WO2019047777A1 - 洗衣机的控制方法及洗衣机 - Google Patents

洗衣机的控制方法及洗衣机 Download PDF

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Publication number
WO2019047777A1
WO2019047777A1 PCT/CN2018/103533 CN2018103533W WO2019047777A1 WO 2019047777 A1 WO2019047777 A1 WO 2019047777A1 CN 2018103533 W CN2018103533 W CN 2018103533W WO 2019047777 A1 WO2019047777 A1 WO 2019047777A1
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WIPO (PCT)
Prior art keywords
weight
target cylinder
washing tub
washing
speed
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PCT/CN2018/103533
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English (en)
French (fr)
Inventor
王增强
周胜梅
文蛟
刘阳
朱国生
邵振锋
刘玉春
Original Assignee
海信（山东）冰箱有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201710797349.6A external-priority patent/CN107401022B/zh
Priority claimed from CN201710797356.6A external-priority patent/CN107447436B/zh
Application filed by 海信（山东）冰箱有限公司 filed Critical 海信（山东）冰箱有限公司
Publication of WO2019047777A1 publication Critical patent/WO2019047777A1/zh

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/02—Characteristics of laundry or load
    • D06F2103/04—Quantity, e.g. weight or variation of weight
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
    • D06F2105/48—Drum speed

Definitions

  • the present disclosure relates to the field of home appliance manufacturing, and more particularly to a control method of a washing machine and a washing machine.
  • One machine and three cylinders washing machine can realize the fine classification of household washing, which can make ordinary clothes, underwear, socks and the like be simultaneously divided and washed, realizing accurate classification and professional washing, achieving the purpose of multi-purpose of one machine, and is expected to lead the current ongoing The quality of China's household consumption is upgrading.
  • a three-cylinder washing machine is composed of the upper two washing tubs a1, a2 and the lower one washing tub a3 as shown in FIG.
  • the upper two washing tubs are mechanically coupled to the lower one.
  • the washing machine can be subdivided into weighing, water, washing, rinsing and dehydration.
  • the rinsing process package is drainage, dehydration and washing.
  • the dehydration process includes uniform distribution, unbalanced detection, and high-speed dehydration.
  • the weight system of the structural part of the three-cylinder washing machine is stable.
  • the simultaneous dehydration of a plurality of washing machines may cause an imbalance to cause displacement of the washing machine, thereby generating vibration noise, which is disadvantageous for the user experience.
  • some embodiments of the present disclosure provide a method of controlling a washing machine. Applied to a washing machine comprising a plurality of washing tubs, the method comprising: detecting a counterweight of a target cartridge, the counterweight of the target cartridge comprising a total weight of the plurality of tubs of the washing machine other than the target cartridge; The spin speed of the target cylinder is adjusted in response to a change in the weight of the target cylinder.
  • the weight of the target cylinder can be detected in real time or periodically, and the change of the weight can be obtained, and the dehydration rotation speed of the target cylinder can be adjusted according to the change of the weight of the target cylinder, thereby reducing the imbalance and displacement which may occur when the washing machine reduces dehydration. This reduces vibration noise.
  • some embodiments of the present disclosure provide a washing machine including a plurality of washing tubs, the washing machine including: a weight detector for detecting a counterweight of the target cartridge, the counterweight of the target cartridge including the washing machine The total weight of each of the plurality of washing tubs except the target cartridge; and a driver for adjusting the spin speed of the target cartridge in response to a change in the weight of the target cartridge.
  • some embodiments of the present disclosure provide a method of controlling a washing machine.
  • the utility model is applied to a washing machine comprising a plurality of washing tubs, comprising: obtaining a counterweight of a target cylinder, the counterweight of the target cylinder comprising a total weight of each of the plurality of washing tubs of the washing machine except the target cylinder; and responsive to the weight of the target cylinder Varying, determining a dewatering gear position of the target cylinder according to the changed weight of the target cylinder, wherein each dehydration gear position corresponds to a dehydration curve set, wherein each dehydration curve set includes at least one dehydration curve; dehydration in the target cylinder
  • the dehydration curve of the target cylinder is obtained in the dehydration curve set corresponding to the gear position; the target cylinder dehydration is controlled according to the dehydration curve of the target cylinder. Since the proper dehydration curve can be determined according to the weight of the target cylinder, the imbalance and displacement which may occur when the washing
  • some embodiments of the present disclosure provide a washing machine including a plurality of washing tubs, further comprising: a weight detector for acquiring a counterweight of the target cartridge, wherein the counterweight of the target cartridge includes a plurality of washing tubs of the washing machine, except the target a total weight of each of the other cylinders outside the cylinder; a processor for determining a dewatering position of the target cylinder according to the changed weight of the target cylinder in response to a change in the weight of the target cylinder, wherein each dehydration gear corresponds to a dehydration a set of curves, wherein each of the dehydration curve sets includes at least one strip dehydration curve; the processing unit is further configured to obtain a dehydration curve of the target cylinder in the dehydration curve set corresponding to the dewatering position of the target cylinder; and the driving unit is configured to be used according to the processing unit The dehydration curve of the obtained target cylinder controls the dehydration of the target cylinder.
  • some embodiments of the present disclosure provide a method of controlling a washing machine.
  • the utility model is applied to a washing machine comprising a plurality of washing tubs, comprising: periodically obtaining the total weight of the washing machine during the dehydration process, determining the resonance frequency of the washing machine according to the total weight of the washing machine; determining the target cylinder washing state according to the total weight of the washing machine and the resonance frequency The resonance speed of the resonance of the washing machine; obtaining the current rotation speed of the target cylinder.
  • the control increases the acceleration of the current speed until the difference between the resonance speed and the current speed is greater than the threshold speed. Value; by making the washing machine quickly skip the speed of resonance, avoiding or reducing the washing machine in resonance, reducing the vibration and noise of the washing machine.
  • some embodiments of the present disclosure provide a washing machine including a plurality of washing tubs, further comprising: a weight detector for periodically acquiring a total weight of the washing machine during the dehydrating process; and a processor for washing the washing machine according to the detecting unit
  • the total weight determines the resonance frequency of the washing machine; according to the total weight of the washing machine and the resonance frequency, the resonance speed of the resonance of the washing machine in the washing state of the target cylinder is determined;
  • the rotation speed detector is used to acquire the current rotation speed of the target cylinder;
  • the processor is also used for When it is determined that the difference between the resonance speed determined by the processing unit and the current speed obtained by the rotation speed detecting unit is less than or equal to the threshold speed value, the control increases the acceleration of the current speed until the difference between the resonance speed and the current speed is greater than the threshold speed value.
  • some embodiments of the present disclosure provide a method of controlling a washing machine.
  • the utility model is applied to a washing machine comprising a plurality of washing tubs, comprising: obtaining a total empty weight of the washing machine, and a total load total weight of the washing machine, wherein the total load total weight is the total load of the washing machine when the load of each barrel of the washing machine is the largest and the water level is the highest; Determining the lower limit resonance frequency of the washing machine according to the total weight of the empty cylinder, determining the upper limit resonance frequency of the washing machine according to the total weight of the maximum load; determining the lower limit resonance speed of the resonance of the washing machine in the washing state of the target cylinder according to the total weight of the empty cylinder and the lower limit resonance frequency; The total load weight and the upper limit resonance frequency determine the upper limit resonance speed of the washing machine resonance caused by the target cylinder washing state; obtain the current speed of the target cylinder, and when it is determined that the current speed belongs to the interval between the lower limit resonance speed and the upper limit
  • some embodiments of the present disclosure provide a washing machine including a plurality of washing tubs, further comprising: a weight detector for obtaining a total empty weight of the washing machine, and a maximum load total weight of the washing machine, wherein the maximum load is total The weight is the total weight of the washing machine when the load of each barrel of the washing machine is the largest and the water level is the highest; the processor is configured to determine the lower limit resonance frequency of the washing machine according to the total weight of the empty cylinder obtained by the weight detector, and is determined according to the total weight of the maximum load obtained by the weight detector The upper limit resonance frequency of the washing machine; the processor is further configured to determine a lower limit resonance speed of the washing machine resonance caused by the target cylinder washing state according to the total weight of the empty cylinder obtained by the weight detector and the lower limit resonance frequency determined by the processor; the processor is further used Determining, according to the total weight of the maximum load obtained by the weight detector and the upper limit resonance frequency determined by the processor, an upper limit resonance speed that causes the resonance of the washing machine
  • some embodiments of the present disclosure provide a washing machine including a plurality of washing tubs, further comprising: a communication interface, a processor, a memory, and a bus; the memory is configured to store computer execution instructions, and the processor and the memory are connected through the bus When the washing machine is running, the processor executes the computer-executed instructions stored in the memory to cause the washing machine to perform the methods as in the first, third, fifth, and seventh aspects.
  • some embodiments of the present disclosure provide a computer storage medium comprising instructions that, when executed on a computer, cause the computer to perform the methods of the first, third, fifth, and seventh aspects.
  • FIG. 1 is a schematic structural view of a multi-cylinder washing machine in the related art
  • FIG. 2 is a flowchart of a method for controlling a washing machine according to some embodiments of the present disclosure
  • FIG. 3 is a flowchart of a method for controlling a washing machine according to some embodiments of the present disclosure
  • FIG. 4 is a flowchart of a method for controlling a washing machine according to some embodiments of the present disclosure
  • FIG. 5 is a flowchart of a method for controlling a washing machine according to some embodiments of the present disclosure
  • FIG. 6 is a flowchart of a method for controlling a washing machine according to some embodiments of the present disclosure
  • FIG. 7 is a structural diagram of a washing machine according to some embodiments of the present disclosure.
  • FIG. 8 is a structural diagram of a washing machine according to some embodiments of the present disclosure.
  • FIG. 9 is a structural diagram of a washing machine according to some embodiments of the present disclosure.
  • FIG. 10 is a structural diagram of a washing machine according to some embodiments of the present disclosure.
  • FIG. 11 is a structural diagram of a washing machine according to some embodiments of the present disclosure.
  • the system architecture and service scenarios described in some embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the present disclosure, and do not constitute a limitation of the technical solutions provided by the embodiments of the present disclosure, as those skilled in the art may recognize that The evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by some embodiments of the present disclosure are equally applicable to similar technical problems.
  • the embodiment of the present disclosure mainly describes a three-cylinder washing machine as an example. Of course, if the washing machine contains more washing tubs, it should also be applied.
  • some embodiments of the present disclosure provide a control method of a washing machine, which is applied to a washing machine including a plurality of washing tubs, including:
  • Detect a counterweight of the target cylinder includes a total weight of each of the plurality of washing tubs of the washing machine except the target cylinder.
