JPH04272796A - Device and method controlling full automatic washing machine - Google Patents

Abstract

PURPOSE: To execute washing in an optimum washing condition by discriminating whether or not a detergent is supplied by using an optical sensor and applying fuzzy set logic to adjust time for removing the dirt from laundry articles depending on the kind of detergent to automatically feed a proper quantity of detergent. CONSTITUTION: An optical sensor control part 40 measures transmittance (optical sensor output voltage) in the state of being supplied with only water and transmittance in the state of being supplied with detergent and laundry articles to input the measurement result to a microcomputer 10 to discriminates whether or not the detergent is desirably supplied. A fully automatic washing machine continually applies pulse waves from the microcomputer 10 to the part 40 during rotation of a washing motor and accepts the output voltage of the part 40 for X minutes from a time after Y-minutes of washing to discriminate the property of saturation. At the time of sensing saturation, fuzzy inference is executed and a finally fixed value is added or subtracted to/from a presently residual washing time. Washing is progressed until the washing time becomes zero after then.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] This invention uses an optical sensor to determine whether detergent has been put into a washing machine, and also applies fuzzy set theory to determine the time required to remove stains from laundry depending on the type of detergent. The present invention relates to a washing machine control device and control method that attempts to improve an incomplete washing method by adjusting the amount of washing time.

0002

BACKGROUND OF THE INVENTION Various types of washing machines to which conventional fuzzy set theory is applied are known. A specific example thereof is the washing machine disclosed in Japanese Patent Publication No. 2-77296. The above-mentioned washing machine automatically adjusts the water supply amount of the washing machine appropriately depending on the dirt in the water and the water supply amount when rinsing, and after pouring a predetermined amount of water into the rinse tank, the stored water is in a washing machine that rotates to rinse clothes, a control valve that adjusts the amount of water supplied to the rinsing tank; and a water amount detection means that detects the amount of water that is supplied to the rinsing tank while the water amount is adjusted by the valve. A sensor for detecting turbidity of water in the water supply, a detection signal from the water amount detection means and the sensor are input into the rinsing tank, and predetermined rules are used to determine the amount of water injected into the rinsing tank and the amount of water being stored in the rinsing tank. A fuzzy inference unit calculates a quantity indicating the degree of opening of the control valve based on membership functions such as the turbidity of the water and the degree of opening of the control valve, and based on the inference result by the fuzzy inference unit, the control valve is It is equipped with means to control.

[0003] In such a washing machine, a sensor detects the degree of turbidity of water poured into the rinse tank, and
The amount of water supplied is detected and the amount of water supplied to the rinse tank is adjusted using fuzzy inference based on this detected data, so the optimal amount of water supplied can be adjusted depending on the degree of turbidity of the water in the rinse tank, making it possible to save water. On the other hand, there is a problem in that it is difficult to determine whether detergent has been properly added because the detergent in the powder detergent tank has already been used up and the detergent hardens due to the surrounding environment of the washing machine.

Furthermore, there is a washing machine disclosed in Japanese Patent Application Laid-Open No. 1-274797 as a washing machine to which another fuzzy set theory is applied. This washing machine uses fuzzy reasoning to automatically set various washing conditions based on the quality, quantity, and washing consistency of the laundry, and automatically performs washing operations consisting of washing, rinsing, and spin-drying steps. In a washing machine that performs regular washing, a sensor detects the condition of the laundry, a manual input section that receives human power from operation, and fuzzy inference is performed based on the information obtained from the sensor and manual input section. It is equipped with a control unit that determines various washing times such as rinsing time, and controls the motor, water supply valve, drain valve, etc., and uses fuzzy reasoning to determine washing conditions, making it possible to create conditions that take into account multiple information at the same time. Powder detergent has the advantage of being configurable, allowing you to set optimal washing conditions (washing time, rinsing time), and setting instructions for water usage, washing time, etc. using Lulu's fuzzy inference setting method. It memorizes what kind of detergent is in the tank and uses the corresponding switch when washing. For example, when washing is finished and the power cord is unplugged, the microcomputer is reset and all contents are saved. There is a problem in that the amount of detergent used increases unnecessarily by exceeding the standard detergent supply amount basically set by the washing machine manufacturer.

