JP2013009808A - Drum type washing machine and program for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drum type washing machine that efficiently performs washing control by monitoring an amount of foam within the washing machine.SOLUTION: The drum type washing machine includes control means 16 for performing: a washing step including a step of rotating a washing tank 3 at such a low speed that the laundry is not attached to the inside of the washing tank 3, and a step (S8) of rotating the washing tank at such a high speed that the laundry is attached on an inner wall surface of the washing tank 3; and a step of rotating the washing tank at the high speed when an output of a foam sensor 14 meets a predetermined condition after the step of rotating the washing tank at the low speed. This structure can adjust the control of rotating the washing tank at the high speed according to an output state of the foam sensor, to allow washing water mixed with a washing agent and dirt attached to the agent in the vicinity of the laundry to be separated from the laundry.

Description

  The present invention has a drum-type washing machine that includes a laundry tub that is rotatable and accommodates laundry in an elastically supported outer tub, and performs washing, rinsing, dehydration and drying of the laundry in the laundry tub Or it relates to a washing dryer.

  In the conventional drum-type washing machine, water is supplied from the outside of the washing machine by water supply means after the laundry is put into the washing tub. Washing water is poured into an outer tub or a washing tub that accommodates the washing tub through a detergent container in which a predetermined amount of detergent has been put in advance. After pouring water, wet the laundry thoroughly with washing water while rotating the washing tub at low speed. Thereafter, the laundry tub is rotated at a low speed such that the laundry does not stick to the wall surface of the laundry tub for a certain period of time. Washing is performed by removing dirt by impact when wet laundry falls from the top of the washing tub as it rotates. In such a drum-type washing machine, it is difficult to uniformly wet the laundry put in the washing tub in the step of wetting the laundry, particularly when the amount of the laundry is large. Therefore, unevenness in washing occurs and the washing performance is significantly reduced.

  Therefore, after the water supply, the washing tub is rotated at a predetermined rotation speed that is relatively low and is washed. Further, the washing tub is rotated at a rotational speed higher than the above-mentioned predetermined rotational speed to perform squeezing. The predetermined number of rotations is a number of rotations at which washing water in the laundry can be discharged out of the washing tub by centrifugal force. As a result, the laundry is evenly wetted by stirring the laundry more and more. Also, the laundry tub can be rotated at a high speed and the number of times it is rotated at a high speed according to the amount of cloth and the water temperature. (For example, refer to Patent Document 1).

JP-A-8-299658

  However, in the conventional configuration, if it is attempted to control the rotation of the washing tub only with at least the amount of cloth and the water temperature, the amount of dirt in the laundry and the amount of detergent input are unknown. May be increased unnecessarily. An extremely large amount of foam indicates that the laundry is generally less soiled or that a detergent having a cleaning power greater than that of the laundry is introduced. When the number of bubbles is excessively large, the load on the motor that rotates the washing tub increases, resulting in a waste of power consumption.

  SUMMARY OF THE INVENTION The present invention solves the above-described conventional problems, and an object of the present invention is to provide a drum type washing machine that can efficiently control washing by monitoring the amount of foam in the washing machine.

In order to solve the above-described conventional problems, a drum-type washing machine and program according to the present invention include a laundry tub that accommodates and rotates laundry, an outer tub that accommodates the laundry tub, and a drive that drives the laundry tub. Means, a foam sensor for sensing the amount of foam in the outer tub, and a control means for determining the amount of foam in the outer tub from the output from the foam sensor and controlling the driving means, The control means includes a low speed agitation step for rotating the laundry tub at a low speed that does not cause the laundry to stick to the inner wall surface of the laundry tub, and the laundry is in a state of being stuck to the inner wall surface of the laundry tub. A washing step having a high-speed rotation step of rotating the washing tub at a high speed, and the high-speed rotation step is performed when the output of the foam sensor reaches a predetermined condition during the low-speed stirring step.

  As a result, after supplying water, the process of rotating at a low speed is performed, so that the laundry becomes wet with the washing water sufficiently mixed with the detergent, and the detergent surfactant adheres to the dirt on the laundry. By adjusting the control of rotating the washing tub at high speed according to the output state of the foam sensor, it is possible to remove the washing water mixed with the detergent in the vicinity of the laundry and the dirt attached to the detergent as necessary.

  The drum type washing machine of the present invention can remove the washing water mixed with the detergent in the vicinity of the laundry and the dirt adhering to the detergent, so that the washing operation can be performed as much as necessary without causing unnecessary foaming. , Wasteful operation, power consumption can be suppressed.

