WO2020006883A1 - 衣物处理装置的平衡控制方法、装置和衣物处理装置 - Google Patents

衣物处理装置的平衡控制方法、装置和衣物处理装置 Download PDF

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Publication number
WO2020006883A1
WO2020006883A1 PCT/CN2018/106417 CN2018106417W WO2020006883A1 WO 2020006883 A1 WO2020006883 A1 WO 2020006883A1 CN 2018106417 W CN2018106417 W CN 2018106417W WO 2020006883 A1 WO2020006883 A1 WO 2020006883A1
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WIPO (PCT)
Prior art keywords
vibration
water
chamber
degree
threshold
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PCT/CN2018/106417
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English (en)
French (fr)
Inventor
沈靖皓
高弘锡
张肃
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无锡小天鹅电器有限公司
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Publication of WO2020006883A1 publication Critical patent/WO2020006883A1/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
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/20—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations
    • D06F37/22—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations in machines with a receptacle rotating or oscillating about a horizontal axis
    • D06F37/225—Damping vibrations by displacing, supplying or ejecting a material, e.g. liquid, into or from counterbalancing pockets
    • 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
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/02—Rotary receptacles, e.g. drums
    • D06F37/04—Rotary receptacles, e.g. drums adapted for rotation or oscillation about a horizontal or inclined axis

Definitions

  • the present application relates to the technical field of home appliances, and in particular, to a balance control method and device for a clothes processing device, and a clothes processing device.
  • the laundry processing device is unbalanced due to the uneven distribution of the laundry.
  • a weight is usually added to the water holding unit of the laundry processing device, and a suspension spring and a bottom shock absorption system are used to Reduces vibration when the laundry treatment device is spinning.
  • the effect is not ideal, and the vibration amplitude of the laundry processing device during high-speed dehydration is still large.
  • the laundry treatment device reduces the vibration during dehydration by adding liquid or steel ball balancing devices to the front and rear ends of the inner tub.
  • This application is intended to solve at least one of the technical problems in the related technology.
  • the present application proposes a balance control method for a laundry processing device, so as to realize the water injection balance control of the laundry processing device according to the detected vibration signal under the control of different motor speeds during the dewatering process to ensure the laundry processing
  • the vibration of the device during the entire dehydration process is very small, which solves the technical problem that the clothes treatment device in the prior art has a large vibration when dehydrating at high speed.
  • the present application proposes a balance control device for a laundry treatment device.
  • the present application proposes a clothes processing apparatus.
  • the present application proposes a computer-readable storage medium.
  • An embodiment of the first aspect of the present application proposes a balance control method for a laundry processing apparatus, including:
  • a predetermined amount of water is injected into each chamber of the balancing device, and a vibration signal is obtained after each chamber is filled with water; the vibration signal is used to indicate the degree of vibration of the laundry treatment device;
  • Water is injected into the target chamber to reduce vibration of the laundry treatment apparatus.
  • the injecting water into the target chamber to reduce the vibration of the laundry processing apparatus includes:
  • the degree of vibration of the laundry treatment device is less than a first threshold
  • the degree of vibration of the laundry treatment device increases after water injection.
  • the first threshold is determined according to a rotation speed of a motor of the laundry processing apparatus.
  • each of the at least two balancing devices has a corresponding first threshold.
  • the target chambers are at least two;
  • the injecting water into the target chamber includes:
  • the number of the chambers is n, where n is a natural number greater than or equal to 2, and according to a vibration signal obtained after water injection in each chamber, Selecting a target chamber from each chamber of the balancing device includes:
  • n vibration signals obtained after water injection in n chambers determine the degree of vibration change before and after water injection in n chambers
  • At most (n-1) target cavities are selected from the n cavities; wherein the vibrations of the at most (n-1) target cavities are reduced after water injection.
  • the degree of smallness is greater than or equal to the degree of vibration reduction of the unselected chamber after water injection.
  • the method before injecting a preset amount of water into each chamber of the balancing device, the method further includes:
  • the vibration signal obtained before the water injection of the balancing device it is determined that the degree of vibration is greater than or equal to a second threshold; wherein the second threshold is greater than or equal to the first threshold.
  • the second threshold is determined according to a rotation speed of a motor of the laundry processing apparatus.
  • each of the at least two balancing devices has a corresponding second threshold value
  • the determining that the degree of vibration is greater than or equal to a second threshold based on a vibration signal obtained before the water injection of the balancing device includes:
  • the degree of vibration is greater than or equal to a corresponding second threshold.
  • the balance control method further includes:
  • the motor rotation speed of the laundry processing device is increased.
  • the injecting a preset amount of water into each chamber of the balancing device, and obtaining a vibration signal after each chamber is filled with water includes:
  • the steps of injecting a preset amount of water and acquiring a vibration signal after injecting water are continued to the subsequent chambers.
  • the third threshold is determined according to a rotation speed of a motor of the laundry processing apparatus.
  • each of the at least two balancing devices has a corresponding third threshold.
  • the method before injecting a preset amount of water into each chamber of the balancing device, the method further includes:
  • each balancing device has a corresponding vibration signal; before the predetermined amount of water is injected into each chamber of the balancing device ,Also includes:
  • the corresponding water injection sequence of the at least two balancing devices is determined.
  • the at least two balancing devices include a first balancing device provided at a front end of a washing unit of the laundry processing device, and a first balancing device provided at the laundry processing device.
  • the determining the water injection sequence of the at least two balancing devices according to the magnitude relationship between the vibration levels indicated by the corresponding vibration signals includes:
  • the degree of vibration indicated by the vibration signal corresponding to the second balancing device is greater than the degree of vibration indicated by the vibration signal corresponding to the first balancing device, it is determined that the water injection sequence of the second balancing device precedes the first balancing device.
  • the method further includes:
  • the balance control process includes: injecting a preset amount of water into each chamber of the balancing device, obtaining a vibration signal after each chamber is filled with water, and obtaining a vibration signal after each chamber is filled with water; according to each chamber A vibration signal obtained after water injection, selecting a target chamber from each chamber of the balancing device; and injecting water into the target chamber to reduce the vibration of the laundry processing device.
  • the fourth threshold is determined according to a rotation speed of a motor of the laundry processing apparatus.
  • the method before injecting a preset amount of water into each chamber of the balancing device, and before acquiring vibration signals after each chamber is filled with water, the method further includes:
  • a vibration signal obtained after the clothing shaking process is performed it is determined that the degree of vibration of the clothing processing device is less than a fifth threshold.
  • the vibration signal is obtained by detecting acceleration or displacement.
  • the laundry processing device is controlled to perform a dehydration process; during the dehydration process, a predetermined amount of water is injected into each chamber of the balance device, and a vibration signal is obtained after each chamber is filled with water. ;
  • the vibration signal is used to indicate the degree of vibration of the laundry processing device; according to the vibration signal obtained after each chamber is filled with water, the target chamber is selected from each chamber of the balance ring; the target chamber is filled with water to reduce the laundry processing device Vibration.
  • the degree of vibration of the clothing processing device is less than a sixth threshold according to a vibration signal obtained during the dehydration process. If the degree of vibration is greater than or equal to the sixth threshold, the rotation speed of the laundry processing apparatus is reduced.
  • an embodiment of the second aspect of the present application proposes a balance control device for a laundry treatment device, including:
  • a control module configured to control the laundry processing device to perform a dehydration process
  • a water injection module is configured to inject a preset amount of water into each chamber of the balancing device during the dehydration process, and obtain a vibration signal after each chamber is filled with water; the vibration signal is used to instruct the laundry processing device Degree of vibration
  • a selection module for selecting a target chamber from each chamber of the balancing device according to a vibration signal obtained after the chambers are filled with water;
  • the water injection module is further configured to continue to inject water into the target cavity to reduce vibration of the laundry processing device.
  • the balance control device of the laundry processing device performs a dehydration process by controlling the laundry processing device.
  • the water volume corresponding to the rotation speed of the motor is injected into each chamber of the balance device, and obtained after each chamber is filled with water.
  • the vibration signal is used to indicate the degree of vibration of the laundry treatment device; according to the vibration signal obtained after each chamber is filled with water, the target chamber is selected from each chamber of the balancing device; the target chamber is filled with water to reduce the laundry Processing device vibration.
  • the balance device is filled with water in two stages.
  • the vibration degree of the clothes treatment device in each stage of the dehydration process is controlled to ensure that the clothes treatment device is in the entirety.
  • the vibration amplitude is kept small during the dehydration process, which solves the technical problem that the clothes treatment device in the prior art has a large vibration during high-speed dehydration.
  • an embodiment of the third aspect of the present application provides a clothes processing apparatus, including a control board, a processor, and a memory for storing executable instructions of the processor; wherein, the processor reads the memory by The executable program code stored in the program executes a program corresponding to the executable program code, and is used to execute the balance control method of the laundry processing apparatus according to the embodiment of the first aspect.
  • an embodiment of the fourth aspect of the present application proposes a computer-readable storage medium on which a computer program is stored, which is characterized in that the program, when executed by a processor, implements clothing as proposed in the foregoing embodiment of the present application.
  • Balance control method of processing device when executed by a processor, implements clothing as proposed in the foregoing embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a balance control method for a clothes processing apparatus according to Embodiment 1 of the present application;
  • FIG. 1 is a schematic flowchart of a balance control method for a clothes processing apparatus according to Embodiment 1 of the present application;
  • FIG. 2 is a schematic structural diagram of a clothing processing device with an active balance control function of the present application
  • FIG. 3 is a schematic flowchart of a method for controlling a balance of a laundry processing apparatus provided in Embodiment 2 of the present application;
  • FIG. 4 is a schematic flowchart of a balance control method for a laundry treatment apparatus provided in Embodiment 3 of the present application;
  • FIG. 5 is a schematic structural diagram of a balance control device for a laundry treatment device according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a clothes processing apparatus according to an embodiment of the present application.
  • a clothing processing device implements vibration control by establishing a system model, analyzing vibration signals such as force, rotation speed, rotation angle, acceleration, and displacement, and analyzing the position and size of the eccentricity according to the established system model.
  • vibration control by establishing a system model, analyzing vibration signals such as force, rotation speed, rotation angle, acceleration, and displacement, and analyzing the position and size of the eccentricity according to the established system model.
  • the laundry treatment device is a complex system, the accuracy of the system model established is low, and it takes a long time to calculate the model, which results in an unsatisfactory effect on the vibration control, which makes the laundry treatment device dehydrate.
  • the vibration at the time is still large.
  • the balance device is filled with water twice.
  • the vibration signal detected during the first water injection During the second water injection, only part of the chamber is filled with water, which reduces the degree of vibration.
  • water injection and balance actions can be performed on the laundry treatment device to achieve vibration control, and There is no need to establish a system model to analyze the position and size of the eccentricity.
  • FIG. 1 is a schematic flowchart of a balance control method for a laundry treatment apparatus according to an embodiment of the present application.
  • the structure of the laundry processing apparatus performing the balance control method shown in FIG. 1 may be as shown in FIG. 2, which is a schematic structural diagram of a laundry processing apparatus having an active balance control function of the present application.
  • the laundry treatment device includes a cabinet 20, a water holding unit 12, a washing unit 13, a driving motor 14, a first balancing device 15, a second balancing device 16, a first water supply unit 17, a second water supply unit 18, a first The detection unit 21 and the second detection unit 22.
  • the washing unit 13 is used for containing laundry, and is supported by a horizontal or inclined rotating shaft to rotate it; the driving motor 14 is used to drive the washing unit 13 to rotate; the water holding unit 12 is used to receive the washing unit 13;
  • a balancing device 15 and a second balancing device 16 are both hollow inside and are divided into a plurality of chambers.
  • the first balancing device 15 is disposed at the front end of the washing unit 13 and the second balancing device 16 is disposed at the rear end of the washing unit 13;
  • the water supply unit 17 is disposed at the front end of the water holding unit 12, and the second water supply unit 18 is disposed at the rear end of the water holding unit 12.
