EP3309285A1 - Procédé et appareil de traitement de produits de processus - Google Patents

Procédé et appareil de traitement de produits de processus Download PDF

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Publication number
EP3309285A1
EP3309285A1 EP16193487.2A EP16193487A EP3309285A1 EP 3309285 A1 EP3309285 A1 EP 3309285A1 EP 16193487 A EP16193487 A EP 16193487A EP 3309285 A1 EP3309285 A1 EP 3309285A1
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EP
European Patent Office
Prior art keywords
drum
parameter
imbalance
process material
fixed point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16193487.2A
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German (de)
English (en)
Inventor
Yansong Liu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schulthess Maschinen AG
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Schulthess Maschinen AG
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Filing date
Publication date
Application filed by Schulthess Maschinen AG filed Critical Schulthess Maschinen AG
Priority to EP16193487.2A priority Critical patent/EP3309285A1/fr
Publication of EP3309285A1 publication Critical patent/EP3309285A1/fr
Withdrawn legal-status Critical Current

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14—Arrangements for detecting or measuring specific parameters
    • D06F34/16—Imbalance
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/48—Preventing or reducing imbalance or noise
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/26—Imbalance; Noise level

Definitions

  • the present invention relates to a method for operating a device for the treatment of process material with a rotatable drum for the process material, in particular, the device may be a washing machine.
  • the invention also relates to such a device.
  • Treatment devices with rotating drums for the treatment of process goods for example. Washing machines for the treatment of textiles, are known.
  • the problem still arises that - depending on the loading of the drum and distribution of the process material - undesirable side effects during operation may occur.
  • Such effects may be, for example, striking of machine parts on other machine parts or strong vibrations, in particular wandering or hopping of the treatment device due to the rotational movement of the filled drum.
  • the device may in particular be a water-bearing household appliance such as a washing machine.
  • a method for operating a device for the treatment of process material proposed, wherein the device comprises a rotatable drum for the process material.
  • the device may in particular be a water-bearing domestic appliance, for example a washing machine, but also tumblers or other devices with rotatable drums can be operated according to the invention.
  • the device comprises a control device for carrying out a treatment process, at least one camera device for acquiring camera data, in particular video data, and an evaluation unit for evaluating the camera data.
  • the evaluation unit is in communication with the control device so that results of the evaluation can be communicated to the control device and used for controlling the device.
  • the evaluation unit can also be integrated directly into the control device or be an external unit such as a PC or a smartphone.
  • the camera device could also be mounted externally, that is to say in an environment of the device.
  • the rotational movement (ie the rotational movement) of the drum is part of the treatment process.
  • the camera data therefore includes information about the treatment process.
  • the rotational movement can be encompassed by direct reception of the at least one moving part of the device or by indirect recording of the at least one moving part of the device (eg part of a mirror image) in the camera data.
  • the at least one fixed point may be monitored by the camera device and the camera data then be used according to the invention.
  • the term "imbalance parameter” means a measure of the mass irregularity of the process material distribution on the circumference of the drum during a rotation.
  • a deflection or displacement of the moving part of the device can be taken as a measure of the unbalance, which then leads to the imbalance parameter via an independent, preferably previously established relationship between this variable and known imbalances.
  • camera data means the image data of the camera device, ie video and / or photo data.
  • the camera device is a sensor device for surface detection of preferably electromagnetic radiation, preferably visible light is used.
  • electromagnetic radiation preferably visible light is used.
  • other spectral ranges and imaging techniques are also conceivable.
  • the processing and evaluation of the camera data can be done by means of image processing software in the evaluation unit. For example, mechanical movements of the machine parts, in particular of the drum or of the door bellows, relative to other machine parts or to a still image (as the same machine part when the drum is stationary) or to the environment or the fixed points with respect to their rest position can be detected and evaluated. In particular, by means of known pattern recognition this camera data can be evaluated.
  • controlling means that the results of the evaluation of the camera data can be used to control commands, for example, to regulate the speed or to initiate countermeasures produce and implement.
  • the unbalance parameter currently measured by means of the camera device and determined by the evaluation unit or the specific displacement can be compared with a limit value.
  • This limit value comparison can be carried out in a speed-dependent manner, in particular in the case of the imbalance parameter; So limits adjusted to the speed.
  • a countermeasure as described below
  • the shift depends on the speed and the mass distribution of the filled drum, so in particular the imbalance of the drum. It can therefore be measured directly the displacement of the moving part and these are used as a control variable.
  • Exceeds the displacement of the predetermined and the device predetermined limit is, for example, for purely geometric reasons, a beating of the drum or the lye packet in the case of a washing machine to be feared, which is why a countermeasure must be initiated.
  • the shift is greater with the same imbalance with increasing speed up to the resonance speed (see Fig. 5 ). If the speed is low, so the shift is small.
  • the limit value for the displacement of the device is dependent on the speed and the treatment process provides for higher rotational speeds, the countermeasure can be initiated on the basis of the displacement measured at lower rotational speeds, that is to say controlled as part of a trend detection.
  • the imbalance ie the unbalance parameter
  • the imbalance itself can be determined, for example, by the measured displacement with knowledge of the dependence of the displacement of known imbalances by simple comparison via the independently determined relationship between displacement and known imbalances.
  • the fluctuation range of the correlation parameter as described herein, or another evaluation method can be used.
  • the imbalance parameter of the moving drum is determined, then this can be compared with a speed-dependent limit value. If the limit value is exceeded or, in the course of the treatment process, due to the selected rotational speeds, it is to be feared that the limit value will be exceeded, the countermeasure can be initiated at an early stage and damage avoided.
