CN114059280B

CN114059280B - Control method, household appliance and computer readable storage medium

Info

Publication number: CN114059280B
Application number: CN202010751871.2A
Authority: CN
Inventors: 张肃; 沈靖皓; 王跃辉
Original assignee: Midea Group Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Current assignee: Midea Group Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2023-01-31
Anticipated expiration: 2040-07-30
Also published as: CN114059280A; WO2022021725A1

Abstract

The application discloses a control method, a household appliance and a computer readable storage medium. The control method comprises the following steps: the household appliance comprises a balancing component and a first cavity, wherein the balancing component comprises a balancing body and at least two balancing blocks, the balancing body is provided with an annular cavity, the at least two balancing blocks can be movably located in the cavity, and the balancing component is arranged at least one of a first end and a second end of the first cavity. By the control method, the balance blocks can not be located at the same balance position for a long time, local damage to the structure of the balance assembly is avoided, and the service life of the balance assembly is ensured.

Description

Control method, household appliance and computer readable storage medium

Technical Field

The present application relates to the field of home appliances, and more particularly, to a control method, a home appliance, and a computer-readable storage medium.

Background

In the related art, in order to reduce the vibration noise in the dehydration process of the washing machine, a balance ring system with active control is added on the washing machine, and the eccentric mass of the system can be effectively reduced by controlling the balance block to move to the opposite side of the eccentric center of the inner barrel in the dehydration process, so that the vibration noise in the dehydration process is effectively reduced. The balance ring system mainly performs vibration control in the dehydration process, and is not generally controlled in the washing stage and other stages, so that the balance blocks in the balance ring need to be in balance positions in the non-dehydration stage so as to ensure the balance in the non-dehydration control stage of the washing machine. However, when the washing machine works, the balance ring system always rotates along with the inner barrel of the washing machine, and if the balance ring system is located at the same balance position for a long time, the structure of the balance ring system is locally damaged, and the service life of the balance ring is influenced.

Disclosure of Invention

The embodiment of the application provides a control method, a household appliance and a computer readable storage medium.

The control method provided by the embodiment of the application is used for household appliances, and comprises the following steps:

controlling the at least two balance blocks of the household appliance to move for the same set distance along the same set direction under the condition that the at least two balance blocks are in the initial balance position,

the household appliance comprises a balance assembly and a first cavity, wherein the balance assembly comprises a balance body and at least two balance blocks, the balance body is provided with an annular cavity, the at least two balance blocks can be movably located in the cavity, and the balance assembly is arranged at least one of a first end and a second end of the first cavity.

In the control method, under the condition that the at least two balance blocks are at the initial balance position, the at least two balance blocks are controlled to move along the same set direction by the same set distance, and the set distance and the set direction are selected from elements in a preset distance-direction matrix, so that the balance blocks can not be at the same balance position for a long time, the local damage to the structure of the balance assembly is avoided, and the service life of the balance assembly is ensured.

In some embodiments, the distance-direction matrix includes a first element, a second element, a third element, and a fourth element,

the first element comprises a generated distance and a generated direction;

the second element comprises a generated distance and a direction selected in a preset direction set according to a certain rule;

the third element comprises a distance selected from a preset distance set according to a certain rule and a generated direction;

the fourth element comprises a distance selected in a preset distance set according to a certain rule and a direction selected in a preset direction set according to a certain rule.

In certain embodiments, the control method comprises:

selecting one of the first element, the second element, the third element, and the fourth element.

In some embodiments, the generated distance is calculated using a predetermined value and the generated value.

In some embodiments, the preset distance set includes at least two distance elements arranged according to a certain rule, each distance element has a sequence number, and the distance selected according to a certain rule in the preset distance set is the distance element corresponding to the sequence number obtained through calculation.

In some embodiments, the set distance is an angle through which the weight moves relative to a center of the annular chamber.

In some embodiments, the preset direction set includes at least two direction elements, and the control method includes:

and selecting one of the direction elements in the preset direction set as the set direction.

In some embodiments, the balancing assembly further comprises two restoring members located in the cavity and radially arranged along the balancing body, the number of the balancing bodies is two,

the control method comprises the following steps: determining that the two balancing masses are in the initial balancing positions in a case where the two balancing masses are respectively located at the two restoring members.

The household appliance of the embodiment of the application comprises:

a first cavity comprising a first end and a second end;

a balancing assembly disposed at least one of the first end and the second end, the balancing assembly including a balancing body and at least two balancing masses, the balancing mass defining an annular chamber, the at least two balancing masses being movably disposed within the chamber, an

A controller configured to perform the control method of any of the above embodiments.

A non-transitory computer-readable storage medium of an embodiment of the present application, on which a computer program is stored, which when executed by a processor, implements the control method of any of the above embodiments.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a partially exploded schematic view of a first chamber and counterbalance of an embodiment of the present application;

fig. 2 is a schematic cross-sectional view of a household appliance according to an embodiment of the present application;

FIG. 3 is an exploded schematic view of a balancing assembly of an embodiment of the present application;

FIG. 4 is a schematic diagram of a portion of a balancing assembly according to an embodiment of the present application;

FIG. 5 is another schematic structural view of a portion of a counterbalance assembly in accordance with an embodiment of the present application;

FIG. 6 is a schematic structural view of a further portion of a balancing assembly according to an embodiment of the present application;

FIG. 7 is a schematic view of a further portion of the balance assembly of an embodiment of the present application;

FIG. 8 is a schematic flow chart diagram of a control method according to an embodiment of the present application;

FIG. 9 is a schematic view of the arrangement of the counterbalances and the restoring member according to the embodiment of the present application;

fig. 10 to 13 are schematic flow charts of a control method according to the embodiment of the present application;

FIG. 14 is a schematic view of the distribution of the counterbalances of the embodiments of the present application;

FIGS. 15-20 are schematic views of the movement of the counterbalances of the embodiments of the present application;

FIG. 21 is a schematic diagram illustrating the resultant force of the counterbalances in accordance with the present embodiment as a function of the amount of eccentricity;

fig. 22 to 25 are schematic flow charts of a control method according to the embodiment of the present application;

FIGS. 26-29 are schematic views of the movement of the counterbalance of embodiments of the present application;

fig. 30 to 37 are schematic flow charts of a control method according to an embodiment of the present application;

FIG. 38 is a schematic diagram illustrating a resultant force variation caused by a position variation of a weight according to an embodiment of the present application as a function of an eccentricity amount;

fig. 39 is another schematic sectional view of a home appliance according to an embodiment of the present application;

FIG. 40 is a schematic view of the distribution of cavities within the counterweight according to an embodiment of the present application;

FIG. 41 is a schematic cross-sectional view of a balance body according to an embodiment of the present application;

FIG. 42 is a graph illustrating the resultant force of the mass versus the amount of eccentricity of an embodiment of the present application;

fig. 43 is a flowchart illustrating a control method according to an embodiment of the present application;

FIG. 44 is a schematic view of another distribution of cavities within a counterweight according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. They may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

The disclosure herein provides many different embodiments or examples for implementing different configurations of the present application. To simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

Referring to fig. 1-2, an embodiment of the present application provides a household appliance 1000. The home appliance 1000 includes a balancing assembly 100, a first cavity 200 and a second cavity 300.

The first chamber 200 is rotatably connected to the second chamber 300, a load can be placed in the first chamber 200, and the first chamber 200 can have a rotation axis L disposed horizontally, obliquely, or vertically. That is, the rotation axis L of the first chamber 200 is parallel to, inclined to, or perpendicular to the horizontal plane. In the illustrated embodiment, the first chamber 200 is rotatably provided in the second chamber 300. It is understood that in other embodiments, the first cavity 200 and the second cavity 300 may be connected in other rotation connection manners, and are not limited in particular.

The first cavity 200 includes a first end 202 and a second end 204, the second end 204 can be connected with a rotating shaft (not shown), the rotating shaft is fixedly connected with a fixing frame 500, and the fixing frame 500 is installed at the second end 204. In the embodiment shown in fig. 1, the first end 202 of the first cavity 200 is a front end, and the second end 204 is a rear end, and the front end may refer to an end facing a user. The holder 500 may be a tripod.

The household appliance 1000 further comprises a driving motor (not shown) connected to the first chamber 200 and configured to drive the first chamber 200 to rotate relative to the second chamber 300. Specifically, the driving motor may be connected to the rotation shaft through a transmission member (e.g., a belt).

The balancing assembly 100 includes a first balancing assembly 102 and a second balancing assembly 104, each balancing assembly including a balancing body 1022 and at least one balancing mass 1024, an annular chamber 1026 within the balancing body 1022, the balancing mass 1024 being movably located within the chamber 1026. The first counterbalance assembly 102 is disposed at a first end 202 of the first chamber body 200. The second balance assembly 104 is disposed at the second end 204 of the first chamber body 200, and in fig. 1, the balance body 1022 of the second balance assembly 104 is disposed at the second end 204 of the first chamber body 200 via a fixing bracket. It is understood that, in other embodiments, in the case where only one end (the first end 202 or the second end 204) of the first chamber 200 is balance-controlled, a corresponding balance member may be provided at the end, and the other end (the second end 204 or the first end 202) may not be provided with a balance member. In the embodiment shown in fig. 1, the balance body 1022 has a circular ring shape, and the balance body 1022 may be referred to as a balance ring. It is understood that in other embodiments, the balance body 1022 may have other shapes, such as a plate shape, a square ring shape, an elliptical ring shape, etc., which are not limited in particular.

In addition, the central axis T of the balance body 1022 is parallel to or coincident with the rotation axis L of the first cavity 200, that is, the balance body 1022 may be disposed coaxially with the first cavity 200 or eccentrically with respect to the first cavity 200. In the embodiment shown in fig. 1, the central axis T of the balance body 1022 coincides with the rotational axis L of the first cavity 200.

Referring to fig. 3, the inner walls of the chamber 1026 include a first side wall 1311, a second side wall 1312, a first connecting wall 1313, and a second connecting wall 1314. The first sidewall 1311 and the second sidewall 1312 are disposed radially along the counterweight 1022, with the first sidewall 1311 being closer to the central axis T of the counterweight 1022 than the second sidewall 1312. A first connecting wall 1313 connects the first and

second side walls

1311 and 1312, a second connecting wall 1314 connects the first and

second side walls

1311 and 1312, and the second connecting wall 1314 and the first connecting wall 1313 are oppositely disposed. In the embodiment shown in fig. 1, the central axis T of the balance body 1022 coincides with the rotation axis L of the first cavity 200. The overlap may be a perfect overlap, or a deviation of the two within a desired range.

The household appliance 1000 further comprises a first detection unit 402 and a second detection unit 404, the second cavity 300 comprises a third end 302 and a fourth end 304, the third end 302 corresponds to the first end 202, the fourth end 304 corresponds to the second end 204, the first detection unit 402 is arranged at the third end 302 of the second cavity 300, the second detection unit 404 is arranged at the fourth end 304 of the second cavity 300, the first detection unit 402 is used for detecting the vibration level of the third end 302, and the second detection unit 404 is used for detecting the vibration level of the fourth end 304. It is understood that, in other embodiments, in the case of detecting the vibration level of only one end (the third end 302 or the fourth end 304) of the second cavity 300, a corresponding detection unit is disposed at the end, and the other end (the fourth end 304 or the third end 302) may not need to be provided with the detection unit. The detecting unit may include sensors such as an acceleration sensor, a velocity sensor, a displacement sensor, and a force sensor to detect the vibration level, and accordingly, the vibration signal of the third end 302 and/or the fourth end 304 of the second cavity 300 may be a displacement signal obtained by computing an acceleration signal, or may be directly determined by using the acceleration signal, and the like, which is not limited herein.

Further, referring to fig. 3-6, each weight 1024 includes a body 1028 and a power member 1030, the power member 1030 being mounted to the body 1028, the power member 1030 being configured to drive the weight 1024 for movement within the chamber 1026. In this manner, movement of the weight 1024 within the cavity 1026 may be achieved.

Specifically, referring to fig. 3 and 4, the power unit 1030 includes a driver 1032 and a gearbox 1034, the gearbox 1034 includes a single drive gear 1036, the first sidewall 1311 of the chamber is provided with a single ring gear 1315, and the single drive gear 1036 is meshed with the single ring gear 1315. The drive 211 may comprise a motor. The weight 1024 is provided with a roller 1038 that contacts the second sidewall 1312. When the motor is operated, the driving gear 1036 is driven to rotate, and the weight 1024 is provided with a roller 1038 contacting the second sidewall 1312. The centrifugal force of the weight 1024 may be carried on the second sidewall 1312 by the roller 1038.

Referring to fig. 5 and 6, the gearbox 1034 includes two drive gears 1036, and the second side wall 1312 of the chamber is provided with two gear rings 1315, each drive gear 1036 being in mesh with a respective one of the gear rings 1315. The weight 1024 is provided with a roller 1038 contacting the second sidewall 1312.

It will be appreciated that the balance weight 20 is driven by the engagement of the drive gear 1036 with the ring gear 1315, which engagement is characterized by high precision and stable transmission, without the risk of slippage.

In fig. 4 to 6, the balance weight 1024 may be powered by a conductive rail 1040 (e.g. a copper rail) disposed on the first sidewall 1311 of the cavity, and specifically, referring to fig. 5, the household appliance 1000 further includes a rechargeable battery 1042 separated from the balance weight 1024, the rechargeable battery 1042 is electrically connected to the conductive rail 1040, the balance weight 1024 includes a conductive structure 1044, and the conductive structure 1044 is elastically contacted with the conductive rail 1040 to achieve electrical connection, so that the rechargeable battery 1042 can supply power to the balance weight 1024. The rechargeable battery 1042 can be charged from the second cavity 300 by wireless charging. In other embodiments, a rechargeable battery 1042 may be provided on each weight 1024, and the rechargeable battery 1042 may supply power to the electrical components of the weight 1024 via the conductive tracks 1040 and the conductive structure 1044.

It is understood that in other embodiments, the rechargeable battery 1042 may be omitted. Specifically, referring to fig. 4, in fig. 4, the conductive structure 1044 includes a conductive brush filament 1045, the conductive rail 1040 is provided with a groove, and one end of the brush filament 1045 is partially received in the groove of the conductive rail 1040. By means of the household appliance 1000, the mains voltage can be converted into a supply voltage suitable for the balance weight, and the balance weight is supplied with power through the conductive tracks 1040 and the brush filaments 1045.

Further, referring to fig. 7, in the embodiment of fig. 7, the balance assembly includes a power component 1030, the power component 1030 is fixed to the balance body 1022, and the power component 1030 is connected to the balance weight 1024 through a transmission member 1046. On one hand, the balance weight 1024 can move in the cavity, and on the other hand, the driving component 1030 and the balance weight 1024 are arranged separately, so that the mass of the balance weight 1024 is reduced, and the balance weight 1024 can be driven to move more easily.

Specifically, referring to fig. 7, a first connecting member 51 and a second connecting member 52 are disposed in the chamber, and the first connecting member 51 is fixedly connected to the balance body 1022. The second link 52 may be rotatably coupled to the first link 51 by rolling members 53 (e.g., balls).

In the embodiment shown in fig. 7, the driving member 1032 of the power unit 1030 is fixedly connected to the first connecting member 51 so as to achieve the fixed connection with the balance body 1022, and specifically, the power unit 1030 is fixedly mounted on the first connecting member 51 through the fixing member 60.

Further, referring to fig. 7, the second connecting member 52 is disposed in the first connecting member 51, and the transmission member 1046 is fixedly connected to the second connecting member 52. When the transmission member 1046 rotates, the transmission member 1046 drives the second connection member 52 to rotate relative to the first connection member 51. In this way, the driving member 1046 is rotatably connected to the balance body 1022 through the two connecting members, so that the friction force can be effectively reduced to enable the driving member 1046 to smoothly rotate. Meanwhile, the first connector 51 and the second connector 52 can bear the centrifugal force when the balance weight 20 rotates at a high speed. A gearbox 1034 connects the drive 1032 and the transmission 1046. In the embodiment shown in fig. 7, the transmission 1046 is a ring gear with which the gearbox 1034 engages.

Further, referring to fig. 4 and 6, each balance assembly includes a marker 70 and a displacement detector 80, in the case that the power unit 1030 drives the balance weight 1024 to move in the chamber 1026, the marker 70 and the displacement detector 80 move relatively, the displacement detector 80 is used for detecting the number of times that the marker 70 passes through the displacement detector 80, and the number of times that the marker 70 passes through the displacement detector 80 is related to the moving distance of the balance weight 1024. In this manner, control of the distance of movement of the weight 1024 may be achieved.

Specifically, in the present application, the moving distance of the weight 1024 refers to the arc length of the weight 1024 moving along the circumferential direction of the annular chamber 1026, and also refers to the angle of the weight 1024 moving relative to the center of the annular chamber 1026, which is not limited in this application.

The teeth of the drive gear 1036 may be used as the identifier 70, so that the identifier 70 may not be additionally provided. Of course, the teeth of the ring gear 1315 may also be utilized as the flag 70. The displacement detecting member 80 includes at least one of a light sensor, a hall sensor, and an ultrasonic sensor. Hereinafter, the teeth of the driving gear 1036 are used as the markers 70, and the displacement detector 80 is used as an optical sensor.