  • the specific step S101 includes acquiring the assembly weight of each of the plurality of washing cylinders of the washing machine except the target cylinder, detecting the weight of the water in the other cylinders and the weight of the laundry, and generating the weight of the target cylinder.
  • the weight of the drying cylinder (washing drum) itself is called a load
  • the weight outside the drying cylinder is called a counterweight.
  • a plurality of the present disclosure means two or more.
  • the total weight of the washing tubs a1, a2, and a3 includes the inherent weight of the motor, the washing tub, and the like; the total weight of the upper washing tub a1 is L1, and the washing tub a2 The total weight of the assembly is L2, and the total weight of the washing tub a3 is L3.
  • the weighing judgment is first performed to obtain the weights b1, b2, and b3 of the laundry washing the three washing tubs; at any time when the washing tub is operated, three washings can be obtained by the water level sensor.
  • the water level heights h1, h2 and h3 of the cylinders are assumed to be M1, and the weight of the influent water is h1*M1, h2*M1, respectively. Assuming that the cross-sectional area of the washing tub a3 is M3, the weight of the influent water is h3*M3.
  • the counterweight of the target cylinder can be detected in real time or periodically, and the change of the counterweight can be obtained, and the dehydration rotation speed of the target cylinder can be adjusted according to the change of the weight of the target cylinder to reduce the dehydration of the washing machine. Unbalance and displacement that may occur, which in turn reduces vibration noise.
  • step 102 includes: adjusting a spin-drying speed of the target cylinder according to the changed weight of the target cylinder, and controlling the target cylinder to be dehydrated according to the adjusted spin-drying speed of the target cylinder .
  • the dehydration rotation speed of the target cylinder can be driven by the dehydration curve stored in the washing machine, and the process of adjusting the dehydration rotation speed of the target cylinder can be a process of selecting a dehydration curve; as shown in detail with reference to FIG. 3, some embodiments of the present disclosure provide a A washing machine control method for a washing machine comprising a plurality of washing tubs, comprising:
  • the weight of the target cylinder includes the total weight of each of the plurality of washing cylinders of the washing machine except the target cylinder.
  • step 201 The specific implementation of step 201 is not described again with reference to step 101.
  • each dehydration gear position corresponds to a dehydration curve set, wherein each dehydration curve set includes At least one strip dehydration curve.
  • the lower washing cylinder a3 is used as a target cylinder, and the weights thereof are the total weights Ki of a1 and a2, which are divided into N0, N1, N2, ... Nx dehydration gears, respectively.
  • Corresponding dehydration gear for example, when the counterweight is 3.2KG, the dewatering gear of the target cylinder is N0. When the counterweight changes to 3.7KG, the counterweight of the target cylinder should be adjusted to N1.
  • a dehydration curve set ⁇ Ax, Bx, Cx... ⁇ is pre-set in each dewatering gear, and the dehydration curve set ⁇ Ax, Bx, Cx... ⁇ contains at least one strip dehydration curve Ax, Bx, Cx...;
  • the upper weight Ki is first calculated, and then the initial gear position Nx of the upper weight is determined. After determining the gear position, the selection range of the dehydration curve ⁇ Ax, Bx, Cx... ⁇ is determined.
  • Step 203 specifically includes the following steps:
  • the target cylinder needs to be driven at the first rotation speed to shake the laundry to be dehydrated before the step S11; for example, the target cylinder can be driven to shake the laundry at a rotation speed of about 45 rpm. Thereafter, the operation is accelerated to the second rotation speed and maintained, and is accelerated from 45 rpm in step S11 to 93 rpm and held. If the eccentricity Y is re-determined during the dehydration operation, the speed is directly reduced to 93 rpm and maintained, and the eccentricity Y is re-determined while maintaining the 93 rpm.
  • the maximum dehydration speed in the dewatering curve corresponding to the counterweight of the target cartridge is less than the resonance speed interval corresponding to the counterweight of the target cartridge.
  • the minimum dehydration speed in the dewatering curve corresponding to the weight of the target cylinder is greater than the resonance speed interval corresponding to the weight of the target cylinder.
  • the speed change rate of the spin speed in the resonance speed range corresponding to the weight of the target cylinder in the dewatering curve corresponding to the weight of the target cylinder is greater than the spin speed outside the resonance speed range corresponding to the weight of the target cylinder. The rate of change of speed.
  • the multi-tubular washing machine includes a target cylinder, a first washing tub, and a second washing tub; when it is determined that the first washing tub and the second washing tub are in an inoperative state, according to a change of the target cartridge
  • the counterweight adjusts the dehydration speed of the target cylinder, including: performing eccentricity detection on the target cylinder to obtain the first eccentricity value; determining the dehydration rotation speed of the target cylinder according to the first eccentricity value and the changed weight of the target cylinder;
  • the specific implementation of the above steps 202, 203 are specific implementation of the above steps 202, 203.
  • the multi-tubular washing machine includes a target cylinder, a first washing tub, and a second washing tub; when it is determined that the first washing tub and the second washing tub are in an operating state, according to the changed weight of the target cylinder Adjusting the spin-drying speed of the target cylinder, comprising: performing eccentricity detection on the target cylinder to obtain a first eccentricity value; calculating a second eccentricity value according to a change value of the total weight of the first washing tub and the second washing tub; according to the first eccentricity value And the second eccentricity value and the changed weight of the target cylinder adjust the spin-drying speed of the target cylinder.
  • the multi-tubular washing machine includes a target cylinder, a first washing tub, and a second washing tub; when it is determined that the first washing tub and the second washing tub are in an operating state, according to the change of the target cartridge
  • Adjusting the spin-drying speed of the target cylinder by the rear weight comprises: detecting a difference in the rotation speed of the first washing tub and the second washing tub; according to the difference in the rotation speed of the first washing tub and the second washing tub and the target cylinder
  • the changed counterweight determines the spin speed of the target cartridge.
  • a3 dehydration does not consider Y0 and Z0; if z ⁇ 0, ie a1 and/or When a2 is running (can be dehydrated, rinsed, washed, etc.), Y0 and Z0 need to be considered; when a3 is dehydrated, the target cylinder is eccentrically detected to obtain the first eccentricity value, for example: a3 dehydration starts low speed (clothing is attached).
  • a3 dehydration starts low speed (clothing is attached
  • the speed is executed at medium speed and dry dehydration for T1 seconds; then the speed is reduced to low speed, then the eccentricity value Y is judged, the value of Y is corrected, and the equivalent eccentricity value
  • the total weight of a1 and a2 is usually different.
  • a3 is dehydrated at the first dehydration speed; when the total weight of a1 and a2 is not When equal, a3 is dehydrated at a second dehydration speed; the first dehydration speed is greater than the second dehydration speed. That is, when the total weights of a1 and a2 are different, a3 uses a smaller spin speed.
  • the washing machine includes a target cartridge and other washing tubs, and the other washing tubs include at least a first washing tub and a second washing tub; the first washing tub and the second washing tub are respectively located on both sides of the reference surface, and the reference surface is Refers to a vertical plane perpendicular to the horizontal plane passing through the axis of the target cylinder. Referring to FIG. 1, it may be a vertical plane passing through the axis of a3 and perpendicular to the horizontal plane, and a1 and a2 are respectively located on both sides of the reference plane.
  • the weight of the washing tub determines the weight of the target cylinder; determining the weight of the target cylinder according to the weight of the first washing tub and the weight of the second washing tub, according to the changed weight of the target cylinder, and the first washing tub.
  • the difference between the weight and the weight of the second washing tub is adjusted to adjust the spin speed of the target cylinder.
  • the weight change refers to the change in weight between the weight detected this time and the last detected weight of the barrel, or the weight change refers to the weight detected this time and the last effective adjustment of the spin speed of the barrel.
  • the change in weight between the corresponding detected weights, or the change in weight refers to the change in weight between the weight detected this time and the preset weight of the barrel.
  • the spin-drying speed of the target cylinder may be adjusted by a look-up table after the weight of the first washing tub and the weight of the second washing tub are acquired.
  • the table includes the correspondence between the weight of the first washing tub, the weight of the second washing tub, and the spin speed of the target cylinder.
  • the spin speed of the target can be adjusted after the weight of the first wash basket and the weight of the second wash basket are obtained.
  • adjusting the spin-drying speed of the target cylinder includes: controlling a maximum spin speed of the target cylinder to be smaller than a resonance speed interval corresponding to the changed weight of the target cylinder; or controlling a minimum spin speed of the target cylinder a resonance speed interval corresponding to the changed weight of the target cylinder; or, the rotation speed of the control target cylinder is a resonance speed interval corresponding to the changed weight of the target cylinder at a predetermined speed change rate during the rotation speed change, wherein The predetermined speed change rate is greater than a speed change rate when the spin speed is outside the resonance interval corresponding to the changed weight of the target cylinder, wherein the spin speed decreases or increases according to a predetermined speed change rate in the resonance speed range.
  • the maximum spin speed of the target drum is not less than when the weight of the first washing tub and the weight of the second washing tub are not equal. Maximum dehydration speed.
  • detecting an operating state of the first washing tub and the second washing tub in response to one or more of the first washing tub or the second washing tub being in a dehydrated state, a washing state, a water filling state, and a draining state , so that the target cylinder is not dehydrated.
  • the motion state includes: a dehydration state, a washing state, a water filling state, a drainage state, and a standby state.
  • the washing state refers to a state in the washing process
  • the standby state refers to a state in which the power is supplied but not in operation.
  • the washing tub a3 when the washing tub a3 is to be dehydrated, firstly, the weight of the target cylinder a3 of the multi-wash washing machine or the total weight of the washing machine is obtained, wherein the weight of the target cylinder of the multi-wash washing machine or the total weight of the washing machine Determines the natural vibration frequency f0 of the system.
  • the washing machine should quickly skip the resonance speed range when dehydrating, so that the vibration frequency of the machine can quickly skip f0.
  • an embodiment of some embodiments of the present disclosure provides a control method of a washing machine, which is applied to a washing machine including a plurality of washing tubs, including:
  • the step 301 specifically includes: acquiring the weight of each cylinder of the washing machine, detecting the weight of the water in each cylinder and the weight of the laundry, and generating the total weight of the washing machine.
  • the total weight of the washing tubs a1, a2, and a3 includes the inherent weight of the motor, the washing tub, and the like;
  • the total weight of the upper washing tub a1 is L1, and the washing tub a2
  • the weight of the assembly is L2, and the total weight of the washing tub a3 is L3;
  • the weighing judgment is first performed to obtain the weights b1, b2, and b3 of the laundry washing the three washing tubs; at any time when the washing tub is operated, three washings can be obtained by the water level sensor.