  • the control can therefore be carried out directly via the displacement and by comparison with an absolute or a speed-dependent limit value of the displacement or even more generally via a motion parameter (see below) or indirectly via the make determined unbalance parameters.
  • said at least one moving part of the device is at least a portion of the rotating drum filled with the process material, e.g. their door-rim-side edge in the case of a washing machine, or alternatively at least a portion of the door bellows, a lye packet or more generally a portion of a housing of the device, which is moved by the drum rotation.
  • the said moving part is thus in communication with the rotating drum and moves in time with the rotary motion of the drum.
  • the moving part can move, move or rotate along the direction of a rotation axis of the drum, and / or transversely thereto. This movement of the moving part can be recorded via the camera device and analyzed with the evaluation unit.
  • the door bellows, the housing and / or other machine parts of the device can be moved by the rotational movement of the drum and detected in their movement by the camera device and then further analyzed for the determination of the displacement or the unbalance parameter.
  • the camera data comprises a plurality of sections of said at least one moving part of the device (or of several such parts), in particular the drum and / or the door bellows, the lye packet and / or the housing.
  • a multiplicity of sections are detected by the camera device and camera data is provided for this purpose and used for the control by means of the evaluation unit.
  • a plurality of fixed points are recorded.
  • the displacement or the unbalance parameter is then determined by averaging from the at least one part of the respective movement of the individual sections or the movements of the individual fixed points or groups of fixed points. This increases the accuracy of the measurement.
  • the camera data comprise at least one still image of said at least one moving part of the device or at least one fixed point of the environment of the device with a stationary drum.
  • This still image can preferably be determined by averaging several still image recordings, wherein the evaluation unit determines the displacement or the imbalance parameter relative to the still image by making a comparison with camera data during drum rotation with the still image. Relative to this still image, the degree of displacement, the rotation or generally the change can then be determined. Previously, the change can be measured speed-dependent with known imbalances, so that a table or a relationship of these two sizes is possible. Additionally or alternatively, the evaluation can be carried out relative to other machine parts.
  • the term "still image” is thus to be understood as a camera data record which has been recorded independently, preferably before, ie before the current measurement, or just afterwards, while the drum is resting, preferably in the uncharged state. From the comparison with camera records with moving drum then the displacement and / or the unbalance parameters can be determined. For this purpose, a data record or a relationship can be provided which has been generated independently, preferably previously, and correlates known displacements or imbalances with movements of the drum with known unbalance, so that the unbalance parameter can be determined from a measured movement.
  • the camera data comprises several periods of the drum, from which the displacement and / or the at least one unbalance parameter are determined by averaging. Such a mean value formation further increases the measurement accuracy.
  • a rate of determination of the displacement or of the imbalance parameter in the time course of the treatment process is carried out as a function of the rotational speed of the drum.
  • the higher the speed the higher the rate of determination of the unbalance parameter. This is advantageous because on the one hand, the imbalance at higher speeds can show stronger effects and because the effects can occur or disappear at shorter intervals.
  • the rotational movement of the drum can be controlled, for example, via a stair profile: First, the drum accelerates to 50 revolutions per minute (also: rpm), holds 50 revolutions per minute for 10 seconds, then continues to increase to 90 revolutions per minute, the speed keeps constant for 15 seconds, and then further increases to 150, 400, 500, 700, 1000, 1300, 1500 and 1600 revolutions per minute.
  • the first camera measurement may take place at the 90-revolutions per minute stage by filmed a portion of the moving part, such as the door bellows, for several periods, eg, about 50 frames per period.
  • the deflection, ie the displacement and / or the correlation parameter can then be evaluated from these image data.
  • Powerful electronics and high computing power allow, for example, to monitor the entire spin cycle of a washing machine without a break.
  • the evaluation unit determines the displacement or the at least one unbalance parameter of the filled drum by means of pattern recognition from the camera data.
  • the unbalance parameter can be determined particularly accurately.
  • pattern recognition Based on the example of the washing machine, the term "pattern recognition” will be illustrated. It is known that a part of the door bellows as a moving part in the sense of the present invention moves periodically with the drum movement. This part is now picked up by the camera device in the resting state of the drum and the distinctive features of the surface structure that are present in it are recognized as patterns by pattern recognition and stored (eg a groove). You can also artificially attach features, such as embossing patterns or markers in the Mosbalg imprint, which can facilitate pattern recognition. During the rotation, for example, the spin, pictures are taken and then analyzed the areas in which this pattern can move, in particular experience has shown.
  • the software looks for the stored pattern and finds it, where the match does not have to be 100%, a predetermined probability is sufficient. Then the software or the control unit knows the new position of the pattern and can calculate the shift of the partial image. Here then is the geometric shift of the subpicture (a selected part of the door bellows) the measure of imbalance.
  • the dependence of the change on the imbalance can be determined in advance with known imbalances and the device can be provided.
  • the image section to be viewed is successively pushed farther and farther away from the rest position. If, for example, the reference part of the door bellows is now physically displaced from the rest position by, for example, 8 millimeters, at 8 millimeters the greatest correlation parameter, i. to find the greatest similarity with the reference image. Then the shift is 8 millimeters.
  • the term "displacement” means a deflection of the monitored portion away from the rest position or a middle position, respectively.
  • the drum is damped, thus allowing some movement of the drum axis away from the axis of rotation. For example, bumps and unbalance effects can be absorbed. Now if the forces are large, for example. Because the imbalance is large and / or because the speed is high, so large shifts and disturbances can occur (vibration, hopping, hiking, hitting, ).
