CN114343531A

CN114343531A - Cleaning machine, control method, system and device thereof and storage medium

Info

Publication number: CN114343531A
Application number: CN202210032796.3A
Authority: CN
Inventors: 熊奇; 任洁
Original assignee: Ningbo Fotile Kitchen Ware Co Ltd
Current assignee: Ningbo Fotile Kitchen Ware Co Ltd
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-04-15

Abstract

The invention discloses a cleaning machine and a control method, a system, a device and a storage medium thereof, wherein the control method comprises the following steps: acquiring a pressure detection signal, wherein the pressure detection signal is generated when the pressure sensing device is stressed by the object pressure; and judging whether the object pressure applied to the pressure sensing device meets a preset pressure condition or not according to the pressure detection signal, and controlling the door of the cleaning machine to be opened or closed according to the judgment result. The cleaning machine and the control method, system, device and storage medium thereof can accurately distinguish the cleaning object by reasonably utilizing the pressure sensing detection signal, thereby reasonably and effectively controlling the door of the cleaning machine to be opened or closed, enabling the use process of the cleaning machine to be more automatic and intelligent, and avoiding inconvenience and secondary contact pollution caused by manual door opening and closing of a user in the past; thereby providing the user with a better use experience.

Description

Cleaning machine, control method, system and device thereof and storage medium

Technical Field

The invention relates to the technical field of cleaning machines, in particular to a cleaning machine, a control method, a control system, a control device and a storage medium of the cleaning machine.

Background

The cleaning machine is a household appliance for automatically cleaning tableware, and can quickly and efficiently help a user to clean the tableware. However, when the current washing machine is used, a user needs to open the washing machine door firstly to put washing objects such as dishes into the washing machine door for washing, and the user opens the washing machine door in a direct mechanical pulling way or a key control way, and in any way, the dishes before being washed usually have stains, so that the user needs to put down the dishes to wash hands firstly and then open the washing machine door; otherwise, the surfaces of the handles or the keys are stained, secondary pollution is caused, and the use process of the cleaning machine brings convenience to users who want to use the automatic cleaning function of the cleaning machine originally, but the users feel great inconvenience in the use process, so that the use experience of the cleaning machine is reduced.

Disclosure of Invention

The invention provides a cleaning machine, a control method, a system, a device and a storage medium thereof, aiming at overcoming the defects of inconvenient use and secondary contact pollution caused by the fact that a user easily manually opens and closes a cleaning machine door when the cleaning machine is opened in the prior art.

The invention solves the technical problems through the following technical scheme:

the invention provides a control method of a cleaning machine, which comprises the following steps:

acquiring a pressure detection signal, wherein the pressure detection signal is generated when a pressure sensing device is stressed by an object;

and judging whether the object pressure applied to the pressure sensing device meets a preset pressure condition or not according to the pressure detection signal, and controlling the door of the cleaning machine to be opened or closed according to the judgment result.

Preferably, the preset pressure condition includes a preset pressure value and a preset area condition;

the step of judging whether the object pressure applied to the pressure sensing device meets a preset pressure condition or not according to the pressure detection signal and controlling the door of the cleaning machine to be opened or closed according to the judgment result comprises the following steps:

judging whether the object pressure on the pressure sensing device reaches the preset pressure value or not according to the pressure detection signal;

if so, judging whether the object pressure borne by the pressure sensing device meets the preset area condition or not according to the pressure detection signal;

and if so, controlling the door of the cleaning machine to be opened.

Preferably, the pressure sensing device comprises a pressure film sensor, and the pressure film sensor comprises a plurality of pressure sensing units which are distributed in an equidistant lattice manner and used for generating pressure detection signals when the pressure sensing units are subjected to the pressure of an object;

the step of judging whether the object pressure applied to the pressure sensing device meets the preset area condition or not according to the pressure detection signal comprises the following steps:

according to the pressure detection signal, acquiring an action area which is formed by an effective pressure sensing unit for generating the pressure detection signal and is positioned on the pressure film sensor;

and judging whether the action area meets the preset area condition or not.

Preferably, the step of determining whether the action region meets the predetermined region condition includes:

setting a reference coordinate system according to the distribution condition of the pressure sensing units; the origin of the reference coordinate system is positioned in the distribution range of the pressure sensing units;

detecting whether the region of action intersects a horizontal or vertical axis in the reference coordinate system;

if not, judging that the action area does not accord with the preset area condition;

if yes, selecting one of the effective pressure sensing units as an initial pressure sensing unit;

respectively acquiring a first effective pressure sensing unit set and a second effective pressure sensing unit set which are positioned at two sides of the initial pressure sensing unit according to the initial pressure sensing unit and a preset traversal path rule;

acquiring a first slope set and a second slope set according to the first effective pressure sensing unit set and the second effective pressure sensing unit set respectively;

wherein the first slope set comprises the slope of each adjacent effective pressure sensing unit connecting line in the first effective pressure sensing unit set in the reference coordinate system; the second slope set comprises the slope of each adjacent effective pressure sensing unit connecting line in the second effective pressure sensing unit set in the reference coordinate system;

if the slopes in the first slope set and the second slope set are both increased or both decreased, judging that the action region meets the preset region condition; otherwise, judging that the action area does not accord with the preset area condition.

judging whether the object pressure on the pressure sensing device changes or not according to the pressure detection signal; if the pressure of the object is not changed, controlling the door of the cleaning machine to be closed when the duration time for which the pressure of the object is kept unchanged reaches a first preset duration;

if the pressure detection signal changes, judging whether an effective pressure sensing unit generating the pressure detection signal changes; if the pressure of the object is not changed, controlling the door of the cleaning machine to be closed when the duration of the pressure reduction of the object to zero reaches a second preset duration;

if the pressure sensor unit is changed, judging whether the number of the effective pressure sensing units is changed in proportion to the size of the object pressure, and if the number of the effective pressure sensing units is not changed in proportion, repeatedly executing the step of judging whether the size of the object pressure received by the pressure sensing device is changed;

and if the pressure of the object is changed proportionally, controlling the door of the cleaning machine to be closed when the duration time of the proportional change of the number of the effective pressure sensing units and the object pressure reaches a third preset duration.