  • the first detection unit 21 is disposed at the front end of the water holding unit 12, and the second detection unit 22 is disposed at the water holding unit.
  • the rear end of the unit 12, and the detection unit is used to detect the vibration of the front end and the rear end of the water holding unit 12.
  • the balance control method of the laundry processing apparatus includes the following steps:
  • step 101 the laundry processing device is controlled to perform a spin-drying process.
  • the laundry treatment device Before the dehydration process is performed, the laundry treatment device is in a washing or rinsing state. Therefore, after the washing and rinsing process is completed, the drainage pump starts to drain the water holding unit 12 and after the drainage is finished, the driving motor 14 is controlled The washing unit 13 is driven to rotate from low speed to high speed, and the dehydration process is started.
  • the driving motor 14 is at a low rotation speed, which drives the washing unit 13 to perform a clothing shaking process, and the clothing processing device shakes and redistributes the clothing through a motion such as a beat at a low rotation speed. If the laundry is unevenly distributed, forcing it to dry at a high speed will cause excessive vibration or displacement of the laundry processing device, causing damage to its and its surroundings.
  • the drive motor 14 may be designed as a direct drive motor or a belt drive.
  • step 102 during the dehydration process, a predetermined amount of water is injected into each chamber of the balancing device, and a vibration signal is obtained after each chamber is filled with water.
  • the vibration signal is used to indicate the degree of vibration of the laundry processing apparatus.
  • the laundry processing device is provided with at least two balancing devices.
  • the laundry processing device that executes the balance control method of this embodiment is provided with two balancing devices.
  • the laundry processing device includes a washing unit provided in the laundry processing device.
  • Each balancing device is hollow inside and includes n chambers, where n is a natural number greater than or equal to two.
  • the laundry treatment device includes a first water supply portion 17 and a second water supply portion 18 that inject water into each chamber of the two balance devices.
  • the first water supply portion 17 is disposed at the front end of the water holding unit 12 and is used to feed the first balance device 15.
  • the second water supply unit 18 is disposed at the rear end of the water holding unit 12 and is used to inject water into each chamber of the second balancing device 16.
  • the vibration signal is obtained by detecting the acceleration or displacement by the vibration detection unit of the clothes processing device, and is used to indicate the degree of vibration of the clothes processing device.
  • the vibration detection unit includes a first detection unit 21 and a second detection unit 22.
  • the acceleration or displacement sensor detects the acceleration or displacement of the front and rear ends of the water holding unit 12, and the detection unit uploads the detected data to the control board to control
  • the board performs final calculations to determine the vibration of the laundry treatment device and the degree of change in vibration of each chamber of the balancing device before and after water injection.
  • each balancing device corresponds to a vibration signal. More specifically, during the dehydration process, tentative water injection is performed into each chamber of the balancing device, and the tentative water injection is performed according to a preset amount of water. Before tentative water injection into each chamber of the balancing device, first, according to the motor of the laundry treatment device Speed determines the preset amount of water to be injected. The preset water amount is a preset water injection amount.
  • the first detection unit 21 and the second detection unit 22 of the laundry washing device need to detect the vibration level of the front end and the rear end of the water holding unit 12 in real time, and each time the balance process is performed, the vibration level of the vibration signals corresponding to the two balance devices is required. Compare them, and finally determine the water injection sequence of the corresponding two balancing devices according to the magnitude relationship between the vibration levels indicated by the corresponding vibration signals.
  • the first water supply unit 17 first injects water corresponding to the speed of the motor into each chamber of the first balance device 15; if the vibration level indicated by the vibration signal corresponding to the second balance device 16 is greater than the vibration indicated by the corresponding vibration signal of the first balance device 15
  • the degree of water injection of the second balancing device 16 is determined before the first balancing device 15 and the second water supply unit 18 first injects water into the chambers of the second balancing device 16 corresponding to the motor speed.
  • the motor speed varies with the amount of water injected. .
  • a vibration signal corresponding to each chamber is obtained, and a degree of change in vibration before and after water injection in each chamber is determined. Since each balancing device includes n chambers, the n vibration signals obtained after the n chambers are filled with water are used to determine the degree of vibration changes before and after the n chambers are filled with water.
  • Step 103 Select a target chamber from each chamber of the balancing device according to the vibration signals obtained after the chambers are filled with water.
  • each balancing device of the laundry treatment device includes n chambers, where n is a natural number greater than or equal to 2, and n vibration signals are obtained after tentative water injection into the n chambers of the balancing device, and the n chambers can be determined. Degree of vibration change before and after water injection. According to the vibration changes of the n chambers of the balancing device before and after water injection, at most (n-1) target chambers are selected from the n chambers. For example, when the balancing device includes three chambers, two of the chambers may be selected as the target chamber.
  • the n chambers of the balancing device are filled with water corresponding to the current motor rotation speed, and then the vibration changes of the n chambers of the balancing device before and after water injection are taken from the n chambers.
  • the chambers that are favorable for vibration attenuation are selected as the target chambers, and at least (n-1) target chambers are selected. If n chambers of the balancing device are selected as the target chambers, not only the water injection efficiency is reduced, but also the effect of reducing the degree of vibration is not ideal. Therefore, at most (n-1) target chambers can be selected. Among them, at most (n-1) target chambers, the degree of vibration reduction after water injection is greater than or equal to the degree of vibration reduction of unselected chambers after water injection.
  • step 104 water is injected into the target chamber to reduce vibration of the laundry processing device.
  • step 103 inject water into a maximum of (n-1) target chambers selected in step 103 to ensure that the amount of water injected into each target chamber at each time conforms to a preset amount of water, and sequentially order up to (n-1) target chambers. Fill each target chamber with water.
  • the preset amount of water is the amount of water preset by the control board of the laundry treatment device to achieve a desired degree of vibration according to different motor speeds.
  • the vibration signal corresponding to the balancing device is obtained again, and the degree of vibration of the vibration signal is determined based on the vibration signal obtained again. If the degree of vibration weakens, the balance control process is successful, The spin speed of the driving motor 14 may be increased to perform the dehydration process. If the degree of vibration increases after water injection, the wheel balance control process is unsuccessful, stop injecting water into the target chamber, continue to maintain the rotation speed of the drive motor 14, restart execution of step 102, and then perform the balance control process again.
  • the balance control process includes: injecting a preset amount of water into each chamber of the balance device of the laundry treatment device according to the motor speed of the laundry treatment device, and obtaining a vibration signal after each chamber is filled with water according to the water injection in each chamber The vibration signal obtained afterwards, selecting a target chamber from each chamber of the balancing device; and filling the target chamber with water to reduce the vibration of the laundry processing device.
  • the laundry processing apparatus is controlled to perform a dehydration process; during the dehydration process, the chambers of the balance apparatus of the laundry processing apparatus are injected with water corresponding to the rotation speed of the motor, and The vibration signal is obtained after the chamber is filled with water; the vibration signal is used to indicate the degree of vibration of the laundry treatment device; according to the vibration signal obtained after the chamber is filled with water, the target chamber is selected from each chamber of the balance device; the target chamber is filled with water.
  • the water is injected into the balancing device into two water injections, that is, the first tentative injection of water in each chamber and the second injection of balanced water in the target chamber.
  • First threshold value After injecting a preset amount of water into each chamber of the balancing device, a target chamber is selected from each chamber, and the threshold value of the vibration level indicated by the vibration signal after the target chamber is filled with water is the first threshold value.
  • Second threshold The threshold of the degree of vibration used to determine whether to perform the step of injecting a predetermined amount of water into each chamber of the balancing device is a second threshold, wherein the second threshold is greater than or equal to the first threshold.
  • Third threshold During the process of injecting a preset amount of water into each chamber of the balancing device, the threshold value of the degree of vibration used to determine whether to perform the step of injecting a preset amount of water into subsequent chambers is a third threshold, where the third threshold is greater than or equal to the first Threshold.
  • the threshold value of the vibration level indicated by the vibration signals corresponding to the at least two balancing devices should satisfy the fourth threshold, where the fourth threshold is greater than the A threshold.
  • the threshold that the degree of vibration should meet after the clothing shaking process is performed is the fifth threshold.
  • the threshold that the vibration level should always satisfy during the dehydration process is the sixth threshold.
  • the first threshold value, the second threshold value, the third threshold value, and / or the fourth threshold value are determined according to the rotation speed of the motor of the laundry processing apparatus.
  • the at least two balancing devices respectively have corresponding vibration signals and corresponding first threshold values, second threshold values, and third threshold values.
  • the values of the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, and the fifth threshold value will be further introduced in combination with the balance control method, and details are not described herein again.
  • FIG. 3 is a schematic flowchart of a balance control method for a laundry processing apparatus provided in Embodiment 2 of the present application.
  • the structure of the laundry processing apparatus that executes the balance control method shown in FIG. 3 may also be the laundry processing apparatus shown in FIG. 2.
  • the balance control method of the laundry processing apparatus may include the following steps:
  • Step 201 In the process of controlling the laundry processing device to perform the dehydration process, determine whether the vibration degree of the laundry processing device is less than a sixth threshold according to the acquired vibration signal. If the vibration degree of the laundry processing device is greater than or equal to the sixth threshold, reduce the laundry. Speed of the processing device.
  • the vibration degree of the laundry processing device should always meet the requirement of the sixth threshold.
  • the sixth threshold value is a fixed value determined according to a structural gap between the water holding unit 12 and the cabinet 20. That is, the sixth threshold value does not change with the change of the rotation speed. Further, the sixth threshold value is greater than the first threshold value to the fifth threshold value. Therefore, the protection of the dehydration process is realized to a minimum, and once the vibration degree reaches the sixth threshold, the motor 14 is controlled to reduce the speed immediately to avoid the situation where the water-containing unit 12 hits the box 20.
  • Step 202 In the initial stage of controlling the laundry processing device to perform the spin-drying process, perform a laundry shake process.
  • the laundry treatment device Before the dehydration process is performed, the laundry treatment device is in a washing or rinsing state. Therefore, after the washing and rinsing process ends, the drain pump starts to drain the water holding unit 12, and after the emptying, controls the driving motor 14 The washing unit 13 is driven to rotate from low speed to high speed, and the dehydration process is started.
  • the drive motor 14 may be designed as a direct drive motor or a belt drive.
  • the driving motor 14 is at a low rotation speed, which drives the washing unit 13 to perform a clothing shaking process, and the clothing processing device breaks down and redistributes the laundry through a motion such as a knock at a low rotation speed.
  • the degree of vibration of the laundry treatment device is less than the fifth threshold, it is determined whether the current condition can increase the motor speed to the first water injection control stage.
  • step 203 may be performed.
  • the drive motor 14 may be designed as a direct drive motor or a belt drive.
  • the vibration signal is obtained by detecting the acceleration or displacement by the vibration detection unit of the clothes processing device, and is used to indicate the degree of vibration of the clothes processing device.
  • the vibration detection is to detect the acceleration or displacement of the front and rear ends of the water holding unit 12 through an acceleration sensor or a displacement sensor.
  • the detection unit uploads the detected data to the control board, and the control board performs the final calculation to determine the vibration of the laundry treatment device. And the degree of vibration change of each chamber of the balancing device before and after water injection.
  • the rotation speed of the motor is different from the motor speed used in the subsequent dehydration process. Therefore, the value of the fifth threshold used in the shaking process is different from the first threshold used in the subsequent dehydration process.
  • the correlation between the values from the fourth threshold to the fourth threshold is relatively small. Here, the values from the first threshold to the fourth threshold are no longer compared with the fifth threshold.
  • step 203 during the dehydration process, tentative water injection is performed into each chamber of the balancing device, the tentative water injection is performed according to a preset amount of water, and a vibration signal is obtained after each chamber is filled with water.
  • each balancing device has a corresponding vibration signal
  • each balancing device further includes n chambers, where n is a natural number greater than or equal to two.