  • twist movement is meant a rotational movement of the drum about an axis of rotation, which in addition to translational displacements changes its inclination angle in both the vertical and in the horizontal direction. These twist movements can also have translational displacements for a rotational movement.
  • distaltion of the at least one portion is meant a changed visual appearance due to a changed gaze of the camera apparatus and / or due to a mechanical, usually reversible warp or deformation of the moving member. This deformation is therefore usually elastic and occurs, for example, under the action of the centripetal force.
  • a profile of a correlation parameter of a correlation of the camera data of the rotating at least one moving part of the device relative to the still image of said part is determined at rest and used to control the device by means of the control device for processing the process material.
  • the fluctuation range of the correlation parameter is a measure of the imbalance.
  • individual periods can be evaluated or averages over several or all periods of the drum movement can be formed.
  • the term "correlation" will now be explained by way of example:
  • the camera apparatus and the software analyze a camera record in which the moving part of the apparatus is strongly moved and distorted (eg the door bellows).
  • the correlation parameter is 1 (or nearly 1 due to inaccuracy and sinking of the drum due to loading).
  • the correlation or similarity with the still image decreases, but some similarity is still noticeable.
  • the correlation is minimal, so the correlation parameter is minimal.
  • the similarity increases again.
  • the correlation is again 1 or maximum (but less than 1, if there are any distortion effects).
  • the fluctuation range of the correlation parameter that is the decency between maxima and minima of the time course, is a measure of the imbalance or the imbalance parameter. From the period you can also calculate the speed.
  • the imbalance parameter is determined from the motion parameter or the correlation parameter, specifically by comparison with predetermined standard values, that is to say comparative variables which previously exist were determined.
  • the motion parameter or the course of the correlation parameter or the fluctuation range of the correlation parameter can preferably be determined as a function of rotational speed.
  • the fluctuation range can then serve as a measure of the imbalance.
  • the movement parameter here is, for example, the amplitude of, for example, oscillating displacement and can serve as a measure of the imbalance.
  • Some machine parts are thus not only more displaced by increasing unbalance, but at the same time more distorted and twisted.
  • the image section with such a machine part then has less and less similarity with his idle state image, so his statue, also: Reference image, the further he moves away from the rest position and the more he is distorted.
  • the correlation parameter of the still image and the motion image decreases. If the machine part approaches the rest position again due to the periodic movement, the correlation parameter increases again.
  • the correlation parameter varies periodically with time, corresponding to the periodic movement of the machine part.
  • the fluctuation range of the correlation parameter can serve as a measure of the imbalance parameter.
  • the apparatus can in practice close the measured correlation parameter to the current imbalance quantity and react accordingly, e.g. if the fluctuation range is too large, initiate a countermeasure, for example, cancel the spin to prevent the machine from striking or moving.
  • the current period or the rotational speed can also be measured.
  • the similarity of their still images and motion images can be considered and analyzed for a plurality of such movable machine parts.
  • the decision criterion can then be an average value, for example a weighted average.
  • the comparison between certain unbalance parameter and unbalance limit may depend on the speed.
  • the imbalance limit which reproduces the limit from which disturbances are likely, can therefore be predetermined as a function of the rotational speed, ie change with the rotational speed, and can be determined, for example, by previous experiments in the laboratory with known imbalances and known rotational speeds.
  • the unbalance parameter can be determined, at the same time this or an equivalent parameter can be used to directly prevent disturbances such as striking, without to go over the imbalance parameter. It may, for example, be that the imbalance parameter from the displacement of the measurement object, for example the drum or the at least one fixed point, is determined and is below the corresponding predetermined limit value and yet a striking of the lye packet occurs on another machine part. If, at the same time, a limit value for the displacement is predetermined and monitored, and if it is exceeded, at least one of the said countermeasures is initiated, this impact can be prevented even better.
  • the imbalance parameter, the motion parameter and / or the correlation parameter are tracked in a trend detection and the at least one countermeasure is already initiated before reaching the limit value.
  • walking is meant a substantially horizontal gradual movement of the device in space, ie, transverse to the force of gravity.
  • hopping refers to a strong jerky vertical or horizontal movement, so to speak, a jumping away of the device. Both disturbances are caused by the drum movement.
  • tapping is the striking of moving machine parts, ie, for example, from the rotating drum or the tub package, other machine parts, eg. On the housing, meant by the glass.
  • a shift ie a drum movement with large imbalance, can thus lead to striking.
  • the method additionally comprises the step of using a predetermined first fixed point in an environment of the device or a first fixed point pattern in the vicinity of the device for detecting a movement of the device relative to the first fixed point or at least one fixed point of the fixed point pattern.
  • This movement of the device can be a hopping or a wandering of the device in space.
  • the environment may consist of the floor in front of the device, walls, furniture, etc. These objects can be considered as fixed points during the treatment process. From the movement of the device relative to the fixed point or to the fixed points of the imbalance parameter can be determined.
  • the device can associate captured image portions of the environment, for example.
  • Typical fixed patterns such as slab joints or even skirting edges, patterns of flooring, patterns or defects such as "cracks" in the concrete floor, paint margins, furniture, installations in the room and on the walls can serve as fixed points. It can be taken several times - at startup and later - the environmental image several times to recognize recurrent patterns as immovable and store, the machine is preferably dormant and the door should be closed.