Preferably, the step of acquiring the pressure detection signal further includes:

and only when the duration time of the pressure detection signal reaches the preset time length of preventing false touch, executing the step of judging whether the object pressure borne by the pressure sensing device meets the preset pressure condition according to the pressure detection signal.

The invention also provides a control system of the cleaning machine, which comprises:

the pressure detection module is used for detecting the pressure of the object;

and the control module is used for judging whether the object pressure applied to the pressure sensing device meets a preset pressure condition or not according to the pressure detection signal and controlling the door of the cleaning machine to be opened or closed according to the judgment result.

Preferably, the preset pressure condition includes a preset pressure value and a preset area condition; the control module comprises a first judgment unit, a second judgment unit and a control unit:

the first judging unit is used for judging whether the object pressure received by the pressure sensing device reaches the preset pressure value or not according to the pressure detection signal, and if so, the second judging unit is called;

the second judging unit is used for judging whether the object pressure received by the pressure sensing device meets the preset area condition or not according to the pressure detection signal, and if yes, the control unit is called to control the door of the cleaning machine to be opened.

Preferably, the pressure sensing device comprises a pressure film sensor, and the pressure film sensor comprises a plurality of pressure sensing units which are distributed in an equidistant lattice manner and used for generating pressure detection signals when the pressure sensing units are subjected to the pressure of an object; the second judgment unit is configured to:

and judging whether the action area meets the preset area condition or not.

Preferably, the second judging unit is configured to:

Preferably, the control module further includes a third determining unit, a fourth determining unit, and a fifth determining unit:

the third judging unit is used for judging whether the object pressure received by the pressure sensing device changes according to the pressure detection signal; if the pressure of the object is not changed, calling the control unit to control the door of the cleaning machine to be closed when the duration time for which the pressure of the object is kept unchanged reaches a first preset duration; if the change occurs, the fourth judging unit is called;

the fourth judging unit is used for judging whether the effective pressure sensing unit generating the pressure detection signal changes or not; if the pressure of the object is not changed, calling the control unit to control the door of the cleaning machine to be closed when the duration of the pressure reduction of the object to zero reaches a second preset duration; if the change occurs, the fifth judging unit is called;

the fifth judging unit is used for judging whether the number of the effective pressure sensing units changes in proportion to the magnitude of the object pressure; if the pressure of the object is not changed proportionally, calling the third judging unit, and if the pressure of the object is changed proportionally, calling the control unit to control the door of the cleaning machine to be closed when the quantity of the effective pressure sensing units and the duration time of the proportional change of the object pressure reach a third preset duration.

Preferably, the control system further comprises:

and the false touch prevention module is used for calling the control module only when the duration time of the pressure detection signal reaches the false touch prevention preset duration.

The invention also provides a washer control device, comprising: the pressure sensing device comprises a pressure sensing device, one or more processors and a memory, wherein the one or more processors are respectively connected with the pressure sensing device and the memory in a communication way;

the pressure sensing device is used for generating a pressure detection signal when receiving the pressure of an object;

the memory is configured to store instructions that, when executed by the one or more processors, cause the one or more processors to perform the method of controlling a washing machine described above.

The invention also provides a cleaning machine which comprises the cleaning machine control device.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the above-described washing machine.

The positive progress effects of the invention are as follows: according to the cleaning machine and the control method, system, device and storage medium thereof, provided by the invention, the cleaning object can be accurately judged by reasonably utilizing the pressure sensing detection signal, so that the door of the cleaning machine is reasonably and effectively controlled to be opened or closed, the use process of the cleaning machine is more automatic and intelligent, the inconvenience and secondary contact pollution caused by the fact that a user needs to manually open or close the door in the past are avoided, and better use experience is provided for the user.

Drawings

Fig. 1 is a flowchart of a control method of a washing machine according to embodiment 1 of the present invention.

Fig. 2 is a schematic view of an arrangement of the pressure film sensor in embodiment 1 of the present invention.

Fig. 3 is a schematic view of an arrangement of the pressure film sensor in embodiment 1 of the present invention.

Fig. 4 is a schematic view of an arrangement of the pressure film sensor in embodiment 1 of the present invention.

Fig. 5 is a flowchart of a control method of a washing machine according to embodiment 1 of the present invention.

Fig. 6 is a schematic diagram of the arrangement of the reference coordinate system in embodiment 1 of the present invention.

Fig. 7 is a schematic diagram illustrating an application of the preset traversal path rule in embodiment 1 of the present invention.

Fig. 8 is a schematic view of an application scenario of the pressure film sensor in embodiment 1 of the present invention.

Fig. 9 is a schematic diagram of edge detection of an active region in embodiment 1 of the present invention.

Fig. 10 is a flowchart of a control method of a washing machine according to embodiment 1 of the present invention.

Fig. 11 is a flowchart of an application example of the control method of the washing machine according to embodiment 1 of the present invention.

Fig. 12 is a block diagram of a control system of a washing machine according to embodiment 2 of the present invention.

Fig. 13 is a block diagram of an electronic device in embodiment 3 of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

Example 1

Referring to fig. 1, the embodiment specifically provides a control method of a cleaning machine, including the steps of:

s1, acquiring a pressure detection signal, wherein the pressure detection signal is generated when a pressure sensing device is subjected to object pressure;

s2, judging whether the object pressure applied to the pressure sensing device meets a preset pressure condition or not according to the pressure detection signal, and controlling the door of the cleaning machine to be opened or closed according to a judgment result.

The washing machine in this embodiment includes, but is not limited to, a dish washing machine, i.e., a device for automatically washing dishes, chopsticks, dishes, knives, forks, etc. The cleaning machine can be generally divided into a household cleaning machine and a commercial cleaning machine, and the household cleaning machine mainly comprises a cabinet type cleaning machine, a table type cleaning machine, a water tank integrated type cleaning machine and an integrated type cleaning machine; commercial cleaning machines typically have a cabinet, hood, basket, belt, ultrasonic, etc. Taking an ultrasonic tableware cleaning machine as an example, ultrasonic waves are used for agitating in water, a transducer at the bottom emits strong ultrasonic waves, dispersed bubbles are formed by penetrating through a steel plate and are diffused into the whole tank body, and the surface of tableware is uniformly bombarded by the ultrasonic waves and is cleaned.