  • n is selected as 3 in this embodiment, that is, each balancing device includes 3 chambers. Specifically, during the dehydration process, according to the rotation speed of the motor of the laundry treatment device, the three chambers of the balance device of the laundry treatment device are injected before the amount of water corresponding to the rotation speed of the motor. First, it is determined whether the degree of vibration of the clothes treatment device is greater than or equal to a second threshold value according to the vibration signal obtained before the balance device is filled with water; wherein the second threshold value is greater than or equal to the first threshold value, and the second threshold value is based on the clothes treatment device's The motor speed is determined.
  • the degree of vibration indicated by the corresponding vibration signal is compared; and according to the magnitude relationship between the degrees of vibration indicated by the corresponding vibration signal, the water injection sequence of the corresponding at least two balancing devices is determined.
  • each of the at least two balancing devices has a corresponding second threshold.
  • the first water supply unit 17 first injects water corresponding to the speed of the motor into each chamber of the first balance device 15; if the vibration level indicated by the vibration signal corresponding to the second balance device 16 is greater than the vibration indicated by the corresponding vibration signal of the first balance device 15 It is determined that the water injection sequence of the second balancing device 16 precedes the first balancing device 15, and the second water supply unit 17 first injects water corresponding to the speed of the motor into each chamber of the second balancing device 16.
  • the water injection process can be performed at different motor rotation speed stages. In this embodiment, it is set to once at 120r / min, once at 170r / min, once at 240r / min, once at 340r / min, and once at 500r / min.
  • the motor rotation speed stage of the water injection device is only an example, and is not limited to these rotation speeds.
  • the selection of the motor speed can be adjusted according to the vibration degree of the clothes treatment device. If the vibration degree is low, the water injection step can be skipped and the dehydration process can be directly performed.
  • the laundry processing device is provided with at least two balancing devices, including a first balancing device 15 provided at the front end of the washing unit of the laundry processing device, and a second balancing device provided at the rear end of the washing unit of the laundry processing device.
  • the laundry treatment device includes a first water supply portion 17 and a second water supply portion 18 that inject water into the chambers of the two balance devices. 15 is filled with water in each chamber; the second water supply unit 18 is arranged at the rear end of the water holding unit 12 and is used to fill water into each chamber of the second balance device 16.
  • the vibration level indicated by the first balance device 15 corresponding to the vibration signal is greater than the vibration level indicated by the second balance device 16 corresponding to the vibration signal, it is determined that the water injection sequence of the first balance device 15 precedes the second balance device 16, and the first water supply unit 17 first Fill each chamber of the first balancing device 15 with water corresponding to the speed of the motor; if the degree of vibration indicated by the corresponding vibration signal of the second balancing device 16 is greater than that indicated by the corresponding vibration signal of the first balancing device 15, determine the second balancing device The water injection sequence 16 precedes the first balancing device 15, and the second water supply unit 18 first injects water corresponding to the speed of the motor into each chamber of the second balancing device 16.
  • each chamber is filled with a preset amount of water one by one, and according to the vibration signal obtained after the current chamber is filled with the preset amount of water, the degree of vibration of the clothes processing device is determined, and whether the degree of vibration of the clothes processing device is less than the third Threshold. If the degree of vibration is greater than or equal to the third threshold value, the steps of injecting a preset amount of water and obtaining a vibration signal after the water injection are performed on the subsequent chambers of the balancing device; if the degree of vibration is less than the third threshold value, stop performing the injection presetting on the subsequent chambers The step of obtaining the vibration signal after the amount of water and water injection; increase the speed of the motor of the laundry treatment device, and then perform step 202 again.
  • the third threshold is determined according to the rotation speed of the motor of the laundry processing apparatus, and when there are at least two balancing apparatuses, the at least two balancing apparatuses respectively have corresponding third thresholds.
  • the third threshold may be greater than or equal to the first threshold.
  • the degree of vibration after the water is injected into the target chamber should be less than the degree of vibration before the water is injected.
  • the degree of vibration meets the third threshold before water is injected into the target chamber, it is not necessary to perform the step of injecting water into the subsequent target chamber, although The degree of vibration is not optimized, but operating efficiency is improved.
  • the third threshold may be set to be smaller than the second threshold.
  • the degree of vibration after injecting a predetermined amount of water into each chamber should be less than the degree of vibration before injecting a predetermined amount of water, so in a scenario, after injecting a predetermined amount of water into each chamber After taking a certain amount of time, the degree of vibration was further optimized, although it took a certain amount of time.
  • the degree of vibration satisfies the second threshold before the preset amount of water is injected into each chamber, there is no need to perform the The step of injecting a predetermined amount of water into each chamber improves the operating efficiency, although the degree of vibration has not been optimized.
  • Step 204 Select a target chamber from each chamber of the balancing device according to the vibration signals obtained after the chambers are filled with water.
  • the degree of vibration changes before and after the three chambers are filled with water is determined. , Select at most 2 target chambers; among them, at most 2 target chambers, the degree of vibration reduction after water injection is greater than that of the unselected chambers after water injection.
  • the three chambers of the balancing device are filled with tentative water.
  • the tentative water is injected according to a preset amount of water. Based on the three vibration signals obtained after the tentative water injection, it is determined whether the three vibration signals are smaller than their corresponding ones.
  • the third threshold If the vibration signal corresponding to each balancing device is less than its corresponding third threshold, skipping the water injection link can increase the motor speed of the laundry processing device to a higher speed for dehydration; if the vibration signal corresponding to each balancing device is greater than Equal to its corresponding third threshold, then select at most 2 target chambers effective for vibration reduction, and continue to step 205.
  • the third threshold is determined according to the rotation speed of the motor of the laundry processing apparatus, and when there are at least two balancing apparatuses, the at least two balancing apparatuses respectively have corresponding third thresholds.
  • Step 205 cyclically inject water to the target chamber, and obtain vibration signals again. Based on the vibration signals obtained again, it is determined that the vibration degree of the clothes processing device is weakened, and the vibration degree of the clothes treatment device is increased after water injection. At one point, stop filling.
  • water is cyclically injected into at most two target chambers selected in step 204, and the amount of water injected into each target chamber at a time conforms to a preset amount of water.
  • the preset water amount is a water amount preset by the control board of the laundry treatment device to achieve a desired degree of vibration.
  • the target chamber is filled with water, and the vibration signal is obtained again. According to the vibration signal obtained again, it is determined that the degree of vibration of the laundry treatment device is less than the first threshold value, and when the degree of vibration of the laundry treatment device increases after the water is injected, the water injection is stopped to complete the water injection to the balance device. control.
  • the vibration signal of the water injection balancing device will be affected by the water injection balancing device. Therefore, after stopping the water injection to the target chambers of the at least two balancing devices, according to each balance, Whether the corresponding vibration signal of the device is less than a corresponding fourth threshold value, determines whether the current round of balance control process is successful; wherein the fourth threshold value is greater than the first threshold value. If the current balance control process is successful, increase the rotation speed of the motor of the laundry treatment device and start the next round of balance control; if the current balance control process is not successful, maintain the rotation speed of the motor of the laundry treatment device and re-execute This round balance control process.
  • the balance control process includes: tentatively injecting water into each chamber of the balancer according to the rotation speed of the motor of the laundry treatment device, tentatively injecting water according to a preset amount of water, and obtaining vibration signals after each chamber is filled with water, Vibration signals obtained after each chamber is filled with water, and the target chamber is selected from each chamber of the balancing device; the target chamber is filled with water to reduce the vibration of the laundry processing device.
  • the vibration signal of the balancing device that is filled with water first is affected by the balancing device that is filled with water later. Therefore, after each target chamber stops filling water, the balancing device
  • the corresponding fourth threshold is preferably larger than the first threshold and smaller than or equal to the second threshold. After the water injection is stopped in each chamber, the vibration degree corresponding to the balancing device is smaller than that of the clothes treatment device before water injection. If the fourth threshold is strictly required to be equal to the first threshold, the balance control process at the current stage may continue, and the next round of balance control process cannot be entered, which reduces the balance control efficiency of the laundry processing device.
  • the clothing shaking process is performed during the initial stage of controlling the laundry processing apparatus to perform the dewatering process; during the dehydration process, a predetermined amount of water is injected into each chamber of the balancing apparatus, After each chamber is filled with water, the vibration signal is obtained; according to the vibration signals obtained after each chamber is filled with water, the target chamber is selected from each chamber of the balancing device; the target chamber is circulated with water, which is obtained according to the process of water injection When the obtained vibration signal determines that the degree of vibration of the laundry processing apparatus is weakened, and when the degree of vibration of the laundry processing apparatus is increased after the water injection, the water injection is stopped.
  • FIG. 4 is a flow chart of a balance control method of the laundry processing device provided in Embodiment 3 of the present application.
  • a schematic diagram, as shown in FIG. 4, the balance control method of the laundry processing apparatus may include the following steps:
  • step 301 dehydration is started.
  • the laundry treatment device Before the dehydration process is performed, the laundry treatment device is in a washing or rinsing state. Therefore, after the washing and rinsing process ends, the drainage pump starts to drain the water holding unit, and after the drainage is finished, the driving motor is controlled to drive the washing The unit rotates from low speed to high speed to start the dehydration process.
  • Step 302 Collect vibration signals.
  • the vibration signal is obtained by detecting an acceleration or a displacement by a vibration detection unit of the laundry processing apparatus, and is used to indicate a degree of vibration of the laundry processing apparatus.
  • the vibration detection is to detect the acceleration or displacement of the front and back ends of the water holding unit of the laundry processing device through an acceleration sensor or a displacement sensor.
  • the detection unit uploads the detected data to the control board, and the control board performs the final calculation to determine the laundry processing device. Vibration situation.
  • Step 303 The low-speed clothing is shaken and distributed.
  • the washing unit is driven to rotate, and the laundry processing device shakes and redistributes the laundry through actions such as a beat at a low rotation speed, thereby avoiding the existence of a large eccentric mass. If the laundry is unevenly distributed, forcing it to dry at a high speed will cause excessive vibration or displacement of the laundry processing device, causing damage to its and its surroundings.
  • the drive motor can be designed as a direct drive motor or a belt drive.
  • Step 304 The vibration level is safely detected at a low rotation speed.
  • the vibration signal of the vibration level of the laundry processing device obtained after the laundry shaking process is performed is detected by Whether the degree of vibration of the clothes processing device is less than the fifth threshold, and judging whether the current condition can increase the motor speed to the first water injection control stage, and realize the safety detection of the vibration level at a low speed.
  • step 303 may be performed again to perform clothing jittering and distribution. If the degree of vibration of the laundry processing apparatus is less than the fifth threshold, step 305 may be performed.
  • step 305 the vibration is judged and controlled at a low rotation speed.
  • step 306 is performed to perform balance control on the laundry processing apparatus. If the degree of vibration of the laundry processing device is less than the second threshold, the vibration control of the laundry processing device does not need to be performed. The vibration control step may be skipped directly, and the motor speed of the laundry processing device is increased to determine whether balance control is required, that is, step 311 is performed. .
  • step 306 the vibration signals of the two front and rear balancing devices are compared.
  • the vibration signals of the two balancing devices at the front and rear of the water holding unit are detected, and the degree of vibration indicated by the corresponding vibration signal is compared. The size relationship between them determines the water injection sequence of the corresponding two balancing devices.
  • the two balancing devices include a first balancing device provided at the front end of the washing unit of the laundry treatment device, and a second balancing device provided at the rear end of the washing unit of the laundry treatment device. If the vibration level indicated by the first balance device corresponding to the vibration signal is greater than the vibration level indicated by the second balance device corresponding to the vibration signal, determine that the water injection sequence of the first balance device precedes the second balance device; if the second balance device corresponds to the vibration indicated by the vibration signal The degree is greater than the vibration level indicated by the corresponding vibration signal of the first balance device, and it is determined that the water injection sequence of the second balance device precedes the first balance device. After determining the water injection sequence of the two balancing devices according to the degree of vibration, the process proceeds to step 307.
