KR20180114810A - Washing apparatus and method for controlling the same - Google Patents

Abstract

The present invention relates to a washing machine and a control method of the washing machine. The washing machine comprises: a first rotating tub; a first driving portion rotating the first rotating tub; a second rotating tub; a second driving portion rotating the second rotating tub; and a control portion controlling the first driving portion and the second driving portion so as to rotate the first rotating tub and the second rotating tub. When a rotation speed of the first rotating tub is equal to or greater than a first reference speed, the control portion controls the second driving portion so as to increase a rotation speed of the second rotating tub until reaching a target speed and decrease the rotation speed of the second rotating tub.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a washing machine,

A washing machine, and a control method of the washing machine.

A washing machine means an electronic product capable of washing laundry such as cloth, bedding or towel, or other textile products. The washing machine is provided with one or two or more washing machines capable of receiving laundry and washing water, and the washing machine can wash laundry according to the rotation of the washing machine.

In the washing machine of the washing machine, a rotatable pear setter may be installed on the bottom surface of the washing machine, or a rotating rod provided on the center of the washing machine and provided with a wing may be installed, and the washing machine may wash the laundry by rotating the pear setter or the rotating rod.

If the pearlizer is provided, the washing machine may wash the laundry in the washing tub by using the vortex generated by rotating the pearlizer provided at the bottom surface of the washing tank at a high speed, and the pearlizer may wash the laundry in a predetermined range The laundry may be washed by rotating in different directions to agitate the laundry.

Further, the washing machine may include a drum having a charging port formed on the front surface of the washing machine and rotating at an angle with the vertical line of the paper. In this case, the laundry can be washed using the drop generated by the rotating drum.

The washing machine can perform the washing process using various methods as described above. After the washing process is completed, at least one of the rinsing process and the dewatering process is sequentially performed to perform washing on the laundry.

A washing machine having a plurality of washing tanks and capable of reducing or eliminating excessive vibration generated when a plurality of washing tanks are driven at the same time, and a control method of the washing machine.

Another object of the present invention is to provide a washing machine and a control method of the washing machine that can solve the unbalance caused by the laundry introduced into the washing tub in the process of performing washing using one or more washing tubs, This is the task to be done.

In order to solve the above problems, a washing machine and a control method of the washing machine are provided.

The washing machine includes a first rotating unit, a first driving unit that rotates the first rotating unit, a second rotating unit, a second driving unit that rotates the second rotating unit, and a second rotating unit that rotates the first rotating unit and the second rotating unit Wherein the control unit controls the first driving unit and the second driving unit such that when the rotational speed of the first rotating bath is equal to or greater than the first reference speed, the rotational speed of the second rotating bath is increased to the target speed, The second driving unit can be controlled.

The control unit may control the second driving unit so that the rotational speed of the second rotating vessel is reduced when the rotational speed of the first rotating vessel is equal to or higher than the first reference speed and the rotational speed of the second rotating vessel is equal to or greater than the target speed have.

The control unit may cut off the power applied to the second driving unit when the rotation speed of the second rotating bath reaches the target speed.

The rotational speed of the first rotating bath and the rotational speed of the second rotating bath may include a rotational speed in the dehydrating stroke.

Either one of the first rotating vessel and the second rotating vessel can be pivotable about a vertical axis and the other one can be pivotable about a horizontal axis.

A first rotating unit, a first driving unit for rotating the first rotating unit, a second rotating unit, a second driving unit for rotating the second rotating unit, and a second driving unit for rotating the first rotating unit and the first rotating unit, And a control unit for controlling the first driving unit, the driving unit, and the second driving unit, wherein the control unit controls the first rotating unit and the second rotating unit in accordance with the rotation speed of the first rotating unit and the second rotating unit, The first driving unit and the second driving unit may be controlled such that one rotation speed is controlled.

Wherein the controller is configured to control the rotation speed of the second rotary trough to be higher than the predetermined rotation speed when the second rotary trough maintains the preset rotation speed and the rotation speed of the first rotary trough is smaller than the third reference speed, 2 driving unit so that the rotation speed of the second rotating bath is maintained at the predetermined rotating speed when the second rotating bath is maintained at a predetermined rotational speed and the rotational speed of the first rotating bath is greater than the third reference speed The second driving unit can be controlled.

The controller may control the second driving unit to maintain the increased rotational speed of the second rotating bath for a predetermined time when the rotational speed of the second rotating bath is increased.

The method of controlling a washing machine includes the steps of: measuring a rotational speed of a first rotating bath; comparing a rotational speed of the first rotating bath with a first reference speed; and if the rotational speed of the first rotating bath is not less than a first reference speed, And controlling the second driving unit so that the rotational speed of the second rotating group is increased to the target speed and then decreased.

The control method of the washing machine is such that when the rotational speed of the first rotating bath is equal to or higher than the first reference speed and the rotational speed of the second rotating bath is equal to or more than the target speed, The method comprising the steps of:

Wherein the step of controlling the second driving unit such that the rotational speed of the second rotating vessel is increased to a target speed and then decreased is performed when the rotational speed of the second rotating vessel reaches the target speed, .

The rotational speed of the first rotating bath and the rotational speed of the second rotating bath may include a rotational speed in the dehydrating stroke.

Either one of the first rotating vessel and the second rotating vessel can be pivotable about a vertical axis and the other one can be pivotable about a horizontal axis.

The washing machine includes a first rotating unit, a first driving unit for rotating the first rotating unit, a second rotating unit provided adjacent to the first rotating unit, a second driving unit for rotating the second rotating unit, And an operation detecting unit for detecting an operation of at least one of the first rotary unit and the second rotary unit and a second rotary unit for determining whether an unbalance has occurred in the second rotary unit based on the detection result of the operation detection unit, And a control unit for controlling the number of wash cycles of the second rotary drum to be increased or the operation of the second driving unit to be changed when it is determined that an unbalance has occurred.

Wherein the motion sensing unit senses at least one of a rotational speed motion sensing unit for sensing the vibration of the second rotary drum and a current applied to the rotational speed of the second driving unit, a voltage applied to the second driving unit, And a driving unit motion detection unit for detecting a motion of the driving unit.

The control unit may change at least one of a rotation speed of the driving unit and a rotation deceleration of the driving unit, or at least one of an operation period and a period of the period of the driving unit, So that the operation of the second driving unit can be controlled to be changed.

The control unit controls the number of washing cycles of the second rotary drum or changes the operation of the second rotary drum to reduce the number of rotations of the rotary drum when the predetermined period of time has elapsed, Can be controlled.

The control unit may control the number of washings of the second rotary drum to be increased or the operation of the second driving unit to be changed after an unbalance is generated in the second rotary drum by a plurality of times.

According to the washing machine and the control method of the washing machine, when a plurality of washing tanks are provided in the washing machine and a plurality of washing tanks are driven at the same time, the excessive vibration generated in the washing machine can be reduced or eliminated.

According to the washing machine and the control method of the washing machine described above, when a plurality of washing tanks are provided in one washing machine, the respective washing tanks can be controlled according to the operation of the other washing tanks, whereby the efficiency of operation of each washing tub is improved .

According to the washing machine and the control method of the washing machine described above, when any one of the plurality of washing machines operates according to the rotation frequency of the high motor, at least one other washing machine must be stopped There is no need.

According to the washing machine and the control method of the washing machine described above, since it is not necessary to stop at least one other washing machine even when one of the washing machines operates, the standby time of at least one other washing machine can be minimized or eliminated So that the time required for washing and dehydration can be reduced.

According to the washing machine and the control method of the washing machine described above, when the laundry introduced into the washing tub is densely packed and unbalance occurs in the washing tub, the laundry can be disassembled to eliminate the unbalance.

According to the washing machine and the control method of the washing machine described above, unnecessary vibration applied to the washing tub can be cut off due to the elimination of unbalance in the washing tub, thereby preventing wear and damage of the washing tub.

Further, according to the washing machine and the control method of the washing machine described above, since the unbalance in the washing tub can be eliminated, the washing efficiency in at least one of the washing, rinsing, and dewatering strokes can be further improved.

1 is a block diagram of a first embodiment of a washing machine.
2 is a graph showing an example of a change in the driving speed of the first washing unit or the second washing unit in the washing or dewatering cycle of the washing machine.
3 is a view showing an example of a method of controlling the rotational speed of the second washing tub according to the first embodiment.
4 is a diagram showing an example of a change in the rotational speed of the first washing tub according to the first embodiment.
5 is a diagram showing an example of a method of controlling the rotational speed of the second washing tub according to the second embodiment.
6 is a view showing an example of a change in the rotational speed of the first washing tub according to the second embodiment.
7 is a view for explaining an example of a method of controlling the rotational speed of the second washing tub according to the third embodiment.
8 is a view showing an example of a change in the rotational speed of the first washing tub according to the third embodiment.
9 is a view for explaining an example of a method for controlling the rotational speed of the first washing tub according to the fourth embodiment.
10 is a diagram showing an example of a change in the rotational speed of the second washing tub according to the fourth embodiment.
11 is a block diagram of a second embodiment of the washing machine.
12 is a diagram showing an example of a sensing unit provided in the washing tub.
13 is a view for explaining a situation in which an unbalance has occurred in the washing tub.
14 is a view for explaining a change in the rotation speed of the driving unit when an unbalance is generated in the washing tub.
15 is a first diagram for explaining an example of a process of changing the water level in the washing tub.
16 is a second diagram for explaining an example of a process of changing the water level in the washing tub.
Fig. 17 is a view for explaining a first example of the change in the rotation speed of the driving portion. Fig.
18 is a view for explaining a second example of change in the rotation speed of the drive unit.
19 is a diagram for explaining a change in the operation rate of the driving unit.
FIG. 20 is a diagram for explaining a process of changing an operation start time and an operation end time of the driving unit.
21 is a diagram showing a first example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.
22 is a view showing a second example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.
23 is a diagram showing a third example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.
24 is a view showing a fourth example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.
25 is a perspective view of a washing machine according to an embodiment.
26 is a view for explaining a first housing and a second housing of a washing machine according to an embodiment.
27 is a side cross-sectional view of a washing machine according to an embodiment.
28 is an exploded perspective view of a second housing according to an embodiment.
29 is a view showing a part of a front bracket and a front bracket of a washing machine according to an embodiment of the present invention.
FIG. 30 is a side view showing a combined position of a fixed frame and a front housing of a washing machine according to an embodiment.
31 is a control block diagram of an embodiment of a washing machine.
32 is a flowchart of a first embodiment of a method of controlling a washing machine.
33 is a flowchart of a second embodiment of a method of controlling a washing machine.
34 is a flowchart of a third embodiment of a method of controlling a washing machine.
35 is a flowchart of a fourth embodiment of a method of controlling a washing machine.
Fig. 36 is a flowchart of a fifth embodiment of a method of controlling a washing machine.
37 is a flowchart of a sixth embodiment of a method of controlling a washing machine.
38 is a flowchart of a seventh embodiment of a method of controlling a washing machine.
39 is a flowchart of an eighth embodiment of a method of controlling a washing machine.
40 is a flowchart of a ninth embodiment of a method of controlling a washing machine.

In the following specification, like reference numerals refer to like elements throughout the specification unless otherwise specified. As used herein, the term to which " part " is added may be embodied in software or hardware. According to an embodiment, 'part' may be embodied as one part, or one part may be embodied as a plurality of parts It is also possible.

When a part is connected to another part throughout the specification, it may mean a physical connection, or may be electrically connected, depending on which part and the other part.

In addition, when a portion includes another portion, it does not mean to exclude another portion other than the other portion unless specifically stated to the contrary, meaning that it may include another portion depending on the designer's choice do.

The terms first and second are used to distinguish one part from another part, and they do not mean a sequential expression unless there is a special mention.

The singular < RTI ID = 0.0 > expressions < / RTI > may include plural expressions unless the context clearly dictates otherwise.

Hereinafter, various embodiments of the washing machine including the first washing unit and the second washing unit will be described with reference to FIGS. 1 to 10. FIG.

1 is a block diagram of a first embodiment of a washing machine.

Referring to FIG. 1, the washing machine 1 according to an embodiment of the present invention includes a first washing unit 10 capable of washing laundry, a first washing unit 10, The second washing unit 20 can be operated simultaneously with or at the same time as the washing unit 20.

The first washing unit 10 is provided to perform at least one of a washing cycle, a rinsing cycle, and a dewatering cycle, and the second washing unit 20 can perform at least one of a washing cycle, a rinsing cycle, . In this case, the stroke that can be performed by the first washing unit 10 may be the same as the stroke that can be performed by the second washing unit 20, or some of them may be the same, and some of them may be different. It is also possible that the stroke that can be performed by the first washing unit 10 is different from the stroke that can be performed by the second washing unit 20.

The strokes performed by the first washing unit 10 and the second washing unit 20 at a specific point in time may be the same or different. For example, during the dewatering process of the first washing section 10, the second washing section 20 may perform a different washing process, for example, a washing process or a rinsing process, You may.

The first washing unit 10 and the second washing unit 20 may start a predetermined stroke at the same time or may start at that time. For example, the first washing unit 10 and the second washing unit 20 may start the dewatering process at the same time or at substantially the same time. Alternatively, for example, one of the first washing unit 10 and the second washing unit 20 may start the dewatering process first, and the other one may start the dewatering process after a predetermined time.

At least one of the first washing unit 10 and the second washing unit 20 may be provided to perform a dehydration process in accordance with any one of the strokes, . In this case, at least one of the first washing unit 10 and the second washing unit 20 may be arranged to automatically or manually perform different strokes.

When the first washing unit 10 and the second washing unit 20 initiate the same stroke, for example, a washing cycle at the same time or at substantially the same time, the first washing unit 10 and the second washing unit 20, May terminate the same administration as described above, or may terminate the administration that has been started at a different time. When the start of the stroke is ended at a different time, either the first washing unit 10 or the second washing unit 20 may initiate the dehydration process in advance of the other process, for example, another process that is sequentially scheduled.

According to one embodiment, the first washing unit 10 and the second washing unit 20 may be implemented using mutually different methods. For example, the first washing unit 10 may be implemented using a drum type, and the second washing unit 20 may be implemented using a vortex type or a stirring type. Alternatively, the first washing unit 10 may be implemented using a vortex type or agitation type, and the second washing unit 20 may be implemented using a drum type.

According to another embodiment, the first washing unit 10 and the second washing unit 20 may be implemented using the same method. For example, the first washing unit 10 and the second washing unit 20 may be implemented using any one of a drum type, a vortex type, and a stirring type. More specifically, for example, both the first washing unit 10 and the second washing unit 20 may be provided to perform at least one of washing, rinsing, and dewatering using a drum.

The embodiments of the first and second washing units 10 and 20 are illustrative and various methods can be applied to the first and second washing units 10 and 20 according to the design of the designer.

The first washing unit 10 and the second washing unit 20 can be arranged in various ways according to the designer's choice.

According to one embodiment, the first washing unit 10 and the second washing unit 20 may be stacked in the vertical direction. That is, the first and second washing units 10 and 20 are arranged in the upper part of the other washing unit so that the first washing unit 10 and the second washing unit 20 are stacked in the vertical direction . More specifically, for example, the second washing unit 20 can be designed to be disposed at the upper end of the first washing unit 10. Of course, it is also possible to arrange them in the opposite manner. In this case, the first washing unit 10 and the second washing unit 20 may be in contact with or close to each other. In addition, according to the embodiment, another device such as a dryer may be further disposed between the first washing portion 10 and the second washing portion 20.

According to another embodiment, the first washing unit 10 and the second washing unit 20 may be arranged side by side in parallel. In other words, the second washing unit 20 may be disposed on the left or right side of the first washing unit 10.

The first washing unit 10 and the second washing unit 20 may be integrally formed in a detachable manner. The first washing unit 10 and the second washing unit 20 may be implemented using separate washing modules, and then combined and assembled. In the latter case, the first washing unit 10 and the second washing unit 20 may be separated from each other.

Each of the first washing unit 10 and the second washing unit 20 is provided to be operable based on predetermined driving speeds R1 and R2. The first washing unit 10 may perform at least one of washing, rinsing, and dewatering while maintaining or changing a changeable predetermined driving speed (hereinafter, referred to as a first driving speed R1). Also, the second washing unit 20 may perform at least one of washing, rinsing, and dewatering while maintaining or changing a changeable predetermined driving speed (hereinafter referred to as a second driving speed R2).

At least one of the first driving speed R1 and the second driving speed R2 may be fixed within a specific period or may be variable within a specific period as necessary. The first driving speed R1 and the second driving speed R2 may be the same or different depending on the viewpoint. When the first washing unit 10 and the second washing unit 20 perform the same stroke at the same time, the first driving speed R1 and the second driving speed R2 are substantially equal to each other Or may be designed to vary approximately.

The first driving speed R1 is set to be a rotational speed of the first washing tub 11, a rotational speed of a first peritator (not shown) provided rotatably on the bottom surface of the first washing tub 11, The rotation speed of the first washing bar (not shown) formed in a bar shape in the first washing tub 11 and the rotation speed of the rotation shaft generated by the first driving unit 13 (hereinafter referred to as the rotation speed of the first driving unit 13) ). ≪ / RTI > The second driving speed R2 is determined based on the rotational speed of the second washing tub 21, the rotational speed of a second pelletizer (not shown) provided rotatably on the bottom surface of the second washing tub 11, (Hereinafter referred to as the rotational speed of the second driving portion 23) of the second washing portion 23 formed in the shape of a bar in the first washing portion 21 or the rotating speed of the rotating shaft generated by the second driving portion 23 And may include at least one.

The number of the washing units 10 and 20 is not limited to the above embodiment. The washing unit 1 may include two washing units 10 and 20. If necessary, the washing machine 1 may further include three or more washers. At least two of the three or more laundries may be arranged vertically and / or in parallel.

Hereinafter, the respective washing machines 10 and 20 will be described in more detail.

According to one embodiment, the first washing unit 10 includes a first washing tub 11 into which laundry is loaded and laundry is washed, and various washing tubs 11 installed in the first washing tub 11 or the first washing tub 11, And a first driving unit 13 for providing a rotational force required for the first motor.

The first washing tub 11 has a substantially cylindrical shape and is provided so that laundry can be loaded and washed.

The first washing tub 11 may be provided so as to be rotatable at a fixed or variable rotational speed around a predetermined axis. In this case, the first washing tub 11 may be realized by using a drum rotatable about a rotational axis which is laterally (for example, transversely), upward (for example, the longitudinal direction) or upward .

According to the embodiment, the first washing tub 11 may include a fixing tank (not shown) and a rotating tank (not shown). The fixing bath may be fixed and the rotating bath may be rotatable at a fixed or variable rotation speed. The laundry in the first washing tub 11 can be washed according to the rotation of the rotating tub.

In addition, the first washing tub 11 may be provided with a pearlizer and / or a washing bar rotatable at a fixed or variable rotating speed. Laundry poured into the first washing tub 11 may be washed by rotating the pearl separator and / or the washing bar.

The first driving unit 13 is provided to provide a necessary rotational force to the first washing tub 11. In this case, the first driving unit 13 is provided so as to be able to transmit the rotational force to the above-described rotating tub, pericator, washing rod or drum, directly or by using various devices, for example, gears.

The first driving unit 13 may be implemented using a first motor, and the first motor generates a rotational force necessary for rotating the rotating drum, the pulsator, the washing rod, or the drum. In this case, the motor may be a motor, such as an AC motor, an alternating current motor, or a brushless less direct current motor (BLDC motor) And can be implemented.

The first driving unit 13 can be operated while maintaining the rotational speed under the control of the control unit 30 or varying it. Therefore, the rotation of each component (for example, a rotating drum, a pulsator or a washing rod, etc.) in the first washing tub 11 or the first washing tub 11 is performed under the control of the control unit 30. [

Depending on the structure, the rotational speed of the first driving part 13 may be the same as or different from the rotational speed of the rotating drum, the pericator, the washing rod, or the drum.