[0005]

OBJECTS OF THE INVENTION Therefore, the present invention was made to solve the above-mentioned problems. An object of the present invention is to provide a control device and a control method for an automatic washing machine. Another object of the present invention is to determine the type of detergent in the powder detergent tank;
It is an object of the present invention to provide a control device and a control method for a fully automatic washing machine that automatically supplies an appropriate amount of detergent. Still another object of the present invention is to provide a fully automatic washing machine control device that prevents wear on laundry and prevents wastage of electricity and water by setting optimal washing conditions by applying fuzzy set theory. The objective is to provide a control method.

[0006]

[Means for Solving the Problems] In order to achieve the above object, a fully automatic washing machine control device according to the present invention includes a microcomputer and operates under the control of the microcomputer to supply water required for washing. a water supply valve drive unit, a water level sensing unit that detects whether or not water is being supplied appropriately through the operation of the water supply valve drive unit, and a water level sensing unit that detects whether water is being supplied or not, and a water level sensing unit that detects whether water is being supplied or not, and when detergent and laundry have been added. The microcomputer checks the water level and determines whether the detergent has been added appropriately.The optical sensor control unit uses the microcomputer to determine whether detergent has been added appropriately, and the optical sensor control unit adds detergent until a small amount of water level is detected based on the transparency checked by the optical sensor control unit. a detergent motor drive section; a cloth amount sensing section that senses the amount of loaded laundry; a laundry motor driving section that drives the laundry motor in a state in which the loaded laundry is sensed by the laundry amount sensing section; A memory device that stores detergents that have been added as determined by a microcomputer based on the transparency checked by the sensor control section, and an alarm section that emits an alarm sound under the control of the microcomputer if an abnormality occurs with the detergent injection. It is characterized by consisting of.

Furthermore, the fully automatic washing machine control method of the present invention prevents the detergent from being used to the desired extent due to the detergent solidification phenomenon caused by the state in which the detergent in the powder detergent tank has already been used up and the surrounding environmental conditions of the washing machine. The first step is to use a microcomputer to determine whether detergent progress is disrupted due to the detergent not being added, using the transmittance detected by an optical sensor.
As a result of the determination in step 1 and step 1 above, when detergent is first added, the optical sensor detects the transmittance depending on the type of detergent and stores it in memory to prevent the user from washing the wrong type of detergent. The second step is to ensure that the appropriate amount of detergent is dispensed even when the machine is operated, and fuzzy set theory is applied to determine the time relationship in which stains on laundry are separated based on the type of detergent determined in the second step. and a third step of washing according to the resulting washing conditions.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is an overall schematic diagram of a washing machine equipped with an optical sensor module applied to the present invention, and FIG. 2 is a structural diagram of the optical sensor module applied to the invention. In FIGS. 1 and 2, reference numeral 1 denotes a pull sweater which is rotated by the operation of a motor 2 and washes the laundry put into the washing tub, and 3 is composed of a light emitting section 4 and a light receiving section 5, and the above-mentioned light emitting section It is an optical sensor that determines whether or not detergent can be dispensed by receiving the light emitted from 4 in a light receiving part 5 and inputting it to a microcomputer. 6 is made into a predetermined shape and is attached to the top and bottom of the tob to be added to the tob. It is a rubber packing that contracts pressure. On the other hand, the optical sensor 3 is fixed with a bolt to the inner surface of the lower part of the washing machine top, and is designed to emit light into the washing tub and receive the emitted light.

Next, FIG. 3 will be described. FIG. 3 is an overall block diagram of the fully automatic washing machine control device of the present invention. In FIG. 3, reference numeral 10 is a microcomputer that generally controls all operations of the fully automatic washing machine of the present invention, and 20 is a microcomputer for supplying water required for washing into the washing tub when a washing course is selected. , is a water supply valve drive unit operated under the control of the microcomputer 10, and 30 uses a water level sensor to sense whether or not water is supplied to a desired level by the operation of the water supply valve drive unit 20, and detects the above-mentioned water level using a frequency value. A water level sensing unit 40 is input to the microcomputer 10, and 40 measures the transmittance (optical sensor output voltage) when only water is supplied and the transmittance when detergent and laundry are added. , an optical sensor controller 50 inputs the information to the microcomputer 10 and determines whether detergent has been added as desired; and 50 determines when a small water level is detected based on the transmittance check result of the optical sensor controller 40. This is a detergent motor drive unit that dispenses detergent up to