  • step 307 the water injection link is tested by the prior balancing device.
  • tentative water injection is performed into each chamber of the first balancing device, and the tentative water injection is performed according to a preset water amount. Further, the preset amount of water corresponding to each chamber is equal. According to the vibration signals obtained after water injection in each chamber, the degree of vibration change before and after water injection in each chamber is determined. According to the degree of vibration change of each chamber before and after water injection, two chambers from which the vibration level is weakened are selected as equilibrium control water injection chambers, and the process proceeds to step 308. If the vibration degree of the laundry treatment device is less than the third threshold during the water injection test, the steps of injecting a preset amount of water and acquiring vibration signals after the water injection are stopped for subsequent chambers.
  • step 308 the water injection link is balanced by the prior balancing device.
  • water is injected into the two target chambers selected in the previous step, and a vibration signal is obtained during the water injection process.
  • a vibration signal is obtained during the water injection process.
  • step 309 the subsequent balancing device tests the water injection link.
  • tentative water injection is performed into each chamber of the second balancing device, and the tentative water injection is performed according to a preset water amount. Further, the preset amount of water corresponding to each chamber is equal.
  • the vibration signals obtained after water injection in each chamber the degree of vibration change before and after water injection in each chamber is determined.
  • two chambers from which the vibration level is weakened are selected as equilibrium control water injection chambers, and the process proceeds to step 308. If the vibration degree of the laundry treatment device is less than the third threshold during the water injection test, the steps of injecting a preset amount of water and acquiring vibration signals after the water injection are stopped for subsequent chambers.
  • step 310 the water injection link is balanced by the subsequent balancing device in sequence.
  • water is injected into the two target chambers selected in the previous step, and the vibration signal is obtained again.
  • the vibration signal obtained again it is determined that the degree of vibration of the laundry treatment device is less than the first threshold, and when the vibration degree of the laundry treatment device is increased after refilling with water, the water injection is stopped and the second balance device is completed. Water injection control link.
  • Step 311 Compare and judge the effect of the balance control.
  • the vibration signals corresponding to the two balancing devices are less than a fourth threshold value, and it is determined whether the current balancing control process is successful.
  • the fourth threshold is greater than the first threshold.
  • the balance control process includes: according to the motor speed of the laundry treatment device, each chamber of the balance device is filled with a preset amount of water, and a vibration signal is obtained after each chamber is filled with water. According to the vibration signal obtained after each chamber is filled with water, The target chamber is selected from the chambers of the balancing device; the target chamber is filled with water to reduce the vibration of the laundry processing device.
  • Step 312 Change the speed and control as required.
  • the rotation speed of the driving motor is increased, and each chamber of the balance device of the laundry treatment device is continuously detected to re-inject vibration signals before the amount of water corresponding to the rotation speed of the motor is re-determined to determine whether the vibration degree of the laundry treatment device is greater than or equal to the second threshold . If the degree of vibration at this time is greater than the second threshold value, maintaining this speed to enter the balance control link, that is, performing steps 306, 307, 308, 309, 310, and 311. If the degree of vibration at this time is less than the second threshold, step 313 is performed.
  • step 313 the dehydration is completed.
  • the motor speed of the laundry processing apparatus may be increased to a higher rotational speed to complete the dehydration process.
  • the laundry processing apparatus is controlled to perform a dehydration process; during the dehydration process, the vibration level of the laundry processing apparatus is safely detected and vibrated before the preset water amount is injected into each chamber of the balance apparatus Judgment and control of the water; check the vibration level of the front and back of the water holding unit to determine the water injection sequence of the balance device; after testing the water injection and balance water injection of each chamber of the balance device, determine the effect of the balance control; The speed is controlled as required to complete the dehydration program.
  • the water is injected into the balancing device into two water injections, that is, the first tentative injection of water in each chamber and the second injection of balanced water in the target chamber.
  • the present application also proposes a balance control device for a laundry treatment device.
  • FIG. 5 is a schematic structural diagram of a balance control device for a laundry treatment device according to an embodiment of the present application.
  • the balance control device of the laundry processing device includes a control module 110, a water injection module 120, and a selection module 130.
  • the control module 110 is configured to control the laundry processing apparatus to perform a spin-drying process.
  • the laundry processing device Before the dehydration process is performed, the laundry processing device is in a washing or rinsing state. Therefore, after the washing and rinsing process is completed, the drain pump starts to drain the water holding unit, and after emptying, the control module 110 controls the driving The motor drives the washing unit to rotate from low speed to high speed to start the dehydration process.
  • the water injection module 120 is configured to inject a predetermined amount of water into each chamber of the balancing device during the dehydration process, and obtain a vibration signal after each chamber is filled with water.
  • the vibration signal is used to indicate the degree of vibration of the laundry treatment apparatus.