The first washing section 10 includes a first feedback signal generating section 19-1 for generating a feedback signal for a control signal transmitted from the control section 30, And a first washing machine operation detecting unit 19-3 for detecting the operation of the first washing machine 11, as shown in FIG.

The first feedback signal generator 19-1 may sense and measure the control signal output from the controller 30 and generate a feedback signal corresponding to the control signal output from the controller 30. [ Here, the control signal output from the control unit 30 includes information on the rotational speed of the first driving unit 13. The first feedback signal generator 19-1 may generate a feedback signal in the same manner as the control signal or amplify the control signal or perform predetermined filtering on the control signal to generate a feedback signal corresponding to the control signal . The feedback signal generated by the first feedback signal generator 19-1 may be transmitted to the controller 30. The control unit 30 can determine the rotational speed indicated by the first driving unit 13 based on the feedback signal and thereby determine the first driving speed of the first washing unit 10. [

The first driving part motion sensing part 19-2 is provided to sense the rotational speed of the first driving part 13 and to transmit the sensing result to the control part 30 in the form of an electrical signal. The first drive unit motion detection unit 19-2 may be implemented using a rotation speed sensor. The rotational speed sensor may include a tachometer, an encoder, a toothed wheel sensor, or the like. The tachometer may include, for example, an electrical tachometer and / or a photoelectric tachometer, and the encoder may include, for example, an incremental encoder, an absolute encoder, a magnetic encoder, and / Or a resolver. In addition, the first driving unit motion sensing unit 19-2 may be implemented using various sensors capable of sensing the rotational speed of the first driving unit 13. [

The first washing tub operation detecting unit 19-3 senses the rotational speed of the first washing tub 11 and outputs an electrical signal corresponding to the detected result to the controller 30. The first washing machine operation detecting unit 19-3 may be implemented using a predetermined rotational speed sensor in the same manner as the first driving unit operation detecting unit 19-2. The rotational speed sensor may be, for example, a tachometer An encoder, a gear wheel sensor, and the like.

The first washing unit 10 includes the first feedback signal generator 19-1, the first driving unit motion sensing unit 19-2 and the first washing unit motion sensing unit 19-3, , Or may include two or more of them.

The control unit 30 controls the first washing unit (not shown) by at least one of the first feedback signal generating unit 19-1, the first driving unit operation detecting unit 19-2 and the first washing unit operation detecting unit 19-3 10, that is, the first drive speed R1, as appropriate.

According to an embodiment, the second washing unit 20 includes a second washing tub 21 into which laundry is loaded and laundry is washed, and various kinds of parts installed in the second washing tub 21 or the second washing tub 21 And a second driving unit 23 for providing a rotational force necessary for the driving force.

The second washing tub 21 has the same shape as the first washing tub 11 or has a substantially cylindrical shape and is provided so that the laundry can be inserted and washed.

In this case, the second washing tub 21 may be provided with a rotary shaft extending in the lateral direction, the upward direction, or the upward direction. The second washing tub 21 may be fixed to the second washing tub 21 at a predetermined rotational speed, Or may be implemented using a drum capable of rotational motion around the center.

The second washing tub 21 may include a fixed tub (not shown) and a rotatable tub (not shown). In this case, the laundry in the second tub 21 Can be washed by rotating the rotary tub.

According to the embodiment, the second washing tub 21 may be provided with a pear cleater or a washing bar, and the laundry in the second washing tub 21 due to the rotation of the pear cleaner or the washing bar Can be washed.

The second driving unit 23 is provided to provide the necessary power to the second washing tub 21 and specifically to be capable of directly or indirectly transmitting rotational force to a rotary tub, do.

The second driving unit 23 may be implemented using a second motor in the same manner as the first driving unit 13 and the second motor of the second driving unit 23 employs a motor commonly used for manufacturing a washing machine It can be implemented.

The second driving unit 23 can be operated while maintaining the rotational speed or varying under the control of the control unit 30 so that the operation of the second washing tub 12 can be controlled by the second driving unit 23 . In this case, the rotational speed of the second driving unit 23 may be the same as or different from the rotational speed of the above-described rotating tub, pericator, washing bar or drum.

According to one embodiment, the second washing unit 10 includes a second feedback signal generating unit 29-1 for generating a feedback signal for a control signal transmitted from the control unit 30, A second driving unit motion sensing unit 29-2 for sensing the speed and a second washing tub operation sensing unit 29-3 for sensing the operation of the second washing tub 11 may be further included.

The control unit 30 uses at least one of the second feedback signal generating unit 29-1, the second driving unit operation detecting unit 29-2 and the second washing tub operation detecting unit 29-3, It becomes possible to obtain information related to the operation of the washing section 20, for example, information on the second driving speed R2.

Each of the second feedback signal generating unit 29-1, the second driving unit operation detecting unit 29-2 and the second washing unit operation detecting unit 29-3 may include a first feedback unit The signal generating unit 19-1, the first driving unit motion sensing unit 19-2, and the first washing tub operation sensing unit 19-3. Therefore, detailed description thereof will be omitted.

The second washing unit 20 may be provided in any one of the second feedback signal generating unit 29-1, the second driving unit motion detecting unit 29-2 and the second washing unit motion detecting unit 29-3, May include only one, or may include two or more of them.

The first washing unit 10 and the second washing unit 20 are connected to the same type of signal generating device or the like for sensing or measuring the respective driving speeds (i.e., the first driving speed R1 and the second driving speed R2) Sensor, or may be implemented using a different kind of signal generating device or sensor. For example, the first washing unit 10 includes a first driving unit motion sensing unit 19-2 that senses the operation of the first driving unit 13, and the second washing unit 20 includes a first washing unit 10 And a second driving unit motion sensing unit 29-2 that senses the operation of the second driving unit 23 in the same manner as the first driving unit sensing unit 29-2. The first washing unit 10 includes a first driving unit motion sensing unit 19-2 that senses the operation of the first driving unit 13 and the second washing unit 20 includes a first washing unit And a second feedback signal generation unit 29-1 that generates a feedback signal corresponding to the control signal output from the control unit 30 differently from the first feedback signal generation unit 29-1.

The control unit 30 is provided to perform various arithmetic operations related to the washing machine 1 and to control the overall operation of various components installed in the washing machine 1 or the washing machine 1. [ The control unit 30 may include at least one processor implemented as one or more semiconductor chips and associated components. The at least one processor includes a central processing unit (CPU), a microcontroller unit (MCU), a microprocessor (MCOM), an application processor (AP), an electronic control unit , Electronic Controlling Unit) and / or other electronic devices capable of generating various kinds of arithmetic processing and control signals.

The control unit 30 may drive an application (which may be referred to as a program or an application) stored in the storage unit 40 to perform predetermined arithmetic, processing, and control operations, or may perform predetermined operations, Processing and control operations. Here, the application stored in the storage unit 40 may be a program previously prepared by a designer and stored in the storage unit 40, or may be stored in an electronic software distribution network Or may be acquired or updated through < RTI ID = 0.0 >

The control unit 30 generates at least one of the control signal for the first driving unit 13 and the control signal for the second driving unit 23 and outputs the generated control signal to the first driving unit 13 and the second driving unit 23, (23) to control the operation of at least one of the first driver (13) and the second driver (23). The control unit 30 may control the control signal for at least one of the first driving unit 13 and the second driving unit 23 to at least one of the first driving unit 13 and the second driving unit 23, (Not shown) for connecting the power source 49 to at least one of the first driver 13 and the second driver 23 and electrically connects the power source 49 to at least one switch Or by cutting off the electrical connection, the operation of at least one of the first driving unit 13 and the second driving unit 23 may be controlled.

At least one of the second washing units 20 corresponding to the first washing unit 10 and the second driving unit 23 corresponding to the first driving unit 13 is operated under the control of the control unit 30, . In other words, at least one of the first washing unit 10 and the second washing unit 20 performs at least one of the washing, rinsing, and dewatering processes under the control of the control unit 30. The control unit 30 can transmit the above-described control signal to at least one of the first driving unit 13 and the second driving unit 23 via a pre-prepared circuit, a wire or a wireless communication network.

The control unit 30 further includes at least one of a first feedback signal generating unit 19-1, a first driving unit motion sensing unit 19-2 and a first washing unit motion sensing unit 19-3, (I.e., the first driving speed R1 of the first washing unit 10) and outputs information related to the operation of the first driving unit 10 (i.e., the first driving speed R1 of the first washing unit 10), and the second feedback signal generating unit 29-1, (I.e., the second driving speed R2 of the second washing unit 20) from at least one of the first washing unit 2 and the second washing unit operation detecting unit 29-3 You may. The control unit 30 can receive these information through a circuit, a wire, or a wireless communication network.

The control unit 30 generates a control signal for the second washing unit 20 based on information related to the operation of the first washing unit 10 or conversely controls the operation of the second washing unit 10 And may generate a control signal for the first washing unit 10 based on the related information. More specifically, the control unit 30 controls the maintenance or adjustment of the second driving speed R2 of the second washing unit 20 based on the first driving speed R1 of the first washing unit 10, The first driving speed R1 of the first washing unit 20 may be controlled based on the second driving speed R2 of the first washing unit 20 and the second driving speed R2 of the second washing unit 20. [ This will be described later.

The storage unit 40 is provided to store programs and information necessary for the operation of the control unit 30. [ Specifically, the storage unit 40 stores an application related to the calculation, processing, and control operations of the control unit 30, various kinds of information required for the above calculation, processing, and control operations, Various information can be stored. For example, the storage unit 40 may store the first target speed, the second target speed, the first reference speed to the seventh reference speed in the form of an electrical signal or in various other considerable forms.

The storage unit 40 may be a magnetic disk storage medium such as a hard disk or a floppy disk, an optical medium such as a magnetic tape, a compact disk (CD) or a digital versatile disk (DVD), a floppy disk, , Semiconductor storage devices such as magneto-optical media, ROM, RAM, SD card, flash memory, solid state drive (SSD), etc., .

The user interface 45 receives various commands and information related to the washing machine 1 from a user and can provide various information related to the washing machine 1 in a visual or auditory form. For example, the user interface 45 may include a command to start the operation of the first washing unit 10, an instruction to start the operation of the second washing unit 20, a predetermined stroke executable by the first washing unit 10, A command for starting the dewatering stroke, or a command for starting the dewatering stroke by a predetermined stroke, for example, the second washing unit 20 can be input, 2 < / RTI > current state of the washing unit 20, or the like.

The power source 49 can supply the necessary power to each component of the washing machine 1. [ The power source 49 may be a commercial power source or may be implemented using at least one battery built into the washing machine 1. [

Hereinafter, a process of sequentially performing the washing, rinsing and dewatering steps of the first washing unit 10 or the second washing unit 20 will be described with reference to FIG.

2 is a graph showing an example of a change in the driving speed of the first washing unit or the second washing unit in the washing or dewatering cycle of the washing machine. In FIG. 2, the x-axis represents time and the y-axis represents rotation speed, for example, revolutions per minute (RPM).

2, the first washing unit 10 or the second washing unit 20 sequentially performs the washing cycle P1, the rinsing cycle P2 and the dewatering process P3 in accordance with the control of the controller 30 . ≪ / RTI >

Specifically, when the user operates the user interface 45 to issue an instruction to start the operation of the first washing unit 10 or the second washing unit 20, the first washing unit 10 or the second washing unit 20 performs driving And performs the washing cycle P1. In this case, the first washing unit 10 or the second washing unit 20 may be configured such that the first driving speed or the second driving speed is varied in accordance with a predefined pattern or is maintained to be equal to or approximate to a constant speed Rd1 Respectively.

When the washing cycle P1 ends, the first washing unit 10 or the second washing unit 20 can sequentially perform the rinsing cycle P2. The rinsing cycle P2 may be omitted if necessary.

When the rinsing cycle P2 is completed, the first washing unit 10 or the second washing unit 20 sequentially performs a dewatering cycle P3. The first driving speed of the first washing unit 10 or the second driving speed of the second washing unit 20 increases sharply (P31), increases to the driving speed Rd2 necessary for dewatering, (P32). When the dewatering step P3 is finished, the first driving speed or the second driving speed decreases to reach 0 (P32).

When such strokes P1 to P3 are performed, the average rotational speed RM2 in the dewatering stroke P3 may be set to be larger than the average rotational speed RM1 in the washing stroke P1 have. In other words, during the dehydration step P3, the first washing tub 11 of the first washing unit 10, the second washing tub 21 of the pear cleater, the rotating bar, etc. or the second washing unit 20, The rotation of the rotor, the rotation bar, and the like is performed at a speed much faster than that in the washing cycle P1. This may cause vibration of the entire washing machine 1 depending on the situation. Particularly, when both the first washing section 10 and the second washing section 20 perform the dewatering process P3, both of them operate at a high driving speed, so that the vibration of the washing machine 1 becomes larger, It can cause discomfort.

The control unit 20 may control the driving speed of at least one of the first washing unit 10 and the second washing unit 20 based on driving speeds of the other washing units 10 and 20 in order to prevent such vibration.

Hereinafter, the process of controlling the washing machine 1 by the control unit 20 will be described in more detail with reference to FIGS. 3 to 10. FIG. Hereinafter, the process of controlling the washing machine 1 based on a situation in which the first washing unit 10 and the second washing unit 20 simultaneously perform the dewatering process will be described for convenience of explanation. However, this is an illustrative example, and the control process to be described later is applicable to other situations in which vibration may be generated according to the operation of the first washing unit 10 and the second washing unit 20. [ For example, in the case where the first washing unit 10 performs the washing or rinsing cycle and the second washing unit 20 performs the dewatering cycle, or vice versa, the control process, which will be described later, Lt; / RTI >

FIG. 3 is a view showing an example of a method for controlling the rotational speed of the second washing tub according to the first embodiment. FIG. 4 is a view showing an example of a change in the rotational speed of the first washing tub according to the first embodiment to be. 3 and 4, the x-axis represents time, and the y-axis represents rotational speed, for example, rotational speed per minute (RPM).

As shown in FIG. 3, after the second washing unit 20 performs the washing operation based on the variable or fixed second driving speed R2 of the predefined pattern (G10), the control unit 30 According to the control, the second washing unit 20 may perform a rinsing cycle as needed and start the dewatering process at the first dewatering start time t10.

When the dewatering process is started, the second driving speed R2 of the second washing unit 20 gradually increases.

4, the first washing unit 10 may start or stop the operation of the second washing unit 20, or may start the operation of the second washing unit 20 at the same time as the operation of the second washing unit 20 starts have. The first washing unit 10 performs a washing operation based on a variable or fixed first driving speed R1 of a predefined pattern G20 and then performs a washing operation at the second drying start time t20 , G22). Here, the second dewatering start time (t20) may be the same as or different from the first dewatering start time (t10). In the latter case, the second dewatering start time t2 may precede or follow the first dewatering start time t10.

The first driving speed R1 of the first washing unit 10 is set to a predetermined value at a time point (t11 in Fig. 3 and t21 in Fig. 4) within a period in which the second driving speed R2 of the second washing unit 20 increases May be equal to the defined first reference speed F10 (G21) or exceed the first reference speed F10 (G22). The first reference speed F10 may be arbitrarily defined by a designer or a user. The first reference speed F10 may be defined as any value equal to or more than half of the second reference speed F20, for example. More specifically, for example, the first reference speed F10 may be defined to be 500 rpm or a value close thereto, but is not limited thereto.

The control unit 30 controls the operation of the first and second washing units based on signals transmitted from at least one of the first feedback signal generating unit 19-1, the first driving unit operation detecting unit 19-2 and the first washing tub operation detecting unit 19-3 It is possible to determine whether the first driving speed R1 of the first washing unit 10 is equal to the first reference speed F10 or G21 or the first reference speed F10, .

As a result of the determination, if the first driving speed R1 of the first washing unit 10 is equal to the first reference speed F10 defined in advance (G21) or exceeds the first reference speed F10 (G22) 30 can compare the second driving speed R2 of the second washing unit 20 with the second reference speed F20. The second reference speed F20 may be arbitrarily defined depending on the designer or the user's choice and may be defined as a maximum driving speed at which the second washing unit 20 can perform or a speed close to the maximum driving speed. The second reference speed F20 can be defined as, for example, 800 rpm or a value close thereto, but is not limited thereto. The second reference speed F20 may be defined as any value selectable as required by the designer or the user, in addition to the value of 800 rpm or the like.

If the first driving speed R10 at the specific time points t11 and t21 is lower than the second reference speed F20 as shown in Fig. 2, the control unit 30 controls the second washing unit 20 And raises the second drive speed R2 to the first target speed E10. In other words, until the second washing tub 21, the rotary tub, the pericator or the washing tub of the second washing unit 20 is rotated at the first target speed E10, the second washing tub 21, The rotation speed of the rotor or washing rod is increased.

The controller 30 controls the electric signal transmitted from at least one of the second feedback signal generator 29-1, the second driving unit motion sensing unit 29-2 and the second washing unit operation sensing unit 29-3, , It can be determined whether or not the second drive speed R2 has reached the first target speed E10.

2, the first target speed E10 is set higher than the second reference speed F20, but the first target speed E10 is not limited thereto. The first target speed E10 may be set equal to the second reference speed F20 or may be set lower than the second reference speed F20 according to the embodiment. The first target speed E10 may be set to the maximum driving speed that can be performed by the second washing unit 20 or may be set to a speed that is smaller than the maximum driving speed but close to the maximum driving speed have. According to one embodiment, the first target speed E10 may be defined as a value of 800 rpm or the like, but is not limited thereto.

If the second driving speed R2 has reached the first target speed E10, the control unit 30 controls the second driving unit 23 so that the second driving speed R2 is moderately or rapidly reduced . In this case, the second drive speed R2 may be reduced to zero or a value close to it (t13) (G11).

The control unit 30 stops the power supplied to the second driving unit 23 and / or disables the second driving unit 23, for example, when the second driving speed R2 reaches the first target speed E10. The second driving speed R2 may be decreased by controlling a braking device (not shown) connected to the rotating shaft of the motor.

The method of increasing the second driving speed R2 to the first target speed E10 and immediately reducing it to zero again within a predetermined time may be referred to as a touch spin method.

While the second washing unit 20 is controlled by the touch spin method, the first washing unit 10 operates at the same speed as the first reference speed F10 or operates at a speed exceeding the first reference speed F10 (P21). Thus, since the second driving speed R2 of the second washing unit 20 reaches zero by the touch spin method (t13), only the first washing unit 10 operates at a predetermined speed for a certain period of time, It is possible to eliminate or reduce the vibration generated by the first washing unit 10 and the second washing unit 20 operating simultaneously at a high driving speed.

According to the embodiment, the dewatering cycle of the first washing unit 10 is ended (t22) and accordingly, the decrease of the first driving speed R1 is started at the specific time points t22-1 and t22-2, When the first driving speed R1 reaches zero or a value close to the first driving speed R1 at a specific time t22-3 (G21, G22) The second driving speed R2 may be increased again according to the control of the controller 30 (G13). The increase start time t13-1 of the second drive speed R2 is set to be the same as the deceleration start time t22-1 or t22-2 of the first drive speed R1, (T22-3) at which the approximate value is reached, or any point in time between these (t22; t22-1, t22-2, t22-3). Accordingly, the second washing unit 20 can perform a necessary dewatering stroke.

FIG. 5 is a view showing an example of a method for controlling the rotation speed of the second washing tank according to the second embodiment. FIG. 6 is a view showing an example of a change in the rotation speed of the second washing tank according to the first embodiment to be. 5 and 6, the x-axis represents time, and the y-axis represents the rotational speed, for example, the rotational speed per minute (RPM).