  • the water level heights h1, h2 and h3 of the cylinders are assumed to be M1, and the weight of the influent water is h1*M1, h2*M1, respectively. Assuming that the cross-sectional area of the washing tub a3 is M3, the weight of the influent water is h3*M3.
  • the target cylinder can be any washing cylinder.
  • the washing machine shown in FIG. 1 generally has a small volume of the washing tubs a1, a2, which has less influence on causing the washing machine to resonate, so 304 can be directed to the washing tub a3, of course in other schemes.
  • the cartridge can be any wash cartridge or a larger wash cartridge.
  • the control increases the acceleration of the current speed until the difference between the resonant speed and the current speed is greater than the threshold speed value C.
  • the solution provided in FIG. 5 above is mainly a scheme for determining the resonance frequency of the washing machine based on the total weight of the washing machine.
  • the total weight of the washing machine when using a washing machine including a plurality of washing tubs, the total weight of the washing machine may be first detected, and the resonance frequency of the washing machine is determined according to the total weight of the washing machine; according to the total weight of the washing machine and the resonance Frequency, determining the resonance speed of the washing machine resonance caused by the target cylinder washing state; obtaining the current rotation speed of the target cylinder, and when determining that the difference between the resonance speed and the current speed is less than or equal to the threshold speed value, the control increases the acceleration of the current speed until the resonance speed The difference from the current speed is greater than the threshold speed value.
  • the vibration of the washing machine can be reduced when the rotational speed R of the target cylinder is always smaller than the resonant rotational speed ri.
  • an embodiment of some embodiments of the present disclosure provides a control method of a washing machine, which is applied to a washing machine including a plurality of washing tubs, including:
  • the step 401 specifically includes: obtaining an assembly weight of each barrel of the washing machine in an empty tube state, and generating a total weight of the empty tube of the washing machine; acquiring the weight of the clothes in each tube and each of the maximum load and the highest water level of each barrel of the washing machine; The weight of the water in the drum is based on the total weight of the empty drum of the washing machine, the weight of the laundry in each cylinder, and the weight of the water in each cylinder to generate the maximum weight of the washing machine.
  • the total empty weight of the washing machine and the maximum load total weight of the washing machine may be pre-stored in the washing machine.
  • the total weight of the washing tubs a1, a2, and a3 includes the inherent weight of the motor, the washing tub, and the like; the total weight of the upper washing tub a1 is L1, and the washing tub a2 The total weight of the assembly is L2, and the total weight of the washing tub a3 is L3.
  • the weighing judgment is first performed to obtain the weights b1, b2, and b3 of the laundry washing the three washing tubs; at any time when the washing tub is operated, three washings can be obtained by the water level sensor.
  • the water level heights h1, h2 and h3 of the cylinders are assumed to be M1, and the weight of the influent water is h1*M1, h2*M1, respectively. Assuming that the cross-sectional area of the washing tub a3 is M3, the weight of the influent water is h3*M3.
  • the control increases the acceleration of the current speed until the current speed is greater than the upper limit resonance speed.
  • the target cylinder may be any washing tub, but the washing machine shown in FIG. 1 generally has a small volume of the washing tubs a1 and a2, and has less influence on causing resonance of the washing machine, so S504 is mainly directed to the washing tub a3, of course.
  • the target cartridge can be any wash cartridge or a larger wash cartridge.
  • the current rotational speed R may refer to the rotational speed of the target cylinder operating in any operating state, such as: dehydration, rinsing, washing, etc., which is not limited in the embodiments of some embodiments of the present disclosure, as long as the target cylinder can be detected.
  • the current rotational speed R should be within the scope of protection of this application.
  • the total weight of the empty drum of the washing machine and the total load total weight of the washing machine may be first obtained, wherein the total load total weight is a washing machine.
  • the total weight of the washing machine is the largest when the load of each cylinder is the highest and the water level is the highest; the lower limit resonance frequency of the washing machine is determined according to the total weight of the empty cylinder, and the upper limit resonance frequency of the washing machine is determined according to the total weight of the maximum load; the target is determined according to the total weight of the empty cylinder and the lower limit resonance frequency
  • the control increases the acceleration of the current rotational speed until the current rotational speed is greater than the upper limit resonance rotational speed, and the washing machine is quickly skipped to cause the resonance speed to avoid or reduce the washing machine in a resonance state, thereby lowering the
  • Some embodiments of the present disclosure provide a washing machine for performing the above-described control method of the washing machine.
  • the embodiments of the present application may divide the functional modules according to the foregoing method examples. For example, each functional module may be divided according to each function, or two or more functions may be integrated into one processing module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of the module in the embodiment of the present application is schematic, and is only a logical function division, and the actual implementation may have another division manner.
  • an embodiment of some embodiments of the present disclosure provides a washing machine, a washing machine including a plurality of washing tubs, for implementing the above-mentioned FIG. Method embodiments, including:
  • a weight detector 51 for detecting a weight of the target cylinder, the weight of the target cylinder includes a total weight of each of the plurality of washing cylinders of the washing machine except the target cylinder; and a driver 52 for responding to the weight of the target cylinder Change and adjust the spin speed of the target cylinder.
  • the processor 53 is further configured to adjust the spin-drying speed of the target cylinder according to the changed weight of the target cylinder; and the driver 52 is specifically configured to control the target cylinder dehydration according to the adjusted spin-drying speed of the target cylinder.
  • the multi-tubular washing machine includes a target cartridge, a first washing tub, and a second washing tub; the processor 53 is configured to perform the target cartridge when it is determined that the first washing tub and the second washing tub are in an inoperative state
  • An eccentricity detection obtaining a first eccentricity value; determining a spin-drying speed of the target cylinder according to the first eccentricity value and the changed weight of the target cylinder; and the processor 35 specifically determining that the first washing tub and the second washing tub are in an operating state, Performing an eccentricity detection on the target cylinder to obtain a first eccentricity value; calculating a second eccentricity value according to a change value of the total weight of the first washing tub and the second washing tub; according to the first eccentricity value and the second eccentricity value and the target cylinder The changed weight adjusts the spin speed of the target cylinder.
  • the multi-cylinder washing machine includes a target cartridge, a first washing tub, and a second washing tub; the processor 53 is configured to detect the first washing tub and when determining that the first washing tub and the second washing tub are in an operating state a difference in rotational speed of the second washing tub; determining a spin-drying speed of the target cylinder according to a difference in rotational speed of the first washing tub and the second washing tub and a changed weight of the target cylinder.
  • the washing machine includes a target cylinder, a first washing tub, and a second washing tub; when the weight of the first washing tub and the weight of the second washing tub are equal, the maximum spin speed of the target drum is not less than when the first washing tub The maximum dehydration speed of the target cylinder when the weight and the weight of the second washing tub are not equal.
  • the washing machine includes a target cylinder, a first washing tub, and a second washing tub; the first washing tub and the second washing tub are respectively located on both sides of a vertical plane passing through the target cylinder rotating shaft; the weight detector 51 is configured to Detecting the weight of the first washing tub and the weight of the second washing tub; determining the weight change of the first washing tub and/or the weight change of the second washing tub, according to the weight of the first washing tub and the weight of the second washing tub.
  • the counterweight of the target cylinder; the driver 52 is configured to adjust the dehydration rotational speed of the target cylinder according to the changed weight of the target cylinder and the difference between the weight of the first washing tub and the weight of the second washing tub.
  • the driver 52 is specifically configured to control the spin speed of the target cylinder to be smaller than the resonant speed range corresponding to the changed weight of the target cylinder; or the driver 52 is specifically configured to control the spin speed of the target cylinder to be greater than the target cylinder.
  • the counterweight corresponds to the resonance speed range; or, the driver 52 is specifically configured to control the spin speed of the target cylinder during the speed change process, and the resonance speed range corresponding to the changed weight of the target cylinder at a predetermined speed change rate, wherein The predetermined speed change rate is greater than a speed change rate when the spin speed is outside the resonance interval corresponding to the changed weight of the target cylinder, wherein the spin speed decreases or increases according to a predetermined speed change rate in the resonance speed range.
  • the washing machine includes a target cylinder, a first washing tub, and a second washing tub; the first washing tub and the second washing tub are respectively located on both sides of a vertical plane passing through the target cylinder rotating shaft; the weight detector 51 is configured to Detecting the weight of the first washing tub and the weight of the second washing tub; the driver 52 is configured to obtain the adjusted spin-drying speed of the target cylinder by a table lookup method according to the weight of the first washing tub and the weight of the second washing tub.
  • the table includes the correspondence between the weight of the first washing tub, the weight of the second washing tub, and the spin speed of the target cylinder.
  • the dehydration rotation speed of the target cylinder can be adjusted according to the change of the weight of the target cylinder, and the imbalance and displacement which may occur when the washing machine reduces dehydration are reduced, thereby reducing the vibration noise.
  • an embodiment of some embodiments of the present disclosure provides a washing machine including a plurality of washing tubs for implementing the method shown in FIGS. 3 and 4 above.
  • Embodiments include:
  • a weight detector 61 configured to acquire a weight of the target cylinder, wherein the weight of the target cylinder includes a total weight of each of the plurality of washing cylinders of the washing machine except the target cylinder;
  • the processor 62 is configured to determine a dewatering gear position of the target cylinder according to the changed weight of the target cylinder in response to the change of the weight of the target cylinder, wherein each dehydration gear position corresponds to a dehydration curve set, wherein each dehydration curve
  • the collection includes at least one strip dehydration curve
  • the processor 62 is further configured to obtain a dehydration curve of the target cylinder in the dehydration curve set corresponding to the dehydration gear position of the target cylinder;
  • the driver 63 is configured to control the target cylinder dehydration according to the dehydration curve of the target cylinder acquired by the processor 62.
  • the processor 62 is specifically configured to drive the target cylinder at a first rotational speed to diverge the laundry to be dehydrated; accelerate the operation to the second rotational speed and maintain; perform eccentricity detection on the target cylinder to obtain an eccentricity value; The value obtains the dehydration curve of the target cylinder in the set of dehydration curves corresponding to the dewatering position of the target cylinder.
  • the weight detector 61 is further configured to reacquire the counterweight of the target cartridge; the processor 62 is further configured to re-determine the dehydration stall of the target cartridge when the change value of the counterweight of the target cartridge is greater than a predetermined threshold. Bit.
  • the weight detector 61 is specifically configured to acquire an assembly weight of each of the plurality of washing tubs of the washing machine except the target cylinder, detect the weight of the water in the other cylinders, and the weight of the laundry, and generate the weight of the target cylinder. .