1 is a schematic configuration diagram of a drum-type washing machine according to Embodiment 1 of the present invention. The flowchart which shows the washing | cleaning control of the drum type washing machine in Embodiment 1 of this invention. The figure which shows the output of the transmittance | permeability sensor in the washing process of Embodiment 1 of this invention. The flowchart which shows the washing | cleaning control of the drum type washing machine in Embodiment 2 of this invention.

  A drum-type washing machine according to a first aspect of the present invention includes a washing tub that accommodates and rotates laundry, an outer tub that accommodates the washing tub, a driving means that drives the washing tub, and foam in the outer tub. A foam sensor that senses the amount; and a control unit that determines the amount of foam in the outer tub based on an output from the foam sensor and controls the driving unit. The control unit includes an inner wall surface of the washing tub. A low-speed agitation step for rotating the washing tub at a low speed that does not cause the laundry to stick to, and a high-speed rotation for rotating the washing tub at a high speed so that the laundry is stuck to the inner wall surface of the washing tub When the output of the bubble sensor reaches a predetermined condition during the low-speed stirring step, the high-speed rotation step is performed.

  According to such a configuration, after supplying water, the laundry rotates at a low speed so that the laundry becomes wet with the washing water sufficiently mixed with the detergent, and the detergent surfactant is absorbed by the dirt on the laundry. Stick. By adjusting the control of rotating the washing tub at high speed according to the output state of the foam sensor, it is possible to remove the washing water mixed with the detergent in the vicinity of the laundry and the dirt attached to the detergent as necessary. For this reason, it is possible to prevent unnecessary operations and power consumption by performing as many cleaning operations as necessary without causing unnecessary bubbles.

  In a second aspect of the invention, the control means of the drum type washing machine of the first aspect of the invention prevents the high-speed rotation process from being performed when the output of the foam sensor exceeds a predetermined value for a predetermined time. For this reason, if the dirt of the laundry is much less than the detergent capacity of the detergent and there are a lot of bubbles, the washing is finished without performing the high-speed rotation process, so the high-speed rotation in the excessively foamed state The load on the motor can be reduced, and useless operation and power are not consumed.

In a third aspect of the invention, the control means of the drum type washing machine of the first aspect of the invention reduces the rotational speed of the high-speed rotation process or the high-speed rotation when the output of the foam sensor exceeds a predetermined value in a predetermined time. At least one of shortening the process time is performed. As a result, if the dirt on the laundry is less than the washing power of the detergent and the foam is excessive, there is little dirt to peel off from the laundry, so even if the rotational speed of the high-speed rotation is reduced or the process time is shortened, sufficient washing performance Therefore, excessive foaming can be suppressed. For this reason, it is possible to reduce the load on the motor due to the high-speed rotation in an excessively bubbled state, and wasteful operation and power are not consumed.

  According to a fourth aspect of the present invention, the foam sensor of the drum-type washing machine according to any one of the first to third aspects includes a permeability sensor that senses the permeability of the washing water, The amount of bubbles is determined based on the output value. Accordingly, it is possible to easily determine the amount of bubbles simply by monitoring the permeability of the washing water.

  A fifth invention is a program for causing a computer to execute at least one means in the drum type washing machine according to any one of the first to fourth inventions. As a result, it is possible to change or add a program during operation by downloading on a recording medium or a communication line, so that it is possible to cope with a new specification change.

  Embodiments 1 and 2 of the present invention will be described below with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 is a schematic configuration diagram of a drum-type washing machine according to Embodiment 1 of the present invention. As shown in FIG. 1, the outer tub 2 is arrange | positioned inside the outer case 1 of the whole washing machine. A drum 3 serving as a washing tub is disposed inside the outer tub 2 so as to be rotatable by a rotating shaft inclined downward from the horizontal direction to the back surface. The drum 3 is connected to a motor 4 as driving means on the back surface, and the drum 3 is rotated by the rotation of the motor 4. The drum 3 has a plurality of through holes on the outer peripheral surface, and functions as a washing tub, a dewatering tub, and a drying tub.

  A water intake 5 is connected to the lowermost part of the outer tub 2, and a circulation water channel 12 is connected to the water intake 5. The wash water taken in from the water intake 5 passes through the circulation channel 12 and is circulated by being discharged from the discharge port 11 to the drum 3. Water is taken into the circulation water channel 12 using a circulation pump 13 provided in the circulation water channel 12. Accordingly, the wash water can be circulated by the circulation water channel 12 only by the control of the circulation pump 13, so that the wash water can be circulated regardless of the washing control for controlling the normal washing power, such as the water flow by the rotation of the drum 3. .

