of the double-drum washing machine in the prior art cannot be accurately controlled, in order to keep the constant concentration of the laundry detergent in the washing drum during the first rinsing, the dosage of the laundry detergent to be supplemented is determined on the basis of the targeted detection of the quantity of the foam in the drum, so that the washing effect is ensured and the waste of the laundry detergent is avoided; in specific image detection, the duplication degree grade identification processing is carried out on each target in the image to obtain a target area with the lowest duplication degree grade, so that the whole image is replaced to facilitate subsequent further processing; and continuing the curve adjustment when the curve with the curvature exceeding the limited amount still exists in the image after the curvature adjustment, wherein the curve adjustment of the corresponding intensity is executed based on the average value of each curvature of each curve; thereby solving the technical problem.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (9)
1. An automated dual tub washing machine, the washing machine comprising:
the water level detection device is arranged in a washing barrel of the double-barrel washing machine and used for detecting the water level in the washing barrel to be output as the current water level in the barrel;
the water inlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water inlet mode of the washing barrel;
the water outlet control device is connected with the washing barrel of the double-barrel washing machine, is positioned in the control box and is used for controlling the water outlet mode of the washing barrel;
the AT89S52 controller is positioned in the control box and is respectively connected with the water level detection device, the water inlet control device and the water outlet control device;
a gun-type image pickup device disposed above the washing tub, for performing image pickup processing on the washing tub to obtain an image of the inside of the washing tub, and outputting the image of the inside of the washing tub;
the instant filtering device is connected with the gun-shaped camera device and used for receiving the image in the washing barrel and performing instant filtering processing on the image in the washing barrel to obtain an instant filtering image;
the first adjusting device is connected with the instant filtering device and used for executing internal curve adjustment on the instant filtering image to obtain a first adjusting image after curve adjustment;
the curvature analysis device is connected with the first adjustment device and used for extracting each curvature of each curve in the first adjustment image and sending out a first output signal when the curve with the curvature exceeding a limited amount exists;
a second adjustment device connected to the curve analysis device for performing curve adjustment of corresponding intensity based on an average value of respective curvatures of the respective curves upon receiving the first output signal to obtain a second adjustment image;
the grade recognition device is connected with the second adjustment device and used for detecting the distance from each target in the second adjustment image to the lens so as to obtain a plurality of target areas in which a plurality of targets with the shortest distances are respectively positioned in the second adjustment image, and the following processing is executed on each target area in the plurality of target areas: acquiring each pixel value of each pixel point in the target area, deleting repeated pixel values in each pixel value to obtain the number of the remaining pixel values, and mapping the corresponding repetition degree grade based on the number of the remaining pixel values, wherein the more the number of the remaining pixel values is, the lower the corresponding repetition degree grade is mapped;
the dynamic random access memory is connected with the grade identification equipment and is used for storing the mapping relation between the number of the pixel values and the corresponding repeatability grade;
the target extraction equipment is connected with the grade identification equipment and used for receiving a plurality of repeatability grades respectively corresponding to the target areas and taking the target area with the lowest repeatability grade as a high-value area;
the distribution identification device is connected with the target extraction device and used for extracting one or more foam objects from the high-value area based on preset foam image characteristics and determining the corresponding supplementary dosage of the laundry detergent based on the number of the one or more foam objects;
in the distribution identification device, determining the corresponding laundry detergent replenishment dose based on the number of the one or more foam objects comprises: the greater the number of the one or more foam objects, the less the laundry detergent refill amount is determined;
and the panel display screen is arranged on a cover plate of the double-drum washing machine, is connected with the distribution identification equipment and is used for displaying the supplementary dosage of the laundry detergent in real time, wherein the supplementary dosage of the laundry detergent is the number of bottle caps.
2. The automated dual tub washing machine of claim 1, wherein:
the curvature analyzing device is further configured to issue a second output signal when there is no curve with a curvature exceeding a limited amount.