  • FIG. 9 another embodiment of the present application provides a washing machine including a plurality of washing tubs for implementing the method embodiment shown in FIG. 5 , including :
  • a weight detector 71 for detecting the total weight of the washing machine in real time during dehydration; a processor 72 for determining a resonance frequency of the washing machine according to the total weight of the washing machine of the detecting unit; determining a washing state of the target cylinder according to the total weight of the washing machine and the resonance frequency
  • the resonance speed of the resonance of the washing machine is generated;
  • the rotation speed detector 73 is configured to acquire the current rotation speed of the target cylinder; and the processor 72 is further configured to control the current rotation speed when the difference between the resonance rotation speed and the current rotation speed is less than or equal to the threshold rotation speed value.
  • the acceleration until the difference between the resonant speed and the current speed is greater than the threshold speed value.
  • the processor 72 is further configured to maintain the current operating state when it is determined that the difference between the resonant speed determined by the processor 72 and the current rotational speed acquired by the rotational speed detector 73 is greater than a threshold rotational speed value.
  • the weight detector 71 is specifically configured to acquire the weight of each cylinder of the washing machine, detect the weight of the water in each cylinder, and the weight of the laundry, and generate the total weight of the washing machine. All the related contents of the steps involved in the foregoing method embodiments may be referred to the functional descriptions of the corresponding functional modules, and the functions thereof are not described herein.
  • FIG. 10 still another embodiment of some embodiments of the present disclosure provides a washing machine including a plurality of washing tubs for implementing the method shown in FIG.
  • Embodiments include:
  • the weight detector 81 is configured to obtain the total weight of the empty cylinder of the washing machine, and the total weight of the washing machine, wherein the total weight of the maximum load is the total load of the washing machine and the total weight of the washing machine when the water level is the highest; the processor 82, Determining a lower limit resonance frequency of the washing machine according to the total weight of the empty cylinder obtained by the weight detector, determining an upper limit resonance frequency of the washing machine according to a total weight of the maximum load obtained by the weight detector; the processor 82 is further configured to acquire the empty tube according to the weight detector The total weight and the lower limit resonance frequency determined by the processor determine a lower limit resonance speed that causes the resonance of the washing machine in the target cylinder washing state; the processor 82 is further configured to use the maximum load total weight obtained by the weight detector and the upper limit resonance frequency determined by the processor Determining an upper limit resonance speed that causes the resonance of the washing machine in the target cylinder washing state; the rotation speed detector 83 is configured to acquire the current rotation speed of the target cylinder; and the processor
  • the weight detector 81 is specifically configured to obtain the total weight of each drum of the washing machine in an empty cylinder state, and generate the total weight of the empty drum of the washing machine; under the maximum load and the highest water level of each barrel of the washing machine, The weight of the laundry in each cylinder and the weight of the water in each cylinder are obtained, and the maximum load total weight of the washing machine is generated according to the total weight of the empty cylinder of the washing machine, the weight of the laundry in each cylinder, and the weight of the water in each cylinder. All the related contents of the steps involved in the foregoing method embodiments may be referred to the functional descriptions of the corresponding functional modules, and the functions thereof are not described herein.
  • the driver and the processor may be independent processors or separate processors, where the processor is a general-purpose central processing unit (CPU).
  • CPU central processing unit
  • a processor an Application-Specific Integrated Circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.
  • the driver is integrated into the processor 91.
  • the weight detector 92 may include one or more sensors, such as a weight sensor, a torque sensor, etc.; the rotational speed detector 93 may include a rotational speed sensor; a weight detector 92; The speed detector 93 can be coupled to the processor 91 via a bus.
  • the washing machine further includes a memory 94 for storing program code and data for the washing machine.
  • the processor 91 is configured to execute application code stored in the memory 94 to implement a control method of the washing machine in various embodiments of the present disclosure.
  • the memory may be a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type that can store information and instructions.