  If the circulating water during the circulation contains a lot of foreign matter such as laundry fibers and hair, the circulation pump 13 and the drain pipe 7 may be clogged. Therefore, a filter 15 is installed between the water intake 5 and the circulation pump 13. Foreign objects such as laundry fibers and hair are removed.

  A permeability sensor 14 that functions as a bubble sensor is installed upstream of the filter in the circulation channel 12. The transmittance sensor 14 is composed of a light emitting element such as an LED and a light receiving element such as a phototransistor. The path between the elements is made of a translucent material. Light emitted from the light emitting element is received by the light receiving element through the washing water, converted into a voltage, and output to the control means 16.

  The drain valve 6 is provided between the water intake 5 and the circulation pump 13 and is connected to a drain pipe 7 downstream of the drain valve 6.

  The water intake 5 is provided with a water level sensor 8 as water level detection means for detecting the water level supplied to the outer tub 2 and the drum 3. The water level sensor 8 is installed at a position where the water level is immediately immersed after water supply. The water level sensor 8 detects the water level by detecting, for example, the pressure applied to the diaphragm (diaphragm) as the deformation of the membrane. As a method for detecting the deformation of the diaphragm, a change in capacitance or a strain gauge is used.

The water supply port 9 is connected to the water supply, and sequentially fills the outer tub 2 and the drum 3 with cleaning water and rinse water through the water supply valve 10.

  The control means 16 is composed of a microcomputer or the like, and receives a water level detection signal from the water level sensor 8 and opens / closes the drain valve 6 and the water supply valve 10, controls the motor 4 and the circulation pump 13, etc. The washing process is controlled. Also, the output value from the light receiving element of the transmittance sensor 14 is input as the cleaning water permeability, and the amount of cleaning water bubbles is determined based on this transmittance. The transmittance is converted from the output voltage of the light receiving element of the transmittance sensor 14. The higher the permeability, the lower the voltage. Therefore, if there are many wash water bubbles passing through the circulation water channel 12 and the permeability is low, a high voltage is output.

  Further, the control means 16 also has a function as a cloth amount detecting means for detecting the current signal flowing through the motor 4 and determining the weight of the drum 3, that is, the weight of the laundry. Next, the operation of the drum type washing machine according to the first embodiment of the present invention will be described with reference to FIG.

  FIG. 2 is a flowchart showing the cleaning control of the drum type washing machine in the first embodiment of the present invention.

  When the laundry is put into the washing machine and the laundry is started, the control means 16 performs a cloth amount detection for detecting the amount of the laundry (S1).

  The cloth amount detection detects information related to at least one motor operation such as the magnitude of the current signal of the motor 4, the amount of change in current, and the change in rotation angle when the drum 4 is rotated together with the laundry by controlling the motor 4. By doing.

  The basic water supply is determined based on the amount of laundry. For example, when it is determined that the amount of laundry is “low”, the control means 16 sets WL1 at the “low” water level as the set water level. When it is determined that the amount of laundry is “medium”, the control means 16 sets WL2 at the “medium” water level as the set water level. Further, when it is determined that the amount of laundry is “large”, the control means 16 sets WL3 at the “high” water level as the set water level (S2).

  Next, the control means 16 opens the water supply valve 10 (S3) and supplies water to the outer tub 2 and the drum 3 until the set water level is reached (S4).

  During the water supply, the circulation pump 13 is controlled by the control means 16, and the detergent water supplied together with the detergent is circulated from the discharge port 11 to the outer tub 2 through the circulation water channel 12, thereby promoting the dissolution of the detergent into the water. To do. When the circulating water is discharged from the discharge port 11 into the drum 3, clothing absorbs water before the detergent dissolves in the water, so the rotation speed of the circulation pump 13 is set so weak that the circulating water is not discharged so much into the drum 3. ing.

  Next, when it is confirmed that the control means 16 has reached the set water level (YES in S4), the water supply valve 10 is closed (S5), and the first low-speed stirring process is started (S6). The rotation speed of the drum 3 in the first low-speed agitation step is such that the laundry is lifted up in the drum 3 and falls from the top of the drum 3 due to gravity and does not stick to the inner wall surface of the drum 3 due to centrifugal force. It is. Thereby, the kinetic energy at the time of dropping is effectively added to the laundry. The rotation speed of the first low-speed stirring step is preferably 50 rpm or less, although it depends on the amount of laundry. The rotation direction may be the same direction or periodically reversed.