The teeth of the driving gear 1036 have grooves therebetween, and the grooves and the teeth are uniformly staggered. The driving gear 1036 is engaged for rotation with the gear ring 1315, and the weight 1024 is moved by the rotation of the driving gear 1036. In this case, the teeth of the driving gear 1036 may serve as the identification member 70, and accordingly, the displacement detecting member 80 may be installed at a position on the weight 1024 opposite to the teeth or grooves of the driving gear 1036. When the drive gear 1036 rotates, the displacement detecting member 80 is relatively stationary. In the process of rotation of the drive gear 1036, the teeth and the recesses of the drive gear 1036 continuously and alternately pass the displacement detection member 80, and therefore, the number of times the teeth of the drive gear 1036 pass the displacement detection member 80, that is, the number of teeth of the drive gear 1036 that pass the displacement detection member 80, can be detected. The number of teeth of the drive gear 1036 passing through the displacement detecting member 80 and the moving distance of the balance weight may be previously calibrated and stored. In the actual moving process, the number of teeth of the driving gear 1036 passing through the displacement detecting member 80 may be counted, and the moving distance of the balance weight may be calculated from the relationship between the number of teeth and the moving distance calibrated in advance.

It will be appreciated that in other embodiments, the recess between two teeth may also be used as the identifier.

In other embodiments, alternate black and white stripes may be used as the markers 70, and correspondingly, the displacement detectors 80 may be photo sensors.

In the present embodiment, an initial equilibrium position is provided within chamber 1026. Referring to fig. 6, the balance weight 1024 includes a balance weight controller 1048, the balance weight controller 1048 is electrically connected to the displacement detector 80, and the balance weight controller 1048 is configured to determine a current position of the balance weight 1024 according to the number of times the identifier 70 passes through the displacement detector 80 and the initial balance position. In this manner, the current position of the weight 1024 may be conveniently determined.

The balance weight controller 1048 records an initial balance position, and determines the current position of the balance weight 1024 by combining the distance moved by the balance weight 1024 when the balance weight 1024 starts to move from the initial balance position. Specifically, the displacement detector 80 may output regular pulse signals according to the number of times that the identifier 70 passes through the displacement detector 80, the balance block controller 1048 may receive the pulse signals output by the displacement detector 80, process the pulse signals to obtain the moving distance of the balance block 1024, and finally calculate the current position of the balance block 1024 by combining the initial balance position of the balance block 1024. The current position information of the weight 1024 may be transmitted to a main controller of the home appliance.

In the present embodiment, multiple (two or more) initial equilibrium positions may be provided within the chamber 1026. In the case of multiple weights 1024 (two or more) within the chamber 1026, there is a corresponding one of the weights 1024 at each initial equilibrium position. In one embodiment, two initial equilibrium positions are provided within the chamber 1026, with the number of weights 1024 being two. Without balance control of the first chamber 200, there is one weight 1024 stationarily resting at each initial equilibrium position. Preferably, the two initial equilibrium positions are arranged 180 degrees symmetrically. Thus, without performing balance control on the first chamber 200, the balance body 1022 may be kept in balance, thereby keeping the first chamber 200 in balance, and preventing additional vibration from being introduced when the first chamber 200 rotates. In other embodiments, the number of the initial equilibrium positions may be three or more, and the specific positions may be set as needed, and are not particularly limited herein.

Further, the power component includes a driving member 1032, the driving member 1032 includes a motor shaft (not shown) and a displacement detecting member (not shown), in the case that the power component 1032 drives the balance weight 1024 to move in the chamber 1046, the displacement detecting member is used for detecting the number of turns of the motor shaft, and the number of turns of the motor shaft is related to the moving distance of the balance weight 1024. In this manner, control of the distance moved by the weight 1024 may be achieved.

It will be appreciated that the drive member 1032 may be a motor, including a motor shaft. In the case where the power component 1030 moves the weight 1024 within the chamber 1046, the number of turns the motor shaft passes is related to the distance the weight 1024 moves. Thus, the distance traveled by the weights 1024 may be determined by detecting the number of turns the motor shaft has made, and in combination with the initial equilibrium position of the weights 1024, the current position of the weights 1024 may be determined.

Specifically, the displacement detecting member may include a hall sensor and a magnetic member. The hall sensor is disposed on the motor shaft 10321 of the driving member 1032 and rotates with the rotation of the motor shaft, and the magnetic member is fixedly disposed at other positions of the driving member 1032 or the weight 1024 and remains stationary. When the Hall sensor rotates to a position opposite to the magnetic part, under the influence of a magnetic field generated by the magnetic part, the Hall sensor outputs a pulse signal, so that the number of turns of the motor shaft can be detected. The magnetic member may be a permanent magnet. It will be appreciated that the hall sensor can be stationary and the magnetic member is mounted on the motor shaft of the driving member 1032 and rotates with the rotation of the motor shaft.

In other embodiments, the displacement detection member may be an optical sensor, an ultrasonic sensor, or the like. In one example, the light sensor includes a light emitting element and a light receiving element, one of which is fixed to the motor shaft for rotation with rotation of the motor shaft, and the other of which is fixed to the driving element 1032 or other location of the weight 1024 and remains stationary. The light receiving part receives the light signal emitted by the emitting part by rotating the motor shaft for one circle, so that the number of the rotation of the motor shaft can be detected. The detection principle of the ultrasonic sensor is similar to that of the optical sensor, and is not described in detail herein.

The number of turns the motor shaft has made and the distance the weight 1024 has moved can be pre-calibrated and stored. In practical application, the number of turns of the motor shaft can be counted, and the moving distance of the balance weight 1024 can be calculated according to the relationship between the number of turns and the moving distance which are calibrated in advance.

Further, the power unit 1030 includes a driver 1032, and the energizing time of the driver 1032 is related to the moving distance of the weight 1024. In this manner, control of the distance of movement of the weight 1024 may be achieved.

Specifically, the driving member 1032 may include a motor, and when the motor is powered on, the weight 1024 is driven to move. Thus, the energization time of the driver 1032 is related to the distance of movement of the weight 1024. The energization time of the driver 1032 and the distance of movement of the weight 1024 may be pre-calibrated and stored. In practical applications, the power-on time of the driving member 1032 can be measured, and the moving distance of the balance weight 1024 can be calculated according to the relationship between the power-on time and the moving distance calibrated in advance.

Referring to fig. 4, the balance assembly 100 includes a calibration member 90 and a calibration detecting member 110. In the case that the balance weight 1024 moves in the cavity 1026, the calibration component 90 and the calibration detecting component 110 move relatively, and the calibration detecting component 110 is used for detecting the calibration component 90 to eliminate the position error of the balance weight 1024.

It is understood that, since the weight 1024 moves for a long time, an accumulated error may occur when the displacement detecting member 80 detects the number of turns of the motor shaft of the driving member 1032 or the number of times the displacement detecting member 80 detects the passing of the identification member 70 through the displacement detecting member 80. When the moving distance of the weight 1024 is calculated from the information of the number of times with errors, an error occurs in the determined position of the weight 1024. Therefore, the positional error of the weight 1024 can be eliminated by providing the correcting member 90 and the correcting detecting member 110.

Specifically, when the correction detecting member 110 passes each correcting member 90, information that it detects the correcting member 90 is transmitted to the balance block controller. Further, the balance block controller obtains information of the position where the balance block 1024 passes through the correcting element 90, and sets the position where the balance block 1024 is located to be 0, which can be regarded as a starting point to recalculate the moving distance of the balance block 1024, so as to avoid that the position of the balance block 1024 cannot be accurately judged due to accumulated distance errors caused by long-time movement of the balance block 1024. In this embodiment, after the calibration detecting part 110 passes through each calibration part 90, the number of turns of the motor shaft of the driving part 1032, or the number of times the displacement detecting part 80 detects the passing of the identification part 70, is fed back to the balance weight controller again from 0 by way of a pulse signal, the balance weight controller starts to calculate the moving distance of the balance weight 1024 again, and obtains the precise position information of the balance weight 10 where the balance weight 1024 is located.

Referring to fig. 3, two calibration members 90 are disposed in the cavity 1026, the two calibration members 90 are symmetrically disposed at 180 degrees along the radial direction of the balance body 1022, and the position of each calibration member 90 may correspond to an initial balance position. The corrector 90 is provided at the first sidewall 1311 of the chamber 13. One of the correction members 90 includes one convex correction portion, and the other correction member 90 includes two convex correction portions, so that it is possible to determine which initial balance position the weight 1024 is located by distinguishing which correction member 90 the weight 1024 passes through by different structural features.

The correction detecting member 110 may be one of a light sensor, an ultrasonic sensor, and a hall sensor. The correction detection part 110 triggers different pulse signals through the correction parts 90 with different structures, and the number of pulses of the pulse signals is the same as that of the correction parts on the correction parts 90, so that which correction part 90 the balance weight 1024 passes through can be determined according to the pulse signals output by the correction detection part 110, and the specific position of the balance weight 1024 in the cavity 1026 can be determined. As such, the position of the weight 1024 may be positioned within the chamber 1026. In other embodiments, the number of the correction members 90 may be three, four, or more than four, and each correction member 90 may include a different number of correction portions. The number and position of the correction pieces 90 and the number of correction portions of the correction pieces 90 may be adjusted according to circumstances, and are not limited to the above-described embodiment.

It should be noted that each of the calibration elements 90 may correspond to an initial balance position, and after the operation of the balance weight 1024 is finished, the balance weight 1024 may be returned to the initial balance position by using the cooperation between the calibration detecting element 110 and the calibration element 90, so as to achieve the resetting of the balance weight 1024, and therefore, in some embodiments, the calibration element 90 may also be referred to as a resetting element. In addition, the correction member 90 may be mounted on a ring 91, in the example of fig. 3, provided in the first side wall 1311 of the chamber 13. It is understood that in other embodiments, the correction member 90 may be formed directly on the first sidewall 1311.

The home appliance 1000 may be a laundry treating appliance such as a washing machine, a dryer, or other home appliances 1000 having the first chamber 200 capable of rotating. The load can be clothes, quilts and other objects needing to be washed. The washing machine may be a drum washing machine, or a pulsator washing machine. The present application will be explained below with reference to a household appliance as a drum washing machine.

In particular, in one embodiment, the operation phase of the drum washing machine may include washing-first dehydration-rinsing-second dehydration-rinsing-third dehydration. In other embodiments, the operation phase of the drum washing machine may include one time, two times or more than three times of dehydration, and the drum washing machine may include washing or rinsing, and the like, which is not particularly limited herein. In one example, the maximum rotation speed of the first chamber 200 is 400 or 600rpm in the first dehydration, the maximum rotation speed of the first chamber 200 is 400 or 600rpm in the second dehydration, and the maximum rotation speed of the first chamber 200 is 1400rpm or 1600rpm in the third dehydration. It is understood that the above examples are only for convenience of illustration of the maximum rotation speed of the first chamber, and are not intended to limit the scope of the present application, and in other examples, the maximum rotation speed of the first chamber during the dewatering processes may have other values, and is not limited in particular.

Generally, during the washing and rinsing stages, the weight 1024 of each balance body 1022 needs to be in an initial balance position to ensure that the weight 1024 does not introduce additional vibration into the first cavity 200. Further, in consideration of the lifetime of the drum washing machine, each time the balancing weight 1024 is reset after performing the balancing control, the balancing weight may be moved to another position on the basis of the initial balancing position, so as to reduce the influence on the lifetime of the balancing weight.

In addition, the weight 1024 of each balance body may be placed in an initial equilibrium position at the beginning of the dehydration stage. In one embodiment, the initial stage of the dehydration may be understood as a stage in which the rotation speed of the first chamber 200 is 20% less than the target rotation speed after the dehydration stage is entered. For example, the target rotation speed in the dehydration stage is 1000rpm, and the initial stage of dehydration is a stage in which the rotation speed of the first chamber 200 is less than 200 rpm. In other embodiments, a separate initial setting for the start of spinning may be performed, and the setting is not particularly limited to the stage of less than 20% of the target rotation speed.

In the case where the vibration level of the second chamber 300 is greater than the preset vibration level when the dehydration stage is entered, the balance control is required so that the vibration level of the second chamber 300 is not greater than the preset vibration level.

After the dehydration stage is completed at every time, because balance control is carried out, the balance block 1024 is not at the balance position generally, after the dehydration stage is completed, the balance block 1024 is at the balance position before resetting is carried out by using a resetting strategy to ensure follow-up balance control, and extra vibration of the first cavity 200 is not introduced. Of course, the reset strategy or the position selection strategy after reset may be performed before each phase is started, and is not particularly limited herein. It is only necessary to ensure that the weight 1024 is in a balanced position before balance control begins. In addition, during the washing or rinsing stage, no balancing control is typically required, and thus the weight 1024 is in a balanced position.

In addition, the repositioning strategy and the post-repositioning position selection strategy are preferably used to reposition the weight 1024 when the first chamber 200 is stationary (i.e., not rotating), although the weight 1024 may be repositioned if the first chamber 200 is rotating at a low speed (e.g., washing or rinsing).

First, during the washing phase, or during the rinsing phase, or during the beginning of the spin-drying phase, the weight 1024 needs to be in a balanced position to avoid introducing additional vibration into the first chamber 200 during rotation. In the present embodiment, the initial equilibrium position refers to a position of the reset member 90 (i.e., the calibration member 90) within the corresponding chamber 1046, and the selected equilibrium position refers to a position shifted by a certain distance relative to the initial equilibrium position. Whether in the initial equilibrium position or in the selected equilibrium position, the weight 1024 does not cause additional vibration of the first chamber 200. The weights 1024 may be positioned in an initial equilibrium position via a reset strategy, and the weights 1024 may be positioned in a selected equilibrium position via a post-reset position selection strategy.

In the case that the first and second detecting

units

402 and 404 detect that the vibration level of the third and/or fourth ends 302 and 304 of the second cavity 300 is greater than the preset vibration level in real time during the dewatering stage of the drum washing machine, the balance control of the first cavity 200 is required, and specifically, the counterweight 1024 may be controlled to move to a position such that the vibration level of the third and/or fourth ends 302 and 304 of the second cavity 300 is not greater than the preset vibration level, which may be referred to as a balance control position, that is, in the case that the first cavity 200 needs to be balanced, the counterweight 1024 may move to the balance control position such that the vibration level of the third and/or fourth ends 302 and 304 is not greater than the preset vibration level. For the third end 302, one preset vibration level, e.g. a first preset vibration level, may be set, and for the fourth end 304, another preset vibration level, e.g. a second preset vibration level, may be set. The first predetermined vibration level may be equal to or unequal to the second predetermined vibration level, depending on the particular arrangement.

In one embodiment of the present application, the following explains a resetting strategy of the weight bodies 1024, i.e., a process of resetting the weight bodies 1024 to an initial equilibrium position.

Referring to fig. 8, a control method according to an embodiment of the present application is applied to a household appliance 1000, and the control method includes:

step S100: controlling at least two balance weights 1024 of the household appliance to move in an annular chamber 1046 of the balance body 1022, and radially arranging at least two resetting pieces 90 in the chamber 1046 along the balance body 1022, wherein the at least two balance weights 1024 pass through one of the resetting pieces 90, position information of the balance weights 1024 and the resetting pieces 90 through which the balance weights 1024 pass is obtained, and the at least two balance weights 1024 are controlled to stop moving;

step S104: controlling the at least one weight 1024 to move to a restoring member 90 according to the position information,

the household appliance comprises a balancing component and the first cavity 200, wherein the balancing component is arranged at least one of the first end 202 and the second end 204 of the first cavity 200, the balancing component comprises a balancing body 1022 and at least two balancing bodies 1024, and under the condition that the balancing bodies 1024 are positioned at the resetting component 90, the balancing bodies 1024 are in initial balancing positions.

In the control method, at least two resetting pieces 90 are radially arranged in the chamber 1046 along the balance body 1022, after at least two balance blocks 1024 pass through one of the two resetting pieces 90, the position information of the at least two balance blocks 1024 and the at least two resetting pieces is determined, and then the at least one balance block 1024 is controlled to move to one resetting piece 90 according to the position information, so that the resetting of the at least two balance blocks 1024 can be realized.

Specifically, in the present embodiment, after each of the at least two weight blocks 1024 passes through one of the two restoring members 90, the relative positions of the at least two weight blocks 1024 can be determined. Preferably, in some embodiments, the position information of the at least two weights 1024 and the at least two repetitions is determined after each of the at least two weights 1024 passes one of the two restoring members 90 for the first time. Therefore, the control time can be reduced, and the efficiency can be improved.

In the embodiment shown in fig. 2, the number of the weights 1024 in each chamber 1046 is two, the number of the reset members 90 is two, the balance assemblies are disposed at the first end 202 and the second end 204 of the first chamber 200, i.e., the first end 202 of the first chamber 200 is provided with the first balance assembly 102, the second end 204 of the first chamber 200 is provided with the second balance assembly 104, and the weights 1024 are self-powered. As before, the two reset members 90 can be distinguished by different configurations, for example, one reset member 90 having one projection and the other reset member 90 having two projections. The calibration detecting member outputs only 1 pulse when passing through one of the resetting members 90, outputs 2 pulses in a short time when passing through the other resetting member 90, and allows the balance weight controller to determine which resetting member 90 the balance weight 1024 passes through by setting the number of identification pulses. In one example, it may be arranged that the reset element 90 having two protrusions passes after the first pulse is identified if the second pulse is identified within 1-4 revolutions of the motor of the weight 1024. It is understood that in the present application, more than two reset elements 90 may be disposed within the chamber, and that different reset elements may be identified by different numbers of protrusions, such as 1 protrusion, 2 protrusions, 3 protrusions, or 4 protrusions. Two of the reset elements in the 180 degree layout may then be selected as the two reset elements for the reset strategy described above. It is understood that in other embodiments, the number of weights 1024 within each chamber 1046 may be more than two.