  • the fixed point patterns are distributed as far as possible over the entire visible environment. This makes it possible to identify obstructions, such as a moving object (e.g., the detergent bottle that is in front of the machine and obscures some fixed points). Outside of the objects of disturbance, other fixed points are visible to the camera device when the environment is widely recorded.
  • a moving object e.g., the detergent bottle that is in front of the machine and obscures some fixed points.
  • the fixed points or fixed pattern of the soil are in many cases particularly well because the device (ie the machine) at then most known height of the camera device to the ground from the perspective or the position of the fixed point can calculate how far away the fixed point or fixed point pattern is from the camera device. From this distance information, the fluctuation of the respective fixed point can then be determined more accurately about its rest position.
  • the device may, for example, display numerous floor patterns (or photographs thereof). For example, Different fuses of the camera device are shown so that the software learns with artificial intelligence, what a fugue looks like and in practice recognizes a fugue.
  • the device is designed so that the user manually inputs the distance information to the fixed point or fixed point pattern, for example, at the request of the device.
  • the device may even select the fixed patterns (eg at or shortly after start-up), show them on a display to the user, and prompt the user for the distance information to the device enter.
  • the device may be further configured to discard inappropriate fixed patterns (e.g., those that do not remain fixed for a long time) by the user.
  • the device may then be further configured to make new suggestions.
  • a distance input can therefore be omitted if it can be determined by the known height of the camera device and the angle or position. The device should then reliably recognize the soil pattern.
  • a ceiling pattern such as a lamp, which is reflected in the example. Chromed door frame and is visible to the camera device. The device can therefore also work with mirror images or reflections.
  • a ceiling pattern has the advantage that it is rarely covered. If the user enters the distance information of the fixed point pattern at the request of the device, then it can almost always be used.
  • the device itself estimates the distance approximately.
  • the room height is fairly constant at about 3 meters and on the viewing angle of the camera device (ie on the position of the fixed point pattern in the image), the device may be designed to determine the angle at which the ceiling pattern to the device from which the device can then determine the distance to the fixed point pattern.
  • an object for example a laundry cart
  • covers all fixed points then it is usually close to the device because it also covers the floor immediately in front of the device.
  • the device may then be designed so that an approximate distance of the object (the object of disturbance) to the camera device is calculated with the known positions of the original fixing points.
  • a moving object such as a laundry basket, laundry cart
  • its image can be used as a provisional fix point or provisional fixed point pattern. If this object is moved during the treatment process, one or more original fix points may be released and made visible to the camera, which can then serve as a normal reference.
  • the machine housing vibrates the machine housing with increasing unbalance more and more.
  • the built-in housing camera device moves more and more to the ground and the environment. From the point of view of the camera apparatus, the fixed points of the environment are subject to an increasingly larger periodic shift, which is evaluated for each fixed point taking into account its respective distance to the camera. From this, the device can also determine the imbalance parameter.
  • the dependence of the displacement on the size of the unbalance parameter by means of known imbalances can be determined beforehand in the laboratory. From this context, which can be made available in a table or in a correlation function of the evaluation unit, the device can derive the current size of the unbalance parameter from the detected movement, in the whole relevant speed range during the treatment process, in particular during the spin operation. The currently measured displacement is converted to the distance in laboratory tests, thus creating a basis for comparison.
  • the device can use striking patterns of the object of disturbance as provisional fixed points.
  • a random object ie a moving object such as a laundry basket, car
  • the device can use striking patterns of the object of disturbance as provisional fixed points.
  • still images are taken before the beginning of the treatment process, in particular the spinning process, and in the stationary state (no drum movement). If the object of disturbance is moved during spinning and the original fix points become visible, these are recognized and from there as fixed points used. If the object of disturbance still hides all original fix points after a movement, it continues to serve as a fixed point or reference with its striking patterns.
  • a one-time movement of the object of disturbance does not disturb the measurement, because the software only evaluates periodic movements.
  • Particularly preferred only those periodic movements are evaluated, which have the periodicity of the corresponding rotational speed of the drum.
  • the device uses striking fixed points or fixed point patterns, which move during the evaluation periodically with the rotational speed about their respective mean position.
  • a one-time shift of the object of disturbance is not periodic and is not evaluated by the evaluation unit as a fixed-point oscillation.
  • the method thus comprises the step of checking before the start of the treatment process, whether the first fixed point or at least a first fixed point of the first fixed point pattern can be detected; and, if the first fixed point or the at least one first fixed point of the first fixed point pattern is not detectable, the method may comprise the following step: recording, before the beginning of the treatment process, a second fixed point or a second fixed point pattern, and evaluation of the movement of the device relative to second fixed point or at least one fixed point of the second fixed point pattern.
  • the treatment process may thus include all treatment steps of a washing machine, from washing, over spinning to aftertreatment.
  • a loading of the drum with textile material is measured by means of the camera device and used to control the device by means of the control device for the treatment of the process material.
  • This measurement may include, for example, that a shift of the stationary and loaded drum is evaluated by the load.
  • a still image of the empty drum can be recorded in advance and compared with an image during and after the loading. From the shift can be concluded on the weight of the current load. To draw this conclusion, the dependence of this shift on the load weight can be determined beforehand and stored in a memory unit of the control device for evaluation.
  • the loading information can also be obtained by evaluating how much process material the camera device sees. If the camera device sees a lot of process material in the drum or very little drum rear wall, as it is covered by the process material, a large load is present. This optical measurement can be combined with measuring sinking to obtain increased accuracy.
  • an effective rotational speed of the drum is determined by means of the evaluation unit from periodic fluctuations in the camera data. Periodic movements of drum sections and / or fixed points or fixed point patterns can be evaluated.