  • the vibration signals of at least two balancing devices at the front and rear of the water holding unit are detected according to the current motor speed of the laundry treatment device, and the vibration levels indicated by the corresponding vibration signals are compared.
  • the magnitude relationship between the vibration levels indicated by the signals determines the water injection sequence of the corresponding at least two balancing devices.
  • the water injection module 120 is configured to determine a water injection sequence of the balance device, and then inject a preset amount of water into each chamber of the balance device of the laundry treatment device, and obtain a vibration signal after each chamber is filled with water.
  • the vibration signal is used to indicate the degree of vibration of the laundry processing device, and is obtained by detecting the acceleration or displacement through a vibration detection unit of the laundry processing device.
  • the water injection module 120 is also used to inject water into the target chamber to reduce the vibration of the laundry processing device.
  • the target chamber is filled with water, and the vibration signal is acquired again. According to the vibration signal obtained again, it is determined that the vibration degree of the laundry treatment device is weakened, and when the vibration degree of the laundry treatment device is increased with the amount of water injection, the water injection is stopped to complete the water injection control of the balance device.
  • a selecting module 130 is configured to select a target chamber from each chamber of the balancing device according to the vibration signals obtained after the chambers are filled with water.
  • the vibration reduction degree of at most 2 target chambers after water injection is larger than the vibration reduction degree of unselected chambers after water injection.
  • the balance control device of the laundry processing device performs a dehydration process by controlling the laundry processing device.
  • a predetermined amount of water is injected into each chamber of the balance device, and vibration signals are obtained after each chamber is filled with water.
  • the vibration signal is used to indicate the degree of vibration of the laundry treatment device; according to the vibration signal obtained after each chamber is filled with water, the target chamber is selected from each chamber of the balance device; the target chamber is filled with water to reduce the laundry treatment device Vibration.
  • the present application also proposes a clothes processing apparatus.
  • FIG. 6 is a schematic structural diagram of a clothes processing apparatus according to an embodiment of the present application.
  • the laundry processing apparatus includes: a control board 600, which is characterized in that the control board 600 includes a memory 601, a processor 602, and a computer program stored in the memory 601 and executable on the processor 602, the processor 602 When the program is executed, the balance control method proposed in the foregoing embodiment of the present application is implemented.
  • the present application also proposes a computer-readable storage medium on which a computer program is stored, which is characterized in that when the program is executed by a processor, the balance control method according to the embodiment of the first aspect is implemented.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality” is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.
  • any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for implementing steps of a custom logic function or process
  • the scope of the preferred embodiments of the present application includes additional implementations, in which the functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application pertain.
  • a sequenced list of executable instructions that can be considered to implement a logical function can be embodied in any computer-readable medium,
  • the instruction execution system, device, or device such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from the instruction execution system, device, or device), or combine these instruction execution systems, devices, or devices Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
  • each part of the application may be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • Discrete logic circuits with logic gates for implementing logic functions on data signals Logic circuits, ASICs with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGAs), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments may be implemented by a program instructing related hardware.
  • the program may be stored in a computer-readable storage medium.
  • the program is When executed, one or a combination of the steps of the method embodiment is included.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk.

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Abstract

一种衣物处理装置的平衡控制方法、装置和衣物处理装置，其中，衣物处理装置包括平衡装置（15,16），平衡装置包含多个腔室，方法包括：控制衣物处理装置执行脱水过程；在执行脱水过程中，向平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号；振动信号用于指示衣物处理装置的振动程度；根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动。该方法通过将向平衡装置注水分为两阶段注水，在第二阶段注水时仅对部分腔室注水使振动程度减弱，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。

Description

衣物处理装置的平衡控制方法、装置和衣物处理装置
相关申请的交叉引用
本申请要求美的小天鹅股份有限公司和美的集团股份有限公司于2018年7月4日提交的、发明名称为“衣物处理装置的平衡控制方法、装置和衣物处理装置”的、中国专利申请号“201810724754.X”的优先权。
技术领域
本申请涉及家电技术领域，尤其涉及一种衣物处理装置的平衡控制方法、装置和衣物处理装置。
背景技术
在脱水过程中，由于衣物的位置分布不均等原因导致衣物处理装置存在不平衡的情况，相关技术中，通常在衣物处理装置的盛水单元增加配重，同时利用悬挂弹簧和底部减震系统来减少衣物处理装置脱水时的振动。但是效果不理想，衣物处理装置在高速脱水时的振动幅度仍然较大。
然而，相关技术中，衣物处理装置在原有悬挂弹簧和底部减震系统基础上，通过在内桶前后端增加液体或钢珠平衡装置的方法降低脱水时的振动。
发明内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本申请提出一种衣物处理装置的平衡控制方法，以实现衣物在脱水过程中，通过控制对不同电机转速下，根据检测到的振动信号对衣物处理装置进行注水平衡控制，保证衣物处理装置在整个脱水过程中振动都很小，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
本申请提出一种衣物处理装置的平衡控制装置。
本申请提出一种衣物处理装置。
本申请提出一种计算机可读存储介质。
本申请第一方面实施例提出了一种衣物处理装置的平衡控制方法，包括：
控制所述衣物处理装置执行脱水过程；
在执行所述脱水过程中，向所述平衡装置的各腔室注入预设水量，并在各腔室注水后 获取振动信号；所述振动信号用于指示所述衣物处理装置的振动程度；
根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室；
对所述目标腔室注水，以减小所述衣物处理装置的振动。
作为本申请实施例的第一种可能的实现方式，所述对所述目标腔室注水，以减小所述衣物处理装置的振动，包括：
向所述目标腔室注水；
再次获取振动信号；
根据再次获取的振动信号，确定出现以下两者中任一种情况时，停止向所述目标腔室注水：
所述衣物处理装置的振动程度小于第一阈值；
所述衣物处理装置的振动程度在注水后增大。
作为本申请实施例的第二种可能的实现方式，所述第一阈值是根据所述衣物处理装置的电机转速确定的。
作为本申请实施例的第三种可能的实现方式，所述平衡装置为至少两个时，至少两个平衡装置分别具有对应的第一阈值。
作为本申请实施例的第四种可能的实现方式，所述目标腔室为至少两个；
所述向所述目标腔室注水，包括：
向至少两个目标腔室依次循环注水，每个目标腔室每次注入的水量符合设定水量。
作为本申请实施例的第五种可能的实现方式，所述腔室的个数为n个，其中n为大于等于2的自然数，所述根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室，包括：
根据n个腔室注水后获取到的n个振动信号，确定n个腔室注水前后振动变化程度；
根据所述n个腔室注水前后振动变化情况，从n个腔室中，选取至多(n-1)个目标腔室；其中，所述至多(n-1)个目标腔室注水后振动减小的程度大于或等于未选取的腔室注水后振动减小的程度。
作为本申请实施例的第六种可能的实现方式，所述向所述平衡装置的各腔室注入预设水量之前，还包括：
根据所述平衡装置注水前获取到的振动信号，确定振动程度大于或等于第二阈值；其中，所述第二阈值大于或等于所述第一阈值。
作为本申请实施例的第七种可能的实现方式，所述第二阈值是根据所述衣物处理装置的电机转速确定的。