In another embodiment, the reset piece also comprises a magnetic piece, the magnetic piece can comprise magnetic stripes with different numbers, the correction detection piece can comprise a hall sensor, when the magnetic piece passes through the hall sensor, the number of pulses output by the hall sensor is the same as that of the magnetic stripes, and different reset pieces can be identified.

Further, in step S100, at least two balance weights 1024 of the household appliance are controlled to move in the chamber 1046 of the balance body 1022, which includes one of the following:

controlling the at least two weights 1024 to move in the same direction within the chamber 1046;

at least two weights 1024 are controlled to move in different directions within the chamber 1046. In this manner, the movement of the weight 1024 is controlled by two forms of movement directions.

Specifically, referring to fig. 9, the number of the balance weights 1024 is two, and the two balance weights 1024 move in the same direction in the chamber 1046, so that the two balance weights 1024 can be controlled to move in a clockwise direction or a counterclockwise direction. The speed of movement of the weight 1024 may be controlled using a pre-stored speed of movement. In addition, when the balance weight 1024 is installed in the chamber 1046, the rotation direction of the motor and the moving direction of the balance weight 1024 can be calibrated and stored in the balance weight controller, so that the moving direction of the balance weight 1024 can be controlled. The two weights 1024 move in different directions in the chamber 1046, wherein one weight 1024 moves in a clockwise direction and the other weight 1024 moves in a counterclockwise direction, and the two weights 1024 are prevented from colliding during the movement. A distance measuring device (e.g., using infrared, ultrasonic, etc. to measure distance) may be mounted on the weights 1024 to detect the distance between the two weights 1024, so as to avoid collision between the two weights 1024.

Further, at least two of the counterbalances 1024 move at the same speed. In this manner, it is ensured that at least two weights 1024 do not collide during movement.

Specifically, the moving speed of the weight 1024 may be set and stored in advance. In addition, the moving speed of the weight 1024 may be related to the rotating speed of the first chamber 200. Specifically, in some embodiments, it may be set that the greater the rotation speed of the first cavity 200, the lower the moving speed of the weight 1024, and the moving speed of the weight 1024 may be reduced because the centrifugal force increases correspondingly after the rotation speed of the first cavity 200 increases. It is to be understood that other settings may be made in other embodiments without being limited to the specific settings described above. These can be preset and stored.

Further, at least two weights 1024 controlling the household appliance move in the annular chamber 1046 of the balance body 1022, including one of:

controlling the at least two weights 1024 to move in the chamber 1046 in sequence;

at least two weights 1024 are controlled to move simultaneously within the chamber 1046.

In this manner, simultaneous or sequential movement of the at least two weights 1024 may be achieved.

Specifically, in the present embodiment, two balance weights 1024 are disposed in each chamber 1046. When controlling the two balance blocks 1024 to move in the chamber 1046, the main controller of the household appliance may send a movement instruction to the two balance blocks 1024 in a wireless manner to the two balance blocks 1024 simultaneously, so that the two balance blocks 1024 move in the chamber 1046 in the same direction or in different directions simultaneously, or the main controller of the household appliance may send a movement instruction to the two balance blocks 1024 in a wireless manner in a time-sharing manner to the two balance blocks 1024, so that the two balance blocks 1024 move in the chamber 1046 in the same direction or in different directions sequentially. The movement instruction may include parameters such as a movement direction and a movement distance.

Further, referring to fig. 10, the weight 1024 and the reset member 90 are both numbered correspondingly, and the position information includes first position information and second position information;

two counterbalances 1024 all pass through one of them piece 90 that resets, acquire the positional information of the piece 90 that resets that counterbalances 1024 and counterbalances 1024 passed through, control two at least counterbalances 1024 and stop moving, include:

step S1021: detecting that one of the balance weights 1024 passes through one of the resetting pieces 90, recording the number of the balance weight 1024 and the number of the passing resetting piece 90 to form first position information, and controlling at least two balance weights 1024 to move continuously;

step S1022: and detecting that the other balance weight 1024 passes through one of the resetting pieces 90, recording the number of the balance weight 1024 and the number of the passing resetting piece 90 to form second position information, and controlling at least two balance weights 1024 to stop moving.

Thus, the position information can be determined by recording the numbers of the balance weight 1024 and the reset piece 90, and the method is simple.

Specifically, in the present embodiment, two weights 1024 are disposed in each chamber 1046. In one example, the two weights 1024 are numbered as weight # 1 1024 and weight # 2 1024, respectively, and the two restoring members 90 are numbered as restoring member # 1 90 and restoring member # 2 90, respectively. When the balance weight 1024 passes through one of the reset pieces 90, the corresponding balance weight controller can know which reset piece 90 it passes through, and send the number of the passing reset piece 90 and the number of itself to the main controller of the household appliance, so that the main controller can know the first position information and the second position information. The position information may be recorded in the form of the weight 1024 number + the reset member 90 number. In the case where the No. 1 weight 1024 passes through the No. 1 returning member 90, the recorded positional information may be represented as 11, in the case where the No. 2 weight 1024 passes through the No. 1 returning member 90, the recorded positional information may be represented as 21, and so on. It should be noted that the numbering may be implemented in other ways, not limited to the above example, and the position information of the weight 1024 and the reset element 90 passing by may be ensured to be distinguished.

Further, referring to fig. 11, controlling the at least one weight 1024 to move to a restoring member 90 according to the position information includes:

step S1042: and controlling one balance weight 1024 which is not positioned on the resetting member 90 to move to the resetting member 90 according to the first position information and the second position information. In this way, it can be achieved that all weights 1024 are located at two restoring members 90, respectively.

Specifically, in this embodiment, the two weights 1024 do not have the resetting member 90 that is fixedly stopped, that is, when one of the weights 1024 is stopped at one of the resetting members 90, the other weight 1024 is controlled to stop at the other resetting member 90.

Further, controlling a weight 1024, which is not located on the reset member 90, to move to the reset member 90 according to the first position information and the second position information includes:

determining that the balance block 1024 corresponding to the second position information occupies the reset piece 90 corresponding to the second position information according to the second position information;

determining the reset piece 90 corresponding to the balance weight 1024 corresponding to the first position information without occupying the first position information according to the first position information;

judging whether the reset piece 90 corresponding to the first position information and the reset piece 90 corresponding to the second position information are the same reset piece 90;

when the reset piece 90 corresponding to the first position information and the reset piece 90 corresponding to the second position information are the same reset piece 90, controlling the balance weight 1024 corresponding to the first position information to move to the unoccupied reset piece 90 along the original moving direction;

and under the condition that the resetting member 90 corresponding to the first position information and the resetting member 90 corresponding to the second position information are not the same resetting member 90, controlling the balance weight 1024 corresponding to the first position information to move to the unoccupied resetting member 90 along the opposite direction of the original moving direction. In this way, a weight 1024 not located on the reset member 90 can be controlled to move to the reset member 90.

Specifically, in one embodiment, the first position information is 11, which indicates that the No. 1 weight 1024 passes through the No. 1 resetting member 90 before the No. 2 weight 1024, and the second position information is 21, which indicates that the No. 2 weight 1024 passes through the No. 1 resetting member 90. When the No. 2 balance weight 1024 passes through the No. 1 reset piece 90, the two balance weights 1024 are controlled to stop moving. That is, it can be determined from the second position information that the No. 2 weight 1024 has stayed in the No. 1 returning element 90, that is, the No. 2 weight 1024 occupies the No. 1 returning element 90.

From the first positional information, it can be determined that the No. 1 weight 1024 is not occupied by the No. 1 restoring member 90.

Because the reset piece 90 that No. 2 balancing piece 1024 occupies is the same reset piece 90 with the reset piece 90 that No. 1 balancing piece 1024 does not occupy, no. 1 resets piece 90 promptly, controls No. 1 balancing piece 1024 and moves to unoccupied reset piece 90 along former moving direction, no. 2 resets piece 90 promptly. The original moving direction is the moving direction of the number 1 returning part 90 when it starts to move. For example, when the number 1 resetting element 90 starts to move, the moving direction is clockwise direction, i.e. the number 1 resetting element 90 moves to the number 2 resetting element 90 in clockwise direction, if the number 1 resetting element 90 moves clockwise direction after the number 1 resetting element 90 moves clockwise direction.

In another embodiment, the first position information is 12 indicating that the No. 1 weight 1024 passes through the No. 2 resetting member 90 before the No. 2 weight 1024, and the second position information is 21 indicating that the No. 2 weight 1024 passes through the No. 1 resetting member 90. When the No. 2 balance weight 1024 passes through the No. 1 reset piece 90, the two balance weights 1024 are controlled to stop moving. That is, it can be determined from the second position information that the No. 2 weight 1024 has stayed in the No. 1 returning element 90, that is, the No. 2 weight 1024 occupies the No. 1 returning element 90.

From the first positional information, it can be determined that the number 1 weight 1024 is not occupied with the number 2 restoring member 90.

Since the reset piece 90 occupied by the No. 2 balance block 1024 is not the same reset piece 90 as the reset piece 90 not occupied by the No. 1 balance block 1024, the No. 1 balance block 1024 is controlled to move to the unoccupied reset piece 90, that is, the No. 2 reset piece 90, in the opposite direction of the original moving direction. The reverse direction of the original moving direction is the reverse direction of the moving direction when the number 1 restoring element 90 starts to move. For example, when the number 1 resetting member 90 starts to move, the number 1 resetting member moves through the number 2 resetting member 90 in a clockwise direction, then the original moving direction is the clockwise direction, the opposite direction of the original moving direction is the counterclockwise direction, and the number 1 balancing weight 1024 moves to the number 2 resetting member 90 in the counterclockwise direction.

Further, referring to fig. 12, controlling the at least one weight 1024 to move to a restoring member 90 according to the position information includes:

step S1044: and controlling the at least two balance weights 1024 to move to the at least two resetting pieces 90 respectively according to the first position information and the second position information. In this way, it can be realized that the at least two weights 1024 are respectively located at the at least two restoring members 90.

Specifically, in this embodiment, at least two of the weights 1024 have a return member 90 that is stationary. In one case, it may be set that the number 1 balancing block 1024 is fixedly stopped by the number 1 resetting member 90, the number 2 balancing block 1024 is fixedly stopped by the number 2 resetting member 90, the number 1 balancing block 1024 is stopped by the number 1 resetting member 90 when the balancing block 1024 is reset, and the number 2 balancing block 1024 is stopped by the number 2 resetting member 90. In another case, it may be configured that the number 1 balancing block 1024 is fixedly stopped by the number 2 restoring member 90, the number 2 balancing block 1024 is fixedly stopped by the number 1 restoring member 90, the balancing block 1024 is restored so that the number 1 balancing block 1024 is stopped by the number 2 restoring member 90, and the number 2 balancing block 1024 is stopped by the number 1 restoring member 90.

Further, referring to fig. 9, the at least two weights 1024 include a first weight 100a and a second weight 100b, the at least two restoring members 90 include a first restoring member 902 and a second restoring member 904,

controlling the at least two weights 1024 to move to the at least two restoring elements 90, respectively, includes:

according to the first position information and the second position information, it is determined that the first weight 100a and the second weight 100b sequentially pass through the first resetting piece 902, the first weight 100a is controlled to move to the first resetting piece 902 according to the reverse direction of the original moving direction, and the second weight 100b is controlled to move to the second resetting piece 904 according to the reverse direction of the original moving direction;

according to the first position information and the second position information, it is determined that the first resetting piece 902 passes through the second weight 100b and the first weight 100a in sequence, the second weight 100b is controlled to move to the second resetting piece 904 according to the original moving direction, and the first weight 100a moves to the first resetting piece 902 according to the reverse direction of the original moving direction;

determining that the first weight 100a passes through the second reset piece 904 and the second weight 100b passes through the first reset piece 902 according to the first position information and the second position information, and controlling the first weight 100a and the second weight 100b to move to the first reset piece 902 and the second reset piece 904 respectively in the same moving direction;

determining that the second weight 100b passes through the second resetting piece 904 and the first weight 100a passes through the first resetting piece 902 according to the first position information and the second position information, and controlling the first weight 100a and the second weight 100b to move to the first resetting piece 902 and the second resetting piece 904 respectively according to different moving directions;

according to the first position information and the second position information, it is determined that the second resetting piece 904 sequentially passes through the second weight 100b and the first weight 100a, the second weight 100b is controlled to move to the second resetting piece 904 in the opposite direction of the original moving direction, and the first weight 100a is controlled to move to the first resetting piece 902 in the opposite direction of the original moving direction;

according to the first position information and the second position information, it is determined that the first weight 100a and the second weight 100b sequentially pass through the second resetting piece 904, the second weight 100b is controlled to move to the second resetting piece 904 in the direction opposite to the original moving direction, and the first weight 100a moves to the first resetting piece 902 in the original moving direction. In this way, the two weights 1024 can be controlled to be located at the respective restoring member 90.

Specifically, the explanation will be given by taking, as an example, the case where the No. 1 weight 1024 is fixedly retained by the No. 1 restoring member 90, and the case where the No. 2 weight 1024 is fixedly retained by the No. 2 restoring member 90. The first weight 100a may be a No. 1 weight 1024, the second weight 100b may be a No. 2 weight 1024, the first restoring member 902 may be a No. 1 restoring member 90, and the second restoring member 904 may be a No. 2 restoring member 90.

In one embodiment, the first position information is 11, which indicates that the No. 1 balancing weight 1024 passes through the No. 1 resetting part 90 before the No. 2 balancing weight 1024, the second position information is 21, which indicates that the No. 1 resetting part 90 passes through the No. 2 balancing weight 1024, and it can be determined that the No. 1 resetting part 90 passes through the No. 1 balancing weight 1024 and the No. 2 resetting part 1024 in sequence, so that the No. 1 balancing weight 1024 is controlled to move to the No. 1 resetting part 90 in the opposite direction of the original moving direction, and the No. 2 balancing weight 1024 is controlled to move to the No. 2 resetting part 90 in the opposite direction of the original moving direction.

In another embodiment, the first position information is 21, which indicates that the No. 2 balance weight 1024 passes through the No. 1 reset element 90 before the No. 1 balance weight 1024, the second position information is 11, which indicates that the No. 1 balance weight 1024 passes through the No. 1 reset element 90, and it can be determined that the No. 2 balance weight 1024 and the No. 1 balance weight 1024 pass through the No. 1 reset element 90 successively, so that the No. 2 balance weight 1024 is controlled to move to the No. 2 reset element 90 in the original moving direction, and the No. 1 balance weight 1024 is controlled to move to the No. 1 reset element 90 in the opposite direction of the original moving direction.

In another embodiment, the first position information is 12, which indicates that the No. 1 weight 1024 passes through the No. 2 resetting member 90 before the No. 2 weight 1024, the second position information is 21, which indicates that the No. 2 weight 1024 passes through the No. 1 resetting member 90, and the No. 1 weight 1024 and the No. 2 weight 1024 are controlled to move to the No. 1 resetting member 90 and the No. 2 resetting member 90 respectively in the same moving direction. The same direction of movement may be both clockwise or both counterclockwise.

In yet another embodiment, the first position information is 22, which indicates that the No. 2 balancing mass 1024 passes through the No. 2 resetting member 90 before the No. 1 balancing mass 1024, the second position information is 11, which indicates that the No. 1 balancing mass 1024 passes through the No. 1 resetting member 90, and the No. 1 balancing mass 1024 and the No. 2 balancing mass 1024 are controlled to move to the No. 1 resetting member 90 and the No. 2 resetting member 90 respectively according to different moving directions. The different directions of movement may be clockwise for weight # 1 1024 and counterclockwise for weight # 2 1024, or clockwise for weight # 2 and counterclockwise for weight # 1 1024.

In yet another embodiment, the first position information is 22, which indicates that the No. 2 balancing mass 1024 passes through the No. 2 resetting member 90 before the No. 1 balancing mass 1024, the second position information is 12, which indicates that the No. 2 resetting member 90 passes through the No. 1 balancing mass 1024, the No. 2 balancing mass 1024 is controlled to move to the No. 2 resetting member 90 along the direction opposite to the original moving direction, and the No. 1 balancing mass 1024 is controlled to move to the No. 1 resetting member 90 along the direction opposite to the original moving direction.

In yet another embodiment, the first position information is 12, which indicates that the No. 1 balancing mass 1024 passes through the No. 2 resetting member 90 before the No. 2 balancing mass 1024, the second position information is 22, which indicates that the No. 2 balancing mass 1024 passes through the No. 2 resetting member 90, the No. 2 balancing mass 1024 is controlled to move to the No. 2 resetting member 90 along the reverse direction of the original moving direction, and the No. 1 balancing mass 1024 is controlled to move to the No. 1 resetting member 90 along the original moving direction.