5, the second washing unit 20 performs a washing cycle (G10) based on a variable or fixed second driving speed R2 of a predefined pattern, It is possible to start the dehydration process. When the dewatering stroke is started, the second driving speed R2 rises to a predetermined predetermined speed, for example, to the first target speed E10, and the second washing unit 20 maintains the first target speed E10 Or approximate thereto. The first target speed E10 may be defined as 800 rpm or a value close to 800 rpm as described above, but is not limited thereto.

Similarly, as shown in FIG. 6, the first washing unit 10 can perform the washing cycle G20 together with the second washing unit 20. In this case, the washing cycle G20 of the first washing unit 10 is started before or after the start of the washing cycle G10 of the second washing unit 20, or when the washing cycle G10 of the second washing unit 20 is started Lt; / RTI > Also, the first washing section 10 can start the dewatering process (G23, G24) at the second dewatering start time t20. As described above, the second dewatering start time (t20) may be the same as or different from the first dewatering start time (t10).

The controller 30 controls the operation of the controller 30 based on at least one of the first feedback signal generator 19-1, the first driving unit motion detector 19-2, and the first washing machine motion detector 19-3 The first driving speed R1 is determined on the basis of the electric signal to be transmitted and the second feedback signal generating unit 29-1, the second driving unit motion sensing unit 29-2, The second driving speed R2 of the second washing unit 20 can be determined based on a signal transmitted from at least one of the first and second units 29-3.

6, the controller 30 determines whether the first driving speed R1 of the first washing unit 10 is equal to the third reference speed F21 defined in advance (G23) or the third reference speed F21 It can be determined whether or not the speed F21 has been exceeded (G24). Here, the third reference speed F21 can be defined by the user or the designer. For example, the third reference speed F21 may be defined as 500 rpm or a value close to 500 rpm, but is not limited thereto and can be variously defined according to the designer or the user's choice. The third reference speed F21 may be defined to be the same as the first reference speed F10 described above.

If the first driving speed R1 is equal to or more than the third reference speed F21 at the specific time t23 or exceeds the third reference speed F21 at the time t23, (R2) to the second reference speed (F20).

The control unit 30 controls the second washing unit 20 to temporarily switch the dewatering stroke when the second driving speed R2 is equal to or higher than the second reference speed F20 (G15). The completion of the dewatering process of the second washing unit 20 can be performed by cutting off the power supplied to the first driving unit 13 of the second washing unit 20. [ At the end of the dewatering stroke, the second driving speed R2 is decreased (G15). Here, the second reference speed F20 may be defined as, for example, 800 rpm or a value approximate thereto, as described above, but is not limited thereto. The second reference speed F20 may be defined to be equal to the first target speed E10.

According to an embodiment, the second driving speed R2 is set to a value that is equal to the third reference speed F21 (G23) or the third reference speed F21 May be controlled to decrease from the same point of time t14 as the point of time when it is determined that the speed F21 has been exceeded or may be controlled to decrease from the point of time t14-1 at which the predetermined time point? .

Accordingly, the second driving speed R2 of the second washing unit 20 is reduced (G15).

While the operation of the second washing unit 20 is completed, the first washing unit 10 can continue the dewatering steps G23 and G24. Accordingly, both the first washing unit 10 and the second washing unit 20 can remove or reduce vibration due to the dehydration process. The second washing section 20 can end the dewatering process at the specific time t24-3 as shown in Fig.

According to the embodiment, the second washing section 20 can start the operation under the control of the control section 30. [ In this case, the second washing section 20 starts the deceleration start time t24-1, t24-2 of the first driving speed R1, the time t24 when the first driving speed R1 reaches 0 or a value close to zero -3) or an operation at any point between these (t24; t42-1, t24-2, t24-3). Accordingly, the second driving speed R2 is increased (G16), and the remaining dewatering stroke is performed by the second washing unit 20.

FIG. 7 is a view for explaining an example of a method of controlling the rotational speed of the second washing tub according to the third embodiment, and FIG. 8 is a view showing an example of a change in the rotational speed of the first washing tub according to the third embodiment FIG. 7 and 8, the x-axis represents time, and the y-axis represents the rotational speed, for example, the rotational speed per minute.

As shown in FIGS. 7 and 8, the first washing unit 10 and the second washing unit 20 separately start the dewatering process at the first dewatering start time t10 and the second dewatering starting time t20. As described above, the first dewatering start time t10 and the second dewatering start time t20 may be the same or different from each other.

The second driving speed R2 of the second washing unit 20 rises to the fourth reference speed F12 and then maintains the fourth reference speed F12. The fourth reference speed F12 may be arbitrarily defined by the designer or the user. For example, the fourth reference speed F12 may be defined as a value of 500 rpm or the like. However, this is an illustrative example, and the fourth reference speed F12 can be variously defined according to the designer or user's choice.

In addition, the first driving speed R1 of the first washing unit 10 is also controlled to rise in accordance with the start of the dewatering stroke.

After the second driving speed R2 is maintained at the fourth reference speed F12, the controller 30 controls the first feedback signal generator 19-1, the first driving unit motion detector 19-2, The first driving speed R1 of the first washing unit 10 may be determined based on a signal transmitted from at least one of the first washing operation detecting unit 19-3 and the first washing operation detecting unit 19-3.

Subsequently, the controller 30 compares the first driving speed R1 with a fifth predetermined reference speed F22. Here, the fifth reference speed F22 may be arbitrarily defined by the user or the designer. For example, the fifth reference speed F22 may be defined as a value of 500 rpm or the like. However, the present invention is not limited thereto. According to the embodiment, the fifth reference speed F22 may be defined to be the same as the fourth reference speed F12.

As a result of comparison, if the first driving speed R1 is equal to or smaller than the fifth reference speed F22 at the determination time t25, Is raised to a second target speed E11 or a speed close to the second target speed E11 (G17). Here, the second target speed E11 may be set to the maximum driving speed that can be performed by the second washing unit 20 according to the designer or the user's selection, or may be set to a speed that is smaller than the maximum driving speed but approximates to the maximum driving speed It is possible. For example, the second target speed E10 may be defined as a value of 800 rpm or the like. However, the present invention is not limited thereto. The second target speed E11 can be defined to be the same as the first target speed E10 described above.

According to one embodiment, the control unit 30 may control the first driving unit 13 so that the second driving speed R2 maintains the second target speed E11 during the predefined sustaining period. Here, the predefined sustain period may be arbitrarily defined by the user or the designer, and may include, for example, one minute, two minutes, or some other arbitrary period. The control unit 30 can judge whether or not the period has elapsed by using a clock or the like built in separately.

When the predefined sustain period has elapsed, the control unit 30 can control the second drive speed R2 to fall. In this case, the controller 30 may control the second driving unit 23 such that the second driving speed R2 is equal to or close to the fourth reference speed F12.

If the first driving speed R1 exceeds the fifth reference speed F22 at the determination time point t25 as shown in FIG. 8, the second washing unit 20 determines that the second driving speed R2 is maintained (G18).

When the predefined determination delay period? T16 elapses after the second driving speed R2 maintains the fourth reference speed F12, the control unit 30 controls the first feedback signal generating unit 19-1, The first driving speed R1 of the first washing unit 10 is reset again based on the electric signal transmitted from at least one of the first and second driving unit motion detection units 19-2 and 19-3 You can decide. Here, the determination delay period? 16 may be arbitrarily defined by the designer, the user, or the control unit 30. The judgment grace period? T16 may include, for example, 3 seconds, 10 seconds, 1 minute, or other definable period. The judgment delay period DELTA t16 may be variable or may be fixed.

The control unit 30 may control the first feedback signal generator 19-1, the first driving unit motion detection unit 19-1, the second driving unit motion detection unit 19-2, The first driving speed R1 of the first washing unit 10 may be determined again based on the electrical signal transmitted from at least one of the first washing unit operation detecting unit 19-2 and the first washing unit operation detecting unit 19-3.

The controller 30 compares the newly determined first drive speed R1 with the fifth reference speed F22. If the first driving speed R1 still exceeds the fifth reference speed F22 at the time t16-1 and t25-1 at which the judgment period of grace period Δt16 has elapsed (G25), the second washing unit 20 are controlled such that the second driving speed R2 is maintained (G18-1).

Conversely, as shown in Fig. 8, when the first driving speed R1 is lower than the fifth reference speed F22 at the time points t16-1 and t25-1 when the judgment of grace period? T16 has elapsed, (G25-1), the second drive speed R2 is increased up to the second target speed E11 as shown in FIG. 7 G17-1). The control unit 30 may control the second washing unit 20 such that the second driving speed R2 is maintained at the second target speed E11 for a predetermined period as described above. When the predefined period of time has elapsed, the second drive speed R2 may be adjusted to decrease, in which case the second drive speed R2 may be controlled to fall to a fourth reference speed F12 or a value close to the fourth reference speed F12 It is possible.

The control unit 30 can perform the process of determining the first driving speed R1 and the control of the second driving speed R2 according to the determination of the first driving speed R1 periodically or at an arbitrary point in time, And may continue to do so.

The speed R2 of the second washing unit 20 can be controlled in accordance with the speed R1 of the first washing unit 10. More specifically, The second drive speed R2 is controlled to be relatively low when the first drive speed R1 is lower than a predetermined reference speed, . Accordingly, the vibration due to the simultaneous operation of the first washing unit 10 and the second washing unit 20 is relatively reduced.

FIG. 9 is a view for explaining an example of a method of controlling the rotation speed of the first washing tub according to the fourth embodiment, and FIG. 10 shows an example of a change in the rotation speed of the second washing tub according to the fourth embodiment FIG. In the same manner as described above, the x-axis in FIGS. 9 and 10 denotes time, and the y-axis denotes a rotational speed, for example, a rotational speed per minute.

The above process is also applicable to the process of adjusting the first driving speed R1 of the first washing unit 10 based on the second driving speed R2 of the second washing unit 20. [

Specifically, as shown in FIGS. 9 and 10, the first washing unit 10 and the second washing unit 20 start the dewatering process at the dewatering start time t10 and t20, respectively.

10, the second driving speed R2 of the second washing unit 20 rises in a predetermined pattern in accordance with the start of the dewatering stroke, The first driving speed R1 of the washing unit 10 is raised to the sixth reference speed F23 and then maintained at the sixth reference speed F23 as shown in FIG. The sixth reference speed F23 may be arbitrarily defined by the designer or the user and may be defined, for example, at 500 rpm or a value close thereto. The sixth reference speed F23 may be defined to be the same as the fourth reference speed F12.

While the first driving speed R1 maintains the sixth reference speed F23, the controller 30 controls the second feedback signal generator 29-1, the second driver motion detector 29-2, The second driving speed R2 of the second washing unit 20 may be determined using an electrical signal transmitted from at least one of the two washing tub operation detecting units 29-3.

The controller 30 may sequentially compare the second driving speed R2 with the seventh reference speed F13.

If the second driving speed R2 is less than the seventh reference speed F13 or the seventh reference speed F13 at the determination time points t17 and t26 as shown in FIG. 10, , The control unit 30 controls the first washing unit 10 so that the first driving speed R1 is increased to the third target speed E21 or a speed close to the third target speed E21 G27. Here, the third target speed E21 can be arbitrarily defined according to the designer's or user's selection. For example, the third target speed E21 may be defined as the maximum driving speed that can be performed by the first washing unit 10, or may be defined as a speed that is smaller than the maximum driving speed but close to the maximum driving speed. The third target speed E21 may be defined as, for example, 800 rpm or a value close thereto, but is not limited thereto. The third target speed E21 may be defined to be the same as at least one of the first target speed E10 and the second target speed E11 described above.

According to one embodiment, the first drive speed R1 is controlled to maintain the third target speed E21 during the predefined sustain period. Similar to the above, the predefined maintenance period may be arbitrarily defined by the user or designer, and may include, for example, one minute, two minutes, or some other optional period.

When the predefined sustain period has elapsed, the first drive speed Rl may be adjusted to decrease as described above, in which case it may be lowered to a sixth reference speed F23 or a value close to it.

10, when the second driving speed R2 exceeds the seventh reference speed F22 at the determination time points t17 and t26 (G19), the first driving speed R2 of the first washing unit 10 (R1) may be controlled to maintain the sixth reference speed F23 (G28).

When the determination delay period? T26 elapses after the first drive speed R1 is maintained at the sixth reference speed F23, the control unit 30 returns to the second feedback signal generation unit 29-1, The second driving speed R2 of the second washing unit 20 is determined again based on the electrical signal transmitted from at least one of the driving unit operation detecting unit 29-2 and the second washing tub operation detecting unit 29-3 And it can be compared with the seventh reference speed F13 again. Here, the judgment delay period DELTA t26 may be arbitrarily defined by the designer or the user, as in the judgment delay period DELTA t16 described above.

As a result of the comparison, if it is determined that the second driving speed R2 exceeds the seventh reference speed F13 at the time points t17-1 and t26-1 at which the judgment time period DELTA t26 has elapsed (G19) The first driving speed R1 of the washing unit 10 is maintained at the sixth reference speed F23 continuously (G28-1).

On the contrary, when it is judged that the second driving speed R2 is equal to the seventh reference speed F13 or smaller than the seventh reference speed F13 at the time points t17-1 and t26-1 when the judging grace period? (G19-1), the first drive speed R1 is raised to the third target speed E21 (G27-1). In this case, the first drive speed R1 is maintained at the third target speed E21 for the predefined sustain period, and when the sustain period is elapsed, the drive speed is reduced to a predefined speed, .

The above-described process can be performed periodically or at an arbitrary point in time, and can be repeatedly performed during the dehydration process.

According to one embodiment, the control unit 30 selectively performs the control process of the second drive speed R 2 according to FIGS. 7 and 8 and the process of controlling the first drive speed R 1 according to FIGS. 9 and 10 . In this case, the controller 30 continuously monitors changes in the first driving speed R1 and the second driving speed R2, and determines whether any one of the first driving speed R1 and the second driving speed R2 7 and 8 and the control process of the first driving speed R1 according to FIGS. 9 and 10, based on whether or not the reference speed has been reached, To be performed. For example, when the second driving speed R 2 reaches the fourth reference speed F 12 before the first driving speed R 1, the control unit 30 controls the first driving speed R 1 When the first drive speed R1 reaches the sixth reference speed F23 before the second drive speed R2, it is determined that the second drive speed R2 is lower than the second drive speed R2 It is also possible to control the first washing unit 10 and the second washing unit 20 according to the determined result.

Hereinafter, another embodiment of the washing machine will be described with reference to FIGS. 11 to 24. FIG.

11 is a block diagram of a fourth embodiment of the washing machine.

11, the washing machine 6 includes a third washing unit 50 capable of washing laundry, and a fourth washing unit 60 capable of washing laundry can do. The third washing unit 50 and the fourth washing unit 60 may operate independently of each other, or may operate in an interdependent manner. The third washing unit 50 and the fourth washing unit 60 may be operated simultaneously or simultaneously.

As described above, the third washing unit 50 and the fourth washing unit 6 are each provided to perform at least one of a washing cycle, a rinsing cycle and a dewatering cycle. The washing, rinsing, and dewatering steps may be performed both at the designer's or user's option, or only partially. It is also possible that each stroke is performed sequentially as needed.

The strokes that can be performed by the third washing unit 50 and the strokes that can be performed by the fourth washing unit 60 may be the same or may be different or some may be the same and some may be different. In addition, the strokes performed by the third washing unit 50 and the fourth washing unit 60 at the specific time may be the same or different. In addition, when the third washing unit 50 and the fourth washing unit 60 respectively start the same stroke substantially at the same time, the disclosed stroke may be terminated at the same time or may end at different times.

The third washing unit 50 and the fourth washing unit 60 may be realized by using different methods from each other as described above or the third washing unit 50 and the fourth washing unit 60, (60) may be implemented using a similar method.

The third washing unit 50 and the fourth washing unit 60 may be implemented using any one of a drum type, a vortex type, and an agitated type, but this is merely an example. Depending on the designer's choice, (50) and the fourth washing unit (60).

The third washing unit 50 and the fourth washing unit 60 can be arranged in various ways. For example, the third washing unit 50 and the fourth washing unit 60 may be arranged in a line in the up-and-down direction so that any one of the third washing unit 50 and the fourth washing unit 60 is positioned in the upper direction of the other, . In addition, the third washing unit 50 and the fourth washing unit 60 can be arranged in various ways that designers can consider.

The third washing unit 50 and the fourth washing unit 60 may be integrally formed in a detachable manner. In addition, the third washing unit 50 and the fourth washing unit 60 may be manufactured separately and then combined and assembled.

The third washing unit 50 is operable based on the third driving speed R1 and the fourth washing unit 60 is provided to be operable based on the fourth driving speed R2. The driving speeds R1 and R2 of the washing tub 51 and the washing tub 51 are set so that the rotational speed of the washing tub 51 and the washing tub 51 (Not shown) formed in a bar shape, and a rotational speed generated by the driving units 53 and 63, which are installed in the washing tubs 61 and 61, respectively.

11 shows only the embodiment in which the washing machine 2 includes only two washing parts 50 and 60 as shown in Fig. 11, but this is merely an example, The number may be one, or more than three.

According to one embodiment, the third washing unit 50 includes a third washing tub 51 into which laundry is loaded and laundry is washed, and various kinds of parts installed in the third washing tub 51 or the third washing tub 51 The fourth washing unit 60 includes a fourth washing tub 61 in which laundry is loaded and laundry is washed, a fourth washing tub 61, And a fourth driving unit 63 for providing rotational force required for various components installed in the fourth washing tub 61. [ The third driving unit 53 and the fourth driving unit 63 may be implemented using a predetermined motor in the same manner as the first driving unit 13 and the second driving unit 23.

The specific configurations and operations of the third washing tub 51, the fourth washing tub 61, the third driving unit 53 and the fourth driving unit 63 are the same as those of the third washing tub 11, The washing tub 21, the third driving unit 13, and the fourth driving unit 23, detailed description thereof will be omitted.

The third washing unit 50 includes a third driving unit operation sensing unit 59-1 for acquiring information related to the operation of the third driving unit 53 and a third washing unit operation sensing unit 59-1 for sensing the operation of the third washing unit 11. [ (59-2). The third washing unit 50 may further include a first washing water supply unit 58 for supplying wash water and / or rinse water to the third washing tub 51. [

The fourth washing unit 60 includes a fourth driving unit motion detection unit 69-1 for obtaining information related to the operation of the fourth driving unit 63 and a fourth washing unit operation detecting unit 69-1 for detecting the operation of the fourth washing unit 61. [ And a sensing unit 69-2. The fourth washing unit 60 may further include a second washing water supply unit 68 for supplying washing water and / or rinse water to the fourth washing tub 61.

The third driving unit motion sensing unit 59-1 senses the operation of the third driving unit 53 and outputs the sensing result as an electrical signal to the control unit 70. [

According to an embodiment, the third driving unit motion sensing unit 59-1 may include a rotation speed sensor for sensing the rotation speed of the third driving unit 53, a rotation speed sensor for sensing the magnitude of the voltage applied to the third driving unit 53, A voltage measuring device and a current measuring device for measuring the magnitude of a current applied to the third driving part 53. [

The rotation speed sensor may include a tachometer, an encoder, or a gear wheel sensor as described above. The rotation speed sensor senses and detects the rotation speed of the drive shaft (for example, 241 in Fig. 27) The result can be output.

