WO2021068659A1 - 洗衣机的控制方法、装置、洗衣机和计算机可读存储介质 - Google Patents

洗衣机的控制方法、装置、洗衣机和计算机可读存储介质 Download PDF

Info

Publication number
WO2021068659A1
WO2021068659A1 PCT/CN2020/110974 CN2020110974W WO2021068659A1 WO 2021068659 A1 WO2021068659 A1 WO 2021068659A1 CN 2020110974 W CN2020110974 W CN 2020110974W WO 2021068659 A1 WO2021068659 A1 WO 2021068659A1
Authority
WO
WIPO (PCT)
Prior art keywords
washing machine
rotation speed
rotation
power
dehydration
Prior art date
Application number
PCT/CN2020/110974
Other languages
English (en)
French (fr)
Inventor
邹杰
Original Assignee
无锡飞翎电子有限公司
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.)
Filing date
Publication date
Application filed by 无锡飞翎电子有限公司 filed Critical 无锡飞翎电子有限公司
Publication of WO2021068659A1 publication Critical patent/WO2021068659A1/zh

Links

Images

Classifications

    • 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
    • D06F33/40—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of centrifugal separation of water from 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
    • 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 
    • D06F33/48—Preventing or reducing imbalance or noise
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • This application relates to the field of washing technology, and in particular to a method for controlling a washing machine, a control device for a washing machine, a washing machine and a computer-readable storage medium.
  • the unbalance detection of the inner barrel is carried out by the sensor, but the sensor is expensive and inconvenient to install, which makes the detection difficult; or the eccentricity detection of the inner barrel is carried out by the rotation speed or torque of the motor during the low-speed or high-speed operation phases.
  • the eccentricity detection in the high-speed operation stage will cause the internal mechanical parts of the washing machine to collide and damage the washing machine.
  • This application aims to solve at least one of the technical problems existing in the prior art or related technologies.
  • one purpose of this application is to propose a method for controlling a washing machine.
  • Another purpose of this application is to provide a control device for a washing machine.
  • Another purpose of this application is to propose a washing machine.
  • Another purpose of this application is to provide a computer-readable storage medium.
  • a method for controlling a washing machine which includes: controlling the inner tub of the washing machine to run at a dehydration speed, judging whether the dehydration speed belongs to the first speed range; and determining that the dehydration speed belongs to the first speed range , Obtain the rotation trajectory of the inner tub in the first rotation speed interval; Determine the degree of drum collision of the washing machine according to the rotation trajectory.
  • determining that the dehydration speed belongs to the first speed range, and acquiring the rotation track of the inner tub in the first speed range includes: determining that the dehydration speed belongs to the first speed range; calculating that the dehydration speed is within the first speed range The time integration of, and the result of time integration is determined as the trajectory of rotation.
  • the control method of the washing machine further includes: obtaining the first power of the motor that controls the operation of the inner tub in the first rotation speed interval; judging whether the dehydration rotation speed belongs to the second rotation speed interval, and the minimum rotation speed of the second rotation speed interval It is less than or equal to the minimum rotation speed of the first rotation speed range; determining that the dehydration rotation speed belongs to the second rotation speed range, and obtaining the second power of the motor in the second rotation speed range; determining the degree of drum collision of the washing machine according to the rotation trajectory, including: according to the first power, The second power and rotation trajectory determine the degree of drum collision of the washing machine.
  • determining the degree of drum collision of the washing machine includes: calculating the power difference between the first power and the second power; judging whether the power difference is It is greater than or equal to the preset difference; it is determined that the power difference is greater than or equal to the preset difference, and it is determined whether the rotation track is greater than or equal to the preset rotation track; it is determined that the rotation track is greater than or equal to the preset rotation track, and it is determined that the washing machine has barrel collision.
  • control method of the washing machine further includes: determining the acceleration of the spin speed in the first speed range; calculating the product value between the acceleration and the preset coefficient, and recording the product value as the preset rotation trajectory .