At this time, the control means 16 starts the circulation pump 13 for 1 minute. Wash water in which the detergent is sufficiently dissolved is circulated from the discharge port 11 into the drum 3 through the circulation water channel 12. Accordingly, the penetration of the washing water into the laundry is promoted (S7). For this reason, the rotation speed of the circulation pump 13 is set to a rotation speed at which the circulating water is firmly discharged into the drum 3 and the washing water can easily penetrate into the laundry.

  Next, the control means 16 stops the circulation pump 13 (S8), keeps the washing water from circulating through the circulation channel 12 for 1 minute, and retains the foam in the drum 3 and the outer tub 2.

  When one minute has elapsed since the circulation pump 13 was stopped, the control means 16 activates the circulation pump 13 again (S9), so that the wash water is circulated into the drum 3 from the discharge port 11 via the circulation water channel 12. To.

  When the circulation pump 13 is restarted, the control means 16 reads the output from the permeability sensor 14, detects the permeability of the washing water, and determines the amount of washing water bubbles (S10).

  For example, when the output of the permeability sensor is constantly monitored from the start of cleaning, the result is as shown in FIG. FIG. 3 is a diagram showing the output of the transmittance sensor in the washing step according to Embodiment 1 of the present invention. After the water supply is completed, the circulation pump 13 is turned on together with the first low-speed stirring step (S6) (S7), so that the cleaning water in which the detergent is dissolved passes through the circulation water channel 12 and becomes a shower from the discharge port 11 to the drum 3. Discharged. As a result, bubbles are generated by the detergent, and the output of the permeability sensor rapidly increases (Z1). After a certain amount of time has passed, the output of the permeability sensor 14 shows a stable value (Z2).

  When one minute has elapsed from the start of driving of the circulation pump 13 and the circulation pump 13 is stopped (S8), the circulation of the wash water in the circulation water channel 12 is stopped. For this reason, the foam stays in the drum 3 or the outer tub 2 away from the water intake 5 of the circulating water channel 12 at a position lower than the water surface. Then, the output of the transmittance sensor 14 gradually decreases (Z3). When a certain amount of time has passed, the output of the permeability sensor 14 shows a stable value (Z4).

  During the two minutes, since the stirring of the drum 3 continues, the washing water permeates into the laundry, and the dirt on the laundry is raised. Foam is generated by washing water or stirring of the laundry by the drum 3, but the more the laundry is soiled, the more the detergent component is consumed and the foam is less likely to be generated.

  When the circulation pump 13 is turned on again after one minute has passed since the circulation pump 13 was stopped (S9), the foam in the drum 3 and the outer tub 2 is sucked into the circulation channel 12 through the water intake 5 together with the washing water. Go. If the laundry is less soiled or if the amount of detergent is too much for the soil, excess foam will be generated in the 2 minutes from the start of washing. Many of these bubbles pass through the circulation channel 12. For this reason, for example, 10 seconds after restarting the operation of the circulation pump 13, the output voltage of the permeability sensor 14 is confirmed (Z5) and used for the determination of the bubble amount.

  If the output value of the permeability sensor 14 is a predetermined value, for example, if the output voltage is less than 4.5V (YES in S10), the amount of bubbles is considered to be less than expected and the motor 4 is controlled after the set time has elapsed (YES in S11). Thus, the drum 3 is rotated at a high speed (S12).

  The rotation speed of the drum 3 in the high-speed rotation process is the rotation speed at which the laundry sticks to the inner wall surface of the drum 3. More specifically, the number of rotations at which the moisture contained in the laundry can be forcibly separated by centrifugal force is good, and 150 rpm or more is preferable. More preferably, it is 300 rpm or more. In addition, as a unit operation when performing the high-speed rotation process, it is performed by a single continuous operation. Further, it may be repeated intermittently such as ON / OFF in a short time. When the drum 3 is rotated at a high speed, excessive bubbles due to the detergent may be generated. Therefore, when the drum 3 is repeatedly performed, it is preferable to perform the high-speed rotation intermittently.