The voltage measuring device may be implemented using a voltage measuring circuit designed to measure a DC voltage or an AC voltage, or a component such as a voltmeter. The voltage measuring device is installed in a circuit or a wire that electrically connects the power source 89 and the third driving unit 53 and outputs a corresponding electrical signal according to the magnitude of the voltage applied to the third driving unit 53, ). According to the embodiment, the voltage measuring apparatus may measure the voltage applied to the third driving unit 53 by measuring the voltage of the feedback signal corresponding to the electrical signal applied to the third driving unit 53. According to one embodiment, the voltage measuring device may be arranged to measure a voltage applied to a DC link circuit.

The current measuring device can be implemented using a predetermined current measuring circuit designed to measure the magnitude of a direct current or an alternating current, or a component such as an ammeter. The current measuring device is provided in a circuit or a wire for electrically connecting the power source 89 and the third driving unit 53 to measure the current applied to the third driving unit 53. The measurement result may be transmitted to the control unit 70 in the form of an electrical signal. According to the embodiment, the current measuring apparatus can measure the current applied to the third driving unit 53 by measuring the feedback current corresponding to the current applied to the third driving unit 53.

The fourth driving unit motion sensing unit 69-1 may sense the operation of the fourth driving unit 63 and output the sensing result as an electrical signal to the controller 70. [ Similarly to the third driving unit motion sensing unit 59-1, the fourth driving unit motion sensing unit 69-1 may include a rotation speed sensor for sensing the rotation speed of the fourth driving unit 63, A voltage measuring device for measuring the magnitude of the voltage applied to the fourth driving part 63 and a current measuring device for measuring the magnitude of the current applied to the fourth driving part 63. [

At least one of the third driving unit motion sensing unit 59-1 and the fourth driving unit motion sensing unit 69-1 may be omitted according to the embodiment. In other words, the washing machine 20 may include only the third driving unit motion sensing unit 59-1 or only the fourth driving unit motion sensing unit 69-1.

The third washing tub operation detecting unit 59-2 can detect the vibration of the third washing tub 51. [ Specifically, when the third washing tub 51b vibrates during the rotation or stirring operation, the third washing tub operation detecting unit 59-2 detects the generated vibration and outputs the detection result in the form of an electrical signal, (70).

The third washing tub operation detecting unit 59-2 may include, for example, a micro electromechanical system sensor. The micro-electromechanical system sensor may be implemented using a piezo-resisitive scheme, or may be implemented using a capacitive scheme. Also, the third washing tub operation detecting unit 59-2 may be implemented using a piezoelectric acceleration type vibration sensor, a cantilever vibration type vibration sensor, or the like. In addition, various types of vibration sensors that can be considered by the designer are available for the third washing tub operation detecting unit 59-2.

12 is a diagram showing an example of a sensing unit provided in the washing tub.

As shown in FIG. 12, the third washing tub operation detecting unit 59-21 may be installed in contact with or in proximity to the third washing tub 51. In this case, the third washing tub operation detecting unit 59-21 may be installed on the side or bottom of the third washing tub 51, for example. The third washing machine operation detecting unit 59-21 may be installed on the inner surface of the third washing tub 51 having the laundry space or may be installed on the outer surface of the third washing tub 51 as shown in FIG. have. The third washing machine operation detecting unit 59-21 may detect the vibration transmitted directly from the third driving unit 53 by the operation of the third driving unit 53, The third driving unit 53 may be spaced apart from the third driving unit 53 by a predetermined distance so as to sense the vertical vibration of the third washing tub 51 more appropriately.

The fourth washing tub operation detecting unit 69-2 can sense the vibration of the fourth washing tub 52. [ Specifically, the fourth washing tub operation detecting unit 69-2 detects the vibration generated from the fourth washing tub 52 while the fourth washing tub 52 is rotating or stirring, outputs a result of the detection, To the control unit 70 in the form of a message.

The fourth washing machine operation detecting unit 69-2 may include a micro electromechanical system sensor, a piezoelectric acceleration type vibration sensor, or a cantilever vibration type vibration sensor in the same manner as the third washing machine operation detecting unit 59-2. . 12, the fourth washing tub operation detecting unit 69-2 may be disposed in contact with or in proximity to the fourth washing tub 61. For example, Or in the inward or outward direction of the bottom surface.

The third washing machine operation detecting unit 59-2 and the fourth washing machine operation detecting unit 69-2 may be implemented using the same kind of vibration detecting sensors or may be implemented using different types of vibration detecting sensors have.

According to the embodiment, any one of the third washing machine operation detecting unit 59-2 and the fourth washing machine operation detecting unit 69-2 may be omitted.

The first washing water supply unit 58 supplies the washing water and / or rinsing water to the washing space provided inside the first washing tub 51 at a required level under the control of the control unit 70, The supply unit 68 is provided to supply wash water and / or rinse water to the laundry space inside the second washing tub 61 at a required level under the control of the control unit 70.

The washing water supply units 58 and 68 include, for example, a pipe connected to an external water source, a storage space for temporarily or non-temporarily storing the water supplied from the water source, and water stored in the storage space, 61, and a pipe connecting the storage space and the washing tubs 51, 61 so as to allow the wash water to flow therethrough. The washing tub 51, 61 is connected to the washing tub 51, And a valve for shutting off the supply of the washing water to the washing machine. Some of these configurations may be omitted by the designer. In addition to these configurations, the washing water supply units 58 and 68 may include more various components as needed.

According to an embodiment, the washing machine 2 may include separate washing water supply portions 58 and 68 for each of the washing tubs 51 and 61. In this case, The washing water is supplied to each of the washing tubs 51 and 61 independently.

According to another embodiment, the washing machine 2 may include one washing water supply unit (not shown) capable of selectively supplying washing water to the washing tubs 51 and 61. In this case, parts such as valves are provided between the washing water supply part and the respective washing tubs 51, 61 and the pipe through which the washing water flows, so that wash water can be supplied to at least one washing tub 51, 61 .

The control unit 70 is provided to perform various processes necessary for the operation of the washing machine 2 and to control the operation of various components installed in the washing machine 2 or the washing machine 2. [ The control unit 70 may include at least one processor implemented as one or more semiconductor chips and associated components, and at least one processor may be a central processing unit, a microcontroller unit, a microcomputer, an application processor, And / or other electronic devices capable of generating various kinds of arithmetic processing and control signals.

The control unit 70 may drive an application stored in the storage unit 80 to perform a predefined operation, determination, processing, and / or control operation. Here, the application stored in the storage unit 80 may be a program previously prepared by a designer and stored in the storage unit 80, or may be stored in an electronic software distribution network 80 accessible by a washing machine 2 via a wired or wireless communication network. Or may be acquired or updated through < RTI ID = 0.0 >

The control unit 70 may acquire information on whether or not the vibration is generated in the third washing unit 50 from at least one of the third driving unit operation detecting unit 59-1 and the third washing unit operation detecting unit 59-2, And / or from at least one of the fourth driving unit motion detection unit 69-1 and the fourth washing unit motion detection unit 69-2.

The control unit 70 generates at least one of the control signal for the third driving unit 53 and the control signal for the fourth driving unit 63 and outputs the generated control signal to the corresponding part, And the fourth driving unit 63, respectively. Accordingly, at least one of the third driving unit 13 and the fourth driving unit 23 operates under the control of the controller 70. Accordingly, at least one of the third washing unit 10 and the fourth washing unit 20 can perform at least one of washing, rinsing and dewatering processes under the control of the controller 70.

The control unit 70 can transmit and receive data, control signals, and the like to and from the various components through a circuit, a wire, or a wireless communication network.

The control unit 70 determines whether or not the vibration is generated based on the electrical signals transmitted from the driving unit operation detecting units 59-1 and 69-1 and / or the washing tub operation detecting units 59-2 and 69-2, It is possible to determine whether an unbalance has occurred in the washing tubs 51 and 61 and to control the operation of the third driving unit 13 and / or the fourth driving unit 23 based on the determination result. This will be described later.

The storage unit 80 is provided to store programs and information necessary for the operation of the control unit 70. [ Specifically, the storage unit 80 stores an application related to the operation, the processing and the control operation of the controller 70, various information required for the operation, the process and the control operation described above, Various information can be stored. For example, the storage unit 80 may store a reference value for the number of times of vibration detection, which will be described later.

The storage unit 80 can be implemented using a magnetic disk storage medium, a magnetic tape, an optical recording medium, a magnetic-optical recording medium, a semiconductor storage medium, or the like.

The user interface 85 receives various commands and information related to the washing machine 2 from the user and can provide various information related to the washing machine 2 in a visual or auditory form. For example, the user interface 85 may receive various commands related to the operation of the third washing unit 50 and / or the fourth washing unit 60, and the third washing unit 50 and / Information related to the display 20 can be visually and / or audibly output.

The power source 89 can supply the necessary power to the respective parts of the washing machine 2, for example, the third driving part 53 or the fourth driving part 63. The power source 89 may include a commercial power source and / or at least one battery built into the washing machine 2. [

13 is a view for explaining a situation in which an unbalance has occurred in the washing tub.

The third and fourth washing tubs 51 and 61 are rotated in accordance with the driving of the third driving block 53 and the fourth driving block 63 so that the third washing tub 51 and the fourth washing tub 61 Washing, rinsing and / or dewatering the laundry. C11, C12, and C13 injected into the third or fourth washing tub 51 or the second washing tub 51 are supplied to the third washing tub 51 or the fourth washing tub 61 while the third tub 51 or the fourth tub 61 performs washing or rinsing, The third washing tub 51 or the fourth washing tub 61. [ Specifically, the third washing tub 51 or the fourth washing tub 61 generates water flow in the washing water or the rinsing water in the third washing tub 51 or the fourth washing tub 61 while rotating or stirring the laundry, C10, C11, C12, C13) are rubbed with each other while flowing by the water flow. Accordingly, the laundry C10 (C11, C12, C13) can be washed. However, the laundry C10 (C11, C12, C13) flowing may be entangled or bundled for various reasons, so that a considerable amount of laundry C10 (C11, C12, C13) It can be concentrated in zones or locations. When the laundry C10 (C11, C12, C13) is concentrated in a specific area or position, an unbalance is formed. The imbalance may cause over vibration of the third washing tub 51 or the fourth washing tub 61 in which the laundry C10, C11, C12, C13 is charged, and may cause noise and damage to the parts. In addition, if such an imbalance is continuously generated, the efficiency of washing, rinsing and / or dewatering may be deteriorated.

Such an imbalance can be detected by the driving unit motion detecting units 59-1 and 69-1 and / or the washing tub motion detecting units 59-2 and 69-2, and the control unit 70 The control unit 70 can control the operation of the washing machine 2 so that the unbalance can be solved.

The controller 70 controls the rotational speed of the driving units 53 and 63 sensed by the driving unit motion sensing units 59-1 and 69-1 and the rotational speed of the driving units 53 and 63, It is possible to determine whether an imbalance has occurred or not.

14 is a view for explaining a change in the rotation speed of the driving unit when an unbalance is generated in the washing tub.

14, the rotational speed of the drive units 53 and 63 is increased to the target rotational speed R11 and then maintained at the target rotational speed R11 for a predetermined period of time (t10 to t11, t12 to t13 , t14 to t15), and can be controlled to be repeated to 0 or to a value close to 0 or to be held at a value close to or equal to 0 for a certain period of time (t11 to t12, t13 to t14) , L11-3).

13, when the unbalance occurs in the washing tubs 51 and 61, the loads applied to the driving units 53 and 63 are increased by the concentrated laundry C10, C12, and C13, The rotational speed of the drive units 53 and 63 is increased only to the rotational speed R12 relatively lower than the target rotational speed R11 (L12, L12-1, L12-3). In other words, the rotational speed of the driving portions 53 and 63 is relatively lower than the expected speed.

The control unit 70 can determine whether an unbalance has occurred by using the fact that the rotational speed of the driving units 53 and 63 is relatively lowered when the unbalance occurs.

Specifically, for example, if the third driving unit motion sensing unit 59-1 corresponding to the third driving unit 53 includes the rotational speed sensor, the control unit 70 controls the third driving unit motion sensing unit 59- 1) by a designer to determine a predetermined reference rotational speed (for example, a target rotational speed R11, an approximate rotational speed or an imbalance occurrence, which is theoretically or experimentally And / or the rotational speed of the third driving unit 53 when the rotational speed of the third driving unit 53 is equal to or less than the reference rotational speed, It can be judged that an unbalance has occurred in the washing tub 51. [ On the contrary, when the rotational speed of the third driving unit 53 is larger than the reference rotational speed, it can be determined that the third washing unit 51 corresponding to the third driving unit 53 is not unbalanced.

Similarly, when the fourth driving unit motion sensing unit 69-1 corresponding to the fourth driving unit 63 is implemented as a rotational speed sensor, the control unit 70 receives the fourth driving unit motion sensing unit 69-1 from the fourth driving unit motion sensing unit 69-1 The fourth rotational speed of the fourth driving unit 63 is compared with a predetermined reference rotational speed and based on the result of comparison, it is determined whether or not an imbalance has occurred in the fourth washing tub 61 corresponding to the fourth driving unit 63 .

In another embodiment, if the third driving unit motion sensing unit 59-1 includes a voltage measuring device, the control unit 70 determines whether the third driving unit motion sensing unit 59-1 is on the basis of the measured voltage transmitted from the third driving unit motion sensing unit 59-1 It is possible to judge whether an imbalance has occurred or not. Specifically, if an unbalance occurs in the third washing tub 51, the load applied to the motor increases, so that the voltage applied to the motor relatively increases. Accordingly, the control unit 70 compares the voltage measured by the third driving unit motion sensing unit 59-1 with the reference voltage, and if the measured voltage exceeds the reference voltage, the third washing tub 51 is unbalanced And if the measured voltage is less than the reference voltage, it can be determined that the third washing tub 51 is not unbalanced.

In the same way, when the fourth driving unit motion sensing unit 69-1 includes a voltage measuring device, the control unit 70 converts the measured voltage, which is transmitted from the fourth driving unit motion sensing unit 69-1, And it is possible to judge whether or not an imbalance has occurred in the fourth washing tub 61 according to the comparison result.

In another embodiment, if the third driving unit motion sensing unit 59-1 includes a current measuring device, the control unit 70 determines whether or not the third driving unit motion sensing unit 59-1 It may be determined whether an imbalance has occurred. If an unbalance occurs in the third washing tub 51 as in the case of the voltage, the current applied to the motor relatively increases, so that the controller 70 can determine whether an unbalance has occurred based on the current. Specifically, for example, the control unit 70 compares the current measured by the third driving unit motion sensing unit 59-1 with the reference current, and if the measured current exceeds the reference current, And if the measured current does not exceed the reference current, it can be determined that the third washing tub 51 is not unbalanced.

Similarly, when the fourth driving unit motion sensing unit 69-1 includes the current measuring device, the control unit 70 compares the measured current delivered from the fourth driving unit motion sensing unit 69-1 with the reference current It is possible to determine whether or not an imbalance has occurred in the fourth washing tub 61.

According to another embodiment of the present invention, the control unit 70 controls the operation of the washing machines 51 and 61 by using the vibrations of the washing machines 51 and 61 sensed by the washing machine operation detecting units 59-2 and 69-2, Can be determined. As described with reference to Fig. 13, when the imbalance occurs, the vibration of the washing tubs 51 and 61 increases as compared with the usual case. The control unit 70 can determine whether an unbalance has occurred based on the increase in the vibration of the washing tubs 51 and 61. [

Specifically, for example, the control unit 70 determines whether the magnitude of the vibration sensed by the washing tub operation detecting units 59-2 and 69-2 exceeds a predetermined reference vibration. Here, the reference vibration can be defined theoretically or empirically / experimentally. In this case, the control unit 70 compares the vibration transmitted from the third washing-operation detecting unit 59-2 with the reference vibration to determine whether an imbalance has occurred in the third washing tub 51, and / The vibration transmitted from the motion sensing unit 69-2 may be compared with the reference vibration to determine whether the fourth washing tub 61 is unbalanced. Whether the third washing tub 51 is unbalanced or the fourth washing tub 61 is unbalanced can be independently performed. If the magnitude of the sensed vibration is equal to and / or exceeds the reference value, the controller 70 may determine that an imbalance has occurred in response. Conversely, if the magnitude of the sensed vibration is less than a predetermined reference value, the control unit 70 can determine that an unbalance has not occurred in the washing tubs 51 and 61. Here, the predefined reference vibration can be variously defined according to the designer's experience or experiment. It is also possible that the predefined reference vibration is defined differently according to the washing tub operation detecting units 59-2 and 69-2.

In addition, the control unit 70 may control the operation of the driving unit 53 (see FIG. 5) based on the result of comparison between the magnitude of the vibration sensed by the washing tub operation detection units 59-2 and 69-2, And 63 and the pre-defined reference rotational speed may be used together to determine whether an imbalance has occurred. In this case, the controller 70 controls the magnitude of the voltage applied to the drivers 53 and 63 and / or the magnitude of the voltage applied to the drivers 53 and 63, instead of the rotational speeds of the drivers 53 and 63, The magnitude of the current may be further used to determine whether an imbalance has occurred.

If it is determined that such an unbalance has occurred, the controller 70 controls the operation mode (hereinafter referred to as a first operation profile) performed by the unbalanced washing units 50 and 60 to a predetermined operation mode ). For example, the control unit 70 controls the washing water supply units 58 and 68 to supply additional washing water to the washing tubs 51 and 61 in which the unbalance is generated, It is possible to change the operation pattern of the driving portions 53 and 63 to cause the unbalanced washing portions 50 and 60 to operate with the second operating profile.

Hereinafter, a specific example of the second operation profile will be described.

Fig. 15 is a third view for explaining an example of a process of changing the water level in the washing tub, and Fig. 16 is a fourth figure for explaining an example of a process of changing the water level in the washing tub.

As shown in Figs. 15 and 16, the second operating profile may include relatively increasing the water levels WL1 and WL2 in the washing tubs 51 and 61. Fig.

Specifically, when at least one of the washing units 50, 60 of the washing machine 2 operates according to the first operating profile, the control unit 70 controls the at least one washing water supplying unit 58, WL1, hereinafter referred to as a first water level) is supplied to at least one of the washing tubs 51, 61. 15, when the laundry c21 is concentrated in one area of the washing tubs 51 and 61 and an unbalance is generated in the washing tubs 51 and 61, the water levels WL2, The laundry c21 flows along with the increase of the washing water and the distance between the laundry c21a, c21b and c21c relatively increases. As a result, the cohesion between the laundry materials c21a, c21b and c21c is weakened and the imbalance can be solved.

Accordingly, when it is determined that an unbalance has occurred in the washing tubs 51 and 61, the controller 70 controls the washing tubs 50 and 60 to operate according to the second operating profile of the above-described embodiment, To the second water level WL2 so that the unbalance in the washing tubs 51 and 61 can be eliminated. The second water level WL2 may include a water level to the extent that it is judged by a designer to be suitable for eliminating the imbalance in the washing tubs 51 and 61. The second water level WL2 may include a high water level.

Fig. 17 is a view for explaining a third example of the change in the rotation speed of the driving unit. Fig.

The second operation profile may include a change in the target rotation speed of the washing tub 51, 61 or the corresponding driving portion 53, 63 in which the unbalance has occurred.

Specifically, for example, as shown in FIG. 17, the first operation profile (L21, L21-1, L21-2) operating on the basis of the set target rotation speed R21 (hereinafter referred to as the first target rotation speed) The second operation profile changes and sets the target rotation speed R22 (hereinafter referred to as the second target rotation speed) to be lower than the predetermined first target rotation speed R21 to the second target rotation speed R22 Therefore, it may include (L22, L22-1, L22-2) that the washing tubs 51, 61 or the driving units 53, 63 are operated.