  • the dynamic storage device may also be an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disc storage, or a disc storage device ( Including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be stored by a computer Any other media taken, but not limited to this.
  • the memory can exist independently and be connected to the processor via a bus.
  • the memory can also be integrated with the processor.
  • the washing machine also includes a communication interface 95.
  • the communication interface 95 is configured to connect with other external devices to receive the input content, for example, the dehydration curve is introduced through the communication interface 95, the total weight of the empty tube of the washing machine, the total load total weight of the washing machine, and the weight of the first washing tub, the second washing A table of the correspondence between the weight of the cylinder, the spin-drying speed of the target cylinder, and the like.
  • a computing medium (or medium) is provided, including instructions for performing the operations of the method of the above embodiments when executed.
  • a computer program product is provided, including the above-described computing storage medium (or medium).
  • the size of the serial numbers of the above processes does not mean the order of execution, and the order of execution of the processes should be determined by its function and internal logic, and should not be implemented in accordance with the present disclosure.
  • the implementation of the examples constitutes any limitation.
  • each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (English full name: read-only memory, English abbreviation: ROM), a random access memory (English full name: random access memory, English abbreviation: RAM), magnetic A variety of media that can store program code, such as a disc or a disc.

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Abstract

一种洗衣机的控制方法以及洗衣机。该洗衣机的控制方法应用于包含多个洗涤筒的洗衣机，包括：检测目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量（101）；响应于目标筒的配重的变化，调整目标筒的脱水转速（102）。

Description

洗衣机的控制方法及洗衣机
本申请要求于2017年9月6日提交中国专利局、申请号为201710797349.6、名称为“一种洗衣机的控制方法、控制装置及洗衣机”以及于2017年9月6日提交中国专利局、申请号为201710797356.6、名称为“一种洗衣机的控制方法、控制装置及洗衣机”的中国专利申请的优先权和权益，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及家用电器制造领域，尤其涉及洗衣机的控制方法及洗衣机。
背景技术
“一机三筒”洗衣机可以实现家庭洗涤的精细化分类，可以让普通衣物、内衣、袜子等同时分筒洗涤，真正实现精确分类和专业洗涤，达到一机多用的目的，有望引领当前正在进行的中国家庭消费的品质化升级潮流。
一种三筒洗衣机如图1所示，由上面两个洗涤筒a1、a2，下面一个洗涤筒a3组成。上面两个洗涤筒与下面一个洗涤筒通过机械连接在一起。洗衣机运行过程可以细分为称重、进水、洗涤、漂洗、脱水。其中漂洗过程包为排水、脱水、洗涤。脱水过程包含均布、不平衡检测、高速脱水。由于三筒洗衣机结构部分的配重系统是稳定的。而对三筒洗衣机来说，多个洗衣机同时脱水可能产生不平衡使得洗衣机产生位移，进而产生了振动噪声，不利于用户体验提高。
发明内容
第一方面，本公开的一些实施例提供一种洗衣机的控制方法。应用于包含多个洗涤筒的洗衣机，该方法包括：检测目标筒的配重，所述目标筒的配重包括所述洗衣机的多个洗涤筒中除所述目标筒外其他各筒的总重量；响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速。这样，能够实时或周期性的检测目标筒的配重并的得到配重的变化，根据目标筒的配重的变化调整目标 筒的脱水转速，降低洗衣机降低脱水时可能产生的不平衡及位移，进而降低了振动噪声。
第二方面，本公开的一些实施例提供一种洗衣机包含多个洗涤筒的洗衣机，该洗衣机包括：重量检测器，用于检测目标筒的配重，所述目标筒的配重包括所述洗衣机的多个洗涤筒中除所述目标筒外其他各筒的总重量；驱动器，用于响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速。
第三方面，本公开的一些实施例提供一种洗衣机的控制方法。应用于包含多个洗涤筒的洗衣机，包括：获取目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量；响应于目标筒的配重的变化，根据目标筒的变化后的配重确定目标筒的脱水档位，其中每个脱水档位对应一个脱水曲线集合，其中每个脱水曲线集合中包含至少一个条脱水曲线；在目标筒的脱水档位对应的脱水曲线集合中获取目标筒的脱水曲线；根据目标筒的脱水曲线控制目标筒脱水。由于能够根据目标筒的配重确定合适的脱水曲线，能够降低洗衣机降低脱水时可能产生的不平衡及位移，进而降低了振动噪声。
第四方面，本公开的一些实施例提供一种洗衣机包含多个洗涤筒，还包括：重量检测器，用于获取目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量；处理器，用于响应于目标筒的配重的变化，根据目标筒的变化后的配重确定目标筒的脱水档位，其中每个脱水档位对应一个脱水曲线集合，其中每个脱水曲线集合中包含至少一个条脱水曲线；处理单元还用于在目标筒的脱水档位对应的脱水曲线集合中获取目标筒的脱水曲线；驱动单元，用于根据处理单元获取的目标筒的脱水曲线控制目标筒脱水。
第五方面，本公开的一些实施例提供一种洗衣机的控制方法。应用于包含多个洗涤筒的洗衣机，包括：脱水过程中周期性获取洗衣机的总重量，根据洗衣机的总重量确定洗衣机的共振频率；根据洗衣机的总重量以及共振频率，确定目标筒洗涤状态下引起洗衣机共振的共振转速；获取目标筒的当前转速，当确定共振转速与当前转速的差值小于或等于门限转速值时，控制提高当前转速的加速度，直至共振转速与当前转速的差值大于门限转速值；通过使洗衣机快速跳过引起共振的转速，避免或减少洗衣机处于共振状态，而降低洗衣机震动 及噪音。
第六方面，本公开的一些实施例提供一种洗衣机包含多个洗涤筒，还包括：重量检测器，用于脱水过程中周期性获取洗衣机的总重量；处理器，用于根据检测单元洗衣机的总重量确定洗衣机的共振频率；根据洗衣机的总重量以及共振频率，确定目标筒洗涤状态下引起洗衣机共振的共振转速；转速检测器，用于获取目标筒的当前转速；处理器，还用于当确定处理单元确定的共振转速与转速检测单元获取的当前转速的差值小于或等于门限转速值时，控制提高当前转速的加速度，直至共振转速与当前转速的差值大于门限转速值。
第七方面，本公开的一些实施例提供一种洗衣机的控制方法。应用于包含多个洗涤筒的洗衣机，包括：获取洗衣机的空筒总重量，以及洗衣机的最大负载总重量，其中，最大负载总重量为洗衣机各筒的负载最大且水位最高时洗衣机的总重量；根据空筒总重量确定洗衣机的下限共振频率，根据最大负载总重量确定洗衣机的上限共振频率；根据空筒总重量以及下限共振频率，确定目标筒洗涤状态下引起洗衣机共振的下限共振转速；根据最大负载总重量以及上限共振频率，确定目标筒洗涤状态下引起洗衣机共振的上限共振转速；获取目标筒的当前转速，当确定当前转速属于下限共振转速和上限共振转速之间的区间时，控制提高当前转速的加速度，直至当前转速大于上限共振转速；通过使洗衣机快速跳过引起共振的转速，避免或减少洗衣机处于共振状态，而降低洗衣机震动及噪音。
第八方面，本公开的一些实施例提供一种洗衣机包含多个洗涤筒，还包括：重量检测器，用于获取洗衣机的空筒总重量，以及洗衣机的最大负载总重量，其中，最大负载总重量为洗衣机各筒的负载最大且水位最高时洗衣机的总重量；处理器，用于根据重量检测器获取的空筒总重量确定洗衣机的下限共振频率，根据重量检测器获取的最大负载总重量确定洗衣机的上限共振频率；处理器，还用于根据重量检测器获取的空筒总重量以及处理器确定的下限共振频率，确定目标筒洗涤状态下引起洗衣机共振的下限共振转速；处理器，还用于根据重量检测器获取的最大负载总重量以及处理器确定的上限共振频率，确定目标筒洗涤状态下引起洗衣机共振的上限共振转速；转速检测器，用于获取目标筒的当前转速；处理器，还用于当确定转速检测器获取的当前转速属于下限共振转 速和上限共振转速之间的区间时，控制提高当前转速的加速度，直至当前转速大于上限共振转速；通过使洗衣机快速跳过引起共振的转速，避免或减少洗衣机处于共振状态，而降低洗衣机震动及噪音。
第九方面，本公开的一些实施例提供一种洗衣机包含多个洗涤筒，还包括：通信接口、处理器、存储器、总线；存储器用于存储计算机执行指令，处理器与存储器通过所述总线连接，当洗衣机运行时，处理器执行所述存储器存储的计算机执行指令，以使洗衣机执行如第一、三、五、七方面的方法。
第十方面，本公开的一些实施例提供一种计算机存储介质，包括指令，当其在计算机上运行时，使得计算机执行如第一、三、五、七方面的方法。
附图说明
为了更清楚地说明本公开的一些实施例的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为相关技术中一种多筒洗衣机的结构示意图；
图2为本公开的一些实施例提供的一种洗衣机的控制方法的流程图；
图3为本公开的一些实施例提供的一种洗衣机的控制方法的流程图；
图4为本公开的一些实施例提供的一种洗衣机的控制方法的流程图；
图5为本公开的一些实施例提供的一种洗衣机的控制方法的流程图；
图6为本公开的一些实施例提供的一种洗衣机的控制方法的流程图；
图7为本公开的一些实施例提供的一种洗衣机的结构图；
图8为本公开的一些实施例提供的一种洗衣机的结构图；
图9为本公开的一些实施例提供的一种洗衣机的结构图；
图10为本公开的一些实施例提供的一种洗衣机的结构图；
图11为本公开的一些实施例提供的一种洗衣机的结构图。
具体实施方式
下面将结合本公开的一些实施例中的附图，对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开的一些实 施例一部分实施例，而不是全部的实施例。基于本公开的一些实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开的一些实施例描述的系统架构以及业务场景是为了更加清楚的说明本公开的技术方案，并不构成对于本公开的实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本公开的一些实施例提供的技术方案对于类似的技术问题，同样适用。例如，本公开的实施例主要以三筒洗衣机为例进行说明，当然若洗衣机包含更多的洗涤筒，也应适用。