  • the camera device can preferably see directly or determine the control, if something is trapped, (eg pinching the laundry between drum edge and door bellows, in groove of the door bellows) and take countermeasures, for example. Cancel the process or redistribute the process material in the drum ,
  • the determined actual effective speed is compared with the set speed. If the device detects a greater deviation between the actual rotational speed and the target rotational speed, this may indicate a malfunction, for example a braking of the drum due to jammed objects or excessive foaming, etc. Corresponding countermeasures may be initiated.
  • a mechanical stress of the process material in particular its drop height or its concerns on the drum or whose loosening or loosening detected during the treatment process by means of the camera device, analyzed by means of the evaluation and controlled according to the specification of the camera data of the camera device.
  • This provides a particularly efficient use of the camera device. This optimized operation further optimizes the treatment process and further reduces the incidents of malfunction.
  • a device for the treatment of process material in particular a washing machine for the treatment of textiles, proposed, which is adapted to carry out a method according to any one of the preceding claims.
  • the control device is set up correspondingly to carry out the various method steps in accordance with the situation, that is to say a camera device for recording the camera data and an evaluation unit for evaluating the camera data, in particular for determining the unbalance parameter, are provided at the hands of the control device.
  • the device is designed as a washing machine and has a door bellows, wherein the camera device is preferably arranged in the door bellows, more preferably in an upper region of the door bellows or in a door frame, preferably in an upper region of the door frame.
  • camera devices can also be provided at several locations.
  • FIG. 1 shows a cross section through a washing machine 1 with a lye packet 2.
  • the lye packet 2 comprises a cylindrical drum 3, which is filled with laundry 7 as process material.
  • the drum 3 is cylindrical about a drum axis and rotatable about an axis of rotation mounted in the lye package.
  • drivers 4 are provided, which take the laundry items 7 each upwards.
  • a speed of the drum 3 is selected so that the laundry items 7 solve in the upper region of the drum 3 and fall over a drop height H down to an opposite drum section.
  • the fall direction of the laundry items 7 and the direction of rotation of the drum 3 are indicated by arrows.
  • water is supplied and mixed with detergent from a metering device 10.
  • a drainage system 11 the process water can be discharged again.
  • the washing program ie the treatment process, is ensured by a control device 8.
  • a camera device 6 is also installed, which receives at least a portion of the drum 3, a door bellows 12, a housing 5 and / or at least one fixed point P 1 to P 6 in accordance with the control device 8 and camera data provides.
  • the camera device 6 can also be mounted externally.
  • This camera data can then be evaluated by an evaluation unit 9, this evaluation comprising the determination of an unbalance parameter U.
  • image processing software can be used.
  • the unbalance parameter U is a parameter which is a measure of the imbalance of the drum 3. This imbalance of the drum 3 depends on the load and the distribution of the load.
  • the imbalance parameter U can in each case be determined from comparison with comparison data sets comprising camera data which were previously recorded for known imbalances. The software for image processing can then be used for this.
  • comparison data records each correlate the measurement parameter with the unbalance parameter.
  • the displacement and / or rotation (of drum or fixed point (s)) the twisting movement or distortion of the measurement object is measured by the rotation of the drum 3 and then determined via the comparison data set of the unbalance parameters. Since the measurement depends on the speed, curves such as in FIG. 5 shown to be taken. It is also possible to evaluate the evaluation directly by pattern recognition software or by evaluation of the correlation between still image (image of the measurement object at rest) and motion image (image of the measurement object with rotating drum) and determination of the correlation parameter K.
  • the imbalance parameter U can be determined on the basis of the displacement measured by means of the camera device 6.
  • spinning typically in the range of 0 to 400 revolutions per minute
  • the greater the imbalance the stronger the movement Machine parts relative to each other (such as the door bellows 12 to the edge of the drum or the housing 5) and to the environment (floor, walls), ie, the greater is the displacement, which varies due to the drum rotation periodically about a middle position.
  • image areas many small zones or cutouts
  • each having a typical feature are selected, which are meaningful for the movement of the machine parts (eg drum edge, housing front wall, joint pattern in the floor).
  • image acquisition can be performed several times to determine and then save the reference image parts by comparing the images.
  • images are analyzed at appropriate intervals depending on the current speed.
  • the subregions are recognized by means of pattern recognition and their new positions are determined in the image. So then the shift of the individual sub-areas can be calculated to reference image and gained a measure of the shift and a possible twist movement can be detected.
  • the machine 1 can in practice read the actual imbalance quantity on the basis of the displacement and Determine twist movement by means of the known relationship, and indeed throughout the relevant speed range of the treatment process, for example.
  • the spin operation If, in the laboratory, the dependence of the displacement or the twist movement strength on the imbalance variable and the speed on the basis of known imbalances is determined beforehand, and if this relationship of the machine 1 is made available, the machine 1 can in practice read the actual imbalance quantity on the basis of the displacement and Determine twist movement by means of the known relationship, and indeed throughout the relevant speed range of the treatment process, for example. The spin operation.
  • the displacement can be measured in several ways. One can e.g. measure the distance of the drum rim to its original position in the reference image, or its actual distance to the fixed housing 5, or to a fixed joint in the floor.
  • the machine 1 can detect an approaching danger (current unbalance parameter approaches or exceeds the limit G U ) and with a Fight countermeasures as described herein.
  • the machine 1 can, for example, record portions of the floor in front of the machine 1 or the walls (or in general: the surroundings).