The pressure sensing device in this embodiment includes, but is not limited to, a pressure sensor, such as a pressure membrane sensor. The pressure sensing device can sense the pressure signal and can convert the pressure signal into a usable output electric signal according to a certain rule; generally consists of a pressure sensitive element and a signal processing unit. Since the purpose of the control method of the present embodiment includes, but is not limited to, the control of the door of the washing machine, it can be understood that the pressure sensing device is disposed outside the washing machine, so that when a user places a washing object on the pressure sensing device during the use of the washing machine, the pressure sensing device generates a pressure detection signal to perform corresponding control.

According to different types of the cleaning machine, the pressure sensing device can be arranged at a reasonable position outside the cleaning machine to obtain a pressure detection signal, and a user can use the cleaning machine conveniently. For convenience and description, taking the pressure sensing device as a pressure film sensor as an example, referring to fig. 2, the tank type cleaning machine can place the pressure film sensor on the plane of the tank; referring to fig. 3, the box washer may place the pressure membrane sensor on the countertop of the box cabinet; referring to fig. 4, the counter top washer may place the pressure membrane sensor on a nearby cabinet counter top.

Step S1 is to obtain a pressure detection signal generated by the pressure sensing device after being pressed by an object, such as but not limited to a washing object of the washing machine, for example, dishes and other dishes; and judging whether the object pressure received by the pressure sensing device meets the preset pressure condition or not in the step S2, if the control logic of the cleaning machine door is that the cleaning machine door is opened when the preset pressure condition is met, and the cleaning machine door is closed when the preset pressure condition is not met, controlling the cleaning machine door to be opened when the object pressure received by the pressure sensing device meets the preset pressure condition in the step S2, and controlling the cleaning machine door to be closed when the object pressure does not meet the preset pressure condition, or vice versa.

As a preferred embodiment, after the pressure detection signal is acquired in step S1, step S2 is continuously executed only when the duration of the pressure detection signal reaches the preset time length for preventing false touch. The embodiment aims at the situation that a cleaning object is not placed on the pressure sensing device in the application scene of the cleaning machine; for example, when the pressure sensing device is scrubbed by using a rag, or dragged and moved by pressing the pressure sensing device by hand; at the moment, the generated pressure detection signal does not trigger the control on the cleaning machine door, so that the false touch prevention preset time length is set in the embodiment, and the pressure detection signal is correspondingly judged only when the pressure detection signal reaches or exceeds the false touch prevention time length; therefore, misoperation of the cleaning machine door caused by control based on error contact is effectively avoided.

Referring to fig. 5, as a preferred embodiment, the preset pressure condition includes a preset pressure value and a preset area condition; step S2 includes the following steps:

s21, judging whether the object pressure on the pressure sensing device reaches a preset pressure value or not according to the pressure detection signal;

s22, if yes, judging whether the object pressure borne by the pressure sensing device meets the preset area condition or not according to the pressure detection signal;

and S23, if so, controlling the door of the cleaning machine to be opened.

The embodiment analyzes the pressure detection signal and obtains an analysis result based on a preset pressure condition; the preset pressure conditions include a preset pressure value and a preset area condition. Wherein, set up the pressure value of predetermineeing and aim at through the pressure that pressure sensing device received, judge whether the quantity of the washing object of treating the washing has reached the predetermined quantity. Taking the pressure film sensor as an example, if the stacked dishes reach a certain amount, it is considered that the door of the washing machine needs to be opened to put all or a part of the stacked dishes into the washing machine for washing. For example, it is detected whether the sum Xi of the pressures at all the points reaches a preset pressure value X, and if so, it is determined that a sufficient number of dishes are stacked in the pressure sensing device, and otherwise, it is determined that the user has placed other items in the position.

The function of setting the conditions of the preset area includes, but is not limited to, identifying whether the object placed on the pressure sensing device is a satisfactory cleaning object. Because the bosses are arranged at the bottoms of most of the existing bowls and dishes, the bosses are usually in the shapes of circles, ellipses and squares with certain sizes, and other shapes are also the combination of the three shapes, so that the type of the bowls and dishes is represented by the pressure action area of an object on the pressure sensing device in the embodiment. For example, in some cases, a user carelessly places objects which are not cleaning objects, such as an intelligent electronic device or an oil bottle, on the pressure sensing device, and at the moment, the objects are detected through the preset area conditions set by the embodiment, so that control over the cleaning machine door by error triggering can be effectively avoided.

The preset pressure value can be set according to the weight and the quantity of cleaning objects of the cleaning machine; the preset area condition may be set according to a bottom structure of a cleaning object of the cleaning machine, such as a contour shape, a size, and the like. It is to be understood that the preset pressure value and the preset area condition may be set individually or in combination.

Since the number of cleaning objects of the cleaning machine is more likely to constitute the control of the door of the cleaning machine than the types in the normal case, in the present embodiment, the preset pressure value is detected in step S21; then, the step S22 detects the preset area condition; however, the order is not a limitation on the method of controlling the washer of the present invention.

As a preferred embodiment, the pressure sensing device is a pressure film sensor, and the pressure film sensor comprises a plurality of pressure sensing units which generate pressure detection signals when receiving the pressure of an object and are distributed in an equidistant lattice manner; step S22 includes:

according to the pressure detection signal, acquiring an action area which is formed by an effective pressure sensing unit for generating the pressure detection signal and is positioned on the pressure film sensor; and judging whether the action area meets the preset area condition.

In this embodiment, the pressure sensing device is a pressure membrane sensor; the pressure film sensor comprises a plurality of pressure sensing units, and the pressure sensing units generate pressure detection signals when receiving the pressure of an object; preferably, the pressure sensing units may be distributed in an equidistant lattice, for example, in a square equidistant lattice. Step S22, according to the pressure detection signal, acquiring an action area on the pressure film sensor, which is formed by an effective pressure sensing unit for generating the pressure detection signal; the effective pressure sensing unit is a pressure sensing unit which is arranged on the pressure film sensor and generates a sensing signal due to the fact that the pressure film sensor is pressed by an object. It can be understood that the outer edge of the region formed by the effective pressure sensing unit can be considered to represent the outline extension of the contact surface of the pressure film sensor and the cleaning object; therefore, if the action area on the pressure film sensor meets the preset area condition, the object pressure on the pressure sensing device meets the preset pressure condition.