Specifically, the rotational speeds of the washing tubs 51 and 61 or the driving portions 53 and 63 increase to the second target rotational speed R22 (t20 to t21, t26 to t27, t29 and so on). If the rotation speed increases at the same acceleration, the rotational speed of the washing tub 51 or 61 or the driving portion 53 or 63 relatively reaches the second target rotational speed R22 relatively to the first target rotational speed R21 (T21, t22). The rotational speeds of the washing tubs 51 and 61 or the driving units 53 and 63 are constantly operated until a predetermined time point t23 or t28 and then decelerated to 0 or a value close to the predetermined value t23 to t24. If the deceleration is started at the same time point t23 as in the case of the operation based on the first target rotation speed R21, the operation L22 in which the operation is based on the second target rotation speed R22 is more relative (T24, t25). The increase to the second target rotational speed R22 and the decrease to 0 or a value close to the second target rotational speed R22 may be repeated (L22, L22-1, L22-2) at a predefined time (t26 to t26). Since the centrifugal force is proportional to the square of the angular velocity, if the second target rotation speed R22 is set to be relatively low as compared with the first target rotation speed R21, the centrifugal force becomes relatively low. Therefore, the coagulation of the laundry c10 (c11, c12, c13) is solved and the imbalance can be solved accordingly.

Fig. 18 is a view for explaining a fourth example of the change in the rotation speed of the driving unit. Fig.

According to one embodiment, the second operating profile may include changing the rotational acceleration and / or the rotational deceleration of the unbalanced washing tub 51, 61 or the corresponding driving portion 53, 63.

Specifically, for example, as shown in FIG. 18, the first operation profile is set such that the rotational speeds of the washing tubs 51 and 61 or the driving units 53 and 63 are set to be equal to the target rotational speed The rotational speed of the washing tub 51 or 61 or the rotational speed of the driving unit 53 or 63 is 0 or a value close to the rotational speed R31 in accordance with the rotation speed R31 and / or the set rotational deceleration rate d11 To < / RTI >

In this case, the second operation profile is set such that the rotational speed of the washing tubs 51, 61 or the driving units 53, 63 is lower than the target rotational speed a12 (D12, hereinafter referred to as the second rotation deceleration and the high rotation deceleration are set such that the absolute value of the rotation deceleration is relatively higher than the rotation deceleration (L31, L31-1, L31-2) in which the rotational speeds of the washing tubs 51, 61 or the driving units 53, 63 decrease to a value close to or close to zero.

Specifically, when operating in accordance with the second operation profile, the rotational speeds of the washing tubs 51 and 61 or the driving units 53 and 63 are relatively slower than the case of operating according to the first operating profile (t30 to t31) And increases up to the speed R31 (t30 to t32). The rotational speeds of the washing tubs 51 and 61 or the driving units 53 and 63 are constantly operated until a predetermined time t32 to t33. Thereafter, the rotational speeds of the washing tubs 51 and 61 or the driving portions 53 and 63 are decelerated to 0 or a value comparatively slower than the case of operating in accordance with the first operating profile (t34) (t33). In the case of the second operating profile, the increase to the target rotation speed R31 and the decrease to 0 or a value close to the target rotation speed R31 can be repeated (L32, L32-1, L32-2). Since the centrifugal force is proportional to the angular acceleration, when the acceleration is decreased or the deceleration is increased, the centrifugal force is lowered, so that the imbalance caused by the agglomeration of the laundry c10 (c11, c12, c13) can be solved.

18 shows an example of changing both the rotation acceleration and the rotation deceleration. However, according to the designer's choice, the second operation profile only needs to change the rotation acceleration (i.e., the first rotation deceleration and the second rotation deceleration (I.e., the first rotational acceleration and the second rotational acceleration are the same).

19 is a diagram for explaining a change in the operation rate of the driving unit.

The second operating profile may include varying the operating rate of the unbalanced washing tubs 51, 61 or the corresponding driving units 53, 63.

The operation ratio means a ratio of the time during which the drive units 53 and 63 actively operate over the entire operation time. 19, the operation rate is calculated by dividing the active operation period (Pon1 or Pon2) of the driving units (53, 63) by the whole period (Pon1 + Poff1 or Pon2 + Poff2) (Pon1 / (Pon1 + Poff1) or Pon2 / (Pon2 + Poff2)).

Specifically, for example, as shown in FIG. 19, the second operation profile has a lower operation rate Pon2 / (Pon2 + Poff2) than the operation rate Pon1 / (Pon1 + Poff1) in the first operation profile ) May be operated by the driving units 53 and 63. In other words, when the operation is based on the first operation profile, the rotation speed is increased and maintained for a relatively long time (t40 to t44, t46 to t48) (L41, L41-1) The rotation speed is increased and maintained for a relatively short time (t40 to t42, t46 to t47) (L42, L42-1). In this case, the target rotation speed according to the first operation profile and the target rotation speed according to the second operation profile may be the same (R41) or may be different from each other. Further, when operating on the basis of the first operation profile, the rotation speed is decreased and maintained (i.e. substantially stopped) during the relatively short period (t44 to t46, t48 to t49) (L41, L41-1) , And the rotation speed is decreased and maintained for a relatively long period (t42 to t46, t47 to t49) when operating based on the second operation profile (L42, L42-1).

C12, C12, and C13 is solved because the centrifugal force is relatively less applied to the laundry C10 (C11, C12, C13) even when the operation rate is relatively low, 51, and 61 can also be eliminated.

FIG. 20 is a diagram for explaining a process of changing an operation start time and an operation end time of the driving unit.

The second operation profile includes changing the ON period and / or the OFF period of the washing tub 51 or 61 or the corresponding driving unit 53 or 63 in which the unbalance has occurred It is possible.

20, the first operation profile includes a predefined operation period (Pon11, Pon12, hereinafter referred to as a first operation period) and / or a predefined stop period (Poff11, Poff12, (L51). During the first operation period (Pon11, Pon12), the drivers 53 and 63 actively operate (maintain the acceleration and the high rotation speed R51) During the one-stop period (Poff11, Poff12), the drive units (53, 63) stop operating (deceleration and low rotation speed, e.g.

The operation period (Pon21, Pon22, Pon23, hereinafter referred to as the second operation period) of the second operation profile is defined by being relatively shorter than the first operation period (Pon11, Pon12) of the first operation profile, and / The profile stop period (Poff21, Poff22, Poff23, hereinafter referred to as the second stop period) can be defined relatively short relative to the first stop period (Poff11, Poff12) of the first operation profile (L52). In other words, when operating according to the second operation profile, the drivers 53 and 63 actively operate for a relatively short period of time (Pon21, Pon22, Pon23), and operate during a relatively short period of (Poff21, Poff22, Poff23) . When the driving units 53 and 63 are operated based on the second operation period and / or the second suspension period, the driving units 53 and 63 are operated more frequently during the same time than when the operations are performed based on the first operation profile And the operation starts and stops repeatedly, whereby the laundry C10 (C11, C12, C13) is relatively less gathered. Therefore, the flocculation of the laundry C10 (C11, C12, C13) is solved and the unbalance of the washing tubs 51, 61 can be eliminated.

14 to 20 illustrate various embodiments of operations that may include a second motion profile. The second operation profile may include only one of these embodiments alone, or only a part of these embodiments, or both of these embodiments, depending on the designer's choice. For example, the second operating profile may include increasing the water level of the wash water, lowering the target rotation speed, and lowering the operation rate. The second operating profile may also include at least one of various combinations of the above-described embodiments which may be considered by the designer.

Hereinafter, various embodiments in which the washing machine 2 is controlled based on the second operating profile by changing the operating profile when an unbalance occurs during operation based on the first operating profile described above will be described.

21 is a diagram showing a first example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.

Referring to FIG. 21, at least one of the third washing unit 50 and the fourth washing unit 60 of the washing machine 2 operates according to the first operating profile s10. The first motion profile s10 may include at least one predefined motion pattern s11, s12, s13. The at least one predefined motion pattern s11, s12, s13 may be arbitrarily defined by the designer and may include, for example, at least one increase, maintenance and / or decrease of the rotational speed.

At least one of the third washing tank 51 of the third washing section 50 and the fourth washing tub 61 of the fourth washing section 60 may be attached to the third washing section 50 by a method such as the detection of the vibration of the washing tub 51, If it is determined that an imbalance has occurred (v1), the control unit 70 may change the first operation profile s10 to the second operation profile s20 in one embodiment. The second motion profile s20 may include at least one motion pattern s21 through s24. Here, each of the operation patterns s21 to s24 may be changed by changing the water level, changing the second target rotation speed, changing the operation rate, changing the rotation acceleration, changing the rotation deceleration, and changing the operation period and / (S11, s12, s13) of the first operating profile (s10) based on at least one of the operating patterns (s11, s12, s13). In this case, when the first operation profile of at least one of the third washing unit 50 and the fourth washing unit 60 is changed to the second operation profile, the control unit 70 ends the washing, rinsing and / The operation of at least one of the third washing unit 50 and the fourth washing unit 60 can be controlled based on the changed second operation profile.

22 is a view showing a second example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.

22, when at least one of the third washing unit 50 and the fourth washing unit 60 of the washing machine 2 is operated based on the first operation profile s30, At least one of the third washing tub 51 of the third washing unit 50 and the fourth washing tub 61 of the fourth washing tub 60 is operated by using a method such as the detection of the vibration of the washing tub 51, (V2). ≪ / RTI > In this case, the control unit 70 can change the first operation profile s30 to the second operation profile s40 at a time point ts when a predetermined time has elapsed from the determined time point or the determined time point. As described above, the first operation profile s30 may include at least one predefined operation pattern s31, s32. The second operating profile s40 is based on at least one of a water level change, a second target rotational speed change, a change in operation rate, a change in rotation acceleration, a change in rotation deceleration, and a change in operation period and / And may include at least one defined operation pattern (s41 to s44).

After the first operating profile s30 is changed to the second operating profile s40 and at least one of the third washing section 50 and the fourth washing section 60 is controlled in accordance with the second operating profile 40, The control unit 70 stops the control based on the second operation profile s40 and sets the third operation profile s50 on the basis of the new operation profile s50, At least one of the first washing unit 50 and the fourth washing unit 60 can be controlled. Here, the predefined reference period (ts to tr) includes a period in which the imbalance can be solved to some extent or sufficiently by the operation based on the second motion profile s40. The period in which the imbalance can be solved to some extent or sufficiently can be determined based on theory or experience / experiment, and can be variously determined according to the definition method of the second motion profile s40. According to one embodiment, the new motion profile s50 may include a first motion profile s30.

When the washing machine 2 is controlled as described above, at least one of the third washing unit 50 and the fourth washing unit 60 is not controlled based on the second operation profile even after the unbalance is eliminated, And / or the efficiency of the dewatering process can be improved.

23 is a diagram showing a third example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.

23, first, the control unit 70 controls at least one of the third washing unit 50 and the fourth washing unit 60 of the washing machine 2 based on the first operation profile s60 . It is determined that an imbalance has occurred in at least one of the third washing tub 51 of the third washing tub 50 and the fourth washing tub 61 of the fourth washing tub 60 according to the detection of the vibration of the washing tub 51, (V3), the control unit 70 can change the first operation profile s60 to the second operation profile s70. As described above, the first operating profile s60 may include at least one predefined operating pattern s61, s62, and the second operating profile s70 may include a water level change, a change in the second target rotational speed, (S71 to s74) defined based on at least one of changing the operation rate, changing the rotation acceleration, changing the rotation deceleration, and changing the operation period and / or the stop period.

The control unit 70 continuously controls the operation of the third driving unit motion detection unit 59-1, the third washing unit motion detection unit 59-2, and the third driving unit motion detection unit 59-2 even after the first operation profile s30 is changed to the second operation profile s40. And receives signals from at least one of the fourth driving unit motion detecting unit 69-1 and the fourth washing tub operation detecting unit 69-2.

If at least one of the third driving unit motion detecting unit 59-1, the third washing unit operation detecting unit 59-2, the fourth driving unit motion detecting unit 69-1 and the fourth washing unit motion detecting unit 69-2 If it is determined that the imbalance generated in at least one of the third washing tub 51 and the fourth washing tub 61 has been eliminated as a result of the determination based on the signal received from one of the first tub 51 and the second tub 61, Based control can be stopped and at least one of the third washing unit 50 and the fourth washing unit 60 can be controlled based on the new operation profile s80. As described above, the new operation profile 80 may include a previously used first operation profile s60.

In this case, at least one of the third washing unit 50 and the fourth washing unit 60 can be controlled using a relatively more efficient operation profile instead of the second operating profile after the unbalance is eliminated, The efficiency of the rinsing and / or dewatering steps can be relatively improved.

24 is a view showing a fourth example of a process of controlling the rotation of the washing tub when an unbalance occurs in the washing tub.

24, when the control unit 70 detects that an unbalance has occurred in the washing tubs 51 and 61 at a plurality of times (V11, V12, and V13), the first operation profiles s100, s110, and s120 ) To the second operation profile s130.

More specifically, at least one of the washing tubs 51 and 61 may be operated using the first operation profile s110. As described above, the first operation profile s110 may include at least one pattern s101 to s103.

If the vibration of at least one of the washing tubs 51 and 61 is sensed by the third washing tub operation detecting unit 59-2 and the fourth washing tub operation detecting unit 59-3 or the at least one washing tub 51, The target rotational speed of at least one of the drive units 53 and 63 corresponding to the at least one drive unit 53 and 63 is measured to be lower than the target rotational speed required or the current applied to the at least one drive unit 53 and 63 is measured to be relatively high, And / or the voltage applied to the at least one driver 53, 63 or the DC link circuit can be measured relatively high (V11). In this case, the control unit 70 does not immediately call the second operation profile but counts the occurrence of the unbalance, and then continuously counts the occurrence of the unbalance in the first operation profile ( s110, s120). According to the embodiment, the control unit 70 may separately use a count variable for counting the occurrence of an imbalance to count the occurrence of the imbalance. Also in this case, the first operation profiles s110 and s120 may include at least one operation pattern s111 to s113, s121 to s123.

A result corresponding to the occurrence of an unbalance in the process of controlling at least one of the washing tubs 51 and 61 based on the first operation profiles s110 and s120 is detected by the third driving unit motion detecting unit 59-1, The controller 70 determines whether an unbalance occurs in at least one of the sensing unit 60-1, the third washing machine operation detecting unit 59-2 and the fourth washing machine operation detecting unit 59-3. After counting, it is determined whether the count result exceeds a predefined value.

Specifically, for example, the control unit 70 may add 1 to the count variable and compare the count variable with 1 to the predefined count reference value. The count reference value may be defined, for example, as 3, but is not limited thereto, and may be arbitrarily defined according to the designer's choice.

If the count variable is equal to the count reference value or exceeds the count reference value, the controller 70 determines that an unbalance has occurred and changes the first operation profile s120 to the second operation profile s130 , And controls at least one washing tub (51, 61) in accordance with the second operating profile (130). The second motion profile s120 may include at least one motion pattern s131 through s134 as described above. On the contrary, if the count variable is smaller than the count reference value, the controller 70 determines that the imbalance has not yet occurred or that the operation according to the second operation profile is still unnecessary, and the existing first operation profile s120 And controls at least one washing tub (51, 61).

When controlling at least one washing tub 51, 61 based on the second operation profile s130, the control unit 70 may control the washing operation of the washing tub 51, 61 according to the embodiment, It is possible to control at least one of the washing tanks 51 and 61 based on the second operation profile s130 until all of the strokes have been completed and only until the predetermined time elapses as shown in Fig. It is also possible to control at least one washing tub 51 or 61 based on the profile s130 and if it receives a signal indicating that an unbalance has not occurred as shown in Figure 23, It is possible to stop one control and to control at least one washing tub 51, 61 based on the new operating profile.

The control unit 70 can continuously control at least one of the washing tubs 51 and 61 based on the first operation profiles s100 to s120 until the information corresponding to the occurrence of the unevenness of the reference number of times or more is received . Accordingly, when an error occurs in the motion detecting units 59-1, 59-2, 69-1, 69-2, or when vibration occurs due to reasons other than the imbalance, or the rotational speed is lower than the target rotational speed, It is possible to prevent the washing machine 2 from being controlled by the operation profile s130.

Hereinafter, an embodiment of a washing machine including a plurality of washing tanks to which the embodiment described above is applied will be described with reference to FIGS. 25 to 31. FIG.

FIG. 25 is a perspective view of a washing machine according to an embodiment of the present invention, and FIG. 26 is a view for explaining a first housing and a second housing of a washing machine according to an embodiment. 27 is a side cross-sectional view of a washing machine according to an embodiment.

Referring to FIGS. 25 to 27, the washing machine 100 may include a plurality of washing units 110 and 120 in one embodiment. For example, the washing machine 100 may include a first washing unit 110 having a first washing space 215 and a second washing unit 120 having a second washing space 315. 25-27 illustrate only an embodiment where the washing machine 100 includes only two washing units 110 and 120, but this is exemplary and, depending on the designer's choice, one washing machine 100 may have three or more It is also possible to include a washing unit.

The first washing unit 110 and the second washing unit 120 may be implemented as a washing unit that operates in the same manner or may be implemented as a washing unit that operates in a different manner. For example, the first washing unit 110 is implemented in a top loading manner in which a laundry loading port is formed in an upper portion of the first washing space 315, and the second washing unit 120 is provided in front of the second washing space 215, Or a front loading method in which an inlet is formed. However, this is an exemplary one, and depending on the designer's choice, the first washing unit 110 may be implemented in a front loading manner, the second washing unit 120 may be implemented in a top loading manner, And the two washing units 120 may be implemented as a front loading type or a top loading type.

25 to 27, the first and second washing units 110 and 120 may be arranged in parallel to each other in the vertical direction and may be arranged in parallel to each other in the horizontal direction As shown in FIG.

According to one embodiment, the first washing unit 110 and the second washing unit 120 may be integrated in a non-removable manner. According to another embodiment, the first washing unit 110 and the second washing unit 120 may be designed to be coupled and detachable from each other. In the latter case, the first washing unit 110 and the second washing unit 120 are separately manufactured and then assembled and assembled by a designer, a manufacturer, a supplier, a consumer, or a user of the washing machine 100 It is possible.

The first washing unit 110 may include a first washing tub 210 having a first washing space 215 formed therein. The first washing tub 210 may be formed in a cylindrical shape such that at least a portion of the first washing tub 210 is open. In this case, Can be mounted. Accordingly, the opening 214 for inputting the laundry can be provided in front of the first washing tub 210. The first washing tub 210 or the washing machine including the first washing tub 210 may be referred to as a drum or a drum washing machine.

According to the embodiment, a plurality of first through holes 211 for the flow of washing water may be further formed on the outer circumferential surface of the first washing tub 210. A plurality of lifters 213 may be installed on the inner circumferential surface of the first washing tub 210 to allow the laundry to rise and fall when the first washing tub 210 rotates. In addition, a first balancer 212 may be mounted on the front portion of the first washing tub 210 so that the first washing tub 210 can be rotated stably during high-speed rotation.

The first washing unit 110 may further include a first tub 220 that receives the first washing tub 210 therein and stores washing water or rinse water to be used in the washing or rinsing cycle. The first tub 220 may have a cylindrical shape with at least a part of the first surface being open. The opened one surface may be disposed in the same direction as the direction in which the opening 214 of the first washing tub 210 is directed, for example, toward the front. Accordingly, the first tub 220 is provided with an opening 223 for introducing laundry in front.

The first washing unit 110 may include a first housing 230 in which a first washing tub 210 and a first tub 220 are disposed. According to an embodiment, the first housing 230 includes a pair of first side plates 231, which are open at the top and form side surfaces of the first housing 230, (234), and a bottom plate (232) forming a bottom surface. In this case, the first side plate 231 and the first thick plate 234 may be integrally formed.