Further, reference numeral 60 indicates that when a small amount of water level is detected as a result of the sensing by the water level sensing section 30, the washing motor is driven in a state in which the loaded laundry is sensed by the cloth amount sensing section 70. In the washing motor drive unit, the optical sensor control unit 40 also checks the transmittance when the washing motor rotates, and the part 80 is a washing motor drive unit that checks the transmittance when the washing motor is rotated. A microcomputer signal that identifies the type of detergent put into the washing tub based on the information determined by the difference in transmittance output from the optical sensor control unit 40 depending on the type of detergent (standard, concentrated general) that was used. To automatically dispense an appropriate amount of detergent even when a customer mistakenly selects the type of detergent. Further, reference numeral 90 denotes an alarm unit that notifies the user through a buzzer or the like if it is determined that there is something wrong with the detergent injection based on the output voltage detected by the optical sensor control unit 40. be.

The automatic washing machine configured as described above continuously applies pulse waves from the microcomputer 10 to the optical sensor control unit 40 while the selection motor is rotating, and determines the turbidity saturation time while the washing machine is progressing, that is, the separation of dirt from the laundry. keep time,
When the water level sensed by the water level sensing unit 30 is set to the high water level, the output voltage of the optical sensor control unit 40 is received for x minutes from the time when y minutes of washing time have passed to determine whether saturation is possible (Fig. 7, 8).

[0012] The above method of determining whether or not saturation is possible is to calculate the average of the first three and the last three using the input data for x minutes (maximum 25 in the case of a small water level), and determine if the absolute value of the difference is 0. If it is less than .02 volts, it is determined that it is saturated. In other words, [(Document 1+Document 2+Document 3)/3-(Document 18+Document 19+Document 20/3]<0.02V...
...(1), it is determined that the signal is saturated, and no further processing is performed on the input from the optical sensor 3. However, if it is determined that the material is not saturated, one additional material is input in the next cycle, and washing is continued until the material is saturated according to the above formula (1) for a total of 20 materials including the previous 19 materials. conduct. At this time, the microcomputer 1
If saturation is not detected within the standard washing time for each water level set to 0, the washing time display on the display will remain at the washing time and continue washing to detect saturation.
When the maximum washing time is over, the washing process is finished and the next process is started. Meanwhile, the standard washing machine time and maximum washing time are shown in Table 1.

[0013] If saturation is detected, fuzzy inference is performed, but the data required for the above fuzzy inference is the past time held from the beginning of the washing process, that is, the saturation time and the final value sensed at the time of saturation. This is the average value (turbidity) of the three materials. That is, fuzzy inference is performed in the following manner using the saturation time and turbidity value, and the finally determined value is added or subtracted from the actual remaining washing time.

(a) The functions for saturation time (T) and turbidity (V) are defined as follows (see FIG. 9).

(b) Substituting the saturation time (T) and turbidity (V) into the function defined in the above equation (a), x1,
Calculate the values of x2, x3 and y1, y2, y3 (Figure 1
(see 0). However, turbidity (v) is 3.0<V<4.2
In this case, calculate using the function (a) above, otherwise, if turbidity (V) V>4.2, x1
= x2 = 0.0 x3 = 1.0, and if turbidity (V) is V<3.0, x1 =
1.0 x2 = x3 = 0.0. Furthermore, if the saturation time (T) is 3.0<T<10.0, calculate using the function (a) above; otherwise, if the saturation time (T) is T>10.0. If so, y1
= y2 = 0.0 y3 = 1.0, and if the saturation time (T) is T<3.0, y1
= 1.0 y2 = y3 = 0.0.

(c) The following function for adjusting the washing time is maintained (see FIG. 11). t1=-0.5×|t|t|+1.0 t2=-0.5×|t-3|+1.0=t4t3=-0
．． 5×|t-6|+1.0=t5=t7t6=-0.5
×|t-9|+1.0=t8t9=-0.5×|t-1
2|+1.0 That is, the functions from t1' to t9' should also be held, and are the function values obtained by multiplying each of the above t1 to t by t. (d) Obtained from (b) above (x1,
x2, x3) and (y1, y2, y3). product1=x1×y1product
2=x1×y2product9=x3×
It becomes y3.