Referring to fig. 6, a reference coordinate system may be set according to the distribution of the pressure sensing units, and an origin of the reference coordinate system is located within the distribution range of the pressure sensing units, and preferably, is located at the center of the distribution range; the reference coordinate system enables the description, statistics and analysis of the signals of the individual pressure sensing units. The distribution range of the pressure sensing units comprises but is not limited to a circular range, a diamond range, a rectangular range and other irregular figure ranges; in the present embodiment, a circular distribution range is taken as an example. And arranging point locations in the reference coordinate system, wherein each point location corresponds to one pressure sensing unit. The origin of the reference coordinate system is arranged at the center of the circle of the circular distribution range, namely, the distribution point (0, 0). The reference coordinate system is divided into first to fourth quadrants according to a coordinate horizontal axis x and a coordinate vertical axis y.

Specifically, points (-4, 0), (-3, 0), (-2, 0), (-1,0), (1,0), (2, 0), (3, 0), (4, 0) are respectively distributed along the horizontal axis x of the coordinate, points (0, -4), (0, -3), (0, -2), (0, -1), (0,1), (0, 2), (0, 3), (0, 4) are respectively distributed along the vertical axis y of the coordinate, and corresponding points are respectively arranged in other first to fourth quadrants; so that the pressure sensing unit forms the previously planned circular distribution range, i.e. the range that can be used to detect the pressure of the object. In order to reduce the lead-out connecting wires, the ground wires of all the pressure sensing units are connected together and are based on the set coordinates; connecting all signal lines with x-i (i-4, -3, -2, -1,0, 1, 2, 3, 4) of the abscissa value, that is, acquiring the abscissas of all pressure sensing units through the 9 signal lines; similarly, signals of all ordinate values y ═ i (for example, i ═ 4, -3, -2, -1,0, 1, 2, 3, 4) are connected together, that is, the ordinate of all pressure sensing units can be acquired through the above 9 signal lines, so that the abscissa and ordinate values of each pressure sensing unit can be accurately determined through 18 signal lines to characterize the pressure detection signal, and if signals of x ═ 1 and y ═ 1 are received, the pressure sensing unit of coordinate (1,1) is an effective pressure sensing unit in the pressure detection signal. Of course, for pressure sensing unit sets with other shape ranges, the distribution of the pressure sensing units, the distribution of the signal lines and the corresponding statistical analysis can also be performed by the method.

As a preferred embodiment, the step of determining whether the action region meets the predetermined region condition includes:

judging whether the action area is intersected with a horizontal axis or a vertical axis in a reference coordinate system;

if yes, judging that the action area does not accord with the preset area condition;

if not, selecting one of the effective pressure sensing units as an initial pressure sensing unit; preferably, an effective pressure sensing cell may be selected that intersects a horizontal or vertical axis.

Respectively acquiring a first effective pressure sensing unit set and a second effective pressure sensing unit set which are positioned at two sides of the initial pressure sensing unit according to the initial pressure sensing unit and a preset traversal path rule; wherein, preferably, the pressure sensing unit can be arranged at the left side and the right side of the initial pressure sensing unit; respectively acquiring a first slope set and a second slope set according to the first effective pressure sensing unit set and the second effective pressure sensing unit set; the first slope set comprises the slope of the connecting line of each adjacent effective pressure sensing unit in the first effective pressure sensing unit set in the reference coordinate system; the second slope set comprises the slope of the connecting line of each adjacent effective pressure sensing unit in the second effective pressure sensing unit set in the reference coordinate system. If the slopes in the first slope set and the second slope set are both increased or both decreased, the action region meets the condition of a preset region; otherwise, the action region does not accord with the preset region condition.

The embodiment specifically provides a method for judging an object corresponding to a pressure detection signal by means of a reference coordinate system formed by a pressure sensing unit. Specifically, the reference coordinate system may be set in the manner as described above; and judging whether the distribution of the effective pressure sensing units meets the requirement or not on the basis.

In one case, there is no effective pressure sensing unit intersecting the horizontal or vertical axis in the reference coordinate system, i.e. the area characterizing the object placed on the pressure sensing device is less than one quadrant, e.g. a user places some small objects other than dishes or items such as bottles and cans on the pressure film sensor, it can be assumed that there is no washing intention by the user, and the active area does not meet the preset area condition.

In another case, if there is an effective pressure sensing unit intersecting with the horizontal or vertical axis in the reference coordinate system, the type of the object is further judged by the detection of the shape of the edge of the region of action. Specifically, one of the effective pressure sensing units intersecting with the horizontal or vertical axis in the reference coordinate system is selected as the starting pressure sensing unit. Preferably, the starting pressure sensing unit may be selected by: if there is only one intersection point, the intersection point is taken as the starting pressure sensing unit P, and if there are two intersection points, it is preferable that the intersection point of the sides not parallel to the wall be the starting pressure sensing unit P, depending on the kind of the washer and the installation manner. Accordingly, referring to fig. 7, the following preset traversal path rule may be employed: the pressure sensing units centered around point P are traversed counterclockwise, if the point P intersects the y-axis, then an alternative traversal is sequentially traversing counterclockwise P + (0, -1), P + (1, -1), P + (1,0), P + (1,1), P + (0,1), P + (-1,1), P + (-1,0), P + (-1, -1), if the point P intersects the x-axis, then an alternative traversal is sequentially traversing counterclockwise P + (1,0), P + (1,1), P + (0,1), P + (-1,1), P + (-1,0), P + (-1, -1), P + (0, -1), P + (1, -1).