下面结合本公开提供的具体实施例对上述方法进行详细描述。
参照图2所示，本公开的一些实施例提供一种洗衣机的控制方法，应用于包含多个洗涤筒的洗衣机，包括：
101、检测目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量。
具体的步骤S101包括获取洗衣机的多个洗涤筒中除目标筒外其他各筒的总成重量，检测其他各筒中水的重量以及衣物的重量，生成目标筒的配重。通常，对于单筒洗衣机甩干筒(洗涤筒)自身的重量叫负载，甩干筒外的重量叫配重。其中，本公开中多个是指两个或以上。
以图1所示的三筒洗衣机为例；假设，洗涤筒a1、a2和a3的总成重量包括电机、洗涤筒等固有的重量；上面的洗涤筒a1的总成重量为L1，洗涤筒a2的总成重量为L2，洗涤筒a3的总成重量为L3。洗涤筒a1、a2和a3在开始洗涤时，先进行称重判断，获取三个洗涤筒洗涤的衣物的重量b1、b2和b3；在洗涤筒运行的任意时刻，通过水位传感器可以获得三个洗涤筒的水位高度h1、h2和h3，假设洗涤筒a1，a2的截面积均为M1，则进水的重量分别为h1*M1、h2*M1。假设洗涤筒a3的截面积为M3，则进水的重量为h3*M3。在任意时刻洗涤筒a1的总重量X1＝L1+b1+h1*M1*水的密度，洗涤筒a2的总重量X2＝L2+b2+h2*M1*水的密度，洗涤筒a3的总重量X3＝L3+b3+h3*M2*水的密度；则，a3的配重为Ki＝X1+X2；a2的配重为Kj＝X1+X3；a1的配重为Kk＝X3+X2。
在一些实施例中还可以通过检测筒的偏心率或其他参数来确定各 筒的重量。
102、响应于目标筒的配重的变化，调整目标筒的脱水转速。
这样，当多筒洗衣机在脱水过程中，能够实时或周期性的检测目标筒的配重并的得到配重的变化，根据目标筒的配重的变化调整目标筒的脱水转速，降低洗衣机降低脱水时可能产生的不平衡及位移，进而降低了振动噪声。
本公开的一些实施例中，步骤102包括：根据所述目标筒的变化后的配重调整所述目标筒的脱水转速，并根据所述目标筒的调整后的脱水转速控制所述目标筒脱水。
其中，目标筒的脱水转速可以采用洗衣机中存储的脱水曲线驱动，则调整目标筒的脱水转速的过程可以为选择脱水曲线的过程；具体的参照图3所示，本公开的一些实施例提供一种洗衣机的控制方法，应用于包含多个洗涤筒的洗衣机，包括：
201、获取目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量。
步骤201的具体实现参照步骤101所述不再赘述。
202、响应于目标筒的配重的变化，根据目标筒的变化后的配重Ki调整目标筒的脱水档位，其中每个脱水档位对应一个脱水曲线集合，其中每个脱水曲线集合中包含至少一个条脱水曲线。
在一些实施例中，以下面的洗涤筒a3作为目标筒，其上配重为a1和a2的总重量Ki，其对应等档位分为N0、N1、N2…Nx若干脱水档位，其中每个脱水档位对应一个配重区间，例如N0＝[3KG,3.5KG)，N1＝[3.5KG,4.0KG)，N2＝[4.0KG,4.5KG)，N3＝[4.5KG,5.0KG)等等；若检测到的配重属于某个区间，则确定为目标同对应的脱水档位，若检测到配重变化到另一配重区间时，则脱水档位被调整为另一配重区间对应的脱水档位，例如：在配重是3.2KG时，目标筒的脱水档位是N0，当配重变化为3.7KG时，目标筒的配重应当被调整为N1。在每个脱水档位预设有一个脱水曲线集合{Ax，Bx，Cx…}，脱水曲线集合{Ax，Bx，Cx…}中包含至少一个条脱水曲线Ax，Bx，Cx…；当洗涤筒a3脱水时首先计算其上配重Ki，然后确定上配重的初始档位Nx，确定档位后，即确定了脱 水曲线的选择范围{Ax，Bx，Cx…}。
203、在目标筒的脱水档位对应的脱水曲线集合中获取目标筒的脱水曲线。
步骤203具体包括如下步骤：
S11、对目标筒进行偏心检测，获取偏心值Y。
S12、根据偏心值Y在目标筒的脱水档位对应的脱水曲线集合中获取目标筒的脱水曲线。
在运行的过程中，若是初次运行脱水，则在步骤S11之前还需要以第一转速驱动目标筒，以将待脱水衣物抖散；例如可以以45rpm左右的转速驱动目标筒抖散衣物。之后、加速运行至第二转速并保持，示例性的从步骤S11中45rpm加速至93rpm并保持。若是在脱水运行过程，重新确定偏心值Y，则直接降速到93rpm并保持，在保持93rpm转速过程中重新确定偏心值Y。
204、根据目标筒的脱水曲线控制目标筒脱水。
在运行过程中，204之后，还包括重新获取目标筒的配重Ki+1，并当目标筒的配重的变化值δK＝(Ki+1)-Ki大于预定门限值C(C≥0)时，重新确定目标筒的脱水档位。
以图4所示的实施例对本公开的一些实施例的实施例进行说明，初始运行脱水时，按照上述步骤201-203确定a3的初始配重K0及初始偏心值Y0，并据此确定初始脱水曲线。之后，当目标筒的配重变化后，获取目标筒的配重Ki，当本次获取的目标筒的配重Ki较前一次获取的目标筒的配重的变化值δK＝Ki-(Ki-1)小于或等于预定门限值C(C≥0)时，则继续运行Ki-1对应的脱水曲线对目标筒脱水；当目标筒的配重的变化值δK大于C时，则确定Ki的脱水档位，例如，将Ki依次与各个档位对应的区间进行对比，直至确定Ki所属的区间，即依次判断Ki＜Nx是否成立，直至Ki≥Nx，则确定脱水档位。之后在脱水档位对应的脱水曲线集合{Ax，Bx，Cx…}中依据检测到的目标筒的偏心值Yi，确定脱水曲线Ax，并运行该Ax。
在一些实施例中，目标筒的配重对应的脱水曲线中的最大脱水转 速小于目标筒的配重对应的共振转速区间。在一些实施例中，目标筒的配重对应的脱水曲线中的最小脱水转速大于目标筒的配重对应的共振转速区间。在一些实施例中，目标筒的配重对应的脱水曲线中在目标筒的配重对应的共振转速区间内的脱水转速的速度变化率大于目标筒的配重对应的共振转速区间外的脱水转速的速度变化率。
本公开的一些实施例中，多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；当确定所述第一洗涤筒和第二洗涤筒处于未运行状态时，根据目标筒的变化后的配重调整目标筒的脱水转速，包括：对目标筒进行偏心检测，获取第一偏心值；根据第一偏心值以及目标筒的变化后的配重确定目标筒的脱水转速；具体的可以参照上述步骤202、203的具体实现方式。
本公开的一些实施例中，多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；当确定第一洗涤筒和第二洗涤筒处于运行状态时，根据目标筒的变化后的配重调整目标筒的脱水转速，包括：对目标筒进行偏心检测，获取第一偏心值；根据第一洗涤筒和第二洗涤筒的总重量的变化值，计算第二偏心值；根据第一偏心值和第二偏心值以及目标筒的变化后的配重调整目标筒的脱水转速。
本公开的一些实施例中，多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；当确定所述第一洗涤筒和第二洗涤筒处于运行状态时，根据所述目标筒的变化后的配重调整所述目标筒的脱水转速，包括：检测所述第一洗涤筒和第二洗涤筒的转速差；根据所述第一洗涤筒和第二洗涤筒的转速差以及目标筒的变化后的配重确定所述目标筒的脱水转速。
示例性的，假设两个洗涤筒a1、a2的总重量差为Y＝X1-X2，如果Y<0,则说明a1的总重量<a2的总重量，将Y通过一定的算法转换为等效偏心值Y0；两个筒a1、a2的脱水转速差值z＝s1-s2如果z<0,则说明a1的转速<a2的转速，将z通过一定的算法转换为等效偏心值Z0；然后检测到a1，a2当前是否都在运行状态，如果都不在运行状态(即a1，a2都静止)，则z＝0，a3脱水时不考虑Y0和Z0；如果z≠0，即a1和/或a2在运行(可以为脱水、漂洗、洗涤等状态)则需要考虑Y0和Z0；当a3在脱水时，对目标筒进行偏心检测，获取第一偏心值，例如：a3 脱水启动低速(衣物贴在筒壁上)时判断自身偏心重量Y，修正Y的值，等效偏心g＝Y+Y0；当g小于预定的第一偏心值阈值f1时，则根据g选定的脱水曲线控制a3的脱水转速执行中速甩干脱水T1秒钟；然后降速到低速，再判断自身偏心值Y，修正Y的值，等效偏心值g＝Y+Y0；当g小于预定的第二偏心值阈值f2时，可以根据g选定的脱水曲线控制a3的脱水转速加速脱水到中高速甩干，执行T2秒后；读取Z0，如果Z0<预定的转速阈值，则可根据选定的脱水曲线控制a3的脱水转速高速甩干；否则维持当前速度到甩干时间结束。
a3在脱水过程中，a1和a2的总重量通常是不相同的，为提高洗衣机脱水时的稳定性，当a1和a2总重量相等时a3以第一脱水转速脱水；当a1和a2总重量不相等时a3以第二脱水转速脱水；第一脱水转速大于第二脱水转速。即a1和a2的总重量不相同时，a3采用更小的脱水转速。
在一些实施例中，洗衣机包括目标筒和其他洗涤筒，其他洗涤筒至少包括第一洗涤筒和第二洗涤筒；第一洗涤筒和第二洗涤筒分别位于参考面的两侧，参考面是指经过目标筒转轴的一个垂直于水平面的垂直面，参照图1所示，可以是经过a3的转轴，并且垂直于水平面的垂直面，a1和a2分别位于参考面的两侧。分别检测第一洗涤筒的重量和第二洗涤筒的重量，响应于所述第一洗涤筒的重量变化和/或所述第二洗涤筒的重量变化，根据第一洗涤筒的重量和第二洗涤筒的重量确定所述目标筒的配重；根据第一洗涤筒的重量和第二洗涤筒的重量确定目标筒的配重，根据目标筒的变化后的配重，以及第一洗涤筒的重量和第二洗涤筒的重量的差值，调整目标筒的脱水转速。重量变化是指这次检测到的重量和该筒的上一次检测到的重量之间的重量变化，或，重量变化是指这次检测到的重量和该筒的上一次有效的调整脱水转速时对应的检测到的重量之间的重量变化，或，重量变化是指这次检测到的重量和该筒的预设的重量之间的重量变化。
在一些实施例中，可以在获取到第一洗涤筒的重量和第二洗涤筒的重量后通过查表的方法调整目标筒的脱水转速。该表中包含第一洗涤筒的重量、第二洗涤筒的重量、目标筒的脱水转速三者之间的对应关系。
在一些实施例中，可以在获取到第一洗涤筒的重量和第二洗涤筒的重量后调整目标筒的脱水转速。
在本公开的一些实施例中，调整目标筒的脱水转速包括：控制目标筒的最大脱水转速小于所述目标筒的变化后的配重对应的共振转速区间；或，控制目标筒的最小脱水转速大于目标筒的变化后的配重对应的共振转速区间；或，控制目标筒的脱水转速在转速变化过程中，以预定速度变化率通过目标筒的变化后的配重对应的共振转速区间，其中预定转速变化速率大于脱水转速位于目标筒的变化后的配重对应的共振区间外时的速度变化率，其中脱水转速在共振转速区间按照预定速度变化率减小或和增大。
在一些实施例中，当第一洗涤筒的重量和第二洗涤筒的重量相等时目标筒的最大脱水转速不小于当第一洗涤筒的重量和第二洗涤筒的重量不相等时目标筒的最大脱水转速。
在一些实施例中，检测第一洗涤筒和第二洗涤筒的运行状态，响应与第一洗涤筒或第二洗涤筒处于脱水状态、洗涤状态、充水状态、排水状态中的一种或以上，使目标筒处于不脱水状态。其中，运动状态包括：脱水状态、洗涤状态、充水状态、排水状态、待机状态。洗涤状态是指处于洗涤过程中的状态，待机状态是指通电但是不工作的状态。
在一些实施例中，洗涤筒a3要脱水时，首先获取多洗涤筒洗衣机的目标筒a3的配重或者洗衣机总重量的大小，其中多洗涤筒洗衣机的目标筒的配重或者洗衣机总重量的大小决定了系统的固有振动频率f0，洗衣机在脱水时应该快速跳过共振转速区间，使得机器震动频率快速跳过f0，由于a1、a2可能随时排水或者进水导致a3的配重或者洗衣机总重量一直在变化，在程序设计中可以预设目标筒a3的配重不同时(或者洗衣机总重量不同时)时共振转速区间a3的脱水转速n，保证洗衣机无论何时都能避开共振区。具体的，参照图5所示，本公开的一些实施例的实施例提供一种洗衣机的控制方法，应用于包含多个洗涤筒的洗衣机，包括：
301、脱水过程中周期性的获取洗衣机的总重量Ki。
其中步骤301具体包括：获取洗衣机的各筒的总成重量，检测各筒中水的重量以及衣物的重量，生成洗衣机的总重量。以图1所示的三筒洗衣机为例；假设，洗涤筒a1、a2和a3的总成重量包括电机、洗涤 筒等固有的重量；上面的洗涤筒a1的总成重量为L1，洗涤筒a2的总成重量为L2，洗涤筒a3的总成重量为L3；
洗涤筒a1、a2和a3在开始洗涤时，先进行称重判断，获取三个洗涤筒洗涤的衣物的重量b1、b2和b3；在洗涤筒运行的任意时刻，通过水位传感器可以获得三个洗涤筒的水位高度h1、h2和h3，假设洗涤筒a1，a2的截面积均为M1，则进水的重量分别为h1*M1、h2*M1。假设洗涤筒a3的截面积为M3，则进水的重量为h3*M3。在任意时刻洗涤筒a1的总重量X1＝L1+b1+h1*M1*水的密度，洗涤筒a2的总重量X2＝L2+b2+h2*M1*水的密度，洗涤筒a3的总重量X3＝L3+b3+h3*M2*水的密度；则，洗衣机的总重量为Ki＝X1+X2+X3。此处需要说明的是：脱水过程中洗涤筒的转速最高，容易发生共振，并且脱水过程中洗涤筒的重量变化较大，因此需要对洗衣机的总重量进行实时检测，即步骤301主要发生在脱水过程中。