The first washing unit 110 may further include a spring 251 and a damper 250 that can support the first tub 220 to the first housing 230. The damper 250 can support the first tub 220 from the lower side by connecting the outer surface of the first tub 220 to the lower plate 232 and the spring 251 can support the outer surface of the first tub 220, The first tub 220 can be supported on the upper side by connecting the spring engagement portion 233 provided on the upper side of the first side plate 231. [ The spring 251 and the damper 250 may mitigate vibrations, noise, and shock caused by the flow of the first tub 220.

The spring 251 and the damper 250 are not limited to the upper and lower plates 232 and 232 of the first side plate 231 and may be disposed on one side of the first tub 220, And may support the first tub 220 by connecting other parts.

The first washing unit 110 may include a first driving unit 240 disposed behind the first tub 220 and rotating the first washing tub 210. For example, the first driving unit 240 may be implemented using a motor, and the motor may be implemented using at least one of a direct current motor, an alternating current motor, a direct current alternating current motor, or a BLDC motor, It is not. The first driving unit 240 may be directly or indirectly connected to the first driving shaft 241 to provide a driving force to the first washing tub 210.

The first driving unit 240 receives a control signal from a separately provided control unit (400 in FIG. 31) using at least one of a circuit, a wire, and a wireless communication line and starts driving according to the received control signal, It may be temporarily stopped, or the drive may be terminated.

A first driving shaft 241 may be disposed between the first washing tub 210 and the first driving unit 240. More specifically, one end of the first driving shaft 241 is connected to the rear plate of the first washing tub 210, and the other end of the first driving shaft 241 extends to the outside of the rear wall of the first tub 220, 240, respectively. Accordingly, the power generated by the first driving unit 240 can be transmitted to the first washing tub 210. In response to the operation of the first driving unit 240, the first washing tub 210 can also be operated do. The first driving shaft 241 starts rotating in at least one direction and the first driving shaft 241 is connected to the first driving shaft 241 in response to the first driving shaft 240 Is rotated in at least one direction about the first drive shaft 241. [

In this case, the driving shaft 241 may be provided such that the rotation axis thereof is directed substantially in the forward direction, so that the first washing tub 210 can rotate around the forward direction axis.

31 and a first driving unit 240 for measuring a voltage applied to the first driving unit 240. The voltage measuring unit 223 and the first driving unit 240 are connected to the first driving unit 240 and the second driving unit 240, (224 in FIG. 31) for measuring a current applied to the electrode terminal (not shown). At least one of the voltage measurement unit 223 and the current measurement unit 224 may measure at least one of a voltage and a current using a feedback current.

According to one embodiment, the first washing tub 210 may be provided with a vibration detecting unit 321 (FIG. 31) for detecting the vibration of the first washing tub 210. The vibration detecting unit 421 may be installed on the side surface of the first washing tub 310, for example, and may be installed on at least one of the inside and the outside. The vibration sensing unit 321 may be implemented using a micro-electromechanical system sensor, and the micro-electromechanical system sensor may include a piezoresistive sensor or a capacitive sensor.

According to one embodiment, the rotational speed of the first washing tub 210 and the rotational speed of at least one of the first driving shafts 241 of the first driving unit 240 are detected by the rotational speed detecting unit 312 . The rotational speed sensing unit 413 may be installed around the first driving unit 240 or the first washing tub 210, for example.

The rotational speed sensing unit 413 may be implemented using, for example, a tachometer, an encoder, a toothed wheel sensor, etc., and the tachometer may include, for example, an electrical tachometer and / or a photoelectric tachometer , The encoder may include, for example, an optical incremental encoder, an optical absolute encoder, a magnetic encoder, and / or a resolver.

According to one embodiment, a bearing housing 242 may be installed on the rear wall of the first tub 220 to rotatably support the first drive shaft 241. The bearing housing 242 may be made of aluminum alloy and may be inserted into the rear wall of the first tub 220 when the first tub 220 is injection molded. At least one bearing 243 may be provided between the bearing housing 242 and the first drive shaft 241 to support the first drive shaft 241 to rotate smoothly.

 The first washing unit 110 may further include a heater 280 for heating laundry or rinse water stored in the first tub 220. The heater 280 may be disposed on the bottom surface or the side surface of the first tub 220, for example. By heating the washing water or the rinsing water by the heater 280, the first washing unit 110 can perform a washing or rinsing cycle with hot water.

The first washing unit 110 may further include a second washing water supply unit 510 (FIG. 31) for supplying washing water and / or rinse water to the first tub 220. The first washing water supply unit 510 may be disposed inside the first housing 230. For example, the first washing water supply unit 510 may be disposed at the rear upper end of the first tub 220. However, this is an example, and the designer can install the first washing water supply unit 510 at a predetermined position that can be considered. The first washing water supply part 510 may be connected to an external water supply device so that water supplied from an external water supply device may be supplied into the first tub 220 and / or stored until required. The washing and / or rinsing water supplied by the first washing unit supplying unit 510 may be supplied to the inside of the first tub 220 through a discharging unit formed around the first tub 220, for example, a plurality of discharging holes (not shown) Can be introduced.

According to one embodiment, the first washing unit 110 may include a drain device for discharging washing water or the like inside the first tub 220 to the outside. The drain device includes a first drain pump 270 disposed at a lower portion of the first tub 220 and discharging the water inside the first tub 220 to the outside of the washing machine 100, A first connection hose 271 connecting the first drain hole 273 of the first tub 220 and the first drain pump 270 to allow water in the first tub 220 to flow into the first drain pump 270, A circulation hose 274 connecting the first drain pump 270 and the first tub 220 to circulate the water introduced into the first drain pump 270 to the first tub 220, And a first drain hose 272 for guiding the water pumped by the first drain pump 270 to the outside of the washing machine 100.

The washing machine 100 may further include a front housing 140 having a first inlet 141 into which the laundry can be input into the first washing space 215. The front housing 140 is provided to be fastened and fixed to a pair of first side plates 231 forming side surfaces of the first housing 230. The first door 260 for opening and closing the first inlet 141 may be coupled to the front housing 140 to be openable and closable.

The first door 260 may be formed at a position corresponding to the first inlet 141 and be relatively rotatable with respect to the front housing 140. The first door 260 may include a first door frame 261, a first door cover 262, and a door glass 263.

The first door frame 261 may have a predetermined shape according to the designer's choice. For example, the first door frame 261 may have a substantially annular shape as shown in FIG. 1, but may have a substantially triangular or rectangular shape according to an embodiment. The first door cover 262 and the door glass 263 can be opened so that the first door 260 can see the inside of the first washing tub 210 from the outside of the washing machine 100 even when the first inlet 141 is closed , And may be formed of a transparent material. The door glass 263 may be disposed to protrude from the first door frame 261 toward the inside of the first washing tub 210. Therefore, when the first door 260 is closed, the door glass 263 can be inserted into the first inlet 141.

A first hinge (not shown) may be formed around the first inlet 141 so that the first door 260 can rotate relative to the front housing 140. In addition, a first hinge coupler (not shown) may be formed on one side of the first door frame 261 to allow the first hinge to pivot. A first hook 266 may be formed on the other side of the first door frame 261 so that the first door 260 can be held in a closed state with the first input opening 141, The first hook receiving portion 142 may be formed in the housing 140. The first hook 166 is inserted into the first hook receiving portion 142 to prevent any opening of the first door 260 when the first door 260 is kept closed.

The first door 260 may be further provided with an auxiliary laundry inlet 267 so that the user can input the laundry into the first washing space 215 even when the first door 260 is closed. If necessary, the first door 260 may further include an auxiliary door 264 for opening and closing the auxiliary laundry inlet 267. In this case, the auxiliary door 264 can be attached to the first door cover 262 so as to be rotatable or movable with respect to the first door 260 by using a hinge or a sliding coupling.

According to one embodiment, a glass through hole 268 may be provided in the door glass 263. The glass through hole 268 provides a path through which the laundry loaded through the auxiliary laundry inlet 267 moves into the first washing space 215. The first door 260 may include a connection guide portion 265 to connect the auxiliary laundry inlet 267 of the first door 260 and the glass through hole 268 of the door glass 263. [ The connection guide portion 265 may be provided in the shape of a tube having both open ends and a hollow portion. Specifically, for example, one end of the connection guide portion 265 may be connected to the auxiliary laundry inlet 267, and the other end may be connected to the glass through hole 268. In this embodiment, the connection guide portion 265 may be provided so as to be inclined downward from the front to the rear. That is, one end of the connection guide portion 265 connected to the auxiliary laundry inlet 267 may be located higher than the other end. With this configuration, the user can easily load the laundry into the first washing tub 210 through the auxiliary laundry loading port 267. According to the embodiment, the connection guide portion may be omitted.

According to another embodiment, a depression area (not shown) may be formed in the upper part of the door glass 263 corresponding to the auxiliary laundry loading port 267. With the formation of the depression area, the door glass is not disposed behind the auxiliary laundry inlet 267. Accordingly, the laundry loaded through the auxiliary laundry inlet 267 can be introduced into the first washing space 215 without interference.

The auxiliary door 264 is provided in the first door 260. However, the auxiliary door 264 is not limited to the first door 260 but may be disposed at a position other than the first door 260.

The washing machine 100 may further include a diaphragm 221 disposed between the first inlet 141 of the front housing 140 and the opening 223 of the first tub 220. The diaphragm 221 forms a passage from the first input port 141 to the opening 214 of the first washing tub 210 so that the vibration transmitted to the front housing 140 during the rotation of the first washing tub 210 Can be reduced. A portion of the diaphragm 221 may be disposed between the first door 260 and the front housing 140 to prevent the wash water of the first tub 220 from leaking to the outside of the washing machine 100 .

According to one embodiment, the second washing unit 120 may include a second washing tub 310 having a second washing space 315 formed therein. The second washing tub 310 may be formed in a cylindrical shape with at least a part of which is opened, in which case the opened one side may be arranged to face upward.

The second tub 310 may be arranged to be rotatable within the second tub 320.

A plurality of second through holes 311 for the flow of washing water may be formed on the side and bottom of the second washing tub 310. A second balancer 312 may be mounted on the upper portion of the second washing tub 310 to allow the second washing tub 310 to rotate stably during high-speed rotation. A filter 316 may be attached to the inner surface of the second washing tub 310 so as to remove foreign substances that may be generated during washing. A curved portion 313 for generating water flow may be formed on the bottom surface of the second washing tub 310. According to an embodiment of the present invention, a pulsator or a washing rod, which rotates and forms a water flow inside the second washing tub 310, may be further installed in the second washing tub 310.

The second washing unit 120 may further include a second tub 320 that receives the second washing tub 310 therein and stores washing water or rinse water to be used in the washing or rinsing cycle. For example, the second tub 320 may be formed in a cylindrical shape corresponding to the shape of the second tub 310. In this case, the opened one side of the second tub 320 may be disposed to face upwardly as the opened side of the second washing tub 310. The second tub 320 can be supported by the lower frame 331 by the suspension 350. For example, the second tub 320 can be supported by the four suspension units 350 in a suspended form on the lower frame 331. A third inlet 314 may be provided on the upper surface of the second tub 320 to correspond to the second inlet 334.

The second washing unit 120 may further include a third door 380 for opening and closing the third inlet 314. In this case, the third door 380 may include the third door frame 381, and may further include the third door cover 382. The third door cover 382 is made of a transparent material so that the inside of the second washing tub 310 can be seen from the outside of the second tub 320 even when the third door 380 is closed with the third inlet 314 Lt; / RTI >

A third hinge (not shown) may be formed around the third inlet 314 to allow the third door 380 to pivot relative to the second tub 320. A third hinge coupling part (not shown) corresponding to the third hinge may be formed on one side of the third door frame 381, and the third hinge coupling part may be provided to be rotatably coupled with the third hinge coupling part have. A handle 383 for opening the third door 380 may be formed on the other side of the third door frame 381. The handle 383 may include a second hook 384. The second tub 320 may be provided with a second hook receiving portion corresponding to the second hook 384. When the third door 380 closes the third input port 314, the second hook 384 can be coupled to the second hook receiving portion. When the second hook 384 is coupled to the second hook receiving portion, the state in which the third door 380 closes the third input port 314 can be stably maintained. On the other hand, when the handle 383 is operated, the second hook 384 can be disengaged from the second hook receiving portion, thereby opening the third door 380.

The second washing unit 120 may include a second housing 330 in which a second washing tub 310 and a second tub 320 are disposed on the inner side and a lower side is opened or closed. Specifically, the second housing 330 includes a lower frame 331 having upper and lower openings and a second tub 320 supported thereon, and a second inlet 331 through which laundry can be introduced into the second laundry space 315. [ And an upper frame 332 provided with a lower frame 334 and seated on the upper frame 331. In addition, the second housing 330 may include a side frame 333 which forms the outer surface of the left and right sides.

The second washing unit 120 may be disposed in the second housing 330 and may include a second door 360 for opening and closing the second inlet 334. The second door 360 may be provided so as to correspond to the second input port 334 and be rotatable with respect to the upper frame 332. The second door 360 may include a second door frame 361 and a second door cover 362. The second door cover 362 is disposed on the second door 360 so that the second door 360 can see the second tub 320 and the second washing tub 310 from the outside of the washing machine 100 even when the second door 334 is closed, And may be formed of a transparent material.

A second hinge is provided on both left and right sides of the second door frame 361 so that the second door 360 can rotate relative to the upper frame 332 and is coupled to a second hinge coupling formed around the second input port . A latch accommodating portion 363 is provided on the front side of the second door frame 361 and a latch device is provided on the upper frame 332 in correspondence with the latch accommodating portion 363 of the second door frame 361, The door 360 can be maintained in a state where the second inlet 334 is closed.

The second washing unit 120 may include a second driving unit 340 disposed outside the second tub 320 and rotating the second washing tub 310 in one embodiment. A second driving shaft 341 for transmitting the power of the second driving unit 340 may be connected to the bottom surface of the second washing tub 310. One end of the second driving shaft 341 is connected to the bottom plate of the second washing tub 310 and the other end of the second driving shaft 341 extends outside the bottom wall of the second tub 320. When the second driving unit 340 drives the second driving shaft 341, the second washing tank 310 connected to the second driving shaft 341 rotates around the second driving shaft 341. The second drive shaft 341 is arranged such that the rotation axis thereof is directed substantially upward. Accordingly, the second washing tub 310 can be rotated about the rotational axis about the upward direction.

31 and 32) for measuring the voltage applied to the second driver 340 and the second driver 340 for measuring the voltage applied to the second driver 340 are connected to the lead or circuit connected to the second driver 340. [ (324 in Fig. 31) for measuring the current applied to the current detection unit 322. [0157] Fig. At least one of the voltage measuring unit 323 and the current measuring unit 324 may be installed adjacent to the second driving unit 340 according to the design. If necessary, a wire or circuit connected to the second driving unit 340 or a circuit or circuit for feeding back the current applied to the wire or circuit connected to the second driving unit 340 is further provided around the wire or circuit, and the voltage measuring unit 323 And the current measuring unit 324 may be installed in a lead through which a current is fed back. In this case, at least one of the voltage measuring unit 323 and the current measuring unit 324 can measure at least one of voltage and current through the feedback current.

According to the embodiment, when the pulsator is disposed on the bottom surface of the second washing tub 310, the washing machine simultaneously or selectively transmits the driving force generated from the second driving unit 340 to the second washing tub 310 and the pulsator The power switching device may further include a power switching device.

According to an embodiment, the second washing tub 310 may further include a vibration detecting unit 421 (see FIG. 31) for detecting the vibration of the second washing tub 310. For example, the vibration sensing unit 421 may be installed on the inner or outer surface of the second washing tub 310, or more specifically, on the outer bottom of the second washing tub 310, for example. The vibration sensing unit 421 may be implemented using, for example, a piezoelectric acceleration type vibration sensor, a cantilever vibration type vibration sensor, or the like. In addition, the vibration sensing section 421 may be implemented using a micro-electromechanical system sensor.

According to one embodiment, the rotational speed of the second washing tub 310 and the rotational speed of at least one of the second driving shaft 241 of the second driving unit 340 are sensed by the rotational speed sensing unit (422 in FIG. 31) . The rotational speed sensing unit 423 may be installed around the second driving unit 340 or the second washing tub 310, for example. The rotational speed sensing unit 423 can be implemented using, for example, a tachometer, an encoder, and / or a gear wheel sensor.

The second washing unit 120 includes a second drain pump 370 disposed below the second tub 320 for discharging the water inside the second tub 320 to the outside of the washing machine 100, And a second drain hose 372 for guiding the water pumped by the second drain pump 370 to the outside of the washing machine 100. [ Specifically, the second drain pump 370 may be mounted on the upper portion of the first housing 230.

A second drain port 373 capable of draining the water of the second tub 320 may be formed on the bottom surface of the second tub 320 and water of the second tub 320 may be connected to the second drain pump 370, The second drain port 373 and the second drain pump 370 may be connected to each other by the second connection hose 371. [

The second washing unit 120 may further include a second washing water supply unit 520 (FIG. 31) capable of supplying washing water and / or rinse water to the second tub 320. The second washing water supply unit 520 may be disposed inside the second housing 330, for example, inside the upper frame 332. And the second washing water supply unit 520 may be disposed behind the second inlet 334. The second washing water supply unit 520 is connected to an external water supply unit so that water supplied from an external water supply unit can be supplied to the second tub 320 under control and / or stored until required. The rinsing water and / or the rinsing water supplied by the second washing unit supplying unit 520 may be introduced into the second tub 320 through a discharge unit formed around the second tub 320, for example, a plurality of discharge holes 509 do.

The first washing water supply part 510 and the second washing water supply part 520 may be integrated. In this case, the washing water supply unit, which is integrally implemented, is supplied with water from the water supply device and selectively supplies washing water and / or rinse water to at least one of the first tub 220 and the second tub 320 . In order to supply the washing water and / or the rinse water to at least one of the first tub 220 and the second tub 320, the washing water supply unit, which is integrally implemented, includes a washing water supply unit, a first tub 220, And a plurality of valves formed in pipes connecting the first and second tubs 320 to each other.

According to one embodiment, the washing machine 100 may include a detergent supply device 600 capable of supplying detergent to the first tub 220. The detergent supply device 600 may be installed in at least one of the first housing 230 and the second housing 330. For example, the detergent supply device 600 may be disposed in the upper frame 332 of the second housing 330, more specifically, in front of the second inlet 334 provided in the second housing 330 .

According to one embodiment, the washing machine 100 may include a fixing bracket 130 for coupling the first housing 230 and the second housing 330 so that they are not separated from each other. The fixing bracket 130 may be coupled to the front of the first housing 230 and the front of the second housing 330, for example. The fixing bracket 130 is coupled to the side of the first housing 230 and the side of the second housing 330 or to the rear of the first housing 230 and the side of the second housing 330, It is also possible to be coupled to the rear side.

In addition, the washing machine 100 may further include a control panel 150. The control panel 150 may be disposed at an upper portion of the front housing 140 of the washing machine 100 for convenience of user's operation and information confirmation. However, the arrangement position of the control panel 60 is not limited thereto. For example, the control panel 60 can be installed at various positions that the designer can consider, such as one side of the upper frame 330 of the first washing unit 110, the upper side of the detergent supply unit 600, and the like.

The control panel 150 may be provided with a user interface for receiving various commands related to the operation of the washing machine 100 and / or for visually and / or audibly providing information related to the washing machine 100 (151 in Fig. 24) may be provided.

The user interface 151 may include at least one input device and / or at least one output device. The input device may be implemented using at least one of a physical button, a touch pad, a touch screen, a knob, a stick, a trackball, and a trackpad, and may be implemented using various devices . The output device may include at least one of a display device for visually outputting information and a sound output device for outputting audibly information. The display device may be a cathode ray tube (CRT), a cathode ray tube A display panel such as a liquid crystal display (LCD) panel, a light emitting diode (LED) display panel, an organic light emitting diode (OLED) display panel or a quantum dot display panel . The sound output device may be implemented using a speaker device or the like.