Fig. 8 shows an application scenario of stacking tableware on a pressure film sensor, and accordingly, referring to fig. 9, the detection analysis of the contact surface edge can be performed according to the traversal method described above. Since the traversal is counterclockwise and the y-axis intersection points are down and the x-axis intersection points are beginning to traverse to the right, the first passAll the effective pressure sensing units R traversed for the second time are located on the right side of the ordinate axis, and all the effective pressure sensing units L traversed for the second time are located on the left side of the ordinate axis. Taking the above traversal manner as an example, the slope of R (Xr, Yr) and the initial pressure sensing unit P (Xp, Yp) is calculated

Then taking the R point as a new traversal starting point P2, searching a next right boundary R2 according to the traversal mode, calculating the slope k2 of P2 and R2, and obtaining a right boundary point set, namely a first effective pressure sensing unit set by analogy; and a first set of slopes [ k1, k2, k3 … ] in which adjacent active pressure sensing cells are wired]. Similarly, a second slope set [ k-1, k-2, k-3 … ] of boundary points to the left is obtained]。

If the trend of the second slope set [ k-1, k-2, k-3 … ] is different from the trend of the first slope set [ k1, k2, k3 … ], for example, if the first slope set is from positive number to positive infinity, and the second slope set is from positive number to zero, the edge of the action region is characterized as an arc edge, or a multi-segment broken line, so that the object can be considered as a tableware to-be-cleaned object; on the contrary, if the slope change trends of the first slope set and the second slope set are the same, the edge of the action region is characterized to be a straight line, so that the object is not considered to be the object to be cleaned.

Referring to fig. 10, as a preferred embodiment, step S2 includes:

s24, judging whether the object pressure on the pressure sensing device changes or not according to the pressure detection signal; if not, go to step S25; if yes, go to step S26.

S25, when the duration time that the pressure of the object is kept unchanged reaches a first preset duration, controlling the door of the cleaning machine to be closed;

s26, judging whether an effective pressure sensing unit generating a pressure detection signal changes or not; if not, step S27 is executed, and if yes, step S28 is executed.

S27, when the duration time that the pressure of the object is reduced to zero reaches a second preset duration, controlling the door of the cleaning machine to be closed;

and S28, judging whether the number of the effective pressure sensing units is changed in proportion to the size of the object pressure, if not, repeatedly executing the step S24, and if so, executing the step S29.

And S29, when the duration time of the proportional change of the number of the effective pressure sensing units and the object pressure reaches a third preset duration time, controlling the door of the cleaning machine to be closed.

The present embodiment determines the usage flow of the washer and controls the washer door to close. Specifically, as will be appreciated by those skilled in the art, the present embodiment controls the door of the washing machine to be closed on the premise that the door of the washing machine is currently in an open state; the opening of the washer door may indicate that several wash objects on the pressure sensing device are being placed into the washer. Step S24, detecting the object pressure received by the pressure sensing device, if no change occurs for a first preset time, which indicates that there may be no operation for the cleaning machine, then step S25 controls the cleaning machine to close the door; if so, it is determined whether the effective pressure sensing unit is changed, and if the effective pressure sensing unit is not changed but only the pressure of the object is changed, it is possible that the user stacks or removes the stacked dishes, and then step S27 considers that the dishes are all put into or removed from the washing machine when the pressure of the object is reduced to zero and maintained for a second preset time period, and controls the door of the washing machine to be closed. On the contrary, if the effective pressure sensing units are changed, it is further determined whether the number of the effective pressure sensing units is changed in proportion to the magnitude of the object pressure, if the effective pressure sensing units are changed in proportion, it is determined that the user is moving the dishes, step S29 is performed, the washing machine is controlled to close the door after the third preset time period is reached, if the effective pressure sensing units are not changed in proportion, step S24 is repeatedly performed, and in fact, the first preset time period for detecting whether the object pressure is changed is cleared.

Referring to fig. 11, a control method of the washing machine of the present invention will be described with a specific application example.

S51, detecting whether a stable signal lasting for more than 3S is output, if so, judging that the pressure film sensor is provided with tableware, and turning to the step S52, otherwise, judging that the pressure film sensor is scrubbed by rags and the like, and continuing the detection of the step.

S52, detecting whether the force sum Xi applied to all the pressure sensing units is larger than the set value X, if so, judging that a sufficient number of tableware is stacked at the position of the pressure membrane to be placed in the washing machine, and executing the step S53, otherwise, judging that other articles are placed at the position by the user, and returning to the step S51.

S53, edge detection is carried out on the object, namely all pressure sensing units receiving the force signals are detected; referring to the above content, if the detection result is an arc edge or a crossing of multiple straight lines, step S54 is executed, and if the detection result is a straight line or the range is too small, the process returns to step S51.

And S54, controlling the cleaning machine door to be opened.

S55. this step may be continued as step S54, or may be started in a separate scenario, in which case, of course, the washer door is closed. Specifically, it is detected whether Xi is changed. If not, the step S56 is executed, otherwise, the user determines that the place where the user places the article is non-contaminated tableware or has no cleaning action temporarily, and the step S57 is executed.

And S56, clearing the 30-minute door closing countdown, and continuously executing the step S58.

And S57, detecting whether the door closing countdown time reaches 30 minutes, executing the step S61 if the door closing countdown time reaches 30 minutes, and repeatedly executing the step S55 if the door closing countdown time does not reach 30 minutes.

S58, judging whether the number of the effective pressure sensing units is changed in proportion to Xi, if so, judging that the tableware is moved, and executing a step S57, otherwise, judging that the tableware is stacked upwards if the effective pressure sensing units are not changed and Xi is increased, and not processing; if Xi is reduced, judging that the user starts to put bowls in the cleaning machine; the execution continues with step S59.

And S59, detecting whether the Xi is reduced to zero, if not, repeatedly executing the step S55, and if so, executing the step S60.

S60, detecting whether the Xi is reduced to zero or not to reach 3 minutes, if not, repeatedly executing the step S59, if so, judging that the tableware is completely put into the washing machine, and executing the step S61.

And S61, controlling the cleaning machine door to be closed.