In addition, when the drum washing machine works, the balance assembly 100 always rotates along with the first cavity 200, and if the balance weight 1024 is in the initial balance position for a long time, the structure of the balance body 1022 may be damaged locally, which affects the service life of the balance body 1022. In one embodiment of the present application, the following explains a position selection strategy after reset.

A control method according to an embodiment of the present application is applied to the household appliance 1000, and the control method includes:

in the case where at least two balancing masses 1024 of the home appliance 1000 are in the initial balancing positions, the at least two balancing masses 1024 are controlled to move by the same set distance in the same set direction,

wherein the set distance and the set direction are selected from elements in a preset distance-direction matrix, the household appliance 1000 comprises a balance assembly 100 and a first cavity 200, the balance assembly 100 comprises a balance body 1022 and at least two balance weights 1024, the balance body 1022 defines an annular chamber 1046, the at least two balance weights 1024 are movably located in the chamber 1046, and the balance assembly 100 is disposed at least one of the first end 202 and the second end 204 of the first cavity 200.

In the above control method, when the at least two balance weights 1024 are at the initial balance position, the at least two balance weights 1024 are controlled to move in the same set direction by the same set distance, and the set distance and the set direction are selected from elements in the preset distance-direction matrix, so that the balance weights 1024 are not at the same balance position for a long time, thereby avoiding local damage to the structure of the balance assembly 100 and ensuring the service life of the balance assembly 100.

Specifically, in the present embodiment, the balance assembly 100 includes a first balance assembly 102 and a second balance assembly 104, the first balance assembly 102 is disposed at a first end 202 of the first chamber 200, and the second balance assembly 104 is disposed at a second end 204 of the first chamber 200. Two weights 1024 are disposed within each chamber 1046. There are two initial equilibrium positions, one for each weight 1024.

The preset distance-direction matrix can be calibrated in advance and stored. One element of the preset distance-direction matrix consists of distance and direction. After movement, the weight 1024 is in a selected equilibrium position.

Further, the distance-direction matrix includes a first element, a second element, a third element, and a fourth element,

the first element comprises a generated distance and a generated direction;

the second element comprises the generated distance and the direction selected in the preset direction set according to a certain rule;

the third element comprises a distance selected from a preset distance set according to a certain rule and a generating direction;

the fourth element comprises a distance selected in a preset distance set according to a certain rule and a direction selected in a preset direction set according to a certain rule. Thus, a set distance and a set direction can be selected from the four elements, and the balance weight 1024 is not in the same balance position for a long time.

Specifically, in the case of selecting the first element, the two balance masses 1024 are controlled to move in the same setting direction by the same setting distance, which may be randomly generated, so that the balance masses 1024 are not located in the same balancing position for a long time without causing additional vibration to be introduced into the first cavity 200 in the case that the balance masses 1024 move from the initial balancing position to the selected balancing position.

In the case of selecting the second element, the two weights 1024 are controlled to move in the same set direction, which is the direction selected regularly in the set of preset directions, by the same set distance, which may be a randomly generated distance.

In the case of selecting the third element, the two weights 1024 are controlled to move by the same set distance in the same set direction, the set distance being regularly selected from a set of preset distances, the set direction being a direction that may be randomly generated.

In the case where the fourth element is selected, the two weights 1024 are controlled to move by the same set distance in the same set direction, the set distance being a distance selected in the set of preset distances according to a certain rule, and the set direction being a direction selected in the set of preset directions according to a certain rule.

In some embodiments, a control method comprises: one of the first element, the second element, the third element, and the fourth element is selected. Specifically, one of the first element, the second element, the third element, and the fourth element may be randomly selected as an element for the position selection strategy after the sub-weight 1024 is reset, or the elements may be selected in a preset order as elements for the position selection strategy after the sub-weight 1024 is reset, which is not particularly limited herein.

Further, the generated distance is calculated by using a preset value and the generated numerical value. In this way, the generated distance is achieved.

Specifically, in the present embodiment, the distance is an angle through which the weight 1024 moves with respect to the center of the annular chamber 1046. The preset value is 90 degrees, the generated value may be a randomly generated value selected within a range (0, 1), the generated distance may be a randomly generated distance, the randomly generated distance may be calculated using the formula 90 ° × rand (0, 1), rand (0, 1) being a function of the random numbers generated between 0 and 1. For example, the randomly generated value may be 0.1, 0.5, 0.8, or other values between 0 and 1, and the randomly generated distances may be 90 × 0.1 =9degrees, 90 × 0.5 =45degrees, 90 × 0.8 =72degrees, etc., respectively, that is, in the case where the weight 1024 is located at the initial equilibrium position, the weight 1024 is controlled to move by an angle of 9 degrees, 45 degrees, 72 degrees, etc., from the initial equilibrium position.

Further, the preset distance set includes at least two distance elements arranged according to a certain rule, each distance element corresponds to a sequence number, and the distance selected in the preset distance set according to the certain rule is the distance element corresponding to the sequence number obtained through calculation. Thus, the distance is selected according to a certain rule.

Specifically, in one embodiment, the distance is AN angle traveled by the weight 1024 relative to the center of the annular chamber 1046, and the predetermined set of distances includes N angular elements, such as { A1, A2, \ 8230A (N-1), AN }, where N ≧ 2, and in one example {2,4,6,8,10 \8230, 88,90}, corresponding to respective numbers 1, 2, 3, \8230, 45. The remainder i of N/N can be calculated as a calculated serial number, and an angle corresponding to the serial number is used as an angle selected in a preset distance set, wherein N represents the historical request times of setting the distance, N = N +1 every time a request for setting the distance is received, and if the remainder is zero, the corresponding serial number can be preset to be number 1 or other numbers.

Further, the preset direction set comprises at least two direction elements, and the control method comprises the following steps:

and selecting one direction element from the preset direction set as a set direction. Thus, selection of the setting direction is realized.

Specifically, one of the direction elements in the preset direction set is selected as the setting direction, and may be randomly selected as the setting direction in the preset direction set, or may be selected as the setting direction according to a certain rule in the preset direction set.

In one embodiment, the preset direction set includes two direction elements, clockwise and counterclockwise, respectively. The clockwise direction or the counterclockwise direction may be randomly selected from the preset direction set as the setting direction, or one of the clockwise direction and the counterclockwise direction may be selected as the setting direction according to a certain rule, for example, according to a sequence from the front to the back, the clockwise direction may be selected as the setting direction at present, the counterclockwise direction may be selected as the setting direction next time, and then the clockwise direction may be selected as the setting direction next time, and so on.

Further, the balance assembly 100 further includes two restoring members 90 disposed radially along the balance body 1022 in the chamber 1046, the number of the balance masses 1024 is two,

the control method comprises the following steps: in the case where the two weights 1024 are respectively located at the two restoring members 90, it is determined that the two weights 1024 are in the initial equilibrium position. In this manner, the weight 1024 is determined to be in the initial equilibrium position by the arrangement of the reset member 90.

Specifically, the restoring member 90 may be formed on a sidewall of the chamber 1046, such as the first sidewall 1311 of the chamber 1046. Different configurations of the reset member 90 may be used to distinguish which reset member 90 the weight 1024 is located on. It should be noted that the structure of the reset member 90 and the explanation of how the weight 1024 moves to the reset member 90 can be referred to the reset strategy of the weight 1024, and the details are not expanded here to avoid redundancy.

In addition, in one embodiment of the present application, to achieve a better damping effect of the second cavity 300, it is necessary to calculate an eccentric amount of the first cavity 200 with respect to the second cavity 300 during rotation.

Referring to fig. 13, a control method according to an embodiment of the present application is applied to a household appliance 1000, and the control method includes:

step S200: determining that a weight 1024 of the household appliance 1000 is in a balanced position;

step S201: acquiring an initial vibration level of the second cavity 300;

step S202: controlling movement of at least two weights 1024 of the first balance assembly 102 and/or the second balance assembly 104 relative to the chamber 1046 of the balance mass 1022;

step S203: acquiring at least two of the first vibration level, the second vibration level and the third vibration level of the second cavity 300, and calculating the eccentricity of the first cavity 200 of the household appliance relative to the second cavity 300 according to the initial vibration level and the at least two vibration levels;

wherein the first balance assembly 102 and the second balance assembly 104 are respectively disposed at the first end 202 and the second end 204 of the first cavity 200, the first cavity 200 is rotatably connected to the second cavity 300, the first balance assembly 102 and the second balance assembly 104 each include a balance body 1022,

controlling the at least two weights 1024 of the first balance assembly 102 to move relative to the chamber 1046 according to a first predetermined movement path, determining that the at least two weights 1024 of the second balance assembly 104 are stationary relative to the chamber 1046, and obtaining a first vibration level;

controlling the at least two weights 1024 of the second balance assembly 104 to move relative to the chamber 1046 according to a second predetermined movement path, determining that the at least two weights 1024 of the first balance assembly 102 are stationary relative to the chamber 1046, and obtaining a second vibration level;

the at least two weights 1024 of the first balance assembly 102 are controlled to move relative to the chamber 1046 along a first predetermined path of movement, and the at least two weights 1024 of the second balance assembly 104 are controlled to move relative to the chamber 1046 along a second predetermined path of movement to achieve a third vibration level.

In the control method, the eccentric amount of the first cavity 200 relative to the second cavity 300 is calculated through at least two of the first vibration level, the second vibration level and the third vibration level of the second cavity 300 and the initial vibration level, so that the movement of the balance block 1024 can be controlled according to the eccentric amount to realize vibration reduction, and the vibration reduction effect is improved.

Specifically, in the present embodiment, two balance weights 1024 are disposed in the chamber 1046 of each balance body 1022. The equilibrium position may be an initial equilibrium position or a selected equilibrium position. The initial equilibrium position and the selected equilibrium position can be referred to the above related explanations.

At least two of the first vibration level, the second vibration level, and the third vibration level of the second cavity 300 may be the first vibration level and the second vibration level of the second cavity 300, the first vibration level and the third vibration level of the second cavity 300, the second vibration level and the third vibration level of the second cavity 300, and the first vibration level, the second vibration level, and the third vibration level of the second cavity 300. To achieve better control accuracy, the first vibration level, the second vibration level and the third vibration level of the second cavity 300 are preferably obtained.

Further, the first preset moving path includes moving a first distance in a first direction with respect to the equilibrium position and moving a second distance in a second direction with respect to the equilibrium position, the second preset moving path includes moving a third distance in the first direction with respect to the equilibrium position and moving a fourth distance in the second direction with respect to the equilibrium position,

the first direction is opposite to the second direction, and the first distance, the second distance, the third distance and the fourth distance are equal or unequal, or partially equal and partially unequal. In this manner, specific movement of the counterbalance 1024 may be achieved.

Specifically, in one embodiment, the first direction is clockwise and the second direction is counter-clockwise. The distance is the angle through which the weight 1024 moves relative to the center of the annular chamber 1046. Preferably, the first distance, the second distance, the third distance and the fourth distance are equal, so that the operation efficiency of the algorithm can be improved. It is understood that in other embodiments, the first direction may be counterclockwise and the second direction may be clockwise. The first distance, the second distance, the third distance and the fourth distance may be all unequal, or partially equal and partially unequal.

Further, referring to fig. 14-16, the first vibration level includes a fourth vibration level and a fifth vibration level, the at least two weights 1024 of the first balance assembly 102 includes a first weight 100a and a second weight 100b,

the control method comprises the following steps:

determining that the first weight 100a and the second weight 100b are in the balanced position;

controlling the first weight 100a to move a first distance in a first direction and the second weight 100b to move a second distance in a second direction;

acquiring a fourth vibration level;

controlling the first weight 100a to move a second distance in the second direction and the second weight 100b to move a first distance in the first direction;

a fifth vibration level is obtained. As such, corresponding fourth and fifth vibration levels are obtained by movement of the two masses 1024.

Specifically, the first balance assembly 102 is disposed at the first end 202, and two weights 1024, namely a first weight 100a and a second weight 100b, are disposed in the chamber 1046. In fig. 14 to 16, a coordinate system is established with a line connecting two balance positions as an X axis, a center of the chamber 1046 as a center of a circle, and an axis passing through the center of the circle and perpendicular to the X axis as a Y axis, for the first balance assembly 102, the first balance mass 100a moves by an angle θ (a first distance) in a clockwise direction (a first direction) while the second balance mass 100b moves by an angle θ (a second distance) in a counterclockwise direction (a second direction), that is, the two balance masses 1024 move in a forward direction relative to the Y axis of the coordinate system, and finally, the angle θ of deviation from the balance position near the positive half axis of the Y axis is reached, and the balance mass 1024 on the second end 204 is stationary, so as to obtain a fourth vibration level, as shown in fig. 15.

With the first weight 100a and the second weight 100b in the equilibrium position, the first weight 100a moves by an angle θ (second distance) in the counterclockwise direction (second direction) while the second weight 100b moves by an angle θ (first distance) in the clockwise direction (first direction), that is, the two weights 1024 move back and forth in the positive direction with respect to the y-axis of the coordinate system, and finally, an angle θ close to the negative half axis of the y-axis away from the equilibrium position is reached, that is, on the basis of the angle θ close to the positive half axis of the y-axis away from the equilibrium position, the weights 1024 move back and forth by an angle 2 θ, respectively, and the weight 1024 on the second end 204 is still, and a fifth vibration level is obtained, as shown in fig. 16.

Further, referring to fig. 17-18, the second vibration level includes a sixth vibration level and a seventh vibration level, the at least two weights 1024 of the second balance assembly 104 includes a third weight 100c and a fourth weight 100d,

the control method comprises the following steps:

determining that the third weight 100c and the fourth weight 100d are in a balanced position;

controlling the third weight 100c to move a third distance in the first direction and the fourth weight 100d to move a fourth distance in the second direction;

acquiring a sixth vibration level;

controlling the third weight 100c to move a fourth distance in the second direction and the fourth weight 100d to move a third distance in the first direction;

a seventh vibration level is obtained. As such, corresponding sixth and seventh vibration levels are achieved through movement of the two weights 1024.

Specifically, the second weight assembly 104 is disposed at the second end 204, and two weights 1024, namely, a third weight 100c and a fourth weight 100d, are disposed in the chamber 1046. In fig. 17 to 18, with a line connecting two balance positions as an X-axis, a center of the chamber 1046 as a center of a circle, and an axis passing through the center of the circle and perpendicular to the X-axis as a Y-axis, a coordinate system is established, for the second balance assembly 104, the third balance block 100c moves by an angle θ (third distance) in a clockwise direction (first direction) while the fourth balance block 100d moves by an angle θ (fourth distance) in a counterclockwise direction (second direction), that is, the two balance blocks 1024 move in a positive direction relative to the Y-axis of the coordinate system, and finally, the angle θ of deviation from the balance position near the positive half axis of the Y-axis is reached, and the balance block 1024 on the first end 202 is stationary, so as to obtain a sixth vibration level, as shown in fig. 17.

With the third weight 100c and the fourth weight 100d in the balanced position, the third weight 100c moves by an angle θ (a fourth distance) in the counterclockwise direction (the second direction) while the fourth weight 100d moves by an angle θ (a third distance) in the clockwise direction (the first direction), that is, the two weights 1024 move back and forth in the positive direction with respect to the y-axis of the coordinate system, and finally, the angle θ of deviation from the balanced position is reached near the negative half-axis of the y-axis, that is, on the basis of the angle θ of deviation from the balanced position near the positive half-axis of the y-axis, the two weights 1024 move back and forth by an angle of 2 θ, respectively, and the weight 1024 on the first end 202 is stationary, so as to obtain a seventh vibration level, as shown in fig. 18.

In a further step, referring to fig. 19-20, the third vibration level includes an eighth vibration level and a ninth vibration level, the at least two weights 1024 of the first balance assembly 102 includes a first weight 100a and a second weight 100b, the at least two weights 1024 of the second balance assembly 104 includes a third weight 100c and a fourth weight 100d,

the control method comprises the following steps:

determining that the first weight 100a, the second weight 100b, the third weight 100c, and the fourth weight 100d are in the balanced position;

controlling the first weight 100a to move a first distance in the first direction and the second weight 100b to move a second distance in the second direction, and controlling the third weight 100c to move a third distance in the first direction and the fourth weight 100d to move a fourth distance in the second direction;

acquiring an eighth vibration level;

controlling the first weight 100a to move a second distance in the second direction and the second weight 100b to move a first distance in the first direction, and controlling the third weight 100c to move a fourth distance in the second direction and the fourth weight 100d to move a third distance in the first direction;

a ninth vibration level is obtained. As such, corresponding eighth and ninth vibration levels are achieved by movement of the two masses 1024 of the two balance assemblies.

Specifically, the first counterbalance assembly 102 is disposed at the first end 202, the second counterbalance assembly 104 is disposed at the second end 204, and two counterbalances 1024 are disposed within each chamber 1046. In fig. 19 to 20, a coordinate system is established by taking a connecting line of two equilibrium positions as an X axis, taking the center of the chamber 1046 as a circle center, and taking an axis passing through the circle center and perpendicular to the X axis as a Y axis.