3. An automated dual tub washing machine as claimed in claim 2 wherein:
in the second adjustment device, the first adjustment image is output as a second adjustment image when the second output signal is received.
4. An automated dual tub washing machine as claimed in claim 3 wherein:
in the second adjustment device, the smaller the average value of the respective curvatures of the respective curves is, the smaller the respective strengths of the performed curve adjustments are.
5. An automated dual tub washing machine as claimed in claim 4 wherein:
in the level recognition apparatus, the higher the signal-to-noise ratio of the second adjustment image is, the smaller the number of the plurality of targets having the shortest distance is obtained.
6. An automated dual tub washing machine as claimed in claim 5 wherein:
the dynamic random access memory, the grade identifying device and the target extracting device share the same power supply input end.
7. An automated dual tub washing machine as claimed in claim 6 wherein:
the instant filtering device is used for receiving the image in the washing bucket, acquiring the current resolution of the image in the washing bucket as the image resolution, when the image resolution is less than or equal to a preset resolution threshold, performing homomorphic filtering processing on the whole image in the washing bucket to obtain a homomorphic filtering image, and performing recursive filtering processing on the whole homomorphic filtering image to obtain an instant filtering image; the image processing device is further configured to, when the image resolution is greater than the preset resolution threshold, equally divide an image inside the washing tub into blocks of corresponding block sizes based on the distance between the image resolution and the preset resolution threshold, select homomorphic filtering processing of different corresponding intensities based on the pixel value variance of the block for each block to obtain filtering blocks, concatenate the obtained filtering blocks to obtain a concatenated filtering image, equally divide the concatenated filtering image into blocks of corresponding block sizes based on the distance between the resolution of the concatenated filtering image and the preset resolution threshold, select recursive filtering processing of different corresponding intensities based on the pixel value variance of the block for each block to obtain filtering blocks, and concatenate the obtained filtering blocks to obtain an immediate filtering image.
8. An automated dual tub washing machine as recited in claim 7, wherein:
the instant filtering device is a CPLD chip which is designed by adopting VHDL language.
9. The automated dual tub washing machine of claim 8, wherein:
the dynamic random access memory is also connected with the instant filtering equipment and is used for receiving the instant filtering image and temporarily storing the instant filtering image;
the dynamic random access memory is further configured to store the preset resolution threshold, so as to send the preset resolution threshold to the instant filtering device when the instant filtering device is started.
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| CN201811470312.3A CN109554882B (en) | 2018-12-04 | 2018-12-04 | Automatic double-drum washing machine |
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| CN201811470312.3A CN109554882B (en) | 2018-12-04 | 2018-12-04 | Automatic double-drum washing machine |
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| CN101608391A (en) * | 2008-06-12 | 2009-12-23 | Bsh博世和西门子家用器具有限公司 | Be used for discerning the method and apparatus of the foam of washing machine |
| CN103334265B (en) * | 2013-06-19 | 2015-09-16 | 松下家电研究开发（杭州）有限公司 | A kind of intelligent washing machine, control method for washing and long-distance monitoring method |
| CN106930055A (en) * | 2017-01-22 | 2017-07-07 | 无锡小天鹅股份有限公司 | Washing machine and for washing machine foam volume detection method and device |
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2018
- 2018-12-04 CN CN201811470312.3A patent/CN109554882B/en active Active
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| JPH10174798A (en) * | 1996-12-19 | 1998-06-30 | Sharp Corp | Washing machine |
| CN101608391A (en) * | 2008-06-12 | 2009-12-23 | Bsh博世和西门子家用器具有限公司 | Be used for discerning the method and apparatus of the foam of washing machine |
| CN103334265B (en) * | 2013-06-19 | 2015-09-16 | 松下家电研究开发（杭州）有限公司 | A kind of intelligent washing machine, control method for washing and long-distance monitoring method |
| CN106930055A (en) * | 2017-01-22 | 2017-07-07 | 无锡小天鹅股份有限公司 | Washing machine and for washing machine foam volume detection method and device |
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