  • control method of the washing machine further includes: determining that the washing machine has a barrel collision, and performing a barrel collision protection operation; wherein the barrel collision protection operation includes reducing the power of the motor, water intake, shaking, and reducing the spin speed. At least one operation.
  • the inner tub of the washing machine before controlling the inner tub of the washing machine to run at the dehydration speed, it also includes: determining whether the vibration frequency of the washing machine belongs to the preset frequency range, and/or determining whether the washing machine has completed the washing process; determining the vibration frequency of the washing machine It belongs to the preset frequency range, or, it is determined that the washing machine has completed the washing process, and the inner tub of the washing machine is controlled to run at the dehydration speed.
  • the numerical range of the first rotational speed interval is included in 100 rpm to 200 rpm, and the numerical range of the second rotational speed interval is included in 90 rpm to 105 rpm.
  • the control device of the washing machine includes a memory and a processor.
  • the memory stores a computer program. Item control method steps.
  • a washing machine including: an inner tub configured to place clothes; a motor configured to control the inner tub to run at a spin speed; such as the control device of the washing machine described above, controlling The device is configured such that the rotation trajectory of the inner tub in the first rotation speed interval determines the degree of drum collision of the washing machine.
  • a computer-readable storage medium stores a computer program.
  • the computer program is executed by a processor, the Control method of washing machine.
  • Fig. 1 shows a schematic flowchart of a method for controlling a washing machine according to an embodiment of the present application
  • FIG. 2 shows a schematic flowchart of a method for controlling a washing machine according to another embodiment of the present application
  • FIG. 3 shows a schematic flowchart of a method for controlling a washing machine according to another embodiment of the present application
  • Fig. 4 shows a schematic flowchart of a method for controlling a washing machine according to another embodiment of the present application
  • Fig. 5 shows a schematic flowchart of a method for controlling a washing machine according to another embodiment of the present application
  • Fig. 6 shows a schematic flowchart of a method for controlling a washing machine according to another embodiment of the present application
  • Fig. 7 shows a schematic flow chart of a method for controlling a washing machine according to another embodiment of the present application.
  • FIG. 8 shows a sequence diagram of a control scheme of a washing machine according to an embodiment of the present application.
  • Fig. 9 shows a schematic block diagram of a control device of a washing machine according to an embodiment of the present application.
  • Fig. 10 shows a schematic block diagram of a washing machine according to an embodiment of the present application.
  • Fig. 11 shows a schematic block diagram of a computer-readable storage medium according to an embodiment of the present application.
  • a method for controlling a washing machine includes:
  • Step S102 Control the inner tub of the washing machine to run at the dehydration speed, and determine whether the dehydration speed belongs to the first speed range.
  • the motor controls the inner tub of the washing machine to run at the dehydration speed during the dehydration phase, where the dehydration speed includes a gradual increase from a low speed range to a high speed range.
  • the value of the dehydration speed is detected in real time, and it is determined whether the value of the dehydration speed belongs to the first speed range.
  • the first rotation speed interval is 100 rpm to 200 rpm.
  • the washing machine is a pulsator washing machine.
  • step S104 it is determined that the dehydration rotation speed belongs to the first rotation speed interval, and the rotation track of the inner tub in the first rotation speed interval is acquired.
  • the dehydration speed belongs to the first speed range, and the dehydration time is recorded during the working process of the inner tub at the dehydration speed to calculate and determine the rotation track.
  • the inner tub has a predetermined rotation trajectory under normal operation. If the inner tub is eccentric, the actual rotation trajectory of the inner tub will deviate from the predetermined rotation trajectory. By detecting the rotation trajectory of the inner tub, it can be determined whether the washing machine collides. At the same time, the first rotation speed interval is the balance sensing stage during the dehydration of the pulsator washing machine. If the pulsator washing machine collides, the rotation trajectory of the inner tub will be amplified due to resonance in this stage, so that the inner tub is detected in the first rotation speed interval. The trajectory of rotation is easier and more precise.
  • Step S106 Determine the degree of drum collision of the washing machine according to the rotation trajectory.