With the first weight 100a, the second weight 100b, the third weight 100c, and the fourth weight 100d all in the equilibrium position, the first weight 100a moves in a clockwise direction (first direction) by an angle θ (first distance) while the second weight 100b moves in a counterclockwise direction (second direction) by an angle θ (second distance), i.e., the first weight 100a and the second weight 100b move in a forward direction with respect to the y-axis of the coordinate system, and finally reach an angle θ (fourth distance) of deviation from the equilibrium position near the positive half-axis of the y-axis, the third weight 100c moves in a clockwise direction (first direction) by an angle θ (third distance) while the fourth weight 100d moves in a counterclockwise direction (second direction), i.e., the third weight 100c and the fourth weight 100d move in a forward direction with respect to the y-axis of the coordinate system, and finally reach an angle θ of deviation from the y-axis, and obtain an eighth vibration level, as shown in fig. 19.

With the first, second, third and fourth weights 100a, 100b, 100c and 100d in the equilibrium position, the first weight 100a moves by an angle θ (second distance) in the counterclockwise direction (second direction) while the second weight 100b moves by an angle θ (first distance) in the clockwise direction (first direction), i.e., the first weight 100a and the second weight 100b move in a positive direction away from each other with respect to the y axis of the coordinate system, and finally reaches an angle θ close to the negative y-axis offset position, i.e., the first weight 100a and the second weight 100b move by an angle θ (third distance) in the clockwise direction (first direction) based on the angle θ close to the positive y-axis offset position, the third weight 100c moves by an angle θ (fourth distance) in the counterclockwise direction (second direction) while the fourth weight 100d moves by an angle θ (third distance) in the clockwise direction (first direction) based on the angle θ close to the positive y-axis offset position, i.e., the third weight 100c and the fourth weight 100c move by an angle θ (fourth distance) in the counterclockwise direction, i.e., the angle θ moves by an angle θ (third distance) to the angle θ close to the negative y axis, i.e., the angle θ, and the angle θ and the y axis offset angle θ and the y axis of the balance position are taken as shown in the negative axis shown in the graph.

In the embodiment of the present application, the initial vibration levels include an initial vibration level Vf0 of the third terminal 302 and an initial vibration level Vr0 of the fourth terminal 304, the fourth vibration level includes a fourth vibration level Vf1 of the third terminal 302 and a fourth vibration level Vr1 of the fourth terminal 304, the fifth vibration level includes a fifth vibration level Vf2 of the third terminal 302 and a fifth vibration level Vr2 of the fourth terminal 304, the sixth vibration level includes a sixth vibration level Vf3 of the third terminal 302 and a sixth vibration level Vr3 of the fourth terminal 304, the seventh vibration level includes a seventh vibration level Vf4 of the third terminal 302 and a seventh vibration level Vr4 of the fourth terminal 304, the eighth vibration level includes an eighth vibration level Vf5 of the third terminal 302 and an eighth vibration level Vr5 of the fourth terminal 304, and the ninth vibration level includes a ninth vibration level Vf6 of the third terminal 302 and a ninth vibration level Vr6 of the fourth terminal 304. And substituting the obtained Vf0, vr0, vf1, vr1, vf2, vr2, vf3, vr3, vf4, vr4, vf5, vr5, vf6 and Vr6 into a predetermined model to calculate the eccentricity of the first cavity 200 relative to the second cavity 300, wherein the eccentricity comprises the eccentricity and the eccentricity direction. The magnitude of eccentricity includes a magnitude of eccentricity Uf at the first end 202 and a magnitude of eccentricity Ur at the second end 204, and the direction of eccentricity includes a direction of eccentricity δ f at the first end 202 and a direction of eccentricity δ r at the second end 204. The model may be preset to be determined by testing, where the determined is a functional relationship between the eccentricity and the vibration level, where the vibration level may be used as a variable to be obtained, the vibration level may be determined by moving the balance mass 1024 in a preset moving manner, and then the determined vibration level may be substituted into the model to obtain the eccentricity.

Specifically, please refer to the following model formula, which is a calculation model used in the embodiments of the present application.

Where, ubance is self-eccentricity of the first cavity 200 (caused by load, such as clothes generation/self-structure imbalance, and not related to the balance weight), U is eccentricity generated by the movement of the balance weight, in the above formula, the same eccentricity is generated every movement (different eccentricity is also possible), δ is position angle information of the self-eccentricity of the first cavity 200, and in fig. 21, δ is an angle offset with respect to the positive Y-axis. One of the columns of the model represents the amount of eccentricity at the first end 202 and the other column represents the amount of eccentricity at the second end 204.

Further, the control method comprises the following steps:

the balance control position in the chamber 1046 is calculated according to the eccentricity of the first cavity 200 relative to the second cavity 300, and the balance weight 1024 is controlled to move to the balance control position. In this manner, damping of the second cavity 300 may be achieved.

Specifically, the vibration level of the first chamber 200 is offset or reduced by moving the weight 1024 to a balance control position, thereby reducing the vibration level of the second chamber 300. Referring to FIG. 21, knowing the eccentricity directions δ f and δ r and the magnitudes Uf and Ur, the movable weight 1024 moves to the position where the resultant force is the minimum, i.e., the position where the resultant force is the smallest

This position is the balance control position. Wherein the content of the first and second substances,

indicating the amount of eccentricity of the first end 202,

indicating the amount of eccentricity of the second end 204, M100a indicates the mass of the first weight 100a,

representing the direction vector of the first weight 100a, M100b representing the mass of the second weight 100b,

a direction vector of the second weight 100b, M100c a mass of the third weight 1024,

indicating the direction vector of the third weight 1024, M100d indicating the mass of the fourth weight 1024,

representing the direction vector of the fourth weight 1024.

Further, the first cavity 200 can rotate at least two different preset rotating speeds, and the control method comprises the following steps:

the initial vibration level of the second chamber 300 and at least two of the first vibration level, the second vibration level and the third vibration level are acquired under the condition that the first chamber 200 is rotated at every preset rotation speed. Thus, under the condition that the first cavity 200 rotates at each preset rotation speed, the vibration reduction of the full rotation speed of the first cavity 200 can be realized, and the vibration reduction of the second cavity 300 can be further realized.

Specifically, in one embodiment, during the dehydration stage of the drum washing machine, the motor drives the rotation speed of the first cavity 200 to be increased from low to high, the vibration detection unit detects the vibration levels of the third end 302 and the fourth end 304 of the second cavity 300 in real time, and the eccentricity of the first cavity 200 can be calculated at different set rotation speeds of the motor, so that the eccentricity can be offset by moving the balance blocks 1024 in the balance bodies 1022 at the first end 202 and the second end 204 in a matching manner, thereby realizing vibration control at different rotation speeds and ensuring low vibration of the dehydration link.

It should be noted that the rotation speed of the first chamber 200 should be kept constant during the acquisition of at least two of the first vibration level, the second vibration level and the third vibration level. The specific rotation speed of the first chamber 200 is not particularly limited, and may be performed when a balance control is required. The case where the balance control is required includes a case where the vibration level of the second chamber 300 is greater than a preset vibration level. That is, the control weight 1024 moves within the chamber 1046 such that the vibration level of the second cavity 300 is not greater than the preset vibration level. In case one or both of the conditions that the vibration level of the third terminal 302 is greater than the first preset vibration level and the vibration level of the fourth terminal 304 is greater than the second preset vibration level are satisfied, the vibration level of the second chamber 300 may be considered to be greater than the preset vibration level.

In one embodiment of the present application, in order to increase the balance control speed, an initial position of the weight 1024 in the balance body 1022 is selected before starting the balance control, and the selected initial position is used as an initial position for starting the subsequent balance control.

Referring to fig. 22, a control method according to an embodiment of the present application is applied to a household appliance 1000, and the control method includes:

an initial position selection step, comprising:

step C01: acquiring an initial vibration level of at least one of a third plane and a fourth plane of the second cavity 300 of the household appliance 1000;

step C03: controlling at least one balance weight 1024 in the balance body 1022 corresponding to the picked plane to move within the balance body 1022 until the vibration level of the picked plane is not greater than the initial vibration level, the position of the at least one balance weight 1024 corresponding to the vibration level of the picked plane not greater than the initial vibration level being the balance control initial position of the picked plane,

the balance body 1022 is disposed on at least one of a first plane and a second plane of the first cavity 200 of the household appliance 1000, the first plane corresponds to the third plane, the second plane corresponds to the fourth plane, and the first cavity 200 is rotatably connected to the second cavity 300.

In the control method, the position of at least one balance block 1024 corresponding to the vibration level of the acquired plane not greater than the initial vibration level is used as the balance control initial position, so that the balance control speed can be effectively increased in the subsequent balance control process.

Specifically, when the first chamber 200 rotates, particularly at a high speed (e.g., during the dehydration stage), the vibration due to the eccentricity of the load (laundry) is large, and the vibration transmitted to the second chamber 300 is also large. Therefore, before the balance control is started, the movement of the weight 1024 may be controlled to reduce the vibration of the second chamber 300 to a certain degree, for example, to a vibration level lower than the initial vibration level, and then the balance control is performed, which may increase the speed of the balance control.

In step C01, an initial vibration level of at least one of the third plane and the fourth plane of the second cavity 300 of the household appliance 1000 is collected, which may be the initial vibration level of the third plane, the initial vibration level of the fourth plane, or the initial vibration levels of the third plane and the fourth plane. In the present embodiment, the balance body 1022 and the vibration detection unit are mounted on both the third plane and the fourth plane, and in step C01, the initial vibration levels of the third plane and the fourth plane are acquired. Then step C03 is a step of two-plane balance control initial position selection. Annular chambers 1046 are formed in the balance body 1022, and two balance masses 1024 are formed in each chamber 1046.

It should be noted that the third plane is the plane of the third end 302, the fourth plane is the plane of the fourth end 304, the first plane is the plane of the first end 202, and the second plane is the plane of the second end 204. Reducing the vibration level of the plane is to reduce the vibration level of the corresponding end.

Specifically, in some embodiments, in step C03, the two weights 1024 in the balance body 1022 corresponding to the third plane are controlled to move within the balance body 1022 until the vibration level of the third plane is not greater than the initial vibration level of the third plane, and the position of the two weights 1024 corresponding to the vibration level of the third plane is not greater than the initial vibration level of the third plane is used as the balance control initial position of the third plane. The two weights 1024 in the balance body 1022 corresponding to the fourth plane are controlled to move within the balance body 1022 until the vibration level of the fourth plane is not more than the initial vibration level of the fourth plane, and the position of the two weights 1024 corresponding to the vibration level of the fourth plane not more than the initial vibration level of the fourth plane is taken as the balance control initial position of the fourth plane. In other embodiments, the number of the weights 1024 in each chamber 1046 may be one, three, or more than three, and is not limited in particular.

It should be noted that controlling at least one weight 1024 within the balance mass 1022 corresponding to the acquired plane may, in some embodiments, move the weight to a position that causes the vibration level of the acquired plane to be less than the initial vibration level, and in some embodiments, by moving the weight, it may not be possible to cause the vibration level of the acquired plane to be less than the initial vibration level, in which case the weight may be returned to the position corresponding to the initial vibration level, i.e., at least without increasing the vibration level of the acquired plane.

Further, referring to fig. 23, step C03 includes:

step C031: comparing the initial vibration level of the third plane with the initial vibration level of the fourth plane, and selecting one with a larger initial vibration level as a current control plane;

step C032: controlling at least one weight 1024 within a balance body 1022 corresponding to the current control plane to move within the balance body 1022 until the vibration level of the current control plane is not greater than the initial vibration level of the current control plane, wherein the initial vibration level of the current control plane is the initial vibration level of a third plane in case that the current control plane is the third plane, and the initial vibration level of the current control plane is the initial vibration level of a fourth plane in case that the current control plane is the fourth plane;

step C033: judging whether the determination of the balance control initial positions of the third plane and the fourth plane is finished or not;

step C034: under the condition that balance control initial position determination of the third plane and the fourth plane is not completed, switching to another plane different from the current control plane as the current control plane;

step C035: in the case where the balance control initial position determination of the third plane and the fourth plane is completed, the initial position control is ended.

In this way, the plane having a larger initial vibration level is used as the priority control plane, and the vibration damping effect on the second cavity 300 is more significant.

Specifically, the vibration change caused by the movement of the balance masses 1024 by the plane with the larger initial vibration level is more obvious and easier to sense, and on this basis, the balance masses 1024 corresponding to the plane with the priority control are controlled to move, so that the vibration reduction effect on the second cavity 300 is more obvious under the condition that the vibration level of the plane with the larger initial vibration level is reduced.

Further, two balance weights 1024 are disposed in each balance body 1022, step C032, including:

controlling the two balance blocks 1024 to move in opposite directions, and acquiring a first vibration level of a current control plane;

under the condition that the first vibration level of the current control plane is smaller than the initial vibration level of the current control plane, taking the positions of two balance blocks 1024 corresponding to the first vibration level of the current control plane smaller than the initial vibration level of the current control plane as the initial balance control positions of the current control plane, and entering step C033;

under the condition that the first vibration level of the current control plane is not less than the initial vibration level of the current control plane, controlling the two balance blocks 1024 to move in the opposite direction of the opposite movement, and collecting the second vibration level of the current control plane;

in the case where the second vibration level of the current control plane is greater than the initial vibration level of the current control plane, the two weights 1024 are controlled to move in the same direction as the opposite direction, and the process proceeds to step C033.

In this manner, a reduction in the vibration level of the second chamber 300, or at least no increase in the vibration level, is achieved by the specific movement action of the two weights 1024.

Specifically, the two weights 1024 of the first plane include a first weight 100a and a second weight 100b, and the two weights 1024 move in opposite directions, where the first weight 100a moves in a clockwise direction, the second weight 100b moves in a counterclockwise direction, or the second weight 100b moves in a clockwise direction, and the first weight 100a moves in a counterclockwise direction. The movement of the two weights 1024 in the second plane toward each other is similarly understood.

Generally, initially, the weights 1024 are located at a balance position (for example, located at an initial balance position or a selected balance position), and the two weights 1024 move in opposite directions, where the two weights 1024 move in opposite directions by a preset angle a at the balance position, that is, each weight 1024 moves in opposite directions by the preset angle a at the balance position, and the preset angle a may be a fixed value, or may be variable according to a set change rule of the vibration level. For example, the percentage of vibration level above the initial vibration level is set, the higher the percentage above the initial vibration level, the greater the angle of the opposing motion, etc. These can be set in advance.

The two weights 1024 move in the opposite direction to the opposite direction, and for the two weights 1024 of the first plane, the first weight 100a may move in the counterclockwise direction and the second weight 100b may move in the clockwise direction, or the first weight 100a may move in the clockwise direction and the second weight 100b may move in the counterclockwise direction. That is, the masses 1024 moving clockwise in a counter-clockwise direction during the opposite motion, the masses 1024 moving counter-clockwise in a clockwise direction during the opposite motion, and the two masses 1024 in the second plane moving in the opposite direction to the opposite motion are similarly understood. The angle of movement of each weight 1024 in the opposite direction to the opposite direction may be 2a.

The two weights 1024 move in the same direction as the opposite motion, i.e., the weight 1024 moving clockwise with the opposite motion moves clockwise and the weight 1024 moving counterclockwise with the opposite motion moves counterclockwise. The angle of movement of each weight 1024 in the same direction as the opposite direction may be a predetermined angle a, or may be other angles b, where b is less than a predetermined angle a. After the two masses 1024 move in the same direction as the movement in opposite directions by the angle a, the masses 1024 may move to a position before the movement in opposite directions. That is, the vibration damping effect of the previous 2 movements of this movement is not as good as the vibration damping effect of the weight 1024 at the position corresponding to the initial vibration level, and the weight 1024 returns to the position before the movement, that is, the position corresponding to the initial vibration level, so that the vibration level of the current control plane is not greater than the initial vibration level.

controlling the two balance blocks 1024 to move in opposite directions and acquiring a first vibration level of the current control plane;

under the condition that the first vibration level of the current control plane is not less than the initial vibration level of the current control plane, controlling the two balance blocks 1024 to move in the same direction, and collecting the second vibration level of the current control plane;

judging whether the times of the equidirectional motion meet a preset condition or not under the condition that the second vibration level of the current control plane is not less than the initial vibration level of the current control plane;

and under the condition that the times of the equidirectional movement meet the preset condition, controlling the two balance blocks 1024 to continuously move in the same direction to the positions after the movement in the opposite direction, entering the step C033, and under the condition that the times of the equidirectional movement do not meet the preset condition, continuously controlling the two balance blocks 1024 to move in the opposite direction. In this manner, a reduction in the vibration level, or at least an increase in the vibration level, is achieved by a specific movement action and corresponding number of times of the two weights 1024 and is not always sought after.

Specifically, the two weights 1024 move toward each other, and for the two weights 1024 of the first plane, the first weight 100a may move in a clockwise direction, and the second weight 100b may move in a counterclockwise direction, or the second weight 100b may move in a clockwise direction, and the first weight 100a may move in a counterclockwise direction. The movement of the two weights 1024 of the second plane toward each other is similarly understood.

Generally, initially, the weights 1024 are located at a balance position (for example, located at an initial balance position or selected balance position), and the two weights 1024 move towards each other, where the two weights 1024 move towards each other at a preset angle a at the balance position, that is, each weight 1024 moves towards each other at the preset angle a at the balance position, and the preset angle a may be a fixed value, or may be variable according to a set variation rule of the vibration level. For example, the percentage of vibration level above the initial vibration level is set, the higher the percentage above the initial vibration level, the greater the angle of the opposing motion, etc. These can be set in advance.