  • Typical fixed patterns such as slab joints (as well as: skirting, paving patterns, strokes or "cracks" in the concrete floor, paint borders, furniture, installations in the room and on the walls) can serve as fixed points. It can at different times - at startup and / or later - the environmental image with the fixed points P 1 to P 6 are recorded once or several times to recognize and store recurring patterns as immovable pattern, the machine 1 then preferably rest and the door should be closed.
  • the fixed point patterns P 1 to P 6 are widely distributed over the entire visible environment, so that when a moving object (eg a detergent bottle) is in front of the machine 1 and some fixed points P 1 to P 6 hidden, still other patterns are visible for the camera device 6 and serve as fixed points.
  • a moving object eg a detergent bottle
  • a movable object eg a laundry basket, laundry trolley
  • its image can be used as a provisional fixed point pattern, in particular if the movable object remains stationary during the treatment process, for example the spinning.
  • one or more original fixing points P 1 to P 6 may be released and for the Camera device 6 visible, which then can act normally as a reference. If the moving object is completely removed from the camera field of view, even all the fixed points P 1 to P 6 are visible and available as a reference for the evaluation.
  • the imbalance parameter U can be measured at high speeds with the fixed relative to the camera device 6 fixed point or pattern P 1 to P 6 .
  • the machine housing 5 fluctuates more and more with increasing imbalance, thereby the built in the housing 5 camera device 6 moves more and more relative to the fixed points P 1 to P 6 of the environment.
  • the fixed points P 1 to P 6 of the surroundings make ever greater periodic displacement. From this, the machine 1 can determine the imbalance parameter U, taking into account the distance from the camera to fixed points P 1 to P 6.
  • the machine 1 can use striking patterns of the object as provisional fixed points. For this purpose, pictures are taken before the spin starts and in a dormant state. If the object is moved during the spin and original fix points visible, they can be used from there as fixed points P 1 to P 6 . If the object still hides all fixed points P 1 to P 6 after a movement, it continues to serve as a reference with its distinctive patterns.
  • the software In order for the one-time movement of the object (e.g., manually crazy) not to interfere with the measurement, the software preferably only evaluates periodic motions corresponding to the speed.
  • the machine 1 uses distinctive patterns that oscillate periodically about their respective center position.
  • the unbalance parameter U can also be measured directly (for example with or without measurement of the displacement).
  • Some machine parts are not only shifted more by increasing unbalance, but at the same time more distorted and twisted.
  • the image section with such a machine part then has an ever smaller similarity with his idle state image in the reference image, the further he moves away from the rest position and the more he is distorted.
  • the correlation parameter K of the two partial images decreases. If the machine part approaches the rest position again due to the periodic movement, the correlation parameter K increases.
  • the correlation parameter K (rises and falls) periodically fluctuates with time, corresponding to the periodic movement of the machine part.
  • the fluctuation range of the correlation parameter K is thus a measure of the imbalance quantity.
  • the machine 1 can in practice close the measured imbalance parameter K to the current imbalance quantity and react accordingly, eg if the fluctuation range is too large the treatment process (eg spin) stop to avoid striking or moving the machine.
  • the treatment process eg spin
  • the current period or speed can also be measured.
  • the similarity with their respective idle state image can be considered and analyzed for several such moving machine parts. As a result, then a weighted average can be used.
  • threshold values G U of this imbalance parameter U can then be predetermined as a function of the rotational speed.
  • Fig. 1 usually occur at lower speeds than in a sling after Fig. 2 , where the process material 7 already completely peripherally on an inner wall, ie the jacket, the drum 3 applies.
  • other G U values may possibly be tolerated than in the situation after FIG. 2 .
  • This limit value G U or these limit value curves of G U as a function of the rotational speed can then be matched to certain disturbances, such as walking, hopping or strong vibration of the washing machine 1. In particular, so that below the respective limit value G U the disorder does not occur.
  • FIG. 5 shows the relationship between a measured averaged displacement and the speed.
  • the curves 21 to 24 correspond to situations in which the drum 3 is loaded differently, so that there is a small imbalance for 21, an average imbalance for curve 22, a large imbalance for curve 23 and no imbalance for curve 24. In the case of large imbalance it comes with increasing speed in the Range of the maximum of the curve to a fault, namely for striking.
  • the hopping (jerky dislocation of the machine 1 at typical low speeds between 200 revolutions per minute and 300 revolutions per minute) should no longer occur. Should it exceptionally happen anyway, such as when the feet have loosened or the machine 1 is poorly aligned, the hopping can be detected by means of camera device 6, for example, as follows: With the beginning of the spinning process are constantly fixed points P 1 to P 6 in the Environment of the machine 1 with the camera device 1 observed. Moving or twisting the fixed points P 1 to P 6 , machine dislocation is detected and a countermeasure can be initiated.
  • a movable object eg laundry trolley
  • it is first attempted to find known fixed point patterns P 1 to P 6 in the uncovered residual image (by comparison with a stored reference image) and to observe them during the treatment process, for example the spin.
  • a false alarm is avoided when moving or removing the moving object during spin.
  • the movable object covers the whole environment, so that no fixed point P 1 to P 6 can be seen, the image of the object can be viewed. Since the hopping is usually a shift with rotation, the moving object will move when turning against the machine 1 and twist. This movement can be detected in the camera image and detected as a hopping.
  • the speed of movement can be analyzed as an additional criterion (in cm / s and in ° / s).
  • the speed of movement can be analyzed as an additional criterion (in cm / s and in ° / s).