作为本申请实施例的第八种可能的实现方式，所述平衡装置为至少两个时，至少两个 平衡装置分别具有对应的所述第二阈值；
所述根据平衡装置注水前获取到的振动信号，确定振动程度大于或等于第二阈值，包括：
根据所述至少两个平衡装置注水前获取到的振动信号，确定振动程度均大于或等于对应的第二阈值。
作为本申请实施例的第九种可能的实现方式，所述平衡控制方法还包括：
根据所述平衡装置注水前获取到的振动信号，确定出所述衣物处理装置的振动程度小于所述第二阈值时，提高所述衣物处理装置的电机转速。
作为本申请实施例的第十种可能的实现方式，所述向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号，包括：
逐个对各腔室执行注入预设水量以及注水后获取振动信号的步骤；
根据当前腔室注水后获取到的振动信号，判断所述衣物处理装置的振动程度是否小于第三阈值；其中，所述第三阈值大于或等于所述第一阈值；
若小于所述第三阈值，对后续腔室停止执行注入预设水量以及注水后获取振动信号的步骤；提高所述衣物处理装置的电机转速；
若大于或等于所述第三阈值，继续对后续腔室执行注入预设水量以及注水后获取振动信号的步骤。
作为本申请实施例的第十一种可能的实现方式，所述第三阈值是根据所述衣物处理装置的电机转速确定的。
作为本申请实施例的第十二种可能的实现方式，所述平衡装置为至少两个时，至少两个平衡装置分别具有对应的第三阈值。
作为本申请实施例的第十三种可能的实现方式，向所述平衡装置的各腔室注入预设水量之前，还包括：
根据所述衣物处理装置的电机转速，确定所述预设水量。
作为本申请实施例的第十四种可能的实现方式，所述平衡装置为至少两个，每一平衡装置具有对应的振动信号；所述向所述平衡装置的各腔室注入预设水量之前，还包括：
对至少两个平衡装置，比较对应振动信号指示的振动程度；
根据对应振动信号指示的振动程度之间的大小关系，确定对应的所述至少两个平衡装置注水顺序。
作为本申请实施例的第十五种可能的实现方式，所述至少两个平衡装置，包括设置于所述衣物处理装置的洗涤单元前端的第一平衡装置，以及设置于所述衣物处理装置的洗涤单元后端的第二平衡装置；
所述根据对应振动信号指示的振动程度之间的大小关系，确定对应的所述至少两个平衡装置注水顺序，包括：
若所述第一平衡装置对应振动信号指示的振动程度大于所述第二平衡装置对应振动信号指示的振动程度，确定所述第一平衡装置注水顺序先于所述第二平衡装置；
若所述第二平衡装置对应振动信号指示的振动程度大于所述第一平衡装置对应振动信号指示的振动程度，确定所述第二平衡装置注水顺序先于所述第一平衡装置。
作为本申请实施例的第十六种可能的实现方式，所述方法还包括：
对所述至少两个平衡装置中的目标腔室均停止注水后，根据至少两个平衡装置对应的振动信号是否均小于对应的第四阈值，确定本轮平衡控制过程是否成功；其中，所述第四阈值大于所述第一阈值；
若本轮平衡控制过程成功，则增加所述衣物处理装置的电机转速，并开始执行下一轮平衡控制过程；
若本轮平衡控制过程未成功，则维持所述衣物处理装置的电机转速，并重新执行本轮平衡控制过程；
其中，所述平衡控制过程，包括：向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号，并在各腔室注水后获取振动信号；根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室；对所述目标腔室注水，以减小所述衣物处理装置的振动的步骤。
所述第四阈值是根据所述衣物处理装置的电机转速确定的。
作为本申请实施例的第十七种可能的实现方式，所述向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号之前，还包括：
在所述脱水过程的初始阶段，执行衣物抖散过程；
根据执行所述衣物抖散过程之后获取到的振动信号，确定所述衣物处理装置的振动程度小于第五阈值。
所述振动信号是对加速度或者位移进行检测得到的。
本申请实施例的衣物处理装置的平衡控制方法，通过控制衣物处理装置执行脱水过程；在执行脱水过程中，向平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号；振动信号用于指示衣物处理装置的振动程度；根据各腔室注水后获取到的振动信号，从平衡环的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动。该方法通过将向平衡装置注水分为两次注水，在第二次注水时仅对部分腔室注水使振动程度减弱，控制衣物处理装置在脱水过程各阶段的振动程度，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
作为本申请实施例的第十八种可能的实现方式，根据执行所述脱水过程中获取到的振动信号，确定所述衣物处理装置的振动程度是否小于第六阈值，若所述衣物处理装置的振动程度大于等于所述第六阈值，则降低所述衣物处理装置的转速。
为达上述目的，本申请第二方面实施例提出了一种衣物处理装置的平衡控制装置，包括：
控制模块，用于控制所述衣物处理装置执行脱水过程；
注水模块，用于在执行所述脱水过程中，向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号；所述振动信号用于指示所述衣物处理装置的振动程度；
选取模块，用于根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室；
所述注水模块，还用于对所述目标腔室继续注水，以减小所述衣物处理装置的振动。
本申请实施例的衣物处理装置的平衡控制装置，通过控制衣物处理装置执行脱水过程；在执行脱水过程中，向平衡装置的各腔室注入电机转速对应的水量，并在各腔室注水后获取振动信号；振动信号用于指示衣物处理装置的振动程度；根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动。该方法通过将向平衡装置注水分为两阶段注水，在第二阶段注水时仅对部分腔室注水使振动程度减弱，控制衣物处理装置在脱水过程各阶段的振动程度，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
为达上述目的，本申请第三方面实施例提出了一种衣物处理装置，包括控制板、处理器、用于存储所述处理器可执行指令的存储器；其中，所述处理器通过读取存储器中存储的可执行程序代码来运行与可执行程序代码对应的程序，用于执行第一方面实施例所述的衣物处理装置的平衡控制方法。
为达上述目的，本申请第四方面实施例提出了一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如本申请前述实施例提出的衣物处理装置的平衡控制方法。
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1为本申请实施例一所提供的一种衣物处理装置的平衡控制方法的流程示意图；
图2为本申请的一种具有主动平衡控制功能的衣物处理装置结构示意图；
图3为本申请实施例二所提供的一种衣物处理装置的平衡控制方法的流程示意图；
图4为本申请实施例三所提供的一种衣物处理装置的平衡控制方法的流程示意图；
图5为本申请实施例所提供的一种衣物处理装置的平衡控制装置的结构示意图；以及
图6为本申请实施例所提供的一种衣物处理装置的结构示意图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
在脱水的过程中，由于衣物处理装置放置不平或者衣物的分布位置不均等原因导致衣物处理装置振动幅度较大。现有技术中，衣物处理装置通过建立系统模型，根据测量到的力、转速、转角、加速度、位移等振动信号，并依据建立的系统模型分析偏心的位置及大小，来实现振动控制。但是，实际使用中发现，衣物处理装置是一个复杂的系统，建立的系统模型准确度较低，模型计算时需要消耗较长的时间，导致对振动控制的效果不理想，使得衣物处理装置在脱水时的振动仍然较大。
针对上述现有技术中对衣物处理装置的平衡控制效果不理想的问题，本申请实施例中，将向平衡装置注水分为两次注水，根据第一次注水时检测到的振动信号，在第二次注水时仅对部分腔室注水，使振动程度减弱，同时，在不同电机转速阶段，根据检测到的振动信号的变化程度，对衣物处理装置进行注水与平衡动作即可实现振动控制，且无需建立系统模型分析偏心的位置及大小。
下面参考附图描述本申请实施例的衣物处理装置的平衡控制方法。
图1为本申请实施例所提供的一种衣物处理装置的平衡控制方法的流程示意图。
作为一种示例，执行图1所示的平衡控制方法的衣物处理装置的结构可以如图2所示，图2为本申请的一种具有主动平衡控制功能的衣物处理装置结构示意图。其中，衣物处理装置包括：箱体20、盛水单元12、洗涤单元13、驱动电机14、第一平衡装置15、第二平衡装置16、第一给水部17、第二给水部18、第一检测单元21、第二检测单元22。
其中，洗涤单元13，用于收容衣物，其被水平或倾斜的旋转轴支撑以使其旋转；驱动电机14，用于驱动洗涤单元13旋转；盛水单元12，用于收纳洗涤单元13；第一平衡装置15和第二平衡装置16均内部中空，分隔为多个腔室，第一平衡装置15配置于洗涤单元13的前端，第二平衡装置16配置于洗涤单元13的后端；第一给水部17配置于盛水单元12 的前端，第二给水部18配置于盛水单元12的后端；第一检测单元21配置在盛水单元12的前端，第二检测单元22配置在盛水单元12的后端，检测单元用于检测盛水单元12的前端和后端的振动。
如图1所示，该衣物处理装置的平衡控制方法包括以下步骤：
步骤101，控制衣物处理装置执行脱水过程。
具体地，在执行脱水过程之前，衣物处理装置处于洗涤或者漂洗状态，因此，在洗涤漂洗过程结束后，排水泵开始工作，对盛水单元12进行排水，并在排水结束后，控制驱动电机14带动洗涤单元13由低速到高速转动，开始执行脱水过程。
进一步的说明，在脱水过程的初始阶段，驱动电机14处于低转速下，带动洗涤单元13执行衣物抖散过程，衣物处理装置在低转速的情况下通过摔打等动作将衣物抖散重新分布。如果衣物分布不均匀就强行高速甩干，会造成衣物处理装置振动幅度过大或移位，对其及周围物品带来损害。其中，驱动电机14可以设计为直驱电机或者皮带传动驱动的形式。
步骤102，在执行脱水过程中，向平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号。
其中，振动信号用于指示衣物处理装置的振动程度。
衣物处理装置至少设有两个平衡装置，作为一种示例，执行本实施例的平衡控制方法的衣物处理装置设有两个平衡装置，如图2所示，包括设置于衣物处理装置的洗涤单元13前端的第一平衡装置15，以及设置于衣物处理装置的洗涤单元13后端的第二平衡装置16，每个平衡装置均内部中空，包括n个腔室，其中n为大于等于2的自然数。同时，衣物处理装置包括向两个平衡装置各腔室注水的第一给水部17和第二给水部18，第一给水部17配置于盛水单元12的前端，用于向第一平衡装置15的各腔室注水；第二给水部18配置于盛水单元12的后端，用于向第二平衡装置16的各腔室注水。
需要说明的是，振动信号是通过衣物处理装置的振动检测单元对加速度或者位移进行检测得到的，用于指示衣物处理装置的振动程度。振动检测单元包括第一检测单元21和第二检测单元22，通过加速度传感器或者位移传感器对盛水单元12前端和后端的加速度或者位移进行检测，检测单元将检测到的数据上传至控制板，控制板进行最终计算，来确定衣物处理装置的振动情况以及平衡装置的各腔室注水前后振动变化程度。
具体地，本实施例中的衣物处理装置的平衡装置为两个，每一个平衡装置对应一个振动信号。更具体的，在脱水过程中，向平衡装置的各腔室试探性注水，试探性注水按照预设水量注水，在向平衡装置的各腔室试探性注水前，首先，根据衣物处理装置的电机转速，确定注入的预设水量。其中，预设水量，是预先设定的注水量。衣物洗涤装置的第一检测单元21和第二检测单元22要实时检测盛水单元12前端和后端的振动程度大小，在每一次 执行平衡过程时需要对两个平衡装置对应的振动信号的振动程度进行比较，再根据对应振动信号指示的振动程度之间的大小关系，最终确定对应的两个平衡装置的注水顺序。
作为一种可能的实现方式，如果第一平衡装置15对应振动信号指示的振动程度大于第二平衡装置16对应振动信号指示的振动程度，确定第一平衡装置15的注水顺序先于第二平衡装置16，第一给水部17首先对第一平衡装置15的各个腔室注入对应电机转速的水量；如果第二平衡装置16对应振动信号指示的振动程度大于第一平衡装置15对应振动信号指示的振动程度，确定第二平衡装置16注水顺序先于第一平衡装置15，第二给水部18首先对第二平衡装置16的各个腔室注入对应电机转速的水量，电机转速不同，注入的水量也不同。
进一步的说明，在向衣物处理装置的平衡装置各腔室注入所述驱动电机14转速对应的水量后，获取每个腔室对应的振动信号，确定每个腔室注水前后振动的变化程度。由于每个平衡装置包括n个腔室，则对n个腔室注水后获取到的n个振动信号，确定n个腔室注水前后振动变化程度。
步骤103，根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室。
具体地，衣物处理装置的每个平衡装置包括n个腔室，其中n为大于等于2的自然数，向平衡装置n个腔室试探性注水后获取到n个振动信号，能够确定n个腔室注水前后的振动变化程度。根据平衡装置的n个腔室注水前后振动变化情况，从n个腔室中，选取至多(n-1)个目标腔室。例如：在平衡装置包括3个腔室的情况下，可以选择其中的2个腔室作为目标腔室。
需要说明的是，根据对应衣物处理装置的电机转速向平衡装置的n个腔室里注入当前电机转速对应的水量，再根据平衡装置的n个腔室注水前后振动变化情况，从n个腔室中，选取有利于振动减弱的腔室作为目标腔室，目标腔室选取至多(n-1)个，至少为两个。如果选取平衡装置的n个腔室作为目标腔室，不仅注水效率降低，对振动程度的减小效果也不理想，因此只能至多选取(n-1)个目标腔室。其中，至多(n-1)个目标腔室注水后振动减小的程度大于等于未选取的腔室注水后振动减小的程度。
步骤104，对目标腔室注水，以减小衣物处理装置的振动。
具体地，向步骤103中选取好的至多(n-1)个目标腔室注水，确保每个目标腔室每次注入的水量符合预设水量，顺序向至多(n-1)个目标腔室中的每一目标腔室注水。其中，预设水量是衣物处理装置的控制板根据不同电机转速下预设的使振动程度达到理想效果的水量。
进一步的说明，在向目标腔室注水的过程中，再次获取平衡装置对应的振动信号，根 据再次获取的振动信号，判断该振动信号的振动程度，如果振动程度减弱，说明平衡控制过程成功，则可以增加驱动电机14的转速执行脱水过程。如果振动程度在注水后增强，说明该轮平衡控制过程未成功，停止向目标腔室注水，继续维持驱动电机14的转速，重新开始执行步骤102，进而重新执行平衡控制过程。
需要说明的是，平衡控制过程，包括：根据衣物处理装置的电机转速，向衣物处理装置的平衡装置各腔室注入预设水量，并在每一个腔室注水后获取振动信号根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动的步骤。
本申请实施例的衣物处理装置的平衡控制方法，通过控制衣物处理装置执行脱水过程；在执行脱水过程中，向衣物处理装置的平衡装置的各腔室注入电机转速对应的水量，并在各腔室注水后获取振动信号；振动信号用于指示衣物处理装置的振动程度；根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动。该方法通过将向平衡装置注水分为两次注水，即第一次对各腔室进行试探性注水和第二次对目标腔室进行平衡注水，在第二次注水时仅对部分腔室注水使振动程度减弱，控制衣物处理装置在脱水过程各阶段的振动程度，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
为了更清楚的了解衣物处理装置在整个脱水过程中的平衡控制过程，本实施例更详细的提供了另一种平衡控制方法，为了便于更好的理解，首先对实施例二中出现的几个常用术语进行介绍：