  In the high-speed rotation process, the washing water in the vicinity of the garment fiber containing the detergent made of the surfactant attached to the garment fiber dirt substance in the first low-speed stirring process is removed by centrifugal force to remove the dirt substance from the fiber. Can be removed efficiently along with washing water. Furthermore, if the washing water is discharged toward the laundry in the drum 3 by the circulation pump 13 during high-speed rotation, the washing water that has not yet been contaminated is effectively absorbed by the laundry. Thus, the replacement of the washing water contained in the clothing fiber can be promoted.

  The time T for rotating the drum 3 at a high speed may be a relatively short time as long as the washing water contained in the laundry can be squeezed out.

  When the time T of the high-speed rotation process has elapsed 30 seconds (YES in S12), the control means 16 subsequently performs the second low-speed stirring process (S13). In the second low-speed stirring step, the circulation pump 13 is started in the same manner as in step S6, and the wash water is discharged from the discharge port 11 into the drum 3 via the circulation water channel 12. At this time, the drum 3 is rotated at a rotation speed such that the laundry does not stick and rolls in the drum 3. In addition, the timing which operates the circulation pump 13 and discharges washing water from the discharge port 11 can operate | move by a continuous operation or an intermittent operation.

  After the high-speed rotation step, the second low-speed agitation step is further performed, so that the dirt substances remaining on the fibers can be further peeled off again by the chemical properties of the detergent and the mechanical force accompanying the rotation of the drum 3. it can. If the concentration of dirt substances in the wash water between the fibers is high, there is a concern of reattachment to the fibers, but the dirt that is surrounded by the detergent surfactant is difficult to reattach and adheres to the dirt. Only non-surfactant sticks to the laundry. Therefore, the chemical properties of the detergent can be applied to the remaining dirt.

  The time of the second low-speed stirring step is fixed to a predetermined time that does not depend on the amount of cloth because it is sufficient that the remaining detergent sufficiently penetrates the laundry. For example, in the first embodiment, if the washing process is completed after 5.5 minutes of the predetermined time (YES in S14), the calculation and the constant table can be reduced, so the load on the control means 16 is reduced. Can do.

  On the other hand, if the output value of the permeability sensor 14 is larger than a predetermined value (for example, the output value is 4.5 V or more), it is considered that the amount of foam is excessive (NO in S10), and the low speed is not reached without moving to the high speed rotation process. Continue stirring at. After a predetermined time of 5.5 minutes, the washing process is terminated (S14).

  Further, if the output value of the permeability sensor 14 is much larger than a predetermined value (for example, the output value is 4.8 V or more), the washing process is interrupted, part of the water is drained and bubbles are discharged, and water is supplied as much as necessary. You may perform the defoaming process of carrying out. Thereby, the influence with respect to the washing | cleaning performance by a bubble can be decreased.

  As described above, when the output of the permeability sensor 14 exceeds a predetermined value during a predetermined time during the washing process, it is considered that the dirt on the laundry greatly falls below the cleaning power of the detergent and there are many bubbles, and the high-speed rotation process is not performed. Finish cleaning. Thereby, useless operation and power consumption can be suppressed.

In the first embodiment, the foam amount is determined by reading the output from the permeability sensor 14 at a predetermined time (10 seconds after the restart of the circulation pump 13 in the first embodiment). The output of the transmittance sensor 14 may be read periodically or constantly until the time at which high-speed rotation is scheduled, that is, during the time set in S11. In this way, it is possible to prevent the high-speed rotation process from being performed when the output of the transmittance sensor 14 exceeds a predetermined value. As a result, even if a material that foams later is used depending on the type of laundry and the foam seems to increase, washing is completed without performing a high-speed rotation process that raises the foam further, so useless operation No power consumption.

  In the first embodiment, the output from the permeability sensor 14 is read to determine the amount of bubbles. However, a bubble detection water level sensor that detects the amount of bubbles may be used. The foam detection water level sensor is, for example, a wall surface of the outer tub 2 that is always submerged during the washing process in the vicinity of the water intake 5, and a wall surface of the outer tub 2 that is submerged when a normal amount of water is supplied and a foam amount is generated more than expected. Two electrodes are installed and the resistance value between the electrodes is sensed. By providing such a sensor, even if the washing water itself becomes high in turbidity due to the dissolution of dirt in the laundry, it is possible to detect an increase in the foam itself regardless of the permeability of the washing water, The amount of foam can be determined regardless of the type of dirt.

  Note that the means described in this embodiment causes hardware resources such as a CPU (or microcomputer), a RAM, a ROM, a storage / recording device, an electrical / information device including an I / O, a computer, a server, and the like to cooperate. You may implement with the form of a program. In the form of a program, new functions can be easily distributed / updated and installed by recording them on a recording medium such as magnetic media or optical media, or distributing them using a communication line such as the Internet.