  • the rotation trajectory is positively related to the degree of eccentricity, especially when the spin speed belongs to the first rotation speed range, the greater the degree of eccentricity, the greater the deviation of the rotation trajectory. Therefore, it does not need to rely on the hardware sensor in the washing machine to be accurate and reliable. Realize the collision detection, which is beneficial to reduce the failure rate of the washing machine.
  • how to determine that the dehydration rotation speed belongs to the first rotation speed interval, and obtaining the rotation trajectory of the inner barrel in the first rotation speed interval can be implemented by the following steps, as shown in FIG. 2 .
  • step S202 it is determined that the dehydration rotation speed belongs to the first rotation speed interval.
  • the first rotation speed range belongs to the low rotation speed area of the dehydration stage.
  • the barrel collision determination is performed, and the rotation of the inner barrel is stopped in time.
  • Step S204 Calculate the time integral of the dehydration rotation speed in the first rotation speed interval, and determine the result of the time integration as the rotation trajectory.
  • the dehydration speed is V(t)
  • t1 is the lower limit time of time integration
  • t2 is the upper limit time of time integration
  • the rotation trajectory is F(t), which is the result of integration in the period t1 ⁇ t2
  • t1 ⁇ t2 are the first The period of time in the speed range.
  • control method of the washing machine further includes the following steps, as shown in FIG. 3.
  • Step S302 Obtain the first power of the motor in the first rotation speed interval.
  • the power of the corresponding recording motor is the first power.
  • the first rotation speed interval is 100 rpm to 200 rpm of the inner barrel rotation per minute, and the first power may be the real-time power of the motor driving process.
  • step S304 it is determined whether the dehydration rotation speed belongs to the second rotation speed interval, and the minimum rotation speed of the second rotation speed interval is less than or equal to the minimum rotation speed of the first rotation speed interval.
  • the minimum speed of the second speed range is less than or equal to the minimum speed of the first speed range, that is, on the time axis, it is first detected to enter the second speed range.
  • the second rotation speed interval is 90 rpm to 105 rpm of rotation of the inner barrel per minute.
  • step S306 it is determined that the dehydration rotation speed belongs to the second rotation speed interval, and the second power of the motor in the second rotation speed interval is obtained.
  • the power of the recording motor is the second power.
  • the second power may be the real-time power or average power of the motor driving process.
  • the first power may be the real-time power of the motor during the ascent process, or the average power during the ascent process.
  • the first power can be calculated as follows: 1 second is divided into 20 averages according to 50 milliseconds.
  • the motor power P1 is obtained every 50 milliseconds.
  • Step S308 Determine the degree of drum collision of the washing machine according to the first power, the second power and the rotation track.
  • the first power and the second power can be average power or real-time power at a specified time.
  • the power difference between the first power and the second power can be used to determine the degree of eccentricity based on the power difference.
  • combined power The deviation and the trajectory of rotation determine the degree of barrel collision.
  • how to determine the degree of drum collision of the washing machine according to the first power, the second power and the rotation trajectory can be implemented by the following steps, as shown in FIG. 4.
  • Step S402 Calculate the power difference between the first power and the second power.
  • the second power is determined as the reference power.
  • step S404 it is determined whether the power difference is greater than or equal to the preset difference, if not, step S406 is executed, and if yes, step S408 is executed.
  • step S406 it is determined that the washing machine does not exist.
  • step S408 it is determined that the rotation trajectory is greater than or equal to the preset rotation trajectory, and it is determined that the washing machine has a bucket collision. After it is determined that the power difference is greater than or equal to the preset difference, if the power difference is larger, it can be determined that there is eccentricity, and continue to determine whether the rotation trajectory is greater than or equal to the preset rotation trajectory to determine the degree of barrel collision.
  • the washing machine when the washing machine is eccentric or hits the tub, since the first power is the real-time power at that moment, the power value will be much larger than when the inner tub does not hit the tub.