第一阈值：对平衡装置的各腔室注入预设水量后，从各腔室中选取目标腔室，对目标腔室注水后振动信号指示的振动程度应满足的阈值为第一阈值。
第二阈值：用于确定是否执行对平衡装置的各腔室注入预设水量步骤的振动程度阈值为第二阈值，其中，第二阈值大于或等于第一阈值。第三阈值：对平衡装置的各腔室注入预设水量过程中，用于确定是否执行对后续腔室注入预设水量步骤的振动程度阈值为第三阈值，其中第三阈值大于或等于第一阈值。
第四阈值：对至少两个平衡装置中的目标腔室均停止注水后，根据至少两个平衡装置对应的振动信号指示的振动程度应当满足的阈值为第四阈值，其中，第四阈值大于第一阈值。
第五阈值：在执行衣物抖散过程之后，振动程度应满足的阈值为第五阈值。
第六阈值：在执行脱水过程中，振动程度应始终满足的阈值为第六阈值。
其中，第一阈值、第二阈值、第三阈值和/或第四阈值，是根据衣物处理装置的电机转 速确定的。在平衡装置为至少两个时，至少两个平衡装置分别具有对应的振动信号和对应的第一阈值、第二阈值、第三阈值。后续实施例中，还将会结合平衡控制方法，对第一阈值、第二阈值、第三阈值、第四阈值和第五阈值的取值进行进一步介绍，此处不再赘述。
图3为本申请实施例二所提供的一种衣物处理装置的平衡控制方法的流程示意图。
作为一种示例，执行图3所示的平衡控制方法的衣物处理装置的结构，也可以是图2中所示的衣物处理装置。
如图3所示，该衣物处理装置的平衡控制方法可以包括以下步骤：
步骤201，在控制衣物处理装置执行脱水过程中，根据获取到的振动信号确定衣物处理装置的振动程度是否小于第六阈值，若衣物处理装置的振动程度大于等于所述第六阈值，则降低衣物处理装置的转速。
具体的，在控制衣物处理装置执行脱水的全过程中，衣物处理装置的振动程度应始终满足第六阈值的要求。第六阈值是根据盛水单元12与箱体20之间的结构间隙确定的固定值。也就是说，第六阈值并不随转速的变化而变化。进一步的，第六阈值大于第一阈值至第五阈值。从而最低限度地实现对脱水过程的保护，一旦发生振动程度达到第六阈值的情况，立刻控制电机14降速以避免发生盛水单元12撞击箱体20的情况。
步骤202，在控制衣物处理装置执行脱水过程的初始阶段，执行衣物抖散过程。
具体地，在执行脱水过程之前，衣物处理装置处于洗涤或者漂洗状态，因此，在洗涤漂洗过程结束后，排水泵开始工作，对盛水单元12进行排水，并在排空后，控制驱动电机14带动洗涤单元13由低速到高速转动，开始执行脱水过程。其中，驱动电机14可以设计为直驱电机或者皮带传动驱动的形式。
进一步的说明，在脱水过程的初始阶段，驱动电机14处于低转速下，带动洗涤单元13执行衣物抖散过程，衣物处理装置在低转速的情况下通过摔打等动作将衣物打散重新分布。通过检测衣物处理装置的振动程度是否小于第五阈值，判断当前状况是否可以提升电机转速至第一次注水控制阶段。
如果在衣物处理装置的振动程度大于第五阈值时强行执行脱水过程，会造成衣物处理装置振动幅度过大或移位，对其及周围物品带来损害。在此情况下，可重新对衣物进行抖散及分布。当衣物处理装置的振动程度小于第五阈值时，则可以执行步骤203。其中，驱动电机14可以设计为直驱电机或者皮带传动驱动的形式。
需要说明的是，振动信号是通过衣物处理装置的振动检测单元对加速度或者位移进行检测得到的，用于指示衣物处理装置的振动程度。振动检测是通过加速度传感器或者位移传感器对盛水单元12前端和后端的加速度或者位移进行检测，检测单元将检测到的数据上传至控制板，控制板进行最终计算，来确定衣物处理装置的振动情况以及平衡装置各腔室 注水前后振动变化程度。
在抖散过程中电机的转动速度，与后续的脱水过程采用的电机转速存在一定差异，因此，抖散过程中，所采用的第五阈值的取值，与后续脱水过程中采用的第一阈值至第四阈值的取值关联性较小，此处，不再对比第一阈值至第四阈值的取值，与该第五阈值的取值大小关系。
步骤203，在执行脱水过程中，向平衡装置的各腔室试探性注水，试探性注水按照预设水量注水，并在各腔室注水后获取振动信号。
其中，平衡装置至少为两个，每一平衡装置具有对应的一个振动信号，每个平衡装置又包括n个腔室，n为大于等于2的自然数。
作为一种可能的实现方式，本实施例中选取n为3，即每个平衡装置包括3个腔室。具体地，在执行脱水过程中，根据衣物处理装置的电机转速，向衣物处理装置的平衡装置的3个腔室注入电机转速对应的水量之前。首先，根据平衡装置注水前获取到的振动信号，确定衣物处理装置的振动程度是否大于或等于第二阈值；其中，第二阈值大于或等于第一阈值，并且第二阈值是根据衣物处理装置的电机转速确定的。其次，对至少两个平衡装置，比较对应振动信号指示的振动程度；根据对应振动信号指示的振动程度之间的大小关系，确定对应的至少两个平衡装置注水顺序。其中，平衡装置为至少两个时，至少两个平衡装置分别具有对应的第二阈值。
作为一种可能的实现方式，如果第一平衡装置15对应振动信号指示的振动程度大于第二平衡装置16对应振动信号指示的振动程度，确定第一平衡装置15的注水顺序先于第二平衡装置16，第一给水部17首先对第一平衡装置15的各个腔室注入对应电机转速的水量；如果第二平衡装置16对应振动信号指示的振动程度大于第一平衡装置15对应振动信号指示的振动程度，确定第二平衡装置16注水顺序先于第一平衡装置15，第二给水部17首先对第二平衡装置16的各个腔室注入对应电机转速的水量。
其中，注水过程可以在不同的电机转速阶段，本实施例设定为120r/min时一次，170r/min时一次，240r/min时一次，340r/min时一次，500r/min时一次，对衣物处理装置注水的电机转速阶段只是作为一种示例，不限于这些转速，电机转速的选择可根据衣物处理装置的振动程度进行调整，如果振动程度低，可以略过注水环节，直接执行脱水过程。
作为一种可能的实现方式，衣物处理装置至少设有两个平衡装置，包括设置于衣物处理装置的洗涤单元前端的第一平衡装置15，以及设置于衣物处理装置的洗涤单元后端的第二平衡装置16。同时，衣物处理装置包括向两个平衡装置的各腔室注水的第一给水部17和第二给水部18，第一给水部17配置于盛水单元12的前端，用于向第一平衡装置15的各腔室注水；第二给水部18配置于盛水单元12的后端，用于向第二平衡装置16的各腔室 注水。
如果第一平衡装置15对应振动信号指示的振动程度大于第二平衡装置16对应振动信号指示的振动程度，确定第一平衡装置15的注水顺序先于第二平衡装置16，第一给水部17首先对第一平衡装置15的各个腔室注入对应电机转速的水量；如果第二平衡装16置对应振动信号指示的振动程度大于第一平衡装置15对应振动信号指示的振动程度，确定第二平衡装置16注水顺序先于第一平衡装置15，第二给水部18首先对第二平衡装置16的各个腔室注入对应电机转速的水量。
需要说明的是，逐个对各腔室注入预设水量，根据当前腔室注入预设水量后获取到的振动信号，确定衣物处理装置的振动程度，并判断衣物处理装置的振动程度是否小于第三阈值。如果振动程度大于或等于第三阈值，则需要对平衡装置的后续腔室执行注入预设水量以及注水后获取振动信号的步骤；如果振动程度小于第三阈值，对后续腔室停止执行注入预设水量以及注水后获取振动信号的步骤；增加衣物处理装置的电机转速后再重新执行步骤202。其中，第三阈值是根据衣物处理装置的电机转速确定的，并且当平衡装置为至少两个时，至少两个平衡装置分别具有对应的第三阈值。
其中，第三阈值可以大于或等于第一阈值。通过设定第三阈值大于或等于第一阈值，使得向目标腔室注水后振动程度应当小于注水前的振动程度，从而在一种场景下，经过向目标腔室注水的步骤后，尽管耗费了一定的时间，但振动程度得到进一步优化；在另一种场景下，由于在向目标腔室注水前，振动程度便满足了第三阈值，从而无需执行向后续的目标腔室注水的步骤，尽管振动程度未得到优化，但提高了运行效率。
另外，可以设定第三阈值小于第二阈值。通过设定第三阈值小于第二阈值，使得向各腔室注入预设水量后振动程度应当小于注入预设水量前的振动程度，从而在一种场景下，经过向各腔室注入预设水量的步骤后，尽管耗费了一定的时间，但振动程度得到进一步优化；在另一种场景下，由于在向各腔室注入预设水量前，振动程度便满足了第二阈值，从而无需执行向各腔室注入预设水量的步骤，尽管振动程度未得到优化，但提高了运行效率。
步骤204，根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室。
具体地，根据平衡装置的3个腔室注水后获取到的3个振动信号，确定3个腔室注水前后振动变化程度；再根据3个腔室注水前后振动变化情况，从3个腔室中，选取至多2个目标腔室；其中，至多2个目标腔室注水后振动减小的程度大于未选取的腔室注水后振动减小的程度。
需要说明的是，对平衡装置的3个腔室注水为试探性注水，试探性注水按照预设水量注水，根据试探性注水后获取到的3个振动信号，判断3个振动信号是否小于各自对应的第三阈值。如果每个平衡装置对应的振动信号均小于其对应的第三阈值，则跳过该注水环 节，可以增加衣物处理装置的电机转速至较高转速脱水；如果每个平衡装置对应的振动信号均大于等于其对应的第三阈值，则选择至多2个对振动降低有效的目标腔室，继续执行步骤205。其中，第三阈值是根据衣物处理装置的电机转速确定的，并且当平衡装置为至少两个时，至少两个平衡装置分别具有对应的第三阈值。
步骤205，向目标腔室依次循环注水，再次获取振动信号，根据再次获取的振动信号，确定出衣物处理装置的振动程度减弱，和衣物处理装置的振动程度在注水后增大两者中的任一个时，停止注水。
具体地，向步骤204中选定的至多2个目标腔室内循环注水，每个目标腔室每次注入的水量符合预设水量。其中，预设水量是衣物处理装置的控制板预设的使振动程度达到理想效果的水量。
进一步的说明，向目标腔室注水，再次获取振动信号。根据再次获取的振动信号，确定出衣物处理装置的振动程度小于第一阈值，和衣物处理装置的振动程度在注水后增大两者中的任一个时，停止注水，完成对该平衡装置的注水控制。
由于至少两个平衡装置的注水顺序不同，先注水的平衡装置的振动信号会受到后注水的平衡装置的影响，因此对至少两个平衡装置中的目标腔室均停止注水后，再根据各平衡装置对应的振动信号是否均小于对应的第四阈值，确定本轮平衡控制过程是否成功；其中，所述第四阈值大于所述第一阈值。若本轮平衡控制过程成功，则增加衣物处理装置的电机的转速，并开始执行下一轮平衡控制过程；若本轮平衡控制过程未成功，则维持衣物处理装置的电机的转速，并重新执行本轮平衡控制过程。其中，平衡控制过程，包括：根据衣物处理装置的电机转速，向平衡装置的各腔室进行试探性注水，试探性注水按照预设水量注水，并在每一个腔室注水后获取振动信号，根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动的步骤。
需要说明的是，由于至少两个平衡装置的目标腔室的注水顺序不同，先注水的平衡装置的振动信号会受到后注水的平衡装置的影响，因此，各目标腔室停止注水后，平衡装置对应的第四阈值优选的大于第一阈值，小于等于第二阈值。对各腔室停止注水后，平衡装置对应的振动程度小于注水前衣物处理装置的振动程度。如果第四阈值严格要求等于第一阈值，可能会使当前阶段的平衡控制过程持续进行，无法进入下一轮平衡控制过程，降低了衣物处理装置的平衡控制效率。
本申请实施例的衣物处理装置的平衡控制方法，通过在控制衣物处理装置执行脱水过程的初始阶段，执行衣物抖散过程；在执行脱水过程中，向平衡装置的各腔室注入预设水量，并在每一个腔室注水后获取振动信号；根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；向目标腔室循环注水，当根据注水过程中获取到的振动信 号，确定出衣物处理装置的振动程度减弱，和衣物处理装置的振动程度在注水后增大两者中的任一个时，停止注水。该方法通过将向平衡装置注水分为两次注水，在第二次注水时仅对部分腔室注水使振动程度减弱，控制衣物处理装置在脱水过程各阶段的振动程度，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
为了进一步了解衣物处理装置在脱水过程中如何实现平衡控制的，本实施例提供了另一种平衡控制方法，图4为本申请实施例三所提供的一种衣物处理装置的平衡控制方法的流程示意图，如图4所示，该衣物处理装置的平衡控制方法可以包括以下步骤：
步骤301，脱水开始。
具体地，在执行脱水过程之前，衣物处理装置处于洗涤或者漂洗状态，因此，在洗涤漂洗过程结束后，排水泵开始工作，对盛水单元进行排水，并在排水结束后，控制驱动电机带动洗涤单元由低速到高速转动，开始执行脱水过程。
步骤302，振动信号采集。
具体地，振动信号是通过衣物处理装置的振动检测单元对加速度或者位移进行检测得到的，用于指示衣物处理装置的振动程度。振动检测是通过加速度传感器或者位移传感器对衣物处理装置的盛水单元前端和后端的加速度或者位移进行检测，检测单元将检测到的数据上传至控制板，控制板进行最终计算，来确定衣物处理装置的振动情况。
步骤303，低转速衣物抖散及分布。
具体地，在驱动电机处于低转速阶段，带动洗涤单元转动，衣物处理装置在低转速的情况下通过摔打等动作将衣物抖散重新分布，避免了较大的偏心质量存在。如果衣物分布不均匀就强行高速甩干，会造成衣物处理装置振动幅度过大或移位，对其及周围物品带来损害。其中，驱动电机可以设计为直驱电机或者皮带传动驱动的形式。
步骤304，低转速下振动水平安全检测。
具体地，驱动电机的转速增加至一定的低转速水平下，洗涤单元内的衣物贴在桶内壁不掉落，根据执行衣物抖散过程之后获取到的衣物处理装置振动水平的振动信号，通过检测衣物处理装置的振动程度是否小于第五阈值，判断当前状况是否可以提升电机转速至第一次注水控制阶段，实现低转速下的振动水平安全检测。
如果在衣物处理装置的振动程度大于第五阈值时强行执行脱水过程，会造成衣物处理装置振动幅度过大或移位，对其及周围物品带来损害。在此情况下，可重新执行步骤303，进行衣物抖散及分布。如果衣物处理装置的振动程度小于第五阈值时，则可以执行步骤305。
步骤305，低转速下振动判断与控制。
具体地，通过增加驱动电机的转速，使其带动洗涤单元转速至设定的低转速，在向平 衡装置的各腔室注入电机转速对应的水量之前，根据平衡装置注水前获取到的振动信号，判断衣物处理装置的振动程度是否大于或等于第二阈值。
如果衣物处理装置的振动程度大于或等于第二阈值，则继续执行步骤306对衣物处理装置进行平衡控制。如果衣物处理装置的振动程度小于第二阈值，则不需要对衣物处理装置进行振动控制，可以直接略过振动控制步骤，继续增加衣物处理装置的电机转速后判断是否需要平衡控制，即执行步骤311。
步骤306，前后端两个平衡装置的振动信号对比。
作为一种可能的实现方式，在当前衣物处理装置的电机转速下，检测盛水单元前后端两个平衡装置的振动信号，比较对应振动信号指示的振动程度，根据对应振动信号指示的振动程度之间的大小关系，确定对应的两个平衡装置的注水顺序。
其中，两个平衡装置，包括设置于衣物处理装置的洗涤单元前端的第一平衡装置，以及设置于衣物处理装置的洗涤单元后端的第二平衡装置。若第一平衡装置对应振动信号指示的振动程度大于第二平衡装置对应振动信号指示的振动程度，确定第一平衡装置注水顺序先于第二平衡装置；若第二平衡装置对应振动信号指示的振动程度大于第一平衡装置对应振动信号指示的振动程度，确定第二平衡装置注水顺序先于第一平衡装置。根据振动程度确定两个平衡装置的注水顺序后，进入步骤307。
步骤307，顺序在先的平衡装置试探注水环节。
作为一种可能的实现方式，向第一平衡装置的各腔室内进行试探性注水，试探性注水根据预设水量注水。进一步的，各个腔室对应的预设水量是等量的。根据各个腔室注水后获取到的振动信号，确定各个腔室注水前后振动变化程度。根据各个腔室注水前后的振动变化程度，从中选择两个有利于振动水平减弱的腔室作为平衡控制注水腔室，进入步骤308。若试探注水过程中，衣物处理装置的振动程度小于第三阈值，则对后续腔室停止执行注入预设水量以及注水后获取振动信号的步骤。
步骤308，顺序在先的平衡装置平衡注水环节。