The two weights 1024 move in the same direction, and for the two weights 1024 of the first plane, the first weight 100a and the second weight 100b may both move in the clockwise direction, or the first weight 100a and the second weight 100b may both move in the counterclockwise direction. The same direction of motion of the two weights 1024 of the second plane is similarly understood. The equidirectional movement angle of each weight 1024 may be another preset angle c. The angle c may be 120 degrees, 90 degrees, or other degrees, which may be preset.

Specifically, in an embodiment, the preset condition may be that the number of times of the equidirectional motion is greater than Round (360/c-2), and in a case that the number N of times of the equidirectional motion is greater than Round (360/c-2), it indicates that the number of times of the equidirectional motion reaches an upper limit, and determines that the number of times of the equidirectional motion satisfies the preset condition, where Round (X) indicates that X is rounded.

For example, the angle c =120 degrees for one equidirectional movement is taken as an example, 360/120-2=1, and N =1, N does not satisfy the ">" condition when moved 120 degrees once, so that the two weights 1024 are continuously controlled to move toward each other, and N =2> "1, N satisfies the" > "condition when moved 120 degrees 2 times.

Under the condition that the times of the equidirectional movement meet the preset condition, the two balance blocks 1024 are controlled to continue to move in the same direction to the positions before the opposite movement, namely the positions corresponding to the initial vibration levels, so that the vibration level of the current control plane is not larger than the initial vibration level. And selecting the current position as a balance control initial position.

Further, in the case where the balance control initial position is determined, single plane balance control may be performed next.

Referring to fig. 24, two balance weights 1024 are disposed in each balance body 1022, and the control method includes:

a single plane balance control step comprising:

step S11: acquiring the current vibration level of one of the third plane and the fourth plane;

step S13: and controlling two balance blocks 1024 corresponding to the acquired plane to complete resultant force direction adjustment movement and resultant force magnitude adjustment movement from the balance control initial positions, so that the vibration level of the acquired plane is not greater than the corresponding preset vibration level. In this way, the vibration level of the third plane or the fourth plane is not greater than the preset vibration level through the resultant force direction adjustment movement and the resultant force magnitude adjustment movement.

Specifically, the resultant force direction adjusting motion is to adjust the resultant force direction of the centrifugal force formed by the two balance weights 1024 by controlling the movement of the two balance weights 1024 in each balance body 1022, and the resultant force magnitude adjusting motion is to adjust the resultant force magnitude of the centrifugal force formed by the two balance weights 1024 by controlling the movement of the two balance weights 1024 in each balance body 1022. The balance control of a single plane, that is, the process of performing balance control on the third plane or the fourth plane, is performed by moving the weight 1024 of the first plane corresponding to the third plane, and by moving the weight 1024 of the second plane corresponding to the fourth plane. The position of the balance block can approach the real balance control position through the resultant force direction adjusting movement and the resultant force size adjusting movement.

And under the condition that the acquired plane is the third plane, the corresponding preset vibration level is the first preset vibration level, and under the condition that the acquired plane is the fourth plane, the corresponding preset vibration level is the second preset vibration level. In addition, different first and second preset vibration levels may be set corresponding to different rotation speeds of the first chamber 200.

Further, the resultant direction adjustment movement comprises a first same direction movement and a second same direction movement, the resultant magnitude adjustment movement comprises a first opposite direction movement and a second opposite direction movement,

step S13, comprising:

the two weights 1024 are controlled to perform a preset motion selected from at least one of the first and second equidirectional motions and at least one of the first and second opposite motions so that the vibration level of the picked-up plane is not greater than the corresponding preset vibration level. Thus, the balance control of a single plane is realized, and the vibration level of the acquired plane reaches the standard.

Specifically, referring to fig. 25, step S13 specifically includes:

step S131: updating and recording the starting vibration level of the acquired plane, and entering step S133;

step S133: controlling the two balance weights 1024 to perform a first motion, the first motion being selected from one of a first equidirectional motion, a first opposite motion, a second equidirectional motion and a second opposite motion, recording a first vibration level of the acquired plane, and entering step S135;

step S135: adding 1 to the number of cycles in the case where the first vibration level is greater than the preset vibration level and the first vibration level is not greater than the start vibration level, and proceeding to step S131, proceeding to step S151 in the case where the first vibration level is not greater than the preset vibration level, and proceeding to step S137 in the case where the first vibration level is greater than the preset vibration level and the first vibration level is not less than the start vibration level;

step S137: updating and recording the starting vibration level of the acquired plane, and entering step S139;

step S139: controlling the two balance weights 1024 to perform a second motion, wherein the second motion is selected from one of a first equidirectional motion, a first opposite motion, a second equidirectional motion and a second opposite motion, the second motion is a different equidirectional motion or a different opposite motion with the first motion, recording a second vibration level of the acquired plane, and entering step S141;

step S141: if the number of cycles is equal to zero, the process proceeds to step S143, and if the number of cycles is not equal to 0, the process proceeds to step S147;

step S143: if the second vibration level is greater than the preset vibration level and greater than the first vibration level, proceeding to step S145, if the second vibration level is greater than the preset vibration level and not greater than the first vibration level, proceeding to step S137, if the second vibration level is not greater than the preset vibration level, proceeding to step S151;

step S145: controlling the two balance weights 1024 to perform a third motion, wherein the third motion is selected from one of a first same-direction motion, a first opposite-direction motion, a second same-direction motion and a second opposite-direction motion, and the third motion and the second motion are different same-direction motions or different opposite-direction motions, and entering step S147;

step S147: in the case where the two weights 1024 do not complete at least one of the first and second equidirectional motions and at least one of the first and second opposite motions, proceeding to step S149, and in the case where at least one of the first and second equidirectional motions and at least one of the first and second opposite motions are completed, proceeding to step S151;

step S149: switching the motion modes of the two balance weights 1024, and entering step S131;

step S151: control of the acquired plane is ended. In this way, a single plane of balance control is achieved.

Specifically, referring to fig. 26 to 29, in fig. 26 to 29, the resultant force direction adjustment movement and the resultant force magnitude adjustment movement are explained by taking two balance weights 1024 in the balance body 1022 on the first plane as an example, the two balance weights 1024 in the balance body 1022 on the first plane include a first balance weight 100a and a second balance weight 100b, the first opposite movement is that the first balance weight 100a moves in a clockwise direction, and the second balance weight 100b moves in a counterclockwise direction, as shown in fig. 26. The second opposite movement is the first weight 100a moving counterclockwise and the second weight 100b moving clockwise as shown in fig. 27. The first in-phase motion is the clockwise movement of the first weight 100a and the clockwise movement of the second weight 100b, as shown in fig. 28. The second equidirectional movement is the counterclockwise movement of the first weight 100a and the counterclockwise movement of the second weight 100b as shown in fig. 29. In the 4 movements, the distance of movement of the weight 1024 may be different depending on the specific setting, and the balance control is performed by the combined movement of the weight 1024.

The resultant directional adjustment motion and the resultant magnitude adjustment motion of the two weights 1024 within the counterweight 1022 on the second plane are similarly understood.

In step S135, the relationship between the first vibration level and the preset vibration level and the start vibration level is determined, and the process proceeds to different steps according to different determination results. When the first vibration level is not more than the preset vibration level, the vibration reaches the standard.

In step S143, the relationship between the second vibration level and the preset vibration level and the first vibration level is determined, and the process proceeds to different steps according to different determination results. And when the second vibration level is not more than the preset vibration level, the vibration reaches the standard.

Further, in the case where the balance control initial position is determined, the next step proceeds to two-plane balance control.

Referring to fig. 30, two weights 1024 are provided in each weight 1022, and the control method,

two planar balance control steps, comprising:

step D21: collecting current vibration levels of a third plane and a fourth plane;

step D23: and controlling the two balance blocks 1024 corresponding to the third plane to complete resultant force direction adjustment movement and resultant force magnitude adjustment movement from the balance control initial position, and controlling the two balance blocks 1024 corresponding to the fourth plane to complete resultant force direction adjustment movement and resultant force magnitude adjustment movement from the balance control initial position, so that the vibration level of the third plane is not greater than the first preset vibration level and the vibration level of the fourth plane is not greater than the second preset vibration level. In this way, the vibration level of the third plane is not greater than the first preset vibration level and the vibration level of the fourth plane is not greater than the second preset vibration level through the resultant direction adjustment movement and the resultant magnitude adjustment movement.

Specifically, the resultant force direction adjusting motion is to adjust the resultant force direction of the centrifugal force formed by the two balance weights 1024 by controlling the two balance weights 1024 in each balance body 1022 to move, and the resultant force magnitude adjusting motion is to adjust the resultant force magnitude of the centrifugal force formed by the two balance weights 1024 by controlling the two balance weights 1024 in each balance body 1022 to move. The position of the balance block can approach the real balance control position through the resultant force direction adjusting movement and the resultant force size adjusting movement.

Balance control of two planes, that is, a process of performing balance control on both the third plane and the fourth plane, is realized by movement of the weight 1024 of the first plane corresponding to the third plane, and is realized by movement of the weight 1024 of the second plane corresponding to the fourth plane.

It is understood that, in some embodiments, in consideration of the deviation, the vibration reduction effect of the weight balance control position (hereinafter, referred to as a first balance control position) calculated by at least two of the first vibration level, the second vibration level, and the third vibration level of the second cavity 300 and the initial vibration level may be further improved. Specifically, the first balance control position may be used as a single plane balance control step, or a balance control initial position used in two plane balance control steps. In the single plane balance control step or the two plane balance control steps, on the basis of the first balance control position, the first balance control position is finely adjusted in an approximation mode to obtain a second balance control position, so that the vibration reduction effect can be improved. In addition, under the condition that a plurality of first cavity rotating speeds exist in the dehydration stage, the control method of the first balance control position is only used in the first balance control, after the first balance control, if the subsequent processes need further balance control, a single plane balance control step or two plane balance control steps can be used.

Further, step D23, comprises:

selecting one plane with larger current vibration level in the third plane and the fourth plane as a current control plane controlled in advance, and carrying out single plane balance control on the current control plane:

and selecting another plane different from the current control plane for single plane balance control. Thus, the balance control of the two planes is realized.

Further, referring to fig. 31, step D23 specifically includes:

step D231: initializing step selection sequence N =1, and entering step D233;

step D233: selecting one step from a plurality of preset steps as a control step, and entering step D235;

step D235: comparing the current vibration level of the third plane with the current vibration level of the fourth plane, selecting the plane with larger current vibration level as the current control plane, and entering the step D237;

step D237: and performing single plane balance control of the current control plane by using the control step length, and entering the step D239:

step D239: and performing single plane balance control of another plane different from the current control plane by the control step, and entering the step D241:

step D241: entering step D245 in case that the current vibration level of the third plane is not greater than the first preset vibration level and the current vibration level of the fourth plane is not greater than the second preset vibration level, entering step D243 in case that the current vibration level of the third plane is greater than the first preset vibration level and/or the current vibration level of the fourth plane is greater than the second preset vibration level:

step D243: in the case that the step selection order N < K, let N = N +1, go to step D233, and in the case that the step selection order N = K, go to step D247, where K is the number of preset steps;

step D245: the balance control of the two planes is ended. Thus, the balance control of the two planes is realized.

Specifically, during the balancing process, the rotation speed of the first chamber 200 is fixed and remains unchanged. It can be understood that, in the dehydration stage of the drum washing machine, the first chamber 200 is usually rotated at a plurality of different rotation speeds. Then, at each rotation speed, in the case of needing the balance control, the process of the two-plane balance control can be entered. When the rotation speed is changed, it is determined again whether the balance control is required.

In one embodiment, the preset steps are expressed in degrees, i.e., degrees moved with respect to the center of the chamber 1046, and in one example, the number of the preset steps is four, and is [ p °, q °, m °, N °, K =4 ], and the step selection sequence N =1 is initialized, i.e., the balance 1024 is controlled to move by taking the first preset step p ° as a control step. The embodiment of the present application is not limited to four preset steps, and may also be other numbers of preset steps, and is not limited in particular herein.

In step D241, the relationship between the current vibration level of the third plane and the first preset vibration level and the relationship between the current vibration level of the fourth plane and the second preset vibration level are determined, and different steps are performed according to different determination results.

Further, referring to fig. 32, the control method includes:

a dehydration control step comprising:

step W31: starting dehydration;

step W33: collecting current vibration levels of a third plane and a fourth plane;

step W35: controlling the first chamber 200 to rotate at a control rotation speed, performing at least one balance control of the third plane and the fourth plane such that the vibration level of the third plane is not greater than a first preset vibration level and the vibration level of the fourth plane is not greater than a second preset vibration level at the control rotation speed, switching different control rotation speeds to complete the balance control of the two planes at a plurality of preset rotation speeds,

wherein the control rotation is selected from one of a plurality of preset rotation speeds. Therefore, balance control can be carried out at different rotating speeds in the dehydration stage, and full rotating speed coverage in the dehydration stage is realized.

Specifically, the preset rotation speed of the first chamber 200 in the dehydration stage is set in advance, for example [ a, b, c, d, e ] represents 5 rotation speeds, where a < b < c < d < e, the rotation speed a is greater than or equal to 80rpm, and generally e is less than or equal to 1600rpm. It will be appreciated that the maximum speed e can also be higher, set as the case may be. In addition, the 5 rotation speeds are only used as examples, and other numbers can be adopted, and the number of the preset rotation speeds is generally two or more than two according to the function of the dehydration stage.

Further, step W35 includes:

determining that the vibration level of the third plane is not more than a first preset vibration level and the vibration level of the fourth plane is not more than a second preset vibration level, and switching different control rotating speeds;

determining that the vibration level of the third plane is greater than a first preset vibration level and/or the vibration level of the fourth plane is greater than a second preset vibration level, and if the initial position selection is not performed on the third plane and/or the fourth plane, performing the initial position selection;

after the initial position selection is carried out, determining that the vibration level of a third plane is greater than a first preset vibration level and/or the vibration level of a fourth plane is greater than a second preset vibration level, carrying out single-plane balance control or two-plane balance control, and switching different control rotating speeds;

after the initial position is selected, the vibration level of the third plane is determined to be not more than the first preset vibration level, the vibration level of the fourth plane is determined to be not more than the second preset vibration level, and different control rotating speeds are switched.

Further, referring to fig. 33, step W35 specifically includes:

step W351: initializing n as a first value and M =1, wherein M represents a rotation speed selection sequence, n is the first value and represents that the initial position selection step is not performed, n is the second value and represents that the initial position selection step is performed, and entering step W353;

step W353: selecting one of a plurality of preset rotation speeds as a control rotation speed, and entering step W355;

step W355: controlling the rotating speed of the first cavity 200 to the control rotating speed, recording the current vibration levels of the third plane and the fourth plane, and entering step W357;

step W357: determining that the current vibration level of the third plane is not more than a first preset vibration level and the current vibration level of the fourth plane is not more than a second preset vibration level, entering step W369, determining that the current vibration level of the third plane is more than the first preset vibration level and/or the current vibration level of the fourth plane is more than the second preset vibration level, and entering step W359;

step W359: if n is the first value, the process proceeds to step W361, and if n is the second value, the process proceeds to step W369;

step W361: selecting an initial position, and entering step W363:

step W363: making n be a second value, and entering step W365;

step W365: determining that the current vibration level of the third plane is not greater than a first preset vibration level and the current vibration level of the fourth plane is not greater than a second preset vibration level, entering step W369, determining that the current vibration level of the third plane is greater than the first preset vibration level and/or the current vibration level of the fourth plane is greater than the second preset vibration level, and entering step W367;

step W367: carrying out single plane balance control or two plane balance control, and entering the step W369;

step W369: setting M = M +1, and proceeding to step W371 if M = H, and proceeding to step W353 if M < H, where H represents the number of preset rotation speeds;

step W371: the dewatering is completed and the counterbalance 1024 is reset. In this way, single plane or two plane balance control at different rotation speeds is realized.

Specifically, the specific steps of the initial position selecting step can refer to the related explanation of the initial position selecting step. The specific steps for performing the single plane balance control may refer to the above explanation of the single plane control steps, and the specific steps for performing the two plane balance control may refer to the above explanation of the two plane balance control steps.

In step W357, the relationship between the current vibration level of the third plane and the first preset vibration level, and the current vibration level of the fourth plane and the second preset vibration level are determined, and according to different determination results, different steps are performed.

In step W359, it is determined whether n is the first value or the second value, and different steps are performed according to different determination results.

In step W365, the relationship between the current vibration level of the third plane and the first preset vibration level and the relationship between the current vibration level of the fourth plane and the second preset vibration level are determined, and different steps are performed according to different determination results.

In step W365, if the current vibration level of the third plane is greater than the first preset vibration level or the current vibration level of the fourth plane is greater than the second preset vibration level, then in step W367, the single plane balance control is performed. In step W365, if the current vibration level of the third plane is greater than the first preset vibration level and the current vibration level of the fourth plane is greater than the second preset vibration level, in step W367, two-plane balance control is performed.

In step W371, the weight 1024 is reset, and the weight 1024 may be moved to the initial balance position or the weight 1024 may be moved to the selected balance position. In other embodiments, the dehydration control step may not reposition the weights 1024.