In accordance with an embodiment, the user interface 151 may be installed at various locations that the designer may consider in addition to the control panel 150.

Further, on the inside of the control panel 150, at least one semiconductor chip provided on the substrate and the substrate on which the circuit is formed may be arranged and installed. The at least one semiconductor chip and the substrate may be arranged to perform the operation of the control unit 400 described later.

Hereinafter, the coupling of the first housing 230 and the second housing 330 will be described in more detail.

FIG. 28 is an exploded perspective view of a second housing according to an embodiment, and FIG. 29 is a view showing a part of a front bracket and a front housing of a washing machine according to an embodiment. FIG. 30 is a side view showing a combined position of a fixed frame and a front housing of a washing machine according to an embodiment.

Referring to FIG. 28, the lower frame 331 of the second housing 330 may include a first support portion 338 that is adapted to receive the suspension 350. In addition, the second tub 320 may include a second support portion 321 on which the suspension 350 can be mounted. The suspension 350 may be configured to connect the first support portion 338 of the lower frame 331 and the second support portion 321 of the second tub 320. [

The lower frame 331 may be formed in a shape in which a front wall 398, a rear wall 397 and a pair of side walls 396 are connected so as to surround the front, rear and side of the second tub 320, The first support portion 338 may be provided at the upper end of the corner so that it can have sufficient rigidity to support the second tub 320 by the four suspensions 350. [

The upper frame 332 may include a first engaging portion 335 capable of engaging with the lower frame 331. The first engaging portions 335 may be disposed at the lower ends of the left and right sides of the upper frame 332. The lower frame 331 may include a second engaging portion 337 capable of engaging with the upper frame 332. The second engaging portion 337 may be disposed at a position corresponding to the first engaging portion 335 of the upper frame 332 at the upper end of the lower frame 331.

The side cover 333 can be coupled to the upper frame 332 and the lower frame 331 to cover the side surface of the upper frame 332 and the side surface of the lower frame 331. [ The side cover 333 may include an upper flange 393 that can engage the upper frame 332 and the upper frame 332 may be formed by a combination And a groove 336. [ The upper flange 393 of the side cover 333 may be provided with a fastening portion 339 capable of engaging with the upper frame 332 at an inner side of the fastening groove 336 of the upper frame 332, 339 may be engaged with the upper frame 332 by a fastening member such as a screw.

A lower flange 395 can be provided at the lower end of the side cover 333 to cover a part of the bottom surface of the lower frame 331. An upper frame 332 and a lower frame 331 A rear end flange 394 can be provided to cover a part of the rear surface of the rear end portion of the vehicle.

The upper flange 393 of the side cover 333 is inserted into the engaging groove 336 of the upper frame 332 after the lower frame 331 and the upper frame 332 are coupled, The flange 395 can be rotated and coupled so as to be positioned on the bottom surface of the lower frame 331. The rear end flange 394 of the side cover 333 can be fixed to the rear surface of the upper frame 332 and the lower frame 331 by a fastening member such as a screw after the side cover 333 is coupled.

The lower frame 331 may be vibrated by the second tub 320 supported by the lower frame 331. The vibration of the lower frame 331 can be transmitted to the upper frame 332 by the engagement of the lower frame 331 and the upper frame 332.

When the lower frame 331 and the upper frame 332 are disassembled by vibration or the like, the side cover 333 prevents arbitrary departure of the lower frame 331 and the upper frame 332, have. The side cover 333 covers the left and right sides of the lower frame 331 and the upper frame 332 with one member to simplify the side surface of the second housing 330. The second housing 330 Is coupled with the first housing 230, the first housing 230 and the second housing 330 can have unified aesthetics.

The second housing 330 of the washing machine 100 may include a pair of second side plates 235 that form the side surface of the second housing 330. That is, the second side plate 399 of the second housing 330 may be composed of at least a part of the side wall 396 of the lower frame 331, the side wall 399 of the upper frame 332, and the side cover 333 have.

Referring to FIG. 26, the washing machine 100 may further include a first guide protrusion 390 disposed at an upper end of the first housing 230 and guiding a seating position of the second housing 330. Specifically, the first guide protrusion 390 may protrude upward from the pair of first side plates 231. The first guide protrusion 390 may be formed as a separate member and may be coupled to the first side plate 231 or may be integrally formed with the first side plate 231.

28, the washing machine 100 may include a guide projection insertion portion that is disposed below the pair of second side plates 235 of the second housing 330 to insert the first guide projection 390 . The lower flange 395 of the side cover 333 forming the second side plate 235 may be provided with a through hole 392 through which the first guide protrusion 390 can penetrate, A guide protrusion receiving portion 391 capable of receiving the first guide protrusion 390 may be provided on the bottom surface of the side wall 396 of the lower frame 331 forming the guide protrusion 235.

The first guide protrusions 390 may be disposed on the left and right upper ends of the first side plate 231 of the first housing 230. The first guide protrusions 390 may be disposed on the first housing 230, And the side surfaces of the second housing 330 can be aligned so as not to cause a step difference.

The guide protrusion for guiding the seating position of the second housing 330 may be provided so as to protrude downward from the pair of second side plates 235 of the second housing 330, May be formed on a pair of first side plates 231 of the first housing 230.

29 and 30, the front housing 140 may be provided to cover at least a part of the front surface of the first housing 230 and at least a part of the front surface of the second housing 330. [ Although the front housing 140 is provided so as to cover the entire front surface of the first housing 230, the front housing 140 has a part of the front surface of the first housing 230 and a front surface of the second housing 330 And may be provided to cover a part thereof.

The fixing bracket 130 may be disposed inside the front housing 140 and may fix the first housing 230 and the second housing 330 in front of the first housing 230 and the second housing 330 . Specifically, the fixing bracket 130 may connect the pair of first side plates 231 of the first housing 230 to the pair of second side plates 235 of the second housing 330.

The fixing bracket 130 may have a rectangular parallelepiped shape having a length corresponding to the width of the first housing 230 and the second housing 330 and having a thickness corresponding to the thickness of the front cover 140. The fixing bracket 130 may have a front surface 134, an upper surface 131, a left surface, and a right surface, and the rear surface and the bottom surface may be opened.

The fastening bracket 130 may include a coupling flange 135 that can be coupled to the front of the first housing 230 and the front of the second housing 330. More specifically, the engagement flange 135 of the fixing bracket 130 is fastened to the front end of the pair of first side plates 231 of the first housing 230 by a fastening member such as a screw and a pair of the second housings 330 Of the second side plate 235 of the second side plate 235. [

The fixing bracket 130 may include a second guide protrusion 132 provided on the upper surface 131 of the fixing bracket 130 and capable of guiding the engagement position of the front housing 140. [ The front housing 140 may include a guide hole 143 formed on the upper side of the front housing 140 and engageable with the second guide protrusion 132 of the fixing bracket 130.

The fixing bracket 130 may include a third engaging portion 133 provided on the front surface 134 of the fixing bracket 130 and to which the front housing 140 can be coupled. The front housing 140 may include a fourth engaging portion 144 provided on the upper side of the front housing 140 and corresponding to the third engaging portion 133 of the fixing bracket 130.

The front housing 140 is fixed to the fixing bracket 130 so that the second guide protrusion 132 of the fixing bracket 130 passes through the guide hole 143 of the front housing 140 The third engaging portion 133 of the fixing bracket 130 and the fourth engaging portion 144 of the front housing 140 can be coupled to each other with a fastening member such as a screw.

Referring to FIGS. 26 and 30, the first tub 220 can be supported by the first housing 230 by a spring 251. More specifically, one end of the spring 251 is coupled to the first spring engagement portion 233 provided on the upper portion of the first side plate 231 of the first housing 230, and the other end of the spring 251 is coupled to the first tub 220 coupled to the second spring engagement portion 222 formed on the outer surface of the second spring engagement portion 222. The spring 251 may damp the vibration and noise of the first tub 220 but the vibration of the first tub 220 may be transmitted to the first housing 230 by the spring 251. [

The height A of the upper end of the front housing 140 is set to be higher than the height B of the upper end of the first housing 230 to which the spring 251 is coupled to secure the rigidity for supporting the front surface of the washing machine 100 And it is possible to effectively prevent the vibration of the first housing 230 and the second housing 330 from being transmitted to the front. In addition, the front face of the washing machine 100 is formed only of the front housing 140 and the control panel 60 disposed on the upper side of the front housing 140, and thus can have an aesthetic effect.

The fixing bracket 130 is positioned at a position where the height C of the upper end of the fixing bracket 130 is equal to or higher than the height D of the upper end of the second driving portion 340 disposed outside the lower portion of the second tub 320 As shown in Fig. The fixing bracket 130 may be made of a refractory material such as a metal and disposed above the second driving unit 340 so that when a fire occurs due to overheating of the second driving unit 340, Or to prevent the fire from spreading to the control panel 60 side.

31 is a control block diagram of an embodiment of a washing machine.

31, the washing machine 100 may include a user interface 151, a first washing tub 210, a first driving unit 240, a first sensing unit 410, A second driving unit 340, a second sensing unit 420, a control unit 400, and a storage unit 450. The washing unit 310 may include a washing tub 310, a second driving unit 340, a second sensing unit 420,

The first sensing unit 410 senses the operation of at least one of the first washing tub 210 and the first driving unit 240 to acquire related information. Similarly, the second sensing unit 420 is provided to sense the operation of at least one of the second washing tub 310 and the second driving unit 340 and acquire related information. The information obtained by at least one of the first sensing unit 410 and the second sensing unit 420 may be transmitted to the control unit 400 through a wire, a circuit, or a wireless communication network. The control unit 400 generates a predetermined control signal based on the information received from at least one of the first sensing unit 410 and the second sensing unit 420 and transmits the generated control signal to the corresponding component, (100).

The first sensing unit 410 may include a vibration sensing unit 411, a rotational speed sensing unit 412, a voltage measuring unit 313, and / or a current measuring unit 314 in accordance with an arbitrary selection by the designer have.

The vibration detecting unit 411 senses the vibration of the first washing tub 210 or its peripheral parts (for example, the first tub 220) due to the rotation of the first washing tub 210, .

The rotation speed sensing unit 412 is provided to sense the rotation speed of the first washing tub 210. The rotation speed sensing unit 412 may acquire information on the rotation speed of the first washing tub 210 by sensing the rotation speed of the first driving shaft 241 of the first driving unit 240. [

The voltage measuring unit 413 measures the magnitude of the voltage applied to the first driving unit 240 and the current measuring unit 414 measures the magnitude of the current applied to the first driving unit 240. The voltage or current measured by each is transmitted to the control unit 400. Specifically, when the control unit 400 controls the first driving unit 240, the control signal of the control unit 400 is transmitted to the first driving unit 240 in the form of an electrical signal, and the transmitted electrical signal is transmitted to the first driving unit 240 240). The voltage measuring unit 413 measures the voltage of the electric signal applied in this manner, and the current measuring unit 414 measures the electric current of the applied electric signal.

The second sensing unit 420 may include a vibration sensing unit 421, a rotational speed sensing unit 422, a voltage measuring unit 323, and / or a current measuring unit 324 according to an arbitrary selection of a designer . The actual structure, operation, or function of the vibration sensing unit 421, the rotational speed sensing unit 422, the voltage measuring unit 323, and the current measuring unit 324 is substantially the same as that of the vibration sensing unit 410 of the first sensing unit 410, The rotation speed sensing unit 412, the voltage measuring unit 313, and the current measuring unit 314, the detailed description thereof will be omitted.

31, the first sensing unit 410 of the washing machine 100 includes a vibration sensing unit 411, a rotational speed sensing unit 412, a voltage measuring unit 313, and a current measuring unit 314, Although the sensing unit 420 includes the vibration sensing unit 421, the rotation speed sensing unit 422, the voltage measuring unit 323, and the current measuring unit 324, the first sensing unit 410, And second sensing unit 420 need not necessarily include all of the respective elements 313, 314, 323, 324, 411, 412, 421, 422. At least one of the first sensing unit 410 and the second sensing unit 420 may include only one of the first sensing unit 410 and the second sensing unit 420, depending on the designer's selection.

The controller 400 includes various components such as a user interface 60, a first driving unit 240, a second driving unit 340 and a storage unit 450 and circuits, And / or a wireless communication network, and is capable of controlling the overall operation of the washing machine 100 by transmitting control signals to these components.

For example, the control unit 400 may transmit control signals corresponding to at least one of the first driving unit 240 and the second driving unit 340 to control at least one of the first driving unit 240 and the second driving unit 340 To perform an operation, to perform a predetermined operation, or to stop an operation. The first washing tub 210 rotates according to the operation of the first driving unit 240 and the second washing tub 310 rotates according to the operation of the second driving unit 340.

The control unit 400 may include, for example, a central processing unit, a microcontroller unit, a microcomputer, an application processor, an electronic control unit, and / or other electronic devices capable of generating various arithmetic processing and control signals. The control unit 400 may be implemented using one device, or may be implemented using a plurality of devices.

The control unit 400 may drive a program stored in the storage unit 450 to perform predetermined calculation, processing, and control operations. In this case, the program may be prepared in advance by the designer and stored in the storage unit 450, or acquired or updated through the electronic software distribution network.

According to one embodiment, the control unit 400 may be configured to perform the operations of the control unit 30 described with reference to FIGS. 1 through 10 and / or the operations of the control unit 70 described with reference to FIGS. 11 through 24 Lt; / RTI >

In other words, the control unit 400 may adjust the driving speed of the washing units 10 and 20 based on the comparison result of the first driving speed and the second driving speed, and / The operation of the washing units 50 and 60 may be controlled using the second operating profile instead. Since each of these operations has been described in detail in the above, the detailed description will be omitted.

The storage unit 450 may store various types of information required for the operation of the washing machine 100. For example, the storage unit 450 may store an application related to the operation, processing, and control operations of the control unit 400, or information required for the operation, processing, and control operations described above.

The storage unit 450 may be a magnetic disk storage medium such as a hard disk or a floppy disk, an optical medium such as a magnetic tape, a compact disk (CD) or a digital versatile disk (DVD), a floppy disk, , Semiconductor storage devices such as magneto-optical media, ROM, RAM, SD card, flash memory, solid state drive (SSD), etc., .

Since the user interface 151, the first washing tub 210, the first driving unit 240, the second washing tub 310 and the second driving unit 340 have been described in detail, the detailed description will be omitted.

32 to 40, various embodiments of the method of controlling the washing machine will be described below.

32 is a flowchart of a first embodiment of a method of controlling a washing machine.

Referring to FIG. 32, the first washing unit and the second washing unit simultaneously start driving simultaneously (1000). The operation of the first washing unit may include at least one of a washing cycle, a rinsing cycle, and a dewatering cycle, and the operation of the second washing unit may include at least one of a washing cycle, a rinsing cycle, and a dewatering cycle. The first washing unit and the second washing unit may be performing the same process. For example, the first washing unit and the second washing unit may be performing a dewatering process in the same manner.

Next, the driving speed (i.e., the second driving speed) of the second washing unit is compared with the predetermined reference speed (e.g., the second reference speed) and determined (1001). Here, the second reference speed may be arbitrarily defined according to the user's selection, and may be defined, for example, as the maximum driving speed at which the first washing unit can be performed or a speed close to the maximum driving speed. The second reference speed may be defined as 800 rpm or a value close thereto, but is not limited thereto. The process 1001 in which the driving speed of the second washing unit is compared with the predetermined reference speed may be omitted.

The driving speed (i.e., the first driving speed) of the first washing unit can be compared with the first reference speed (1002). When it is determined that the driving speed of the second washing unit is equal to the first reference speed or exceeds the first reference speed (step 1001), the driving speed of the first washing unit (i.e., the first driving speed) (E.g., the example of FIG. The first reference speed can be arbitrarily defined by the designer or the user, and can be defined, for example, at a speed of 500 rpm or the like.

If the first driving speed is equal to the first reference speed or exceeds the first reference speed (YES in 1003) as a result of the comparison between the first driving speed and the first reference speed of the first washing unit, Is raised to the first target speed (1003). The first target speed may be defined by the designer or the user, and may be defined to be equal to the second reference speed, depending on the embodiment. The first target speed may include the highest driving speed that can be performed by the first washing unit.

If the second driving speed reaches the first target speed as a result of the increase in the driving speed of the second washing portion (YES in 1004), the driving speed of the second washing portion may be controlled to decrease in response to the first target speed 1005). The decrease in the second driving speed may be started immediately after reaching the first target speed or may be started after a certain period elapses after the first target speed is reached. The reduction of the second driving speed may be performed by shutting off the power applied to the second driving unit of the second washing unit and / or by using a separate braking unit.

The second driving speed may be reduced to 0 or a value close to zero.

On the other hand, if the first driving speed of the first washing unit is compared with the first reference speed, if the first driving speed is smaller than the first reference speed (NO in 1002), the driving speed of the second washing unit is Depending on the selection, it may be maintained (1007), or may be controlled to change as it ramps up and / or down in accordance with a predefined pattern.

The above-described processes 1001 to 1007 can be repeated periodically or non-periodically according to the designer's or user's selection (an example of 1008). Of course, according to the embodiment, it is also possible that the above-described processes 1001 to 1007 are performed only once.

33 is a flowchart of a second embodiment of a method of controlling a washing machine.

If the driving speed of the second washing unit is greater than the second reference speed or equal to the second reference speed (NO in 1001, for example, if the driving speed of the second washing unit is equal to the first target speed) The driving speed of the first washing unit is compared with the third reference speed as shown in FIG. Here, the third reference speed may be arbitrarily defined by the user or designer, for example, may be defined as a value of 500 rpm or the like. It is also possible that the third reference speed is defined to be the same as the second reference speed in step 1002 described above.

If it is determined that the first driving speed is equal to or greater than the third reference speed, the second driving speed is reduced to a value of 0 or close to 1011, and the operation of the second washing unit is temporarily or non- And is temporarily ended (1012).

On the contrary, if it is determined that the first driving speed is lower than the third reference speed, the second driving speed of the second washing unit is maintained at a speed equal to or higher than the second reference speed, or may be varied in accordance with a predetermined pattern (1013).

34 is a flowchart of a third embodiment of a method of controlling a washing machine.

34, the first washing unit and the second washing unit can start driving at the same time or at the same time (1100). Each of the first and second washing units may perform any one of a washing cycle, a rinsing cycle, and a dewatering cycle. In this case, the first washing unit and the second washing unit may perform the same dehydration process have.

The second driving speed of the second washing portion is compared with the fourth reference speed, and if the second driving speed reaches the fourth reference speed (1101, i.e., the second driving speed is equal to the fourth reference speed The first driving speed and the fifth reference speed of the first washing unit are compared with each other (1102). Here, the fourth reference speed and the fifth reference speed may be arbitrarily defined by the designer or the user. For example, the fourth reference speed may be defined as 500 rpm or a value close to 500 rpm, and the fifth reference speed may also be defined as 500 rpm or the same value as the fourth reference speed.

If the first driving speed of the first washing portion is equal to or less than the fifth reference speed (YES in Step 1102), the second washing portion is controlled until the second driving speed reaches the second target speed (1103). The second target speed may be arbitrarily defined by the user or designer, for example 800 rpm or a value close thereto.

If the second drive speed and the second target speed are equal or approximated as a result of the rise of the second drive speed, the second drive speed may be maintained at the second target speed (1104).