作为一种可能的实现方式，向上一步骤中选取的两个目标腔室内注水，并在注水过程中，获取振动信号。当根据注水过程中获取到的振动信号，确定出衣物处理装置的振动程度小于第一阈值，和衣物处理装置的振动程度在注水后增大两者中的任一个时，停止注水，完成对第一平衡装置的注水控制环节。
步骤309，顺序在后的平衡装置试探注水环节。
作为一种可能的实现方式，向第二平衡装置的各腔室内进行试探性注水，试探性注水根据预设水量注水。进一步的，各个腔室对应的预设水量是等量的。根据各个腔室注水后获取到的振动信号，确定各个腔室注水前后振动变化程度。根据各个腔室注水前后的振动 变化程度，从中选择两个有利于振动水平减弱的腔室作为平衡控制注水腔室，进入步骤308。若试探注水过程中，衣物处理装置的振动程度小于第三阈值，则对后续腔室停止执行注入预设水量以及注水后获取振动信号的步骤。
步骤310，顺序在后的平衡装置平衡注水环节。
作为一种可能的实现方式，向上一步骤中选取的两个目标腔室内注水，再次获取振动信号。根据再次获取的振动信号，确定出衣物处理装置的振动程度小于第一阈值，和衣物处理装置的振动程度再注水后增大两者中的任一个时，停止注水，完成对第二平衡装置的注水控制环节。
步骤311，比较判断平衡控制效果。
具体地，对两个平衡装置中的目标腔室均停止注水后，判断两个平衡装置对应的振动信号是否均小于第四阈值，确定本轮平衡控制过程是否成功。其中，所述第四阈值大于所述第一阈值。
若本轮平衡控制过程成功，则增加衣物处理装置的电机转速，并开始执行下一轮平衡控制过程；若本轮平衡控制过程未成功，则维持衣物处理装置的电机转速，并重新执行本轮平衡控制过程。
其中，平衡控制过程，包括：根据衣物处理装置的电机转速，平衡装置的各腔室注入预设水量，并在每一个腔室注水后获取振动信号根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动的步骤。
步骤312，改变转速并按需求控制。
具体地，增加驱动电机的转速，并持续检测衣物处理装置的平衡装置的各腔室再次注入电机转速对应的水量之前的振动信号，判断此时衣物处理装置的振动程度是否大于或等于第二阈值。如果此时的振动程度大于第二阈值，则保持此转速进入平衡控制环节，即执行步骤306、步骤307、步骤308、步骤309、步骤310、步骤311。如果此时的振动程度小于第二阈值，则执行步骤313。
步骤313，脱水结束。
具体地，当检测到衣物处理装置的振动程度小于第二阈值时，并且经过判断后不需要进行平衡控制，则可增加衣物处理装置的电机转速至较高转速完成脱水过程。
本申请实施例的衣物处理装置的平衡控制方法，通过控制衣物处理装置执行脱水过程；在执行脱水过程中，向平衡装置各腔室注入预设水量之前，对衣物处理装置振动水平安全检测以及振动的判断与控制；再对盛水单元前后部进行振动水平的检测，确定平衡装置的注水顺序；经过对平衡装置的各腔室进行试探注水和平衡注水后，判断平衡控制的效果；最终通过改变转速并按需求控制，完成脱水程序。该方法通过将向平衡装置注水分为两次 注水，即第一次对各腔室进行试探性注水和第二次对目标腔室进行平衡注水，在第二次注水时仅对部分腔室注水使振动程度减弱，控制衣物处理装置在脱水过程各阶段的振动程度，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
为了实现上述实施例，本申请还提出一种衣物处理装置的平衡控制装置。
图5为本申请实施例提供的一种衣物处理装置的平衡控制装置的结构示意图。
如图5所示，该衣物处理装置的平衡控制装置包括：控制模块110、注水模块120、选取模块130。
控制模块110，用于控制所述衣物处理装置执行脱水过程。
具体地，在执行脱水过程之前，衣物处理装置处于洗涤或者漂洗状态，因此，在洗涤漂洗过程结束后，排水泵开始工作，对盛水单元进行排水，并在排空后，控制模块110控制驱动电机带动洗涤单元由低速到高速转动，开始执行脱水过程。
注水模块120，用于在执行脱水过程中，向平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号。振动信号用于指示衣物处理装置的振动程度。
作为一种可能的实现方式，在脱水过程中，根据当前衣物处理装置的电机转速下，检测盛水单元前后端至少两个平衡装置的振动信号，比较对应振动信号指示的振动程度，根据对应振动信号指示的振动程度之间的大小关系，确定对应的至少两个平衡装置的注水顺序。
注水模块120，用于确定平衡装置的注水顺序后，向衣物处理装置的平衡装置各腔室注入预设水量，并在各腔室注水后获取振动信号。其中，振动信号用于指示衣物处理装置的振动程度，是通过衣物处理装置的振动检测单元对加速度或者位移进行检测得到的。
注水模块120，还用于对目标腔室注水，以减小衣物处理装置的振动。
具体地，向目标腔室注水，再次获取振动信号。根据再次获取的振动信号，确定出衣物处理装置的振动程度减弱，和衣物处理装置的振动程度随注水量增大两者中的任一个时，停止注水，完成对该平衡装置的注水控制。
选取模块130，用于根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室。
具体地，根据平衡装置的各个腔室注水后获取到的振动信号，确定各个腔室注水前后振动变化程度；再根据各个腔室注水前后振动变化情况，从种选取至多2腔室作为个目标腔室；其中，至多2个目标腔室注水后振动减小的程度大于未选取的腔室注水后振动减小的程度。
本申请实施例的衣物处理装置的平衡控制装置，通过控制衣物处理装置执行脱水过程； 在执行脱水过程中，向平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号；振动信号用于指示衣物处理装置的振动程度；根据各腔室注水后获取到的振动信号，从平衡装置的各腔室中选取目标腔室；对目标腔室注水，以减小衣物处理装置的振动。该方法通过将向平衡装置注水分为两次注水，在第二次注水时仅对部分腔室注水使振动程度减弱，控制衣物处理装置在脱水过程各阶段的振动程度，保证衣物处理装置在整个脱水过程中保持较小的振动幅度，解决现有技术中衣物处理装置在高速脱水时振动较大的技术问题。
需要说明的是，前述对衣物处理装置的平衡控制方法实施例的解释说明也适用于该实施例的衣物处理装置的平衡控制装置，此处不再赘述。
为了实现上述实施例，本申请还提出一种衣物处理装置。
图6为本申请实施例提供的一种衣物处理装置的结构示意图。
如图6所示该衣物处理装置包括：控制板600，其特征在于，控制板600包括存储器601、处理器602及存储在存储器601上并可在处理器602上运行的计算机程序，处理器602执行程序时，实现本申请前述实施例提出的平衡控制方法。
为了实现上述实施例，本申请还提出一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现上述第一方面实施例提出的平衡控制方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实 现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，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。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (24)

  1. 一种衣物处理装置的平衡控制方法，其特征在于，所述衣物处理装置包括平衡装置，所述平衡装置包含多个腔室，所述方法包括以下步骤：
    控制所述衣物处理装置执行脱水过程；
    在执行所述脱水过程中，向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号；所述振动信号用于指示所述衣物处理装置的振动程度；
    根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室；
    对所述目标腔室注水，以减小所述衣物处理装置的振动。
  2. 根据权利要求1所述的平衡控制方法，其特征在于，所述对所述目标腔室注水，以减小所述衣物处理装置的振动，包括：
    向所述目标腔室注水；
    再次获取振动信号；
    根据再次获取的振动信号，确定出现以下两者中任一种情况时，停止向所述目标腔室注水：
    所述衣物处理装置的振动程度小于第一阈值；
    所述衣物处理装置的振动程度在注水后增大。
  3. 根据权利要求2所述的平衡控制方法，其特征在于，所述第一阈值是根据所述衣物处理装置的电机转速确定的。
  4. 根据权利要求2或3所述的平衡控制方法，其特征在于，所述平衡装置为至少两个时，至少两个平衡装置分别具有对应的第一阈值。
  5. 根据权利要求2-4任一项所述的平衡控制方法，其特征在于，所述目标腔室为至少两个；
    所述向所述目标腔室注水，包括：
    向至少两个目标腔室依次循环注水，每个目标腔室每次注入的水量符合设定水量。
  6. 根据权利要求1-5任一项所述的平衡控制方法，其特征在于，所述腔室的个数为n个，其中n为大于等于2的自然数，所述根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室，包括：
    根据n个腔室注水后获取到的n个振动信号，确定n个腔室注水前后振动变化程度；
    根据所述n个腔室注水前后振动变化情况，从n个腔室中，选取至多(n-1)个目标腔室；其中，所述至多(n-1)个目标腔室注水后振动减小的程度大于或等于未选取的腔室注水后振动减小的程度。
  7. 根据权利要求2-6任一项所述的平衡控制方法，其特征在于，所述向所述平衡装置的各腔室注入预设水量之前，还包括：
    根据所述平衡装置注水前获取到的振动信号，确定振动程度大于或等于第二阈值；其中，所述第二阈值大于或等于所述第一阈值。
  8. 根据权利要求7所述的平衡控制方法，其特征在于，所述第二阈值是根据所述衣物处理装置的电机转速确定的。
  9. 根据权利要求7所述的平衡控制方法，其特征在于，所述平衡装置为至少两个时，至少两个平衡装置分别具有对应的所述第二阈值；
    所述根据平衡装置注水前获取到的振动信号，确定振动程度大于或等于第二阈值，包括：
    根据所述至少两个平衡装置注水前获取到的振动信号，确定振动程度均大于或等于对应的第二阈值。
  10. 根据权利要求7-9任一项所述的平衡控制方法，其特征在于，所述方法还包括：
    根据所述平衡装置注水前获取到的振动信号，确定出所述衣物处理装置的振动程度小于所述第二阈值时，提高所述衣物处理装置的电机转速。
  11. 根据权利要求2-10任一项所述的平衡控制方法，其特征在于，所述向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号，包括：
    逐个对各腔室执行注入预设水量以及注水后获取振动信号的步骤；
    根据当前腔室注水后获取到的振动信号，判断所述衣物处理装置的振动程度是否小于第三阈值；其中，所述第三阈值大于或等于所述第一阈值；
    若小于所述第三阈值，对后续腔室停止执行注入预设水量以及注水后获取振动信号的步骤；提高所述衣物处理装置的电机转速；
    若大于或等于所述第三阈值，继续对后续腔室执行注入预设水量以及注水后获取振动信号的步骤。
  12. 根据权利要求11所述的平衡控制方法，其特征在于，所述第三阈值是根据所述衣物处理装置的电机转速确定的。
  13. 根据权利要求11所述的平衡控制方法，其特征在于，所述平衡装置为至少两个时，至少两个平衡装置分别具有对应的第三阈值。
  14. 根据权利要求1-13任一项所述的平衡控制方法，其特征在于，向所述平衡装置的各腔室注入预设水量之前，还包括：
    根据所述衣物处理装置的电机转速，确定所述预设水量。
  15. 根据权利要求1-13任一项所述的平衡控制方法，其特征在于，所述平衡装置为至 少两个，每一平衡装置具有对应的振动信号；所述向所述平衡装置的各腔室注入预设水量之前，还包括：
    对至少两个平衡装置，比较对应振动信号指示的振动程度；
    根据对应振动信号指示的振动程度之间的大小关系，确定对应的所述至少两个平衡装置注水顺序。
  16. 根据权利要求15所述的平衡控制方法，其特征在于，所述至少两个平衡装置，包括设置于所述衣物处理装置的洗涤单元前端的第一平衡装置，以及设置于所述衣物处理装置的洗涤单元后端的第二平衡装置；
    所述根据对应振动信号指示的振动程度之间的大小关系，确定对应的所述至少两个平衡装置注水顺序，包括：
    若所述第一平衡装置对应振动信号指示的振动程度大于所述第二平衡装置对应振动信号指示的振动程度，确定所述第一平衡装置注水顺序先于所述第二平衡装置；
    若所述第二平衡装置对应振动信号指示的振动程度大于所述第一平衡装置对应振动信号指示的振动程度，确定所述第二平衡装置注水顺序先于所述第一平衡装置。
  17. 根据权利要求15或16所述的平衡控制方法，其特征在于，所述方法还包括：
    对所述至少两个平衡装置中的目标腔室均停止注水后，根据至少两个平衡装置对应的振动信号是否均小于对应的第四阈值，确定本轮平衡控制过程是否成功；其中，所述第四阈值大于所述第一阈值；
    若本轮平衡控制过程成功，则增加所述衣物处理装置的电机转速，并开始执行下一轮平衡控制过程；
    若本轮平衡控制过程未成功，则维持所述衣物处理装置的电机转速，并重新执行本轮平衡控制过程；
    其中，所述平衡控制过程，包括：向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号，并在各腔室注水后获取振动信号；根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室；对所述目标腔室注水，以减小所述衣物处理装置的振动的步骤。
  18. 根据权利要求17所述的平衡控制方法，其特征在于，所述第四阈值是根据所述衣物处理装置的电机转速确定的。
  19. 根据权利要求1-13任一项所述的平衡控制方法，其特征在于，所述向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号之前，还包括：
    在所述脱水过程的初始阶段，执行衣物抖散过程；
    根据执行所述衣物抖散过程之后获取到的振动信号，确定所述衣物处理装置的振动程 度小于第五阈值。
  20. 根据权利要求1-13任一项所述的平衡控制方法，其特征在于，所述振动信号是对加速度或者位移进行检测得到的。
  21. 根据权利要求1-13任一项所述的平衡控制方法，其特征在于，根据执行所述脱水过程中获取到的振动信号，确定所述衣物处理装置的振动程度是否小于第六阈值，若所述衣物处理装置的振动程度大于等于所述第六阈值，则降低所述衣物处理装置的转速。
  22. 一种衣物处理装置的平衡控制装置，其特征在于，所述装置包括：
    控制模块，用于控制所述衣物处理装置执行脱水过程；
    注水模块，用于在执行所述脱水过程中，向所述平衡装置的各腔室注入预设水量，并在各腔室注水后获取振动信号；所述振动信号用于指示所述衣物处理装置的振动程度；
    选取模块，用于根据各腔室注水后获取到的振动信号，从所述平衡装置的各腔室中选取目标腔室；
    所述注水模块，还用于对所述目标腔室注水，以减小所述衣物处理装置的振动。
  23. 一种衣物处理装置，包括控制板，其特征在于，所述控制板包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时，实现如权利要求1-21中任一所述的衣物处理装置的平衡控制方法。
  24. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-21中任一所述的衣物处理装置的平衡控制方法。
PCT/CN2018/106417 2018-07-04 2018-09-19 衣物处理装置的平衡控制方法、装置和衣物处理装置 WO2020006883A1 (zh)

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