The control method of the cleaning machine of the embodiment can accurately judge the cleaning object by reasonably utilizing the pressure sensing detection signal, so as to reasonably and effectively control the door of the cleaning machine to be opened or closed, so that the use process of the cleaning machine is more automatic and intelligent, and inconvenience and secondary contact pollution caused by manual door opening and closing of a user in the past are avoided; thereby providing the user with a better use experience.

Example 2

Referring to fig. 12, the present embodiment specifically provides a control system of a washing machine, including:

an obtaining module 61, configured to obtain a pressure detection signal, where the pressure detection signal is generated when the pressure sensing device is subjected to pressure of an object;

and the control module 62 is configured to judge whether the object pressure applied to the pressure sensing device meets a preset pressure condition according to the pressure detection signal, and control the door of the cleaning machine to open or close according to a judgment result.

The cleaning machine, the pressure sensing device and the arrangement thereof in this embodiment are similar to those in embodiment 1, and are not described again. The acquiring module 61 acquires a pressure detection signal generated by the pressure sensing device after being pressurized by an object, such as, but not limited to, a washing object of the washing machine, for example, dishes and other dishes; the control module 62 judges whether the object pressure received by the pressure sensing device meets a preset pressure condition, if the control logic of the cleaning machine door is to open the cleaning machine door when the object pressure meets the preset pressure condition, and to close the cleaning machine door when the object pressure does not meet the preset pressure condition, the control module 62 controls the cleaning machine door to open when the object pressure received by the pressure sensing device meets the preset pressure condition, and controls the cleaning machine door to close when the object pressure does not meet the preset pressure condition, or vice versa.

As a preferred embodiment, the control system further comprises a false touch prevention module 63 for calling the control module 62 only when the duration of the pressure detection signal reaches a false touch prevention preset duration. The embodiment aims at the situation that a cleaning object is not placed on the pressure sensing device in the application scene of the cleaning machine; for example, when the pressure sensing device is scrubbed by using a rag, or dragged and moved by pressing the pressure sensing device by hand; at this time, the generated pressure detection signal should not trigger the control of the cleaning machine door, so the false touch prevention module 3 is arranged in the embodiment, and only when the pressure detection signal reaches or exceeds the false touch prevention time length, the corresponding judgment is carried out on the pressure detection signal; therefore, misoperation of the cleaning machine door caused by control based on error contact is effectively avoided.

As a preferred embodiment, the preset pressure condition includes a preset pressure value and a preset area condition; the control module 62 includes a first determining unit 621, a second determining unit 622, and a control unit 623:

the first determining unit 621 is configured to determine whether the magnitude of the object pressure received by the pressure sensing device reaches a preset pressure value according to the pressure detection signal, and if the magnitude of the object pressure reaches the preset pressure value, the second determining unit 622 is called;

the second determining unit 622 is configured to determine whether the object pressure received by the pressure sensing device meets a preset area condition according to the pressure detection signal, and if so, invoke the control unit 623.

The embodiment analyzes the pressure detection signal and obtains an analysis result based on a preset pressure condition; the preset pressure conditions include a preset pressure value and a preset area condition. Wherein, set up the pressure value of predetermineeing and aim at through the pressure that pressure sensing device received, judge whether the quantity of the washing object of treating the washing has reached the predetermined quantity. Taking the pressure film sensor as an example, if the stacked dishes reach a certain amount, it is considered that the door of the washing machine needs to be opened to put all or a part of the stacked dishes into the washing machine for washing. For example, the first judgment unit 621 detects whether the sum Xi of the pressures at all the points reaches the preset pressure value X, and if so, judges that a sufficient number of dishes are stacked on the pressure sensing device, otherwise, judges that the user has placed other items at the position.

The function of setting the conditions of the preset area includes, but is not limited to, identifying whether the object placed on the pressure sensing device is a satisfactory cleaning object. Because the bosses are arranged at the bottoms of most of the existing bowls and dishes, the bosses are usually in the shapes of circles, ellipses and squares with certain sizes, and other shapes are also the combination of the three shapes, so that the type of the bowls and dishes is represented by the pressure action area of an object on the pressure sensing device in the embodiment. For example, in some cases, the user carelessly places the object that is not the object to be cleaned, such as the intelligent electronic device or the oil bottle, on the pressure sensing device, and at this time, the second determination unit 622 detects the object through the preset area condition set in this embodiment, so that the control of the door of the cleaning machine by the false triggering can be effectively avoided.

As a preferred embodiment, the pressure sensing device comprises a pressure film sensor, wherein the pressure film sensor comprises a plurality of pressure sensing units which are distributed in an equidistant lattice manner and used for generating pressure detection signals when receiving object pressure; the second determining unit 622 is specifically configured to: according to the pressure detection signal, acquiring an action area which is formed by an effective pressure sensing unit for generating the pressure detection signal and is positioned on the pressure film sensor; and judging whether the action area meets the preset area condition.

In this embodiment, the pressure sensing device is a pressure membrane sensor; the pressure film sensor comprises a plurality of pressure sensing units, and the pressure sensing units generate pressure detection signals when receiving the pressure of an object; preferably, the pressure sensing units may be distributed in an equidistant lattice, for example, in a square equidistant lattice. The second judging unit 622 acquires an action area on the pressure film sensor, which is formed by an effective pressure sensing unit generating a pressure detection signal, according to the pressure detection signal; the effective pressure sensing unit is a pressure sensing unit which is arranged on the pressure film sensor and generates a sensing signal due to the fact that the pressure film sensor is pressed by an object. It can be understood that the outer edge of the region formed by the effective pressure sensing unit can represent the outline extension of the contact surface of the pressure film sensor and the cleaning object; therefore, if the action area on the pressure film sensor meets the preset area condition, the object pressure on the pressure sensing device is judged to meet the preset area condition.

Referring to fig. 6, a reference coordinate system may be set according to the distribution of the pressure sensing units, and the origin of the reference coordinate system is located within the distribution range of the pressure sensing units; the reference coordinate system enables the description, statistics and analysis of the signals of the individual pressure sensing units. The distribution range of the pressure sensing units comprises but is not limited to a circular range, a diamond range, a rectangular range and other irregular figure ranges; in the present embodiment, a circular distribution range is taken as an example. And arranging point locations in the reference coordinate system, wherein each point location corresponds to one pressure sensing unit. For the distribution of the pressure sensing units and the signal lines of the pressure sensing units based on the reference coordinate system, referring to the corresponding parts in embodiment 1, the distribution of the pressure sensing units, the distribution of the signal lines and the corresponding statistical analysis can be performed on the pressure sensing unit sets in other shape ranges by a similar method.