Further, the control method comprises the following steps:

and determining that the vibration level of the third plane is greater than a first preset vibration level and/or the vibration level of the fourth plane is greater than a second preset vibration level, performing single-plane balance control or two-plane balance control, and switching different control rotating speeds. In this way, single plane or two plane balance control at different rotation speeds is realized.

Referring to fig. 34, step W35 specifically includes:

step W352: initializing M =1, wherein M represents a rotation speed selection sequence, and entering step W354;

step W354: selecting one of a plurality of preset rotating speeds as a control rotating speed, and entering step W356;

step W356: controlling the rotating speed of the first cavity 200 to the control rotating speed, recording the current vibration levels of the third plane and the fourth plane, and entering step W358;

step W358: determining that the current vibration level of the third plane is not greater than a first preset vibration level and the current vibration level of the fourth plane is not greater than a second preset vibration level, entering step W362, determining that the current vibration level of the third plane is greater than the first preset vibration level and/or the current vibration level of the fourth plane is greater than the second preset vibration level, and entering step W360;

step W360: performing single plane balance control or two plane balance control, and entering step W362;

step W362: setting M = M +1, and proceeding to step W364 when M = H, and proceeding to step W354 when M < H, where H represents the number of preset rotation speeds;

step W364: the dewatering is completed and the counterbalance 1024 is reset.

Specifically, the specific steps of performing single plane balance control may refer to the above explanation of the single plane control steps, and the specific steps of performing two plane balance control may refer to the above explanation of the two plane balance control steps.

In step W358, the relationship between the current vibration level of the third plane and the first preset vibration level and the relationship between the current vibration level of the fourth plane and the second preset vibration level are determined, and different steps are performed according to different determination results.

In step W364, the weight 1024 is reset, and the weight 1024 may be moved to the initial equilibrium position or the weight 1024 may be moved to the selected equilibrium position. In other embodiments, the dehydration control step may not reposition the weight 1024.

In addition, in one embodiment of the present application, the present application further provides an active damping scheme for the second cavity 300.

Referring to fig. 35, a control method according to an embodiment of the present application is applied to a household appliance 1000, and the control method includes:

step S400, acquiring the vibration level of at least one of a third plane and a fourth plane of a second cavity 300 of the household appliance, wherein the second cavity 300 is connected with a first cavity 200 capable of rotating, the first cavity 200 comprises a first plane and a second plane, and at least one of the first plane and the second plane is provided with a balancing body 1022;

step S402, determining that the vibration level is greater than the corresponding preset vibration level, and controlling a state of at least one mass in the balance body 1022 on the corresponding first cavity 200 in the balance body 1022 until the vibration level is not greater than the preset vibration level.

In the above control method, the vibration level of the second cavity 300 is eliminated or reduced by controlling the state of the mass body in the balance body 1022, so that an active control balance mode is realized, and the vibration reduction effect is good.

In particular, active damping may be achieved by controlling the state of the mass to reduce the vibration level of the third plane and/or the fourth plane. The vibration level of at least one of the third plane and the fourth plane of the second cavity 300 of the household appliance 1000 may be the vibration level of the third plane, the vibration level of the fourth plane, the vibration level of the third plane and the vibration level of the fourth plane. The corresponding preset vibration level is a first preset vibration level when the vibration level of the third plane is collected, the corresponding preset vibration level is a second preset vibration level when the vibration level of the fourth plane is collected, and the corresponding preset vibration level comprises the first preset vibration level and the second preset vibration level when the vibration level of the third plane and the fourth balanced vibration level are collected.

Further, referring to fig. 36, the control method includes:

step S4000, collecting the vibration level of a third plane and the vibration level of a fourth plane;

step S4022, determining that the vibration level of the third plane is greater than the first preset vibration level, and the vibration level of the fourth plane is greater than the second preset vibration level, controlling the state of at least one mass in the balance mass 1022 on the first cavity 200 corresponding to the third plane in the balance mass 1022, and controlling the state of at least one mass in the balance mass 1022 on the first cavity 200 corresponding to the fourth plane in the balance mass 1022 until the vibration level of the third plane is not greater than the first preset vibration level and the vibration level of the fourth plane is not greater than the second preset vibration level. In this way, the two planes can be controlled for balance.

Specifically, step S4000 may be regarded as an embodiment in which two plane vibration levels are collected in step S400. Step S4022 may be regarded as an embodiment of comparing the vibration levels of the two planes with the corresponding preset vibration levels and performing corresponding control in step S402.

Further, the mass body includes a solid body, and the state of the mass body within the balance body 1022 is controlled by controlling the movement of the solid body within the balance body 1022. In this manner, the state of the mass body in the balance body 1022 is changed by controlling the position fixed in the balance body 1022.

In the present embodiment, the solid is the weight 1024, and is the weight 1024 of the above embodiment. The eccentricity of the first chamber 200 is reduced by the position change of the balance weight 1024 in the chamber 1046, thereby reducing the vibration level of the second chamber 300.

Further, referring to fig. 37, the control method includes:

step T01: comparing the vibration level of the third plane with the vibration level of the fourth plane, selecting the plane with the larger vibration level as a first control plane, and entering a step T02;

step T02: controlling at least one solid in the balance body 1022 on the first cavity corresponding to the first control plane to move in the balance body 1022, and entering step T03;

step T03: judging whether the vibration level of the first control plane is larger than the first vibration level, determining that the vibration level of the first control plane is not larger than the first vibration level, entering a step T07,

determining that the vibration level of the first control plane is greater than a first vibration level, and entering step T04, wherein the first vibration level is a first preset vibration level if the first control plane is a third plane, and the first vibration level is a second preset vibration level if the first control plane is a fourth plane;

step T04: comparing the vibration level of the third plane with the vibration level of the fourth plane, selecting a plane with a larger vibration level as a second control plane, determining that the first control plane is the same as the second control plane, entering a step T05, determining that the first control plane is different from the second control plane, and entering a step T06;

step T05: adjusting the moving mode of the solid, and entering the step T02;

step T06: controlling at least one solid in the balance body 1022 on the first cavity corresponding to the second control plane to move in the balance body 1022, and entering step T07;

step T07: judging whether the vibration level of the second control plane is greater than a second vibration level, determining that the vibration level of the second control plane is not greater than the second vibration level, entering a step T08, determining that the vibration level of the second control plane is greater than the second vibration level, and entering a step T05, wherein the second vibration level is selected from one of a first preset vibration level and a second preset vibration level and is different from the first vibration level;

step T08: the two-plane balance control is ended. Thus, the balance control of the two planes is realized.

Specifically, in the embodiment shown in fig. 3 and 5, two solid bodies are provided in each of the balance bodies 1022, and the moving manner of the two solid bodies in the balance bodies 1022 includes:

resultant force magnitude adjustment movement and resultant force direction adjustment movement.

Specifically, two solid bodies are arranged in each balance body 1022, that is, two weights 1024 are arranged in a cavity of each balance body 1022, the resultant direction adjustment movement includes a first same direction movement and a second same direction movement, and the resultant magnitude adjustment movement includes a first opposite direction movement and a second opposite direction movement, please refer to fig. 26 to 29, the resultant direction adjustment movement and the resultant magnitude adjustment movement are explained by taking two weights 1024 in the balance body 1022 on a first plane as an example, the two weights 1024 in the balance body 1022 on the first plane include a first weight 100a and a second weight 100b, the first opposite direction movement is the clockwise direction movement of the first weight 100a, and the second weight 100b is the counterclockwise direction movement, as shown in fig. 26. The second opposite movement is the first weight 100a moving counterclockwise and the second weight 100b moving clockwise as shown in fig. 27. The first in-phase motion is the clockwise movement of the first weight 100a and the clockwise movement of the second weight 100b, as shown in fig. 28. The second equidirectional movement is the counterclockwise movement of the first weight 100a and the counterclockwise movement of the second weight 100b as shown in fig. 29. In the 4 movements, the distance of movement of the weight 1024 may be different depending on the specific setting, and the balance control is performed by the combined movement of the weight 1024.

Please refer to fig. 38, fig. 38 shows the principle of eccentric equilibrium of the solid, fu is a centrifugal force caused by eccentricity in the first cavity in the current plane, fc1 and Fc2 are centrifugal forces caused by 2 solids in the equilibrium body, respectively, fc is a resultant force, if Fc cannot balance Fu, 2 solids are continuously moved, wherein changing the included angle of 2 solids can change the magnitude of the resultant force, changing the position without changing the included angle of 2 solids can change the direction of the resultant force, so that Fc1' and Fc2' are generated when reaching a new position, and the new resultant force Fc ' = Fu can counteract the centrifugal force caused by eccentricity, thereby achieving equilibrium.

Further, step T05 includes:

before the step T05, determining that the two solids finish a round of resultant force size adjustment movement and resultant force direction adjustment movement, and changing the moving step length of the solids;

before the step T05, determining that the two solids do not complete one round of resultant force size adjustment movement and resultant force direction adjustment movement, keeping the moving step length of the solids unchanged, and switching the adjustment movement. Thus, the vibration reduction of the third plane and the fourth plane can be faster through the matching of the step length and the adjustment movement.

Specifically, one round of resultant force magnitude adjustment movement and resultant force direction adjustment movement is completed, and it can be understood that the solid body has undergone two kinds of adjustment movements of the resultant force magnitude and the resultant force direction. Specifically, at least one of the first and second equidirectional motions and at least one of the first and second opposite motions are completed. For example, in the case where the first simultaneous movement and the first opposing movement are completed, it is determined that one round of the resultant force magnitude adjustment movement and the resultant force direction adjustment movement are completed; under the condition of finishing the first same-direction movement and the second same-direction movement, determining that one round of resultant force size adjustment movement and resultant force direction adjustment movement are finished; under the condition of finishing the second equidirectional motion and the first opposite motion, determining that one round of resultant force size adjustment motion and resultant force direction adjustment motion are finished; under the condition of finishing the second equidirectional motion and the second opposite motion, determining that one round of resultant force size adjustment motion and resultant force direction adjustment motion are finished; and under the condition that the first equidirectional motion, the second equidirectional motion, the first opposite motion and the second opposite motion are completed, determining that one round of resultant force size adjustment motion and resultant force direction adjustment motion are completed, and the like. This is not to be taken as an example.

In the case where two solids complete one round of resultant force magnitude adjustment motion and resultant force direction adjustment motion, the moving step length of the solids is changed, which may be, a smaller moving step length is selected.

The resultant force size adjustment movement and the resultant force direction adjustment movement of one round are not completed, and it can be understood that the solid body is not subjected to two adjustment movements of the resultant force size and the resultant force direction. For example, in the case where only the first simultaneous movement is completed, it is determined that one round of the resultant force magnitude adjustment movement and the resultant force direction adjustment movement are not completed; under the condition that only the second equidirectional movement is completed, determining that one round of resultant force size adjustment movement and resultant force direction adjustment movement are not completed; under the condition that only the first opposite movement is completed, determining that one round of resultant force size adjustment movement and resultant force direction adjustment movement are not completed; under the condition that only the second opposite movement is completed, determining that the resultant force size adjustment movement and the resultant force direction adjustment movement of one round are not completed; under the condition that only the first same-direction movement and the second same-direction movement are completed, determining that one round of resultant force size adjustment movement and resultant force direction adjustment movement are not completed; in the case where only the first and second opposing movements are completed, it is determined that one round of the resultant force magnitude adjustment movement and the resultant force direction adjustment movement are not completed.

The switching adjustment movement may be switching from the resultant force magnitude adjustment movement to the resultant force direction adjustment movement, or switching from the resultant force direction adjustment movement to the resultant force magnitude adjustment movement. Specifically, if the balance weight performs the resultant force magnitude adjustment movement before step T05, the switching adjustment movement is to switch from the resultant force magnitude adjustment movement to the resultant force direction adjustment movement. If the balance weight performs the resultant force direction adjustment movement before step T05, the switching adjustment movement is to switch from the resultant force direction adjustment movement to the resultant force magnitude adjustment movement.

Further, step T05 includes: and dynamically adjusting the moving step length of the solid according to the vibration level of the second control plane. In this way, the moving step size can be selected in adaptation to the vibration level of the corresponding control plane.

In particular, the step size of the solid body is dynamically adjusted according to the vibration level of the corresponding control plane, which may be understood as a function of the magnitude of the vibration level. The functional relationship may be calibrated in advance and stored.

By the adjustment method in step T05, the control method of the present embodiment realizes balance control faster than the two plane balance control steps.

Further, the mass body includes a liquid, and the state of the mass body within the balancing body 1022 is controlled by controlling the mass of the liquid within the balancing body 1022. In this way, the state of the mass body in the balance body 1022 can be changed by injecting a large amount of liquid into the balance body 1022, and vibration reduction can be achieved.

In particular, in one embodiment, the liquid may comprise water. Referring to fig. 39 and 40, at least two cavities 1050 are provided in each of the balance masses 1022, and controlling the mass of the liquid in the balance masses 1022 includes:

at least one cavity 1050 is filled with liquid. In this manner, a change in the state of the mass body within the balance body 1022 is achieved.

Specifically, at least two cavities 1050 of each balance body 1022 are spaced circumferentially of the balance body 1022, and in the embodiment shown in fig. 40, 3 cavities 1050 are spaced within the balance body 1022.

Referring to fig. 39, the household appliance may include a liquid injection member. The injection member may include a first injection member 82 and a second injection member 84. The first priming member 82 may prime the cavity 1050 within the balance body 1022 mounted at the first end 202, and the second priming member 84 may prime the cavity 1050 within the balance body 1022 mounted at the second end 204. The first injecting part 82 and the second injecting part 84 may be installed on the second cavity 300, and the first injecting part 82 and the second injecting part 84 may be stationary when the first cavity 200 rotates the balancing body 1022. Therefore, the liquid injection device is convenient to manufacture and install and can realize more stable liquid injection. In the embodiment of the present application, the at least one cavity 1050 may be filled with the first filling member 82, or may be filled with the second filling member 84, by controlling the first filling member 82 to fill one cavity 1050 in the balance body 1022 at the first end 202, or by controlling the second filling member 84 to fill one cavity 1050 in the balance body 1022 at the second end 204.

Referring to fig. 41, the counterbalance 1022 includes an annular body 1052 with at least two cavities 1050 spaced apart from the body 1052, in the illustrated embodiment three cavities 1050. The inner peripheral surface of the main body 1052 is provided with a liquid inlet 45. The liquid injection piece injects liquid into the cavity 1050, and the liquid at the liquid injection port of the liquid injection piece enters the cavity 1050 through the liquid inlet 45. Alternatively, the liquid inlet 45 extends along the circumferential direction of the body 43, i.e., the liquid inlet 45 is an annular opening provided on the inner circumferential surface of the body 43. Therefore, when the balance body 1022 rotates, the liquid injection member 80 can conveniently inject liquid into the cavity 1050 through the annular liquid inlet 45, and the liquid entering the cavity 1050 can be gathered on the outer wall surface of the cavity 1050 under the action of centrifugal force and cannot flow out of the liquid inlet 45; when the balance body 1022 stops rotating, the liquid can flow out through the liquid inlet 45 under the action of gravity, and the drainage effect is good. It can be understood that each cavity 1050 of the balance body 1022 has a corresponding liquid inlet 45, which allows the liquid injection member to inject liquid into the cavity 1050.

Please refer to fig. 42, fig. 42 illustrates an eccentric balance principle of liquid control, fu is a centrifugal force caused by eccentricity in the current plane of the first cavity, fc1 and Fc2 are centrifugal forces generated by injecting a certain amount of liquid into different cavities 1050 of the balance body, respectively, and since the directions of Fc1 and Fc2 are fixed, the magnitudes of Fc1 and Fc2 are adjusted by changing the injection amounts of the different cavities, so that the magnitude of resultant force Fc is the same as that of Fu, and the directions are opposite, thereby realizing the eccentric balance.

Further, referring to fig. 43, the control method includes:

step 500, determining that the vibration level of the third plane is greater than a first preset vibration level, the vibration level of the fourth plane is greater than a second preset vibration level, and the vibration level of the third plane is greater than the vibration level of the fourth plane, injecting liquid into at least one cavity 1050 in the balance body 1022 on the first cavity corresponding to the third plane, determining that a first preset condition is met, and injecting liquid into at least one cavity 1050 in the balance body 1022 on the first cavity corresponding to the fourth plane, where the first preset condition includes: the vibration level of the third plane is less than that of the fourth plane;

step 502, determining that the vibration level of the third plane is greater than a first preset vibration level, the vibration level of the fourth plane is greater than a second preset vibration level, and the vibration level of the fourth plane is greater than the vibration level of the third plane, injecting liquid into at least one cavity 1050 in the balance body 1022 on the first cavity corresponding to the fourth plane, determining that a second preset condition is met, and injecting liquid into at least one cavity 1050 in the balance body 1022 on the first cavity corresponding to the third plane, where the second preset condition includes: the vibration level of the fourth plane is less than that of the third plane;

step 504, determining that the vibration level of the third plane is not more than a first preset vibration level and the vibration level of the fourth plane is not more than a second preset vibration level, and stopping liquid injection. Therefore, on one hand, vibration reduction of the third plane and the fourth plane is achieved through liquid injection, on the other hand, liquid injection is firstly performed on the plane with the larger vibration level, and the balance control speed can be improved.