  • the hopping (at low speeds) and the hiking (at high speeds) takes place at a speed that is in a typical range (about 1 to 4cm / s, 2 to 5 ° / s) and takes at least a few seconds .
  • Moving the object once by hand is faster and takes only a short time. So one can distinguish a manual moving of the object from a real hopping.
  • the washing machine door has reflecting parts (glass, chrome steel frame) reflecting fixed objects such as the ceiling of the room, lamps and lights.
  • the machine 1 can obtain reference patterns from these mirror images and track their position. Change these patterns (Position shifted or gradually removed completely from the mirror area), dislocation of the machine 1 is detected. Since these items are in the upper part of the room, they are certainly not all covered by a laundry cart in front of the machine 1.
  • the migration of the washing machine 1 can be avoided. Hiking usually occurs at high speeds. If the machine 1 despite unbalance monitoring, as described herein, wander, this can be detected from the observed by means of the camera device 6 shift and rotation of the fixed points P 1 to P 6 of the environment and a countermeasure can be initiated, for example, the speed can be reduced, the Items of laundry 7 redistributed, issued a warning or the treatment process, especially the spin, be canceled.
  • the residual image and / or the image of the object can again be regarded as a fixed point (see above).
  • a false alarm by a manual displacement of the movable object can be avoided by focusing on the periodicity of the movement of the fixed points P 1 to P 6 relative to the camera device 6. Hiking and hopping also happens at a speed that is within a limited range of values.
  • looking at the mirror images in the door area is an alternative, even if the environment is covered, it is still possible to see the wandering.
  • the evaluation unit 9 or the control device 8 is designed to compare the currently determined imbalance parameter U with a limit value G U. Alternatively, one or more external units can be switched on. If the limit value G U is exceeded, a countermeasure, as described above, can be initiated.
  • a trend analysis of the development of the current unbalance parameter can also be made in order to anticipate a fault and to initiate the countermeasure early.
  • the periodic movements of the measurement objects can be analyzed, in which case the periodicity can be directly linked to the actual speed.
  • the speed can be measured directly with the camera device 6 and for the determination of the unbalance parameter U be used.
  • FIG. 4 shows measurement results, which correlate the measured with the camera device 6 actual speed with the target speed.
  • the camera device 6 and the control device 8 determine from the periodic movement of the machine parts, for example, the current actual speed, with sufficient accuracy (s. Fig. 4 ).
  • the current actual speed may deviate from the setpoint speed in the event of faults. If the machine 1 detects a greater deviation indicating a disturbance (jamming of the drum by jammed objects, excessive foaming, etc.), it may take countermeasures (e.g., canceling and prompting the user to control the machine 1). The information of the current actual speed can therefore be used to control the washing process.
  • Movement parameters B such as the displacement, twist movement or distortion can also be evaluated directly from the camera data via pattern recognition and compared with predetermined limit values G B without ascertaining the unbalance parameter U.
  • the correlation parameter K can be compared directly with a predetermined limit value G K without determining the unbalance parameter U.
  • These limit values G B and G K can be speed-dependent or rotational speed-independent and determined in preliminary tests and provided to the machine 1.
  • the camera device 6 can directly optically pick up the laundry items 7 or mirror images thereof, which are formed by the door glass or other reflective surfaces. This results in a number of advantages.
  • the loading amount or the filling weight of the drum 3 is determined and taken into account in the evaluation.
  • the camera device 6 detects the laundry items 7 and their location in the drum 3.
  • the laundry image during and after loading and before wetting gives information about the amount of loading.
  • This image (or frame) may be evaluated by the software and the resulting laundry information used to control the treatment process. For example, For example, the displacement due to imbalance can be judged by taking the loading amount information into consideration.
  • the machine 1 can judge whether the desired strength of the mechanical stress is achieved. If, for example, a washing program requires a large drop height H of the laundry items 7 during washing, then the drop height H can be measured by means of the camera apparatus 6 and evaluated and adjusted by means of modified control via the control device 8, if necessary, the drop height via speed control. In the case of a too small actual drop height H, the washing speed is increased, at too high a height H (s. Fig. 1 ) the speed can be reduced.
  • the distribution of the items of laundry 7 or their concerns on the inner wall of the drum 3 can be evaluated and possibly, in unfavorable position (eg unilaterally distributed process material, which entails an increased unbalance), a redistribution of the laundry items 7 are initiated before the treatment process continues becomes.
  • a spin can be checked with the camera device 6, for example., Whether all laundry items 7 firmly abut the drum wall. If a laundry bale or a corner of a piece of laundry still dances freely in the inner region of the drum 3, the machine 1 can continue the laying process for a while and promote the application, for example by gradually increasing the speed. If all items of laundry 7 are fixed, the machine 1 can terminate the landing phase (also prematurely) and move on to the next step, thus controlling the spinning process in accordance with the situation (s. Fig.2 ).
  • the camera device 6 can also be used to ensure that the laundry items 7 are released or loosened. For example. results after the final spin (program end) usually a laundry cake that sticks to the drum wall, and which is to be solved and loosened by the drum is rotated for a while. With the camera device 6, the release and loosening process can be tracked and controlled. For example, if the laundry cake begins to loosen at one point, this can be detected by camera device and software and the drum rotation stopped so that the loosened point at standstill (Reversierpause) is at the top and so the further release by maximum use of gravity is favored ( please refer Fig. 3 ). If the laundry cake is completely dissolved, the washing machine 3 can apply another twist mechanism which is suitable for further loosening laundry items 7, smoothing out existing creases and avoiding new lying creases (the so-called lying creases).