302、根据洗衣机的总重量Ki确定洗衣机的共振频率fi。
303、根据洗衣机的总重量Ki以及共振频率fi，确定目标筒洗涤状态下引起洗衣机共振的共振转速ri。
304、获取目标筒的当前转速R。
其中，该目标筒可以为任意洗涤筒。
在一些实施例中，如图1所示的洗衣机，通常洗涤筒a1、a2的体积较小，对引起洗衣机产生共振的影响较小，因此304可以针对洗涤筒a3，当然在其他方案中该目标筒可以为任意洗涤筒，或者重量较大的洗涤筒。
305、当确定共振转速与当前转速的差值小于或等于门限转速值C时，控制提高当前转速的加速度，直至共振转速与当前转速的差值大于门限转速值C。
即，当|ri-R|>C时(其中，C为实验测得的常数)，表示已经远离共振转速区间[ri-C，ri+C]，洗衣机保持当前运行状态，反之，表示洗衣机正运行在共振区，此时，控制提高当前转速R的加速度速度，速度变化加快，使得洗衣机震动频率快速跳过fi。在洗衣机运行时，由于任意洗涤筒可能随时排水或者进水导致重量Ki一致在变化，因此需时时 用上述方法检测洗衣机的总重量和共振转速ri，动态调整洗衣机各筒的转速，保证洗衣机无论何时都能避开共振转速区间[ri-C，ri+C]。
以上图5提供的方案主要是以洗衣机总重量确定洗衣机的共振频率的方案，当然，以目标筒a3的配重确定洗衣机的共振频率也是可以的，其原理与上述图5对应的方案类似，此处不再赘述。
本公开的一些实施例的实施例提供的方案中在使用包含多个洗涤筒的洗衣机时，可以首先检测洗衣机的总重量，根据洗衣机的总重量确定洗衣机的共振频率；根据洗衣机的总重量以及共振频率，确定目标筒洗涤状态下引起洗衣机共振的共振转速；获取目标筒的当前转速，当确定共振转速与当前转速的差值小于或等于门限转速值时，控制提高当前转速的加速度，直至共振转速与当前转速的差值大于门限转速值，通过使洗衣机快速跳过引起共振的转速，避免或减少洗衣机处于共振状态，而降低洗衣机震动及噪音。
在一些实施例中，获取到目标筒的当前转速R后，可以使目标筒的当转速R始终小于共振转速ri来降低洗衣机的震动。
参照图6所示，本公开的一些实施例的实施例提供一种洗衣机的控制方法，应用于包含多个洗涤筒的洗衣机，包括：
401、获取洗衣机的空筒总重量，以及洗衣机的最大负载总重量，其中，最大负载总重量为洗衣机各筒的负载最大且水位最高时洗衣机的总重量，空筒总重量是洗衣机各筒均为空载时洗衣机的总重量。
其中步骤401具体包括：在空筒状态下，获取洗衣机的各筒的总成重量，生成洗衣机的空筒总重量；在洗衣机各筒最大负载并且最高水位状态下，获取各筒中衣物的重量以及各筒中水的重量，根据洗衣机的空筒总重量、各筒中衣物的重量以及各筒中水的重量生成洗衣机的最大负载总重量。
在一些实施例中，洗衣机的空筒总重量和洗衣机的最大负载总重量可以预先存储在洗衣机内。
以图1所示的三筒洗衣机为例；假设，洗涤筒a1、a2和a3的总成重量包括电机、洗涤筒等固有的重量；上面的洗涤筒a1的总成重量为L1，洗涤筒a2的总成重量为L2，洗涤筒a3的总成重量为L3。
洗涤筒a1、a2和a3在开始洗涤时，先进行称重判断，获取三个洗涤筒洗涤的衣物的重量b1、b2和b3；在洗涤筒运行的任意时刻，通过水位传感器可以获得三个洗涤筒的水位高度h1、h2和h3，假设洗涤筒a1，a2的截面积均为M1，则进水的重量分别为h1*M1、h2*M1。假设洗涤筒a3的截面积为M3，则进水的重量为h3*M3。在任意时刻洗涤筒a1的总重量X1＝L1+b1+h1*M1*水的密度，洗涤筒a2的总重量X2＝L2+b2+h2*M1*水的密度，洗涤筒a3的总重量X3＝L3+b3+h3*M2*水的密度；则，洗衣机的总重量为Ki＝X1+X2+X3。则洗衣机的空筒总重量为Kmin＝L1+L2+L3；三个洗涤筒洗涤的衣物的重量b1、b2和b3取最大值，三个洗涤筒的水位高度h1、h2和h3区最大值时，洗衣机的最大负载总重量Kmax＝Ki。
402、根据空筒总重量Kmin确定洗衣机的下限共振频率fmin，根据最大负载总重量Kmax确定洗衣机的上限共振频率fmax。
403、根据空筒总重量Kmin以及下限共振频率fmin，确定目标筒洗涤状态下引起洗衣机共振的下限共振转速Rmin。
404、根据最大负载总重量Kmax以及上限共振频率fmax，确定目标筒洗涤状态下引起洗衣机共振的上限共振转速Rmax。
405、获取目标筒的当前转速R，当确定当前转速R属于下限共振转速和上限共振转速之间的区间(Rmin，Rmax)时，控制提高当前转速的加速度，直至当前转速大于上限共振转速。
其中，该目标筒可以为任意洗涤筒，不过如图1所示的洗衣机，通常洗涤筒a1、a2的体积较小，对引起洗衣机产生共振的影响较小，因此S504主要针对洗涤筒a3，当然在其他方案中该目标筒可以为任意洗涤筒，或者重量较大的洗涤筒。另外，该当前转速R可以指目标筒运行在任意运行状态下的转速，例如：脱水、漂洗、洗涤等等，本公开的一些实施例的实施例中不对此做限定，只要能够检测到目标筒的当前转速R，则均应该在本申请的保护范围内。
本公开的一些实施例的实施例提供的方案中在使用包含多个洗涤筒的洗衣机时，可以首先获取洗衣机的空筒总重量，以及洗衣机的最大负载总重量，其中，最大负载总重量为洗衣机各筒的负载最大且水位最 高时洗衣机的总重量；根据空筒总重量确定洗衣机的下限共振频率，根据最大负载总重量确定洗衣机的上限共振频率；根据空筒总重量以及下限共振频率，确定目标筒洗涤状态下引起洗衣机共振的下限共振转速；根据最大负载总重量以及上限共振频率，确定目标筒洗涤状态下引起洗衣机共振的上限共振转速；获取目标筒的当前转速，当确定当前转速属于下限共振转速和上限共振转速之间的区间时，控制提高当前转速的加速度，直至当前转速大于上限共振转速，通过使洗衣机快速跳过引起共振的转速，避免或减少洗衣机处于共振状态，而降低洗衣机震动及噪音。
本公开的一些实施例提供一种洗衣机，用于执行上述洗衣机的控制方法。本申请实施例可以根据上述方法示例对其进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
在采用对应各个功能划分各个功能模块的情况下，如图7所示，本公开的一些实施例的实施例提供一种洗衣机，包含多个洗涤筒的洗衣机，用于实施上述图2所示的方法实施例，包括：
重量检测器51，用于检测目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量；驱动器52，用于响应于目标筒的配重的变化，调整目标筒的脱水转速。
在一些实施例中，还包括处理器53，用于根据目标筒的变化后的配重调整目标筒的脱水转速；驱动器52，具体用于根据目标筒的调整后的脱水转速控制目标筒脱水。
在一些实施例中，多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；处理器53体用于当确定第一洗涤筒和第二洗涤筒处于未运行状态时，对目标筒进行偏心检测，获取第一偏心值；根据第一偏心值以及目标筒的变化后的配重确定目标筒的脱水转速；处理器35具体当确定第一洗涤筒和第二洗涤筒处于运行状态时，对目标筒进行偏心检测，获取第一偏心值；根据第一洗涤筒和第二洗涤筒的总重量的变化值，计算第 二偏心值；根据第一偏心值和第二偏心值以及目标筒的变化后的配重调整目标筒的脱水转速。
在一些实施例中，多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；处理器53用于当确定第一洗涤筒和第二洗涤筒处于运行状态时，检测第一洗涤筒和第二洗涤筒的转速差；根据第一洗涤筒和第二洗涤筒的转速差以及目标筒的变化后的配重确定所述目标筒的脱水转速。
在一些实施例中，洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；当第一洗涤筒的重量和第二洗涤筒的重量相等时目标筒的最大脱水转速不小于当第一洗涤筒的重量和第二洗涤筒的重量不相等时目标筒的最大脱水转速。
在一些实施例中，洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；第一洗涤筒和第二洗涤筒分别位于经过目标筒转轴的垂直面的两侧；重量检测器51，用于检测第一洗涤筒的重量和第二洗涤筒的重量；响应于第一洗涤筒的重量变化和/或第二洗涤筒的重量变化，根据第一洗涤筒的重量和第二洗涤筒的重量确定目标筒的配重；驱动器52，用于根据目标筒的变化后的配重，以及第一洗涤筒的重量和第二洗涤筒的重量的差值，调整目标筒的脱水转速。
在一些实施例中，驱动器52具体用于控制目标筒的脱水转速小于目标筒的变化后的配重对应的共振转速区间；或，驱动器52具体用于控制目标筒的脱水转速大于目标筒的变化后的配重对应的共振转速区间；或，驱动器52具体用于控制目标筒的脱水转速在转速变化过程中，以预定速度变化率通过目标筒的变化后的配重对应的共振转速区间，其中预定转速变化速率大于脱水转速位于目标筒的变化后的配重对应的共振区间外时的速度变化率，其中脱水转速在所述共振转速区间按照预定速度变化率减小或和增大。
在一些实施例中，洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；第一洗涤筒和第二洗涤筒分别位于经过目标筒转轴的垂直面的两侧；重量检测器51，用于检测第一洗涤筒的重量和第二洗涤筒的重量；驱动器52，用于根据第一洗涤筒的重量和第二洗涤筒的重量，通过查表的方法获取目标筒的调整后的脱水转速，其中表中包含第一洗涤筒的重量、 第二洗涤筒的重量以及目标筒的脱水转速三者之间的对应关系。
该方案中，当多筒洗衣机在脱水过程中，能够根据目标筒的配重的变化调整目标筒的脱水转速，降低洗衣机降低脱水时可能产生的不平衡及位移，进而降低了振动噪声。其中，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，其作用在此不再赘述。
在采用对应各个功能划分各个功能模块的情况下，如图8所示，本公开的一些实施例的实施例提供一种洗衣机包含多个洗涤筒，用于实施上述图3、4所示的方法实施例，包括：
重量检测器61，用于获取目标筒的配重，目标筒的配重包括洗衣机的多个洗涤筒中除目标筒外其他各筒的总重量；
处理器62，用于响应于目标筒的配重的变化，根据目标筒的变化后的配重确定目标筒的脱水档位，其中每个脱水档位对应一个脱水曲线集合，其中每个脱水曲线集合中包含至少一个条脱水曲线；
处理器62还用于在目标筒的脱水档位对应的脱水曲线集合中获取目标筒的脱水曲线；
驱动器63，用于根据处理器62获取的目标筒的脱水曲线控制目标筒脱水。
在一些实施例中，处理器62具体用于以第一转速驱动目标筒，以将待脱水衣物抖散；加速运行至第二转速并保持；对目标筒进行偏心检测，获取偏心值；根据偏心值在目标筒的脱水档位对应的脱水曲线集合中获取目标筒的脱水曲线。
在一些实施例中，重量检测器61还用于重新获取目标筒的配重；处理器62还用于当目标筒的配重的变化值大于预定门限值时，重新确定目标筒的脱水档位。
在一些实施例中，重量检测器61具体用于获取洗衣机的多个洗涤筒中除目标筒外其他各筒的总成重量，检测其他各筒中水的重量以及衣物的重量，生成目标筒的配重。
该方案中，由于能够根据目标筒的配重确定合适的脱水曲线，因 此能够降低洗衣机降低脱水时可能产生的不平衡及位移，进而降低了振动噪声。其中，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，其作用在此不再赘述。
在采用对应各个功能划分各个功能模块的情况下，如图9所示，本申请的另一实施例提供一种洗衣机包含多个洗涤筒，用于实施上述图5所示的方法实施例，包括：
重量检测器71，用于脱水过程中实时检测洗衣机的总重量；处理器72，用于根据检测单元洗衣机的总重量确定洗衣机的共振频率；根据洗衣机的总重量以及共振频率，确定目标筒洗涤状态下引起洗衣机共振的共振转速；转速检测器73，用于获取目标筒的当前转速；处理器72，还用于当共振转速与当前转速的差值小于或等于门限转速值时，控制提高当前转速的加速度，直至共振转速与当前转速的差值大于门限转速值。
在一些实施例中，处理器72，还用于当确定处理器72确定的共振转速与转速检测器73获取的当前转速的差值大于门限转速值时，保持当前运行状态。可选的，重量检测器71具体用于获取洗衣机的各筒的总成重量，检测各筒中水的重量以及衣物的重量，生成洗衣机的总重量。其中，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，其作用在此不再赘述。
在采用对应各个功能划分各个功能模块的情况下，如图10所示，本公开的一些实施例的再一实施例提供一种洗衣机包含多个洗涤筒，用于实施上述图6所示的方法实施例，包括：