(e) Find the following. F1=t1×product1+
t2×product2+. ．． ．． ．． ．． +t9×prod
uct9 F2=t1'×prod
uct1+t2'×product2+. ．． ．． ．． ．． +t
9'×product9 (However, if each term in the above formula is a negative number, it is set to zero (0)).

(f) Value F1 obtained from the above (e),
Integral from interval (0.12) for F2

[0019](
g) Determine the final value as follows. (H) Add and estimate the final value obtained from (G) above to the current remaining washing time. (li) From then on, washing continues until the washing time reaches zero.

Next, FIGS. 4 to 6 will be described. 4 to 6 are flowcharts showing the operating order of the fully automatic washing machine of the present invention, where S means a step. In the fully automatic washing machine of the present invention, when a washing course is selected, the water supply valve is first turned on in step S1,
In order to determine whether the water supply valve is turned on in step S1, the frequency output from the water level sensor is sensed in step S2, and it is determined whether the current frequency is equal to or higher than the reset point.

If the result of the determination in step S2 is that the current frequency is not equal to or higher than the reset point (in the case of NO), the process returns to step S1, the above-described operation is repeated, and the result of determination in step S2 is that the current frequency is If is equal to or greater than the reset point (in the case of yes), water is being supplied to the washing tub as desired, so step S
Proceed to step 3 and check the output voltage A of the optical sensor with only water being supplied. Next, in step S4, the detergent motor is turned on and detergent is added until a small amount of water level is detected.

When the small water level is detected and the detergent injection is completed in step S4, the process proceeds to step S5, where the microcomputer 10 checks whether the current frequency output from the water level sensor is a frequency suitable for the small water level. , if the frequency is not suitable for a small water level (NO
), the process returns to step S4, turns on the water supply valve and washing motor again, and injects the appropriate detergent into the small water level, and in step S5 above, if the current frequency is a frequency suitable for the small water level (yes ), the water supply valve and the detergent motor are turned off in step S6, and the process proceeds to step S7, where the amount of laundry put into the washing tub is sensed.

Next, in step S8, with the detergent and laundry loaded, the optical sensor output voltage B when the washing motor is rotating is checked, and the process proceeds to step 9, where the step S described above is performed.
If the optical sensor output voltage A when only water is being supplied to the washing tub checked in step 3 is a smaller value than the optical sensor output voltage B when laundry is loaded (if yes).
Since the voltage level is higher when there is laundry in the washing tub than when there is only water in the washing tub, the water level is determined by determining that the detergent has been properly added, and if not (NO
In this case), since the detergent has not been properly added, an alarm is emitted via the buzzer 90 in step S91 so that the user can check.

After the water level has been determined in step S10, the process proceeds to step S11, where the water supply valve and the detergent motor are turned on so that the water is filled up to the determined water level, and the detergent motor is turned on so that the water level is determined in step S11. Make sure that the appropriate amount of detergent is added to the water level.

[0025] Next, in step S12, it is checked whether water has been supplied to the determined water level, and if water has been supplied to the determined water level (in the case of YES), the process proceeds to step S13, where the water supply valve is turned off and water is not supplied beyond that level. If water is not supplied to the determined water level (in case of NO)
Then, the process returns to step S11 and water is supplied up to the determined water level.

Next, in step 14, the washing motor is turned on for a predetermined period of time in order to determine the type of detergent added, and in step 15, the degree of turbidity generated by the operation of the washing motor is sensed, and the process proceeds to step S16. The microcomputer 10 determines whether the voltage is at the same level as the selected detergent type. If the voltage is the same as the detergent type already selected (YES), the process is switched to the washing process, and if it is not the same (NO). ), step S1
In step 7, the input type is determined.

As a result of the above determination, if the voltage level of the detergent injected into the washing tub 7 does not match that of the selected detergent, and the type of detergent injected is different, step S1 is performed.
In step S71, the detergent type stored in the EAROM (memory IC) is changed, and in step S172, the detergent injection motor driving time is reset, and then the process returns to step S1 to repeat the subsequent operations again.

On the other hand, in step S18, the amount of detergent added is determined, and if a small amount has been added (in the case of YES), the process advances to step S19 to turn off the washing motor, and in step S20, the water supply valve is turned off and detergent is added. The motor is turned on to ensure that the correct amount of detergent is dispensed. On the other hand, if the result of detergent amount determination in step S18 is that the detergent has been properly added (in the case of NO), the process returns to step S17 and the subsequent operations are repeated.