  • the camera device 6 can also be used to detect disturbances such as jamming of objects (laundry, coins, utensils, etc.). For this one creates artificially a number of different Einklemmsituationen (clamping of laundry and utensils between drum edge and door bellows, in the door bellows, between the drum and door glass, etc.) and leaves them from the Record camera device 6 and process by the evaluation unit 9 or control 8.
  • the software in the evaluation unit 9 and control 8 have the necessary artificial intelligence to determine from the pinching images fed to them the typical features of trapping and store to detect in a real washing operation a possible trapping with high probability of hit and then countermeasure such as cancel and redistribution. In this way, laundry and machine damage can be avoided.
  • a mechanical stress on the process material 7, in particular its drop height H or its abutment on the drum 3 or its release or loosening, detected during the treatment process by means of the camera device 6, analyzed by the evaluation unit 9 and according to the specification of the camera data Camera device 6 are controlled with the controller 8 predetermined. So you can optimize the mechanical stress, for example, vote on the process material and store various programs in the controller, which the user can choose.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
EP16193487.2A 2016-10-12 2016-10-12 Procédé et appareil de traitement de produits de processus Withdrawn EP3309285A1 (fr)

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EP16193487.2A EP3309285A1 (fr) 2016-10-12 2016-10-12 Procédé et appareil de traitement de produits de processus

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112144229A (zh) * 2019-06-28 2020-12-29 青岛海尔滚筒洗衣机有限公司 滚筒洗衣机的脱水振动检测方法及滚筒洗衣机
CN112144223A (zh) * 2019-06-28 2020-12-29 青岛海尔滚筒洗衣机有限公司 滚筒洗衣机的洗涤控制方法及滚筒洗衣机
CN113774177A (zh) * 2021-09-13 2021-12-10 内蒙古科技大学 一种高炉布料器波纹管位移次数检测方法及装置
EP3969651A4 (fr) * 2019-07-26 2022-08-17 Samsung Electronics Co., Ltd. Lave-linge et son procédé de commande
US11629445B2 (en) 2021-01-22 2023-04-18 Haier Us Appliance Solutions, Inc. System and method for measuring laundry appliance air flow using a camera and artificial intelligence
US11686030B2 (en) 2021-02-17 2023-06-27 Haier Us Appliance Solutions, Inc. Method for detecting and correcting out of balance conditions in a washing machine appliance
US11851799B2 (en) 2021-03-25 2023-12-26 Haier Us Appliance Solutions, Inc. Systems and methods of operating a washing machine appliance to detect and mitigate out-of-balance conditions
EP4368764A1 (fr) * 2022-11-14 2024-05-15 Miele & Cie. KG Procédé et dispositif de fonctionnement d'un automate de lavage et système de automate de lavage doté d'un dispositif

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DE3117106A1 (de) * 1981-04-30 1982-11-18 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt "einrichtung zum verhindern von schaedlichen schwingungen bei einer trommelwaschmaschine"
DE3938822A1 (de) * 1989-11-23 1991-05-29 Miele & Cie Trommelwaschmaschine

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DE3938822A1 (de) * 1989-11-23 1991-05-29 Miele & Cie Trommelwaschmaschine

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112144229B (zh) * 2019-06-28 2023-08-25 青岛海尔洗涤电器有限公司 滚筒洗衣机的脱水振动检测方法及滚筒洗衣机
CN112144223A (zh) * 2019-06-28 2020-12-29 青岛海尔滚筒洗衣机有限公司 滚筒洗衣机的洗涤控制方法及滚筒洗衣机
CN112144229A (zh) * 2019-06-28 2020-12-29 青岛海尔滚筒洗衣机有限公司 滚筒洗衣机的脱水振动检测方法及滚筒洗衣机
CN112144223B (zh) * 2019-06-28 2023-08-22 青岛海尔洗涤电器有限公司 滚筒洗衣机的洗涤控制方法及滚筒洗衣机
US11959216B2 (en) 2019-07-26 2024-04-16 Samsung Electronics Co., Ltd. Washing machine and control method thereof
EP3969651A4 (fr) * 2019-07-26 2022-08-17 Samsung Electronics Co., Ltd. Lave-linge et son procédé de commande
US11629445B2 (en) 2021-01-22 2023-04-18 Haier Us Appliance Solutions, Inc. System and method for measuring laundry appliance air flow using a camera and artificial intelligence
US11686030B2 (en) 2021-02-17 2023-06-27 Haier Us Appliance Solutions, Inc. Method for detecting and correcting out of balance conditions in a washing machine appliance
US11851799B2 (en) 2021-03-25 2023-12-26 Haier Us Appliance Solutions, Inc. Systems and methods of operating a washing machine appliance to detect and mitigate out-of-balance conditions
CN113774177B (zh) * 2021-09-13 2022-08-16 内蒙古科技大学 一种高炉布料器波纹管位移次数检测方法及装置
CN113774177A (zh) * 2021-09-13 2021-12-10 内蒙古科技大学 一种高炉布料器波纹管位移次数检测方法及装置
EP4368764A1 (fr) * 2022-11-14 2024-05-15 Miele & Cie. KG Procédé et dispositif de fonctionnement d'un automate de lavage et système de automate de lavage doté d'un dispositif
DE102022129967A1 (de) 2022-11-14 2024-05-16 Miele & Cie. Kg Verfahren und Vorrichtung zum Betreiben eines Waschautomaten und Waschautomatensystem mit einer Vorrichtung

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