Specifically, the plane with the larger vibration level has more obvious and easier perception on the vibration change caused by the mass change of the liquid, and on the basis, the mass of the liquid of the plane with the larger vibration level is controlled, so that the vibration reduction effect on the second cavity is more obvious under the condition that the vibration level of the plane with the larger vibration level is reduced.

Here, step S500, step S502, and step S504 may be regarded as an embodiment in which the liquid is injected into the cavity in step S4022 with respect to the state of the control mass body.

The balance body 1022 on the first cavity corresponding to the third plane is the balance body 1022 of the first balance assembly 102, the balance body 1022 of the first balance assembly 102 is installed on the first plane of the first cavity 200, and when filling at least one cavity 1050 in the balance body 1022 on the first cavity 200 corresponding to the third plane, any one cavity 1050 in the balance body 1022 of the first balance assembly 102 may be filled, and any two or more than two cavities 1050 may be filled. In the present embodiment, the cavity 1050 in the balanced body 1022 of the first balance module 102 is filled with liquid for the first time, and any cavity 1050 in the balanced body 1022 of the first balance module is filled with liquid.

The balance body 1022 on the first cavity 200 corresponding to the fourth plane is the balance body 1022 of the second balance assembly 104. The balance body 1022 of the second balance assembly 104 is mounted on the second plane of the first cavity 200, and when filling at least one cavity 1050 in the balance body 1022 of the first cavity 200 corresponding to the fourth plane, any one cavity 1050 in the balance body 1022 of the second balance assembly 104 may be filled, or any two or more than two cavities 1050 may be filled. In the present embodiment, when the cavity 1050 in the balance body 1022 of the second balance module 104 is filled for the first time, any one of the cavities 1050 in the balance body 1022 of the second balance module 104 is filled.

Further, the first preset condition further includes: all cavities 1050 corresponding to the third plane have been filled with liquid, or the vibration level of the third plane is not greater than the first preset vibration level. In this way, in the case that the household appliance fills the cavities 1050 in the first plane of the balance body 1022 first and it is confirmed that all the cavities 1050 of the first plane of the balance body 1022 have been filled or the vibration level of the third plane is not greater than the first preset vibration level, the household appliance is controlled to fill the cavities 1050 of the second plane of the balance body 1022 with liquid.

It can be understood that in one case, when all the cavities 1050 of the first plane of the balance body 1022 are filled with liquid, whether the vibration level of the third plane is greater than the first preset vibration level or not greater than the first preset vibration level, the household appliance 1000 is controlled to be filled with liquid into the cavities 1050 of the second plane of the balance body 1022. In another case, after the cavity 1050 of the balance body 1022 in the first plane is filled with liquid, the vibration level of the third plane is not greater than the first preset vibration level, which indicates that the vibration of the third plane is small at this time, and the liquid does not need to be filled into the balance body 1022 in the first plane, and the household appliance 1000 may be controlled to fill the cavity 1050 of the balance body 1022 in the second plane to reduce the vibration level of the fourth plane.

Further, the second preset condition further includes: all cavities 1050 corresponding to the fourth plane have been filled with liquid, or the vibration level of the fourth plane is not greater than a second preset vibration level. In this way, in the case that the household appliance 1000 injects the liquid into the cavity 1050 in the second plane of the balance body 1022 first and confirms that all the cavities 1050 of the second plane of the balance body 1022 have been injected or that the vibration level of the fourth plane is not greater than the second preset vibration level, the household appliance 1000 is controlled to inject the liquid into the cavity 1050 of the first plane of the balance body 1022.

It is understood that in one case, when all the cavities 1050 of the second plane of the balance body 1022 are filled with liquid, whether the vibration level of the fourth plane is greater than the second preset vibration level or not greater than the second preset vibration level, the household appliance 1000 is controlled to be filled with liquid into the cavities 1050 of the first plane of the balance body 1022. In another case, after the cavity 1050 of the balance body 1022 of the second plane is filled with liquid, the vibration level of the fourth plane is not greater than the second preset vibration level, which indicates that the vibration of the fourth plane is relatively small at this time, and it is not necessary to continuously fill liquid into the balance body 1022 of the second plane, and the household appliance may be controlled to fill liquid into the cavity 1050 of the balance body 1022 of the first plane to reduce the vibration level of the third plane.

Further, the control method comprises the following steps:

determining that the liquid injection into the cavity 1050 corresponding to the third plane is changed into the liquid injection into the cavity 1050 corresponding to the fourth plane, and the vibration level of the fourth plane is lowered by the cavity 1050 corresponding to the last liquid injection, and injecting the liquid into the cavity 1050 corresponding to the last liquid injection again;

determining that the liquid injection into the cavity 1050 corresponding to the third plane is changed into liquid injection into the cavity 1050 corresponding to the fourth plane, and the cavity 1050 corresponding to the fourth plane which has injected liquid last raises the vibration level of the fourth plane, and injecting liquid into another cavity 1050 different from the cavity 1050 corresponding to the fourth plane which has injected liquid last time;

determining that the injection into the cavity 1050 corresponding to the fourth plane is changed into the injection into the cavity 1050 corresponding to the third plane, and the vibration level of the third plane is reduced by the cavity 1050 corresponding to the last injection of the third plane, and the injection is performed again into the cavity 1050 corresponding to the last injection of the third plane;

it is determined that the injection of the cavity 1050 corresponding to the fourth plane is changed to the injection of the cavity 1050 corresponding to the third plane, and the cavity 1050 of the last injection corresponding to the third plane raises the vibration level of the third plane, and the injection of the other cavity 1050 different from the cavity 1050 of the last injection corresponding to the third plane is performed. In this way, the speed of the balance body 1022 for offsetting the eccentric mass when the first chamber 200 rotates can be increased.

It is understood that during the rotation of the first chamber 200, the household appliance 100 can be switched from filling the cavity 1050 of the first plane of the balance body 1022 to filling the cavity 1050 of the second plane of the balance body 1022, from filling the cavity 1050 of the second plane to filling the cavity 1050 of the first plane of the balance body 1022, and so on, until the vibration level of the third plane is not greater than the first preset vibration level and the vibration level of the fourth plane is not greater than the second preset vibration level. For example, referring to fig. 40, the three cavities 1050 of the first plane are cavities a, B, and C, respectively. After the filling of the cavity B of the first planar balance body 1022, the filling is changed to the cavity 1050 of the second planar balance body 1022, and then the filling is changed to the cavity 1050 of the first planar balance body 1022, and at this time, when the vibration level of the third plane is lowered at the time of filling the cavity B of the first planar balance body 1022, the filling is changed to the cavity 1050 of the first planar balance body 1022, and the filling of the cavity B is continued. When the liquid is injected into the cavity B of the balance body 1022 of the first plane, the vibration level of the third plane is raised, and when the liquid is switched to the cavity 1050 of the balance body 1022 of the first plane, the liquid is injected into another cavity 1050 different from the cavity B, for example, the cavity a or the cavity C.

Further, the control method comprises the following steps:

determining that the vibration level of the third plane is greater than the first preset vibration level and the vibration level of the fourth plane is not greater than the second preset vibration level, and filling liquid into at least one cavity 1050 in the balance body 1022 on the first cavity corresponding to the third plane;

and determining that the vibration level of the third plane is not more than the first preset vibration level and the vibration level of the fourth plane is more than the second preset vibration level, and filling liquid into at least one cavity 1050 in the plane body on the first cavity corresponding to the fourth plane. Thus, the liquid is injected into the cavity 1050 of the balance body 1022 with the first plane, so that the vibration level of the third plane is not greater than the first preset vibration level, and the liquid is injected into the cavity 1050 of the balance body 1022 with the second plane, so that the vibration level of the fourth plane is not greater than the second preset vibration level, and the eccentric mass of the first cavity 200 during rotation is offset, thereby achieving the purpose of reducing the vibration level of the household appliance 100.

It will be appreciated that in the case where the vibration level of the third plane is greater than the first preset vibration level and the vibration level of the fourth plane is not greater than the second preset vibration level, no liquid needs to be injected into the cavity 1050 of the counterweight 1022 of the second plane; in the case where the vibration level of the third plane is not greater than the first preset vibration level and the vibration level of the fourth plane is greater than the second preset vibration level, no liquid needs to be injected into the cavity 1050 of the first plane of the counterbalance 1022.

Further, the control method comprises the following steps:

after all cavities 1050 corresponding to the third plane are determined to be injected with liquid and the vibration level of the third plane is still greater than the first preset vibration level, injecting liquid into another cavity 1050 different from the last liquid injection cavity 1050 corresponding to the third plane;

after all cavities 1050 corresponding to the fourth plane are determined to have been injected with liquid and the vibration level of the fourth plane is still greater than the second preset vibration level, another cavity 1050 different from the last liquid injection cavity 1050 corresponding to the fourth plane is injected with liquid. In this way, the speed of the balancing body 1022 for offsetting the eccentric mass when the first chamber 200 rotates can be increased.

It is understood that in this embodiment, the household appliance 1000 may fill the cavity 1050 of the first planar balance mass 1022 or fill the cavity 1050 of the second planar balance mass 1022. In the example of the present embodiment, the first planar balance 1022 is provided with a cavity a, a cavity B, and a cavity C. For example, the household appliance sequentially injects liquid into the cavity a, the cavity B, and the cavity C of the first planar balance 1022, and after a certain amount of liquid is injected into the cavity C, the vibration level of the third plane is still greater than the first preset vibration level, and at this time, the household appliance 1000 is controlled to inject liquid into another cavity 1050 of the first planar balance 1022, such as the cavity a. Referring to fig. 44, the balance body 1022 of the second plane has a cavity D, a cavity E and a cavity F, which can be understood similarly and will not be described herein again.

Further, the control method comprises the following steps:

after at least one cavity 1050 corresponding to the third plane is filled with liquid and the vibration level of the third plane is unchanged or increased, filling one or more liquid into the other cavities 1050 corresponding to the third plane;

after it is determined that at least one cavity 1050 corresponding to the fourth plane is filled with liquid and the vibration level of the fourth plane is unchanged or increased, filling one or more cavities 1050 corresponding to the fourth plane with liquid. In this way, it is avoided that the vibration level of the third plane or the vibration level of the fourth plane is not reduced without contributing to reducing the vibration of the household appliance 1000, and it is even possible to increase the vibration level of the household appliance.

In the example of this embodiment, the three cavities 1050 of the first planar counterweight 1022 are a, B, and C cavities. The household appliance fills at least one cavity 1050 of the balance body 1022 of the first plane, and may fill any one cavity 1050 or any two cavities 1050 among the cavities a, B, and C. Taking the case that the household appliance only injects liquid into one cavity 1050 at a time, the preset injection sequence is, for example, a cavity a, a cavity B, and a cavity C. After the household appliance fills a certain amount of liquid into the cavity A, judging whether the vibration level of the third plane is reduced relative to the vibration level of the third plane detected last time; when the vibration level of the third plane is maintained or increased, the vibration level of the third plane cannot be reduced by injecting liquid into the cavity a, and the household appliance 1000 is controlled to inject liquid into the cavity B of the balance 1022 of the first plane, and when the vibration level of the third plane is not reduced after the household appliance injects a certain amount of liquid into the cavity B, the household appliance is controlled to inject liquid into the cavity C of the balance 1022 of the first plane. The three cavities 1050 of the second planar balance body 1022 are a D cavity, an E cavity, and an F cavity, which can be similarly understood and will not be described herein.

Further, after the household appliance injects the liquid into the cavity a, the cavity B and the cavity C of the balance body 1022 of the first plane according to the preset liquid injection sequence, the vibration level of the third plane is still greater than the first preset vibration level, and under the condition that the vibration level of the fourth plane is greater than the second preset vibration level, the household appliance is controlled to change to inject the liquid into the cavity 1050 of the balance body 1022 of the second plane, and the liquid is not injected into the cavity a of the balance body 1022 of the first plane any more. After the household appliance 1000 sequentially injects liquid into the cavity D, the cavity E and the cavity F of the balance body 1022 of the second plane, the vibration level of the fourth plane is still greater than the second preset vibration level, and under the condition that the vibration level of the third plane is greater than the first preset vibration level, the household appliance 1000 is controlled to be switched to inject liquid into the cavity 1050 of the balance body 1022 of the first plane, and no liquid is injected into the cavity D of the balance body 1022 of the second plane.

Further, the control method comprises the following steps:

and determining that the vibration level of the third plane is greater than the first preset vibration level, the vibration level of the fourth plane is greater than the second preset vibration level, and the vibration level of the third plane is equal to the vibration level of the fourth plane, and injecting liquid into at least one cavity 1050 corresponding to the third plane or injecting liquid into at least one cavity 1050 corresponding to the fourth plane. Thus, when the vibration level of the third plane and the vibration level of the fourth plane are equal to each other and are both greater than the corresponding preset vibration levels, the household appliance 1000 may be controlled to inject liquid into the cavity 1050 of the first plane of the balance body 1022 first, and the household appliance 1000 may be controlled to inject liquid into the cavity 1050 of the second plane of the balance body 1022 first.

The embodiment of the present application further provides a household appliance 1000, which includes a controller configured to implement the control method of any one of the above embodiments.

Specifically, the controller may be a main controller of the household appliance 1000, or may be a balance block controller of the balance block 1024, or may be a controller of a control terminal, and the control terminal may be separately manufactured and installed in the second cavity 300 or the housing of the household appliance 1000, or may be separated from the housing of the household appliance 1000. The controller of the control terminal can be in wired or wireless communication with the main controller of the household appliance and in wireless communication with the balance block controller, and the main controller of the household appliance can be in wireless communication with the balance block controller.

It is to be noted that the above explanation of the embodiment and the advantageous effects of the control method is also applicable to the household appliance 1000 used in the present embodiment, and is not detailed here to avoid redundancy.

The embodiments of the present application also provide a non-transitory computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the control method of any of the above embodiments.

For example, in the case where the program is executed by a processor, the steps of the following control method are implemented:

step S104: and controlling the at least one balance weight 1024 to move to one reset piece 90 according to the position information.

For another example, when the program is executed by the processor, the following steps of the control method are implemented:

in the case where at least two weights 1024 of the home appliance 1000 are in the initial equilibrium position, the at least two weights 1024 are controlled to move by the same set distance in the same set direction.

step S201: acquiring an initial vibration level of the second cavity 300;

step S203: at least two of the first vibration level, the second vibration level and the third vibration level of the second cavity 300 are obtained, and the eccentricity amount of the first cavity 200 of the household appliance with respect to the second cavity 300 is calculated according to the initial vibration level and the at least two vibration levels.

an initial position selection step, comprising:

step C03: and controlling at least one balance block 1024 in the balance body 1022 corresponding to the acquired plane to move in the balance body 1022 until the vibration level of the acquired plane is not greater than the initial vibration level, and using the position of the at least one balance block 1024 corresponding to the vibration level of the acquired plane not greater than the initial vibration level as the balance control initial position of the acquired plane.

step S400, collecting the vibration level of at least one of a third plane and a fourth plane of a second cavity 300 of the household appliance, wherein the second cavity 300 is connected with a first cavity 200 capable of rotating, the first cavity 200 comprises a first plane and a second plane, and at least one of the first plane and the second plane is provided with a balancing body 1022;

The computer-readable storage medium may be provided in the home appliance 1000, or may be provided in a terminal such as a server, and the home appliance 1000 may communicate with the terminal to obtain the corresponding program.

It will be appreciated that the computer program comprises computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), software distribution medium, and the like.

The controller of the household appliance can be a single chip microcomputer chip, and a processor, a memory, a communication module and the like are integrated. The processor may refer to a processor included in the controller. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for a household appliance, characterized in that it comprises:

wherein the set distance and the set direction are selected from elements in a preset distance-direction matrix, the household appliance comprises a balancing assembly and a first cavity, the balancing assembly comprises a balancing body and at least two balancing blocks, the balancing body is provided with an annular cavity, the at least two balancing blocks are movably positioned in the cavity, and the balancing assembly is arranged at least one of a first end and a second end of the first cavity;

the distance-direction matrix comprising a first element, a second element, a third element and a fourth element,

the first element comprises a generated distance and a generated direction;

the second element comprises the generated distance and the direction selected in a preset direction set according to a certain rule;

2. The control method according to claim 1, characterized by comprising:

3. The control method of claim 1, wherein the generated distance is calculated using a preset value and a generated value.

4. The control method according to claim 1, wherein the predetermined distance set comprises at least two distance elements arranged according to a certain rule, each distance element has a sequence number, and the distance selected according to a certain rule from the predetermined distance set is the distance element corresponding to the sequence number obtained through calculation.

5. The control method according to claim 1, wherein the set distance is an angle through which the weight is moved with respect to a center of the annular chamber.

6. The control method according to claim 1, wherein the preset direction set comprises at least two direction elements, the control method comprising:

7. The control method of claim 1, wherein the balancing assembly further includes two restoring members located in the chamber and disposed radially of the balancing masses, the number of the balancing masses being two,

8. A household appliance, characterized in that it comprises:

a first cavity comprising a first end and a second end;

A controller configured to perform the control method of any one of claims 1-7.

9. A non-transitory computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements the control method of any one of claims 1 to 7.