  The same effect can be obtained not only in a drum type washing machine but also in a drum type washing machine having a drying function.

(Embodiment 2)
In the second embodiment of the present invention, the schematic configuration of the drum type washing machine is the same as that of the drum washing machine described in the first embodiment of the present invention. The detailed description of the configuration uses the first embodiment. In Embodiment 2 of the present invention, when the output of the permeability sensor 14 becomes a predetermined value or more in a predetermined time, the control means 16 reduces the number of rotations of the drum 3 in the high-speed rotation process or the time of the high-speed rotation process. Or shorten at least one of them. Hereinafter, it demonstrates in detail using FIG.

  FIG. 4 is a flowchart showing the cleaning control of the drum type washing machine in the second embodiment of the present invention. The processes up to S9 are the same as those in the first embodiment.

  In S15, if the output voltage of the transmittance sensor 14 is smaller than 4.0 V (YES in S15), it is considered that the amount of bubbles is normal, and when the set time has elapsed (YES in S16), the high-speed rotation process is started (S17). ). At this time, it is assumed that bubbles are not excessively generated, and the drum 3 is rotated at 300 rpm for 30 seconds.

  If the output voltage is 4.0 V or more (NO in S15) and less than 4.5 V (YES in S18), the amount of bubbles is considered excessive. When the set time has elapsed (YES in S19), the rotational speed is reduced compared to the high-speed rotational process when the output value of the permeability sensor 14 is smaller than the predetermined voltage, and the drum 3 is rotated at 150 rpm, which is half the normal rotational speed. Is rotated (S20).

  If the output voltage is 4.5 V or higher (NO in S18) and smaller than 4.8 V (YES in S21), the time is further shortened to 15 seconds, which is half of the normal value. When the set time has elapsed (YES in S22), a high-speed rotation process is performed (S23).

  If the output voltage is 4.8 V or higher (NO in S21), the low-speed stirring is continued without performing the high-speed rotation process, and the washing process is terminated after a predetermined time (YES in S24). Note that only one of the reduction in the number of rotations and the reduction in time in the high-speed rotation process may be performed.

In this way, if the dirt on the laundry is less than the washing power of the detergent amount and there are many bubbles, it is sufficient to reduce the rotational speed of the high-speed rotation or shorten the process time because there is little dirt to peel off from the laundry. As a result, it is possible to avoid unnecessary operations and power consumption.

  As described above, since the washing machine according to the present invention can improve the washing performance by controlling the rotation of the washing tub according to the amount of dirt on the laundry, it can also be used for washing devices such as fibers. Applicable.

1 Outer box 2 Outer tub 3 Drum (washing tub)
4 Motor (drive means)
5 Water intake 6 Drain valve 7 Drain pipe 8 Water level sensor (water level detection means)
9 Water supply port 10 Water supply valve 11 Discharge port 12 Circulating water channel 13 Circulating pump 14 Permeability sensor (foam sensor)
15 Filter 16 Control means

Claims (5)

A laundry tub that accommodates and rotates laundry;
An outer tub for accommodating the washing tub;
Driving means for driving the washing tub;
A foam sensor for sensing the amount of foam in the outer tub;
Control means for determining the amount of foam in the outer tub from the output from the foam sensor and controlling the drive means;
The control means includes a low speed agitation step of rotating the laundry tub at a low speed such that the laundry does not stick to the inner wall surface of the laundry tub, and the laundry is stuck to the inner wall surface of the laundry tub. A drum-type washing machine that performs a high-speed rotation step of rotating the washing tub at a high speed, and performs the high-speed rotation step when the output of the foam sensor reaches a predetermined condition during the low-speed stirring step. 2. The drum type washing machine according to claim 1, wherein the control unit does not perform the high-speed rotation process when an output of the foam sensor becomes a predetermined value or more in a predetermined time. 2. The control means performs at least one of reducing the number of rotations of the high-speed rotation process or shortening the time of the high-speed rotation process when the output of the bubble sensor becomes a predetermined value or more in a predetermined time. A drum-type washing machine as described in 1. The said foam sensor is comprised by the permeability sensor which senses the permeability | transmittance of washing water, The said foam amount is determined by the value of the output of the said permeability sensor in predetermined time. Drum-type washing machine. The program for making a computer perform at least 1 means in the drum type washing machine of any one of Claims 1-4.

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