The water supply valve in step S20 is 1
Repeatedly turn off for 5 seconds and turn on for 2 seconds. Therefore, it is determined in step S21 whether 15 seconds have elapsed, and as a result of the above determination, when 15 seconds have elapsed (ye
In the case of s), the process proceeds to step S22, where the water supply valve is turned on for 2 seconds, the detergent injection motor is turned on, and after detergent injection, it is determined in step S23 whether additional detergent injection has been completed,
If adding additional detergent has been completed (if yes),
Move on to the washing process.

On the other hand, if 15 seconds have not elapsed in step 21 (NO), and in step S23,
If adding additional detergent has not been completed (NO)
In this case, the process returns to step S20 and the subsequent operations can be repeated. On the other hand, adding additional detergent while turning the water supply valve off for 15 seconds and on for 2 seconds is recommended when the water level is set at a high level and additional detergent needs to be replenished after the water supply has been completed to the high water level. This is to prevent overflow from occurring if the refill motor and water supply valve are turned on at the same time.

After performing the above operations, and as a result of the determination in step S16, if the already selected detergent type and the added detergent type are the same (in the case of yes), the washing process in step S24 is performed. enter. When the washing process is started, in step S25 it is determined whether the turbidity is still unsaturated and has been for x minutes or more, and as a result of the above determination, if the turbidity is still unsaturated but has been for x minutes or more y
es), the process advances to step S26 and the start time t
In step S27 where s is obtained, the degree of turbidity is sensed, and whether saturation is possible or not is checked, and in step S28, the end time te is obtained.

Next, in the total washing time defined in step S29, a time te-ts equal to the end time te of step S28 minus the start time ts of step S26 is subtracted, and zero is added to the end in step S30. Then, the process proceeds to step S31 to determine whether or not it has been saturated.

If the result of the determination in step S31 is that the saturation is possible (in the case of yes), the process proceeds to step S3.
After performing saturation sensing and fuzzy inference in step 2, step S
33, if the determination result of saturation in step S31 is unsaturated (in the case of NO), the process directly proceeds to step S33, adds the final to the total washing time to adjust the washing time, and returns to step S24. Then, repeat the following actions.

On the other hand, if the determination result in step S25 is that the turbidity is still unsaturated but not longer than x minutes (in the case of NO), the process proceeds to step S34, where it is determined whether it is saturated or not. If the determination result is saturated (in the case of yes), the process proceeds to step S35, where 0.1 minute is subtracted from the total washing time, and in step S36, it is determined whether the total washing time is zero, and the above determination result is ,
If the total wash time is zero (if yes), step 37
Proceed to the next step and exit.

On the other hand, if it is unsaturated in step S34 (NO), the process proceeds to step S38, where 0.1 minute is added to the past time, and if the total washing time in step S36 is not zero (NO), 0.1 minute is added to the past time in step S38. The process returns to step S24 in the same way as in case 1), and the subsequent operations can be repeated.

[0036]

As described above, according to the fully automatic washing machine control device and control method of the present invention, it is possible to accurately determine whether or not detergent can be added, and even if the type of detergent is selected incorrectly, Not only can it determine the appropriate amount of detergent by automatically supplying it, but it also uses fuzzy set theory to set the optimal washing conditions and automatically washes the laundry, preventing wear and tear on the laundry. This has a considerable economic effect in preventing wastage of electricity and water.

[Brief explanation of the drawing]

FIG. 1 is an overall schematic diagram of a washing machine equipped with an optical sensor module applied to the present invention.

FIG. 2 is a structural diagram showing an attached optical sensor module applied to the present invention.

FIG. 3 is an overall block diagram of a control device for a fully automatic washing machine according to the present invention.

FIG. 4 is the first half of a flowchart showing the operating sequence of the fully automatic washing machine control method of the present invention.

FIG. 5 is the middle part of a flowchart showing the operating sequence of the fully automatic washing machine control method of the present invention.

FIG. 6 is the second half of a flowchart showing the operating sequence of the fully automatic washing machine control method of the present invention.

FIG. 7 is a graph showing a saturation determination method applied to the present invention.