As a preferred embodiment, the second determining unit 622 is specifically configured to:

setting a reference coordinate system according to the distribution condition of the pressure sensing units; the origin of the reference coordinate system is positioned in the distribution range of the pressure sensing units; detecting whether the action region intersects with a horizontal axis or a vertical axis in a reference coordinate system; if not, judging that the action area does not accord with the preset area condition; if yes, selecting one of the effective pressure sensing units as an initial pressure sensing unit, preferably, the initial pressure sensing unit is the effective pressure sensing unit intersected with the horizontal axis or the vertical axis; respectively acquiring a first effective pressure sensing unit set and a second effective pressure sensing unit set which are positioned at two sides of the initial pressure sensing unit according to the initial pressure sensing unit and a preset traversal path rule; preferably, the pressure sensor unit can be arranged on the left side and the right side of the initial pressure sensing unit; respectively acquiring a first slope set and a second slope set according to the first effective pressure sensing unit set and the second effective pressure sensing unit set; wherein the first slope set comprises the slopes of each effective pressure sensing unit and the initial pressure sensing unit in the first effective pressure sensing unit set in the reference coordinate system; the second slope set comprises the slopes of each effective pressure sensing unit and the initial pressure sensing unit in the second effective pressure sensing unit set in the reference coordinate system; if the slopes in the first slope set and the second slope set are both increased or both decreased, judging that the action region meets the condition of a preset region; otherwise, the action area is judged to be not in accordance with the preset area condition.

In another case, if there is an action region constituted by the effective pressure sensing unit intersecting with the horizontal or vertical axis in the reference coordinate system, the type of the object is further judged by the detection of the shape of the edge of the action region. Specifically, one of the effective pressure sensing units intersecting with the horizontal or vertical axis in the reference coordinate system is selected as the starting pressure sensing unit. Preferably, the starting pressure sensing unit may be selected by: if there is only one intersection point, the intersection point is taken as the starting pressure sensing unit P, and if there are two intersection points, it is preferable that the intersection point of the sides not parallel to the wall be the starting pressure sensing unit P, depending on the kind of the washer and the installation manner. Accordingly, referring to fig. 7, the following preset traversal path rule may be employed: the pressure sensing units centered around point P are traversed counterclockwise, if the point P intersects the y-axis, then an alternative traversal is sequentially traversing counterclockwise P + (0, -1), P + (1, -1), P + (1,0), P + (1,1), P + (0,1), P + (-1,1), P + (-1,0), P + (-1, -1), if the point P intersects the x-axis, then an alternative traversal is sequentially traversing counterclockwise P + (1,0), P + (1,1), P + (0,1), P + (-1,1), P + (-1,0), P + (-1, -1), P + (0, -1), P + (1, -1).

Fig. 8 shows an application scenario of stacking tableware on a pressure film sensor, and accordingly, referring to fig. 9, the detection analysis of the contact surface edge can be performed according to the traversal method described above. Because the traversal is performed counterclockwise, the y-axis intersection point is downward, and the traversal is started to the right of the x-axis intersection point, all the effective pressure sensing units R traversed for the first time are located on the right side of the ordinate axis, and all the effective pressure sensing units L traversed for the second time are located on the left side of the ordinate axis. Taking the above traversal manner as an example, the slope of R (Xr, Yr) and the initial pressure sensing unit P (Xp, Yp) is calculated

As a preferred embodiment, the control module 62 further includes a third judging unit 624, a fourth judging unit 625 and a fifth judging unit 626:

the third judging unit 624 is configured to judge whether the magnitude of the object pressure received by the pressure sensing device changes according to the pressure detection signal; if not, when the duration time that the object pressure is kept unchanged reaches a first preset duration, calling the control unit 623 to control the door of the cleaning machine to be closed; if yes, the fourth determination unit 625 is invoked;

the fourth judging unit 625 is configured to judge whether the effective pressure sensing unit generating the pressure detection signal changes; if not, calling the control unit 623 to control the door of the cleaning machine to be closed when the duration of the object pressure reduction to zero reaches a second preset duration; if yes, call the fifth judging unit 626;

the fifth judging unit 626 is configured to judge whether the number of effective pressure sensing units changes in proportion to the magnitude of the object pressure; if not, the third judging unit 624 is called, and if so, the control unit 623 is called to control the door of the cleaning machine to be closed when the duration time of proportional change of the number of the effective pressure sensing units and the object pressure reaches a third preset duration.

The present embodiment determines the usage flow of the washer and controls the washer door to close. Specifically, as will be appreciated by those skilled in the art, the present embodiment controls the door of the washing machine to be closed on the premise that the door of the washing machine is currently in an open state; the opening of the washer door may indicate that several wash objects on the pressure sensing device are being placed into the washer. The third judging unit 624 detects the pressure of the object applied to the pressure sensing device, and if the pressure does not change for the first preset time, which indicates that there may be no operation on the cleaning machine, the control unit 623 is invoked to control the cleaning machine to close the door at this time; if so, it is determined whether the effective pressure sensing unit is changed, and if the effective pressure sensing unit is not changed but only the pressure of the object is changed, it is possible that the user stacks or removes the stacked dishes, and then the fourth determining unit 625 determines that the dishes are all put into or removed from the washing machine when the pressure of the object is reduced to zero and maintained for a second preset time period, and calls the control unit 623 to control the door of the washing machine to be closed. On the contrary, if the effective pressure sensing units are changed, the fifth judging unit 626 needs to be invoked to further judge whether the number of the effective pressure sensing units is changed in proportion to the object pressure, if the effective pressure sensing units are changed in proportion, the user can be considered to move the tableware, the control unit 623 is invoked to control the washing machine to close the door after the third preset time period is reached, and if the effective pressure sensing units are not changed in proportion, the third judging unit 624 is invoked to zero, in fact, the first preset time period for detecting whether the object pressure is changed is reset.