Sequentially, it is judged whether a predetermined period, for example, 1 minute, 2 minutes, or other arbitrary time period has elapsed (1105). If the predetermined period of time has elapsed (YES in 1105), it may be terminated to maintain the driving speed of the second washing unit at the second target speed. If it is determined that the predetermined period of time has elapsed (YES in step 1105) and the above-described steps 1102 to 1105 are repeated (YES in step 1106), the second driving speed of the second washing unit is set to a predetermined speed (1107), and the comparison between the first driving speed of the first washing unit and the fifth reference speed is again performed (1102).

If the first driving speed of the first washing unit exceeds the fifth reference speed (NO in 1102), the second driving speed of the second washing unit is controlled to maintain the fourth reference speed (1108). If the predetermined period (that is, the above-described judgment period) has elapsed (YES in step 1109), a comparison between the first driving speed and the fifth reference speed of the first washing unit is performed again (1102). Therefore, when the second driving speed is maintained at the fourth reference speed, the comparison of the first driving speed and the fifth reference speed can be performed periodically or non-periodically.

35 is a flowchart of a fourth embodiment of a method of controlling a washing machine.

34 is also applicable to a process of controlling the first driving speed of the second washing unit as shown in FIG. 35 in the same or partially modified manner.

Specifically, as shown in FIG. 35, the first washing unit and the second washing unit can start driving at the same time or at the same time (1200).

The first driving speed of the first washing unit is compared with the sixth reference speed (1201). If the first driving speed is equal to the sixth reference speed, the second driving speed and the seventh reference speed of the second washing unit may be compared with each other at the same time or after a predetermined time elapses (1202). Here, the sixth reference speed and the seventh reference speed may be arbitrarily defined by the designer or the user, for example, both may be defined as a value of 500 rpm or the like. However, the sixth reference speed and the seventh reference speed are not limited thereto.

If the second driving speed of the second washing unit is equal to or less than the seventh reference speed (step 1202), the driving speed of the first washing unit rises to the third target speed (1203) 3 target speed is maintained (1204). Here, the third target speed may be arbitrarily defined by the user or the designer, and may be defined to be equal to the second target speed described above according to the embodiment.

After the first drive speed reaches the third target speed, whether or not the predetermined sustain period has elapsed is determined using a clock or the like (1205). If the predefined sustain period has elapsed (YES in 1205), the maintenance of the first drive speed is stopped.

If it is necessary to repeat the above-described processes 1202 to 1205 (YES in 1206), the first driving speed is adjusted to be reduced to a predetermined speed, for example, a sixth reference speed (1107) The second driving speed of the second laundry and the seventh reference speed may be compared again (1202).

On the contrary, if the second driving speed of the second washing unit exceeds the seventh reference speed (NO in 1202), the first driving speed of the first washing unit is maintained at the existing sixth reference speed (1208). If the judgment of the grace period elapses (1209), the second driving speed of the second washing unit is compared with the seventh reference speed again (1202), and the first driving speed is increased (1203 - 1205, or 1208 and 1209, respectively.

36 is a flowchart of a fifth embodiment of a method of controlling a washing machine.

The control method of the washing machine according to Figs. 34 and 35 may be performed in combination as shown in Fig.

Specifically, as shown in FIG. 36, when the first washing unit and the second washing unit start driving at the same time or at the same time and perform a predetermined stroke, the second driving speed of the second washing unit reaches the fourth reference speed (1301).

If the second driving speed of the second washing unit reaches the fourth reference speed (in the example of 1301, that is, if the second driving speed is equal to or greater than the fourth reference speed) The second driving speed of the second washing unit is adjusted (1302). In other words, if the second driving speed of the second washing unit reaches the fourth reference speed (the example of 1301), the above-described steps 1102 to 1109 can be performed by the washing machine.

On the contrary, if the second driving speed of the second washing unit does not reach the fourth reference speed (NO in 1301), it is determined whether the first driving speed of the first washing unit has reached the sixth reference speed (1302)

If the first driving speed of the first washing unit has reached the sixth reference speed (if the first driving speed is equal to or greater than the sixth reference speed, for example, 1302) The first driving speed of the first washing unit may be set to be adjusted (1304). In other words, if the first driving speed of the first washing unit has reached the sixth reference speed (the example of 1302), the above-described steps 1202 to 1209 can be performed by the washing machine.

If the second driving speed of the second washing unit does not reach the fourth reference speed and the first driving speed of the first washing unit does not reach the sixth reference speed (NO in 1303), any one of the driving speeds The above-described steps 1102 to 1109 or 1202 to 1209 may not be performed until a predetermined reference speed is reached.

In other words, either the control method shown in Fig. 13 and the control method shown in Fig. 14 can be selectively performed depending on whether the driving speed of a certain washing section reaches the reference speed first.

The above-described steps 1300 to 1305 may be repeatedly performed (1305), depending on the embodiment.

37 is a flowchart of a sixth embodiment of a method of controlling a washing machine.

Referring to FIG. 37, first, laundry is put into the washing tub, and the washing machine starts driving according to a user's operation or a predefined setting (1400). Here, the washing machine may include only one washing machine, or may include two or more washing machines.

In response to the start of operation of the washing machine, the washing machine selected by the user or the predefined washing machine starts to rotate in at least one direction in a predefined pattern according to driving of the driving portion (1042). When the washing machine includes a plurality of washing tanks, any one of the plurality of washing tanks may start to rotate, or some or all of the plurality of washing tanks may start rotating.

During the operation of the washing tub, the laundry introduced into the washing tub is concentrated, which may cause an unbalance in the washing tub. Such an imbalance may be sensed by the motion sensing unit, and / or determined by the control unit (1404). According to an embodiment of the present invention, the operation sensing unit may include a washing machine operation sensing unit capable of sensing the vibration of the washing tub, and / or may be configured to sense the rotation speed of the driving unit, . When the driving unit motion sensing unit includes a voltage measuring device for measuring the voltage, the driving unit motion sensing unit may be installed in the DC link circuit.

If an occurrence of an imbalance is detected and / or determined, the washing machine may be controlled according to a predefined sequence of operations (1406). For example, the washing machine may be operated using a predefined vibration reduction method to reduce the vibration of the washing tub due to unbalance. The predefined vibration reduction method includes an increase in the water level in the washing tub, a change in the acceleration or deceleration of the drive, a change in the operation rate of the drive, an adjustment of the operation period / stop period of the drive, and / or a combination of at least two of them And the like.

The operation control of the washing machine according to the unbalance may be performed by the control unit, or may be performed without the control unit. For example, the signal output from the motion sensing unit may be transmitted to the driving unit, and the driving unit may perform an operation for eliminating the imbalance based on the output signal.

Hereinafter, the control method of the washing machine shown in FIG. 37 will be described in more detail.

38 is a flowchart of a seventh embodiment of a method of controlling a washing machine.

Referring to FIG. 38, when the washing machine starts driving (1410), at least one of the washing machines provided in the washing machine with the first operating profile can start operation (1412). The first operation profile may be defined to include at least one of information on a series of operation patterns (hereinafter, referred to as a first pattern) of the washing tub and information on the level of the washing tub (hereinafter referred to as the first water level).

When the vibration of the washing tub exceeds a predetermined reference vibration, the target rotation speed of the driving portion is lower than the reference target rotation speed, the voltage applied to the driving portion or the DC link circuit is higher than the reference voltage, and / / RTI > may be higher than the reference voltage (1414). These may have been caused by an imbalance in the inside of the washing tub.

As described above, if it is detected or determined that an unbalance has occurred in the inside of the washing tub by the control unit or the like, the washing tub having the unbalance is operated according to the second operating profile (1416). The second operation profile includes at least one of information on a series of operation patterns (hereinafter, referred to as a second pattern) of the washing tub different from the first pattern and information on the level of the washing tub different from the first water level . ≪ / RTI >

According to one embodiment, the second operating profile may include, in accordance with a designer's choice, a supply of wash water to a second water level higher than the first water level, a downward target rotational speed, a downward running rate of the drive, A decrease in rotation deceleration, and a decrease in the operation period and / or the stop period of the driving unit.

According to one embodiment, the washing tub may be continuously controlled based on the second operating profile.

According to another embodiment, as shown in FIG. 38, it is determined 1418 whether or not a predefined time has passed since the washing tub was controlled by the second operating profile. If the predefined time has not elapsed (No at 1418), the washing tub is continuously controlled by the second operating profile. Conversely, if the predefined time has elapsed (1418 example), the washing tub is again controlled based on the new operating profile, e.g., the first operating profile. For example, the drainage device can be controlled such that the washing tub is controlled to operate again according to the first pattern, and / or the wash water of the washing tub is discharged to the outside until the remaining wash water reaches the first water level.

According to the embodiment, the above-described unbalance occurrence judgment and operation profile changing process 1414 to 1420 may be repeatedly performed 1422 until washing is completed.

39 is a flowchart of an eighth embodiment of a method of controlling a washing machine.

39, the washing machine starts to drive 1430, and at least one of the at least one washing machine provided in the washing machine can be controlled 1432 based on the first operating profile.

During the operation of the washing tub, the vibration of the washing tub exceeds a predetermined reference vibration due to the unbalance inside the washing tub, or the voltage applied to the driving unit or the DC link circuit It is determined whether the reference voltage is higher than the reference voltage and / or whether the current applied to the driver is higher than the reference voltage (1434).

If it is detected or determined that an unbalance has occurred in the inside of the washing tub by the control unit or the like, the washing tub having the unbalance is operated according to the second operating profile (1436). As described above, the second operation profile can be set such that the supply of the washing water to the second water level higher than the first water level, the lowering of the target rotation speed, the downward operation rate of the drive part, A decrease in the rotational deceleration, and a decrease in the operation period and / or the stop period of the driving unit.

Subsequently, whether or not there is an imbalance in the inside of the washing tub is detected or determined (1438).

If the vibration of the washing tub is judged to exceed the predetermined reference vibration or the target rotation speed of the driving part is measured to be lower than the reference target rotation speed or the voltage applied to the driving part or the DC link circuit is measured to be higher than the reference voltage , And / or if the current applied to the driver is measured to be higher than the reference voltage (No at 1438), then the washing tub having an imbalance according to the second operating profile is controlled (1434).

On the contrary, when the vibration of the washing tub is detected / judged to be smaller than the predefined reference vibration, the target rotation speed of the driving part is measured to be higher than the reference target rotation speed, or the voltage applied to the driving part or the DC link circuit is measured to be lower than the reference voltage, If it is determined that the current applied to the driving unit is lower than the reference voltage (1438), it is determined that the laundry imbalance has been eliminated, and the washing tub where the imbalance has occurred is again returned to a new operating profile, . Specifically, for example, the washing tub again operates in accordance with the first pattern, and / or each component of the washing machine is controlled so that the washing water inside the washing tub can be lowered to the first water level.

According to the embodiment, the above-described unbalance occurrence determination and operation profile changing processes 1434 to 1440 may be repeatedly performed 1442 until the washing, rinsing, and / or dewatering processes are finished.

40 is a flowchart of a ninth embodiment of a method of controlling a washing machine.

Referring to Fig. 40, the washing machine can start driving according to a user operation or a predefined setting. In this case, the count variable i for counting the occurrence of the unbalance is set to, for example, zero. This is an example, and the count variable i may be set to a number other than 1 depending on the designer's choice.

When the washing machine starts driving, at least one of the washing machines provided in the washing machine is controlled by the first operating profile to start at least one of a washing process, a washing process and / or a dewatering process (1452). In this case, the washing tub can operate in the first pattern, and / or the washing tub can be adjusted to the first water level.

As described above, in the washing machine, during the operation of the washing machine, the vibration of the washing tub exceeds a predetermined reference vibration due to the unbalance inside the washing tub, or the target rotating speed of the driving part is lower than the reference target rotating speed, (1454) whether or not an unbalance has occurred in the washing tub based on whether the voltage applied to the DC link circuit is higher than the reference voltage and / or whether the current applied to the driving unit is higher than the reference voltage.

If it is determined that an unbalance has not occurred in the washing tub (NO in 1454), the washing tub can continue to perform the operation according to the first operating profile. If no unbalance has occurred in the washing tub until the washing is finished (the example of 1462), the washing tub will operate according to the first operating profile until the end of washing. Conversely, before the end of washing (NO in 1462), if the washing tub is unbalanced (YES in 1454), the washing machine operates as described later (1454 to 1460).

If it is determined that an unbalance has occurred in the washing tub (YES in 1454), the washing machine adds a predetermined value, for example, 1 (1455) to the count variable i, and sets the count variable i, May be compared to a defined count reference value (1456). The count reference value may include, for example, 3, but is not limited thereto.

If the count variable i is equal to the count reference value or exceeds the count reference value (YES in 1456), the washing machine is controlled 1460 using a method capable of resolving the unbalance of the washing tub according to a predefined value, . Specifically, for example, the operation of the washing machine can be controlled based on the second operation profile described above. In this case, depending on the embodiment, the washing tub may be controlled by the second operating profile until the washing is finished, and may be controlled by the second operating profile only up to a predefined time, as shown in Fig. 38 , Or may be controlled by the second operation profile until a result of the determination that the imbalance has been eliminated as shown in Fig. 39 is obtained.

If the count variable i is smaller than the count reference value, the washing machine maintains the current operation (1458). In other words, the washing machine in which the information corresponding to the occurrence of the imbalance is obtained operates by the existing operation profile, i.e., the first operation profile.

The above-described unbalance occurrence determination and operation profile changing processes 1454 to 1460 may be repeatedly performed 1462 until the washing, rinsing, and / or dewatering processes are finished.

The control method (s) of the washing machine according to the above-described embodiment can be implemented in the form of a program that can be driven by a computer apparatus. Here, the program may include program commands, data files, data structures, and the like, alone or in combination. The program may be designed and manufactured using machine code or high-level language code. The program may be specially designed to implement the control method of the washing machine described above, or may be implemented using various functions or definitions that are well known to those skilled in the art of computer software.

The program for implementing the control method (s) of the washing machine according to the above-described embodiment may be recorded in a recording medium readable by a computer. Examples of the recording medium readable by a computer include a magnetic disk storage medium such as a hard disk or a floppy disk, an optical recording medium such as a magnetic tape, a compact disk or a DVD, a magneto-optical recording medium such as a floppy disk, , A semiconductor storage device such as a RAM or flash memory, and the like.

Although various embodiments of the control method of the washing machine and the washing machine have been described, the control method of the washing machine and the washing machine described above is not limited to the above-described embodiments. Various embodiments of the present invention can be implemented by modifying and modifying the embodiments of the present invention by those skilled in the art. For example, it should be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, The same or similar results as those of the above-described control methods of the washing machine and the washing machine can be obtained even if they are replaced or replaced by equivalents.

10: first washing unit 11: first washing tank
13: first driving part 20: second washing part
21: second washing tub 23: second driving part
30: control unit 40:
45: User Interface 49: Power
50: third washing section 51: third washing tank
53: third driving part 60: fourth washing part
61: fourth washing tub 63: fourth driving portion
70: control unit 80:
85: User interface 89: Power

Claims (18)

A first rotary tank;
A first driving unit for rotating the first rotating vessel;
A second rotating tank;
A second driving unit for rotating the second rotating vessel;
And a control unit for controlling the first driving unit and the second driving unit such that the first rotating unit and the second rotating unit rotate,
Wherein the control unit controls the second driving unit such that the rotational speed of the second rotating bath is increased to a target speed and then decreased when the rotational speed of the first rotating bath is equal to or greater than a first reference speed. The method according to claim 1,
Wherein the controller controls the second driving unit such that the rotational speed of the second rotating vessel is reduced when the rotational speed of the first rotating vessel is equal to or higher than the first reference speed and the rotational speed of the second rotating vessel is equal to or greater than the target speed, . The method according to claim 1,
Wherein the control unit cuts off the power applied to the second driving unit when the rotation speed of the second rotating bath reaches the target speed. The method according to claim 1,
Wherein the rotating speed of the first rotating bath and the rotating speed of the second rotating bath include a rotating speed in a dehydrating stroke. The method according to claim 1,
Wherein one of the first rotating vessel and the second rotating vessel is rotatable about a vertical axis and the other is rotatable about a horizontal axis. A first rotary tank;
A first driving unit for rotating the first rotating vessel;
A second rotating tank;
A second driving unit for rotating the second rotating vessel; And
And a control unit for controlling the first driving unit and the second driving unit such that the first rotating unit and the second rotating unit rotate,
Wherein the control unit controls the first and second rotatable members so that the rotational speed of the other one of the first rotatable unit and the second rotatable unit is adjusted in accordance with the rotational speed of the first rotatable unit or the second rotatable unit, 2 driving unit. The method according to claim 6,
Wherein the controller is configured to control the rotation speed of the second rotary trough to be higher than the predetermined rotation speed when the second rotary trough maintains the preset rotation speed and the rotation speed of the first rotary trough is smaller than the third reference speed, 2 driving unit,
And controls the second drive unit so as to maintain the rotation speed of the second rotation tank at the predetermined rotation speed if the second rotation speed is maintained at a preset rotation speed and the rotation speed of the first rotation speed is greater than the third reference speed Washing machine. 8. The method of claim 7,
Wherein the controller controls the second driving unit to maintain the increased rotational speed of the second rotating bath for a preset time when the rotational speed of the second rotating bath is increased. Measuring a rotational speed of the first rotating bath;
Comparing the rotation speed of the first rotating bath with a first reference speed; And
And controlling the second driving unit such that the rotational speed of the second rotating bath is increased to a target speed and then decreased when the rotational speed of the first rotating bath is equal to or greater than the first reference speed. 10. The method of claim 9,
And controlling the second driving unit such that the rotational speed of the second rotating vessel is reduced when the rotational speed of the first rotating vessel is equal to or higher than the first reference speed and the rotational speed of the second rotating vessel is equal to or more than the target speed The control method of the washing machine. 10. The method of claim 9,
Controlling the second driving unit such that the rotational speed of the second rotating vessel is increased to a target speed and then decreased,
And disconnecting the power supplied to the second driving unit when the rotational speed of the second rotating bath reaches the target speed. 10. The method of claim 9,
Wherein the rotating speed of the first rotating bath and the rotating speed of the second rotating bath include a rotating speed in a dehydrating stroke. 10. The method of claim 9,
Wherein one of the first rotating vessel and the second rotating vessel is rotatable about a vertical axis and the other is rotatable about a horizontal axis. A first rotary tank;
A first driving unit for rotating the first rotating vessel;
A second rotating vessel provided adjacent to the first rotating vessel;
A second driving unit for rotating the second rotating vessel;
An operation detecting unit for detecting an operation of at least one of the second rotating unit and the second driving unit; And
Wherein the control unit determines whether an unbalance has occurred in the second rotation vessel based on the detection result of the motion detection unit,
And a controller for controlling the number of washing cycles of the second rotary drum to be increased or the operation of the second rotary drum to be changed when it is determined that an unbalance has occurred in the second rotary drum during the washing or dehydrating operation. 15. The method of claim 14,
Wherein the motion detection unit comprises:
A rotary movement motion sensing unit for sensing a vibration of the second rotary chamber; And
A driving unit motion sensing unit for sensing at least one of a rotational speed of the second driving unit, a voltage applied to the second driving unit, and a current applied to the second driving unit; Wherein the washing machine comprises: 15. The method of claim 14,
The control unit may change at least one of a rotation speed of the driving unit and a rotation deceleration of the driving unit, or at least one of an operation period and a period of the period of the driving unit, And the operation of the second driving unit is changed by shortening one of the first driving unit and the second driving unit. 15. The method of claim 14,
The control unit controls the number of washing cycles of the second rotary drum or changes the operation of the second rotary drum to reduce the number of rotations of the rotary drum when the predetermined period of time has elapsed, Washing machine to control. 15. The method of claim 14,
Wherein the control unit increases the number of washings of the second rotary tub after the imbalance is generated in the second rotary tub by a plurality of times or controls the operation of the second driving unit to be changed.

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