FIG. 8 is another graph showing the saturation determination method applied to the present invention.

FIG. 9 is a functional relationship graph between saturation time and turbidity necessary for performing fuzzy inference applied to the present invention.

FIG. 10 is another graph of the functional relationship between saturation time and turbidity necessary for performing fuzzy inference applied to the present invention.

FIG. 11 is a functional relationship graph for washing time adjustment using fuzzy inference applied to the present invention.

[Explanation of symbols]

1　Purseta 2 Motor 3. Optical sensor 4 Light emitting part 5 Light receiving section 6 Rubber packing 7 Washing tub 8 Turb 10 Microcomputer 20 Water supply valve drive part 30 Water level sensing part 40 Optical sensor control section 50 Detergent motor drive part 60 Washing motor drive unit 70 Cloth amount sensing part 80 memory 90 Alarm section

Claims (10)

[Claims] 1. A microcomputer, a water supply valve drive unit operated under the control of the microcomputer in order to supply the water required for selection, and a water supply valve drive unit that determines whether or not water is appropriately supplied by the operation of the water supply valve drive unit. a water level sensing section for sensing, an optical sensor control section for checking the transmittance in a state where only water is supplied and a state in which detergent and laundry have been added, and determining whether detergent has been appropriately added by the microcomputer; , a detergent motor drive unit that dispenses detergent until a small amount of water level is detected based on the transmittance checked by the optical sensor control unit; a cloth amount sensing unit that senses the amount of loaded laundry; and the cloth amount sensing unit. A washing motor drive unit that drives the washing motor in a state in which the laundry input is sensed by the unit, and a washing motor drive unit that stores the detergents to be loaded that are determined by a microcomputer based on the transmittance checked by the optical sensor control unit. If there is a problem with the memory or detergent injection, the microcomputer will control the
A control device for a fully automatic washing machine, comprising an alarm section that emits an alarm sound. 2. The control device for a fully automatic washing machine according to claim 1, wherein the sensing unit uses a water level sensor to check whether water is being supplied to a desired level based on a frequency value. 3. The optical sensor control unit is characterized in that the optical sensor controller receives the light emitted by the optical sensor light emitting unit at the light receiving unit and inputs the received light to the microcomputer, thereby determining whether or not the detergent injection is normal. A fully automatic washing machine control device according to claim 1. 4. The fully automatic washing machine control device according to claim 1, wherein the memory is an electrically convertible ROM (EARM). 5. The fully automatic washing machine according to claim 1, wherein the microcomputer continuously applies a pulse wave to the optical sensor control unit while the washing motor is rotating, and maintains the turbidity saturation time while washing is in progress. Washing machine control device. [Claim 6] A state in which the washing progress is disrupted due to the fact that the detergent in the powder detergent tank is already used up and the detergent hardens due to the surrounding environmental conditions of the washing machine, and the detergent is not added to the desired level. The first step is to use a microcomputer to determine the transmittance using the transmittance detected by the optical sensor.As a result of the determination in the first step above, once detergent has been added, the optical sensor detects the transmittance depending on the type of detergent being added. A second step is to store the amount of detergent in the memory so that even if the user makes a mistake in selecting the detergent type, the appropriate amount of detergent is dispensed, and the detergent determined in the second step is A method for controlling a fully automatic washing machine, comprising a third step of applying fuzzy set theory to the time relationship in which dirt on the laundry is separated according to type, and performing washing according to the resulting washing conditions. 7. In the first step, detergent is added when the output voltage of the optical sensor when only water is being supplied is smaller than the output voltage of the optical sensor when the laundry is being added. 7. The method of controlling a fully automatic washing machine according to claim 6, wherein the water level is determined by determining the water level. 8. In the second step, if the detergent added to the washing tub is not the same as the detergent selected by the user, the type of detergent stored in the memory is changed and the detergent injection motor is changed. 7. The fully automatic washing machine control method according to claim 6, further comprising resetting the driving time. 9. In the second step, if it is determined that the amount of detergent to be added is small, after operating the water supply valve for 2 seconds,
7. The method of controlling a fully automatic washing machine according to claim 6, wherein the operation is repeated without operation for 15 seconds. 10. The method of controlling a fully automatic washing machine according to claim 6, wherein in the third step, fuzzy inference is performed when it is determined that saturation occurs.