The control system of the cleaning machine of the embodiment can accurately judge the cleaning object by reasonably utilizing the pressure sensing detection signal, so as to reasonably and effectively control the door of the cleaning machine to be opened or closed, so that the use process of the cleaning machine is more automatic and intelligent, and inconvenience and secondary contact pollution caused by manual door opening and closing of a user in the past are avoided; thereby providing the user with a better use experience.

Example 3

Referring to fig. 13, the present embodiment specifically provides a cleaning machine control device, including: the pressure sensing device and an electronic apparatus 30 comprise a processor 31 and a memory 32 connected thereto, and the control method of the washing machine as in embodiment 1 is implemented when the processor 31 executes a computer program stored on the memory 32. The electronic device 30 shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.

The electronic device 30 may be embodied in the form of a general purpose computing device, which may be, for example, a server device. The components of the electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, and a bus 33 connecting the various system components (including the memory 32 and the processor 31).

The bus 33 includes a data bus, an address bus, and a control bus.

The memory 32 may include volatile memory, such as Random Access Memory (RAM)321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.

Memory 32 may also include a program/utility 325 having a set (at least one) of program modules 324, such program modules 324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

The processor 31 executes various functional applications and data processing, such as a control method of the washing machine in embodiment 1 of the present invention, by running the computer program stored in the memory 32.

The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through input/output (I/O) interfaces 35. Also, model-generating device 30 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via network adapter 36. Network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. Other hardware and/or software modules may be used in conjunction with the model-generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.

The control device of the cleaning machine of the embodiment can accurately judge the cleaning object by reasonably utilizing the pressure sensing detection signal, so as to reasonably and effectively control the door of the cleaning machine to be opened or closed, so that the use process of the cleaning machine is more automatic and intelligent, and inconvenience and secondary contact pollution caused by manual door opening and closing of a user in the past are avoided; thereby providing the user with a better use experience.

Example 4

This embodiment specifically provides a washing machine including the washing machine control device in embodiment 3. The washer of the present embodiment is provided with a washer control device to control the opening and closing of the washer door.

The cleaning machine of the embodiment can accurately judge the cleaning object by reasonably utilizing the pressure sensing detection signal, so as to reasonably and effectively control the door of the cleaning machine to be opened or closed, so that the use process of the cleaning machine is more automatic and intelligent, and inconvenience and secondary contact pollution caused by manual door opening and closing of a user in the past are avoided; thereby providing the user with a better use experience.

Example 5

The present embodiment provides a computer-readable storage medium on which a computer program is stored, the program implementing the control method of the washer in embodiment 1 when executed by a processor.

More specific examples, among others, that the readable storage medium may employ may include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.

In a possible implementation, the present disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to execute a control method implementing the washing machine in example 1, when the program product is run on the terminal device.

Where program code for carrying out the disclosure is written in any combination of one or more programming languages, the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A control method of a cleaning machine is characterized by comprising the following steps:

2. The control method of a washer according to claim 1, wherein the preset pressure condition includes a preset pressure value and a preset area condition;

and if so, controlling the door of the cleaning machine to be opened.

3. The control method of a washing machine according to claim 2, wherein the pressure sensing device comprises a pressure film sensor, and the pressure film sensor comprises a plurality of pressure sensing units which are distributed in an equidistant lattice manner and used for generating pressure detection signals when being pressed by the object;

and judging whether the action area meets the preset area condition or not.

4. The control method of a washing machine according to claim 3, wherein the step of judging whether the action area meets the preset area condition includes:

5. The method for controlling a washing machine according to claim 3, wherein the step of judging whether the pressure of the object applied to the pressure sensing device meets a preset pressure condition according to the pressure detection signal and controlling the door of the washing machine to open or close according to the judgment result comprises:

judging whether the object pressure on the pressure sensing device changes or not according to the pressure detection signal; if not, controlling the door of the cleaning machine to be closed when the duration time for which the pressure of the object is kept unchanged reaches a first preset duration;

if yes, judging whether an effective pressure sensing unit generating a pressure detection signal changes; if the pressure of the object is not changed, controlling the door of the cleaning machine to be closed when the duration of the pressure reduction of the object to zero reaches a second preset duration;

6. The method of controlling a washer according to claim 1, wherein said step of acquiring a pressure detection signal is followed by further comprising:

7. A control system for a washing machine, comprising:

the pressure detection module is used for detecting the pressure of the object;

8. The control system of a washing machine as claimed in claim 7, characterized in that said preset pressure conditions comprise a preset pressure value and a preset zone condition; the control module comprises a first judgment unit, a second judgment unit and a control unit:

9. The control system of claim 8, wherein the pressure sensing device comprises a pressure film sensor, the pressure film sensor comprises a plurality of pressure sensing units distributed in an equidistant lattice for generating pressure detection signals when the pressure sensing units are pressed by the object; the second judgment unit is configured to:

and judging whether the action area meets the preset area condition or not.

10. The control system of a washing machine according to claim 9, characterized in that the second determination unit is configured to:

11. The control method of a washing machine according to claim 9, wherein the control module further includes a control unit, a third judging unit, a fourth judging unit, and a fifth judging unit:

the fourth judging unit is used for judging whether the effective pressure sensing unit generating the pressure detection signal changes or not; if the pressure of the object is not changed, calling and controlling the door of the cleaning machine to be closed when the duration of the pressure reduction of the object to zero reaches a second preset duration; if the change occurs, the fifth judging unit is called;

12. The control system of a washing machine as claimed in claim 7, characterized in that said control system further comprises:

13. A washer control apparatus, characterized in that said washer control apparatus comprises: the pressure sensing device comprises a pressure sensing device, one or more processors and a memory, wherein the one or more processors are respectively connected with the pressure sensing device and the memory in a communication way;

the memory is configured to store instructions that, when executed by the one or more processors, cause the one or more processors to perform a method of controlling a washer according to any of claims 1-6.

14. A washing machine, characterized in that it comprises a washing machine control device according to claim 13.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method of controlling a washing machine according to any one of claims 1 to 6.