重量检测器81，用于获取洗衣机的空筒总重量，以及洗衣机的最大负载总重量，其中，最大负载总重量为洗衣机各筒的负载最大且水位最高时洗衣机的总重量；处理器82，用于根据重量检测器获取的空筒总重量确定洗衣机的下限共振频率，根据重量检测器获取的最大负载总重量确定洗衣机的上限共振频率；处理器82，还用于根据重量检测器获取的空筒总重量以及处理器确定的下限共振频率，确定目标筒洗涤状态下引起洗衣机共振的下限共振转速；处理器82，还用于根据重量检测器获取的最大负载总重量以及处理器确定的上限共振频率，确定目标筒洗涤状态下引起洗衣机共振的上限共振转速；转速检测器83，用于获取目标 筒的当前转速；处理器82，还用于当确定转速检测器获取的当前转速属于下限共振转速和上限共振转速之间的区间时，控制提高当前转速的加速度，直至当前转速大于上限共振转速。
在一些实施例中，重量检测器81，具体用于在空筒状态下，获取洗衣机的各筒的总成重量，生成洗衣机的空筒总重量；在洗衣机各筒最大负载并且最高水位状态下，获取各筒中衣物的重量以及各筒中水的重量，根据洗衣机的空筒总重量、各筒中衣物的重量以及各筒中水的重量生成洗衣机的最大负载总重量。其中，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，其作用在此不再赘述。
如图11所示，在一些实施例中，上述方案中，驱动器以及处理器可以为独立的处理器或者分立的处理器，其中处理器为一个通用中央处理器(Central Processing Unit，CPU)，微处理器，特定应用集成电路(Application-Specific Integrated Circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。图11中，将驱动器集成于处理器91，此外，重量检测器92可以包含一个或者多个传感器，例如可以为重量传感器、扭力传感器等；转速检测器93可以包含转速传感器；重量检测器92以及转速检测器93可以通过总线耦接处理器91。
在一些实施例中，洗衣机还包括存储器94，用于存储洗衣机的程序代码和数据。处理器91用于执行存储器94中存储的应用程序代码，从而实现本公开的各个实施例中的洗衣机的控制方法。存储器可以是只读存储器(Read-Only Memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(Random Access Memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
在一些实施例中，洗衣机还包括通信接口95。通信接口95用于与其他外部设备连接接收输入的内容，例如通过通信接口95导入脱水曲线，洗衣机的空筒总重量，洗衣机的最大负载总重量，以及包含第一洗涤筒的重量、第二洗涤筒的重量、目标筒的脱水转速三者之间的对应关系的表等等。
此外，还提供一种计算存储媒体(或介质)，包括在被执行时进行上述实施例中的方法的操作的指令。另外，还提供一种计算机程序产品，包括上述计算存储媒体(或介质)。
应理解，在本公开的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本公开的实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本公开的实施例的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
另外，在本公开的各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的一些实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开的各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(英文全称:read-only memory，英文简称：ROM)、随机存取 存储器(英文全称：random access memory，英文简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开的实施例揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以权利要求的保护范围为准。

Claims (16)

  1. 一种洗衣机的控制方法，应用于包含多个洗涤筒的洗衣机，该方法包括：
    检测目标筒的配重，所述目标筒的配重包括所述洗衣机的多个洗涤筒中除所述目标筒外其他各筒的总重量；
    响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速。
  2. 根据权利要求1所述的洗衣机的控制方法，所述响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速，包括：
    根据所述目标筒的变化后的配重调整所述目标筒的脱水转速，并根据所述目标筒的调整后的脱水转速控制所述目标筒脱水。
  3. 根据权利要求2所述的洗衣机的控制方法，所述多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；
    当确定所述第一洗涤筒和第二洗涤筒处于未运行状态时，根据所述目标筒的变化后的配重调整所述目标筒的脱水转速，包括：对所述目标筒进行偏心检测，获取第一偏心值；根据所述第一偏心值以及所述目标筒的变化后的配重确定所述目标筒的脱水转速；
    当确定所述第一洗涤筒和第二洗涤筒处于运行状态时，根据所述目标筒的变化后的配重调整所述目标筒的脱水转速，包括：对所述目标筒进行偏心检测，获取第一偏心值；根据所述第一洗涤筒和第二洗涤筒的总重量的变化值，计算第二偏心值；根据所述第一偏心值和第二偏心值以及所述目标筒的变化后的配重调整所述目标筒的脱水转速。
  4. 根据权利要求2所述的洗衣机的控制方法，所述多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；
    当确定所述第一洗涤筒和第二洗涤筒处于运行状态时，根据所述目标筒的变化后的配重调整所述目标筒的脱水转速，包括：检测所述第一洗涤筒和第二洗涤筒的转速差；根据所述第一洗涤筒和第二洗涤筒的转速差以及所述目标筒的变化后的配重确定所述目标筒的脱水转速。
  5. 根据权利要求1所述的洗衣机的控制方法，所述洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；
    当所述第一洗涤筒的重量和第二洗涤筒的重量相等时所述目标筒的最大脱水转速不小于当所述第一洗涤筒的重量和第二洗涤筒的重量不相等时所述目标筒的最大脱水转速。
  6. 根据权利要求1所述的洗衣机的控制方法，所述洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；所述第一洗涤筒和第二洗涤筒分别位于经过目标筒转轴的垂直面的两侧；
    所述检测目标筒的配重，包括：检测第一洗涤筒的重量和第二洗涤筒的重量；响应于所述第一洗涤筒的重量变化和/或所述第二洗涤筒的重量变化，根据第一洗涤筒的重量和第二洗涤筒的重量确定所述目标筒的配重；
    所述响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速，包括：
    根据所述目标筒的变化后的配重，以及所述第一洗涤筒的重量和所述第二洗涤筒的重量的差值，调整所述目标筒的脱水转速。
  7. 根据权利要求6所述的洗衣机的控制方法，所述调整所述目标筒的脱水转速包括：
    控制所述目标筒的脱水转速小于所述目标筒的变化后的配重对应的共振转速区间；
    或，控制所述目标筒的脱水转速大于所述目标筒的变化后的配重对应的共振转速区间；
    或，控制所述目标筒的脱水转速在转速变化过程中，以预定速度变化率通过所述目标筒的变化后的配重对应的共振转速区间，其中所述预定转速变化速率大于所述脱水转速位于所述目标筒的变化后的配重对应的共振区间外时的速度变化率，其中所述脱水转速在所述共振转速区间按照所述预定速度变化率减小或和增大。
  8. 根据权利要求1所述的洗衣机的控制方法，所述洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；所述第一洗涤筒和第二洗涤筒分别位于经过目标筒转轴的垂直面的两侧；
    所述检测目标筒的配重，包括：检测第一洗涤筒的重量和第二洗涤筒的重量；
    响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速，包括：
    根据所述第一洗涤筒的重量和所述第二洗涤筒的重量，通过查表的方法获取所述目标筒的调整后的脱水转速，其中所述表中包含第一洗涤筒的重量、第二洗涤筒的重量以及目标筒的脱水转速三者之间的对应关系。
  9. 一种洗衣机，包含多个洗涤筒的洗衣机，该洗衣机包括：
    重量检测器，用于检测目标筒的配重，所述目标筒的配重包括所述洗衣机的多个洗涤筒中除所述目标筒外其他各筒的总重量；
    驱动器，用于响应于所述目标筒的配重的变化，调整所述目标筒的脱水转速。
  10. 根据权利要求9所述的洗衣机，还包括处理器，用于根据所述目标筒的变化后的配重调整所述目标筒的脱水转速；
    所述驱动器，具体用于根据所述目标筒的调整后的脱水转速控制所述目标筒脱水。
  11. 根据权利要求10所述的洗衣机，所述多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；
    所述处理器具体用于当确定所述第一洗涤筒和第二洗涤筒处于未运行状态时，对所述目标筒进行偏心检测，获取第一偏心值；根据所述第一偏心值以及所述目标筒的变化后的配重确定所述目标筒的脱水转速；
    所述处理器具体当确定所述第一洗涤筒和第二洗涤筒处于运行状态时，对所述目标筒进行偏心检测，获取第一偏心值；根据所述第一洗涤筒和第二洗涤筒的总重量的变化值，计算第二偏心值；根据所述第一偏心值和第二偏心值以及所述目标筒的变化后的配重调整所述目标筒的脱水转速。
  12. 根据权利要求10所述的洗衣机，所述多筒洗衣机包括目标筒、第一洗涤筒以及第二洗涤筒；
    所述处理器用于当确定所述第一洗涤筒和第二洗涤筒处于运行状态时，检测所述第一洗涤筒和第二洗涤筒的转速差；根据所述第一洗涤筒和第二洗涤筒的转速差以及所述目标筒的变化后的配重确定所述目标筒的脱水转速。
  13. 根据权利要求9所述的洗衣机，所述洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；
    当所述第一洗涤筒的重量和第二洗涤筒的重量相等时所述目标筒的最大脱水转速不小于当所述第一洗涤筒的重量和第二洗涤筒的重量不相等时所述目标筒的最大脱水转速。
  14. 根据权利要求9所述的洗衣机，所述洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；所述第一洗涤筒和第二洗涤筒分别位于经过目标筒转轴的垂直面的两侧；
    所述重量检测器，用于检测第一洗涤筒的重量和第二洗涤筒的重量；响应于所述第一洗涤筒的重量变化和/或所述第二洗涤筒的重量变化，根据第一洗涤筒的重量和第二洗涤筒的重量确定所述目标筒的配重；
    所述驱动器，用于根据所述目标筒的变化后的配重，以及所述第一洗涤筒的重量和所述第二洗涤筒的重量的差值，调整所述目标筒的脱水转速。
  15. 根据权利要求14所述的洗衣机，所述驱动器具体用于控制所述目标筒的脱水转速小于所述目标筒的变化后的配重对应的共振转速区间；
    或，所述驱动器具体用于控制所述目标筒的脱水转速大于所述目标筒的变化后的配重对应的共振转速区间；
    或，所述驱动器具体用于控制所述目标筒的脱水转速在转速变化过程中，以预定速度变化率通过所述目标筒的变化后的配重对应的共振转速区间，其中所述预定转速变化速率大于所述脱水转速位于所述目标筒的变化后的配重对应的共振区间外时的速度变化率，其中所述脱水转速在所述共振转速区间按照所述预定速度变化率减小或和增大。
  16. 根据权利要求14所述的洗衣机，所述洗衣机包含目标筒、第一洗涤筒以及第二洗涤筒；所述第一洗涤筒和第二洗涤筒分别位于经过目标筒转轴的垂直面的两侧；
    所述重量检测器，用于检测第一洗涤筒的重量和第二洗涤筒的重量；
    所述驱动器，用于根据所述第一洗涤筒的重量和所述第二洗涤筒的重量，通过查表的方法获取所述目标筒的调整后的脱水转速，其中所述表中包含第一 洗涤筒的重量、第二洗涤筒的重量以及目标筒的脱水转速三者之间的对应关系。
PCT/CN2018/103533 2017-09-06 2018-08-31 洗衣机的控制方法及洗衣机 WO2019047777A1 (zh)

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