  • the power difference between the first power and the second power The value will increase abnormally, so according to the relationship between the power difference and the preset difference, it is preliminarily determined whether the washing machine is eccentric.
  • the eccentricity of the washing machine is preliminarily determined based on the relationship between the power difference and the preset difference, and then it is determined whether the rotation trajectory is greater than or equal to the preset rotation trajectory.
  • the preset rotation trajectory refers to the rotation trajectory when the inner barrel is not eccentric.
  • control method of the washing machine further includes the following steps, as shown in FIG. 5.
  • Step S502 Determine the acceleration of the dehydration rotation speed in the first rotation speed interval.
  • Step S504 Calculate the product value between the acceleration and the preset coefficient, and record the product value as the preset rotation trajectory.
  • Acceleration refers to the offset of the washing machine per unit time without eccentricity. Generally, the acceleration can be adjusted or reset according to the load.
  • the preset coefficient can be 2, 2.5, 3, 3.5, etc. Suppose the coefficient is 2 as an example to determine whether F(t) ⁇ 2 ⁇ a(t) is established, where a(t) is the acceleration.
  • control method of the washing machine further includes the following steps, as shown in Fig. 6.
  • step S102 After performing step S102, step S104, and step S106, continue to perform step S602, determine that the washing machine has a bucket collision, and perform a bucket collision protection operation.
  • the bucket collision protection operation includes at least one operation of reducing the power of the motor, water inflow, shaking off, and reducing the spin speed.
  • the bucket collision protection operation is performed, for example, at least one of shutting down, water intake, shaking, and reducing the spin speed, so as to reduce the bucket collision caused by eccentricity. occur.
  • Shutdown operation means to directly stop the dehydration process in the event of eccentricity or barrel collision.
  • the water-in operation means to inject a certain amount of water into the inner barrel, continue the rinsing process, and then re-dehydrate.
  • Shaking operation refers to reducing the spin speed and controlling the inner tub to shake off so that the clothes are evenly distributed.
  • the above-mentioned barrel collision protection operations are all for reducing the eccentricity of the inner barrel, thereby helping to reduce the probability of barrel collision.
  • step S102 the following two steps as shown in FIG. 7 are further included:
  • step S702 it is judged whether the vibration frequency of the washing machine belongs to a preset frequency range, and/or it is judged whether the washing machine has completed the washing process.
  • step S704 it is determined that the vibration frequency of the washing machine belongs to the preset frequency range, or it is determined that the washing machine has completed the washing process, then step S102 is executed.
  • the vibration frequency of the washing machine belongs to the preset frequency range, and/or judging whether the washing machine has completed the washing process, it can be determined whether the washing machine needs to perform dehydration treatment. Therefore, the above-mentioned vibration frequency and the end time of the washing process, Both can be used as a trigger condition for detecting eccentricity, especially when the motor is running at a small dehydration speed, without any hardware structure and sensors, the eccentricity of the motor can be determined, and then the barrel collision protection operation can be performed to reduce the high-speed rotation of the motor. When the drum collides, it is helpful to improve the reliability of the washing machine and the noise reduction effect.
  • the numerical range of the first rotational speed interval S 1 is included in 100 rpm to 200 rpm
  • the numerical range of the second rotational speed interval S 2 is included in 90 rpm to 100 or 100 to 105 rpm.
  • the specific steps of the barrel collision judgment plan are as follows:
  • the average power is calculated as the second power P 2 .
  • the preset difference is usually selected to be greater than Or a value equal to 100 watts.
  • Fig. 9 shows a schematic block diagram of a control device of a washing machine according to an embodiment of the present application.
  • the washing machine control device 900 includes a memory 902 and a processor 904.
  • the memory 902 stores a computer program, which is implemented when the computer program is executed by the processor 904. Such as the steps of any of the above control methods.
  • Fig. 10 shows a schematic block diagram of a washing machine according to an embodiment of the present application.
  • a washing machine 1000 includes: an inner tub 1002, the inner tub 1002 is configured to place clothes; a motor 1004, the motor 1004 is configured to control the inner tub 1002 to run at a spin speed; as in the above-mentioned washing machine
  • the control device 900 is configured to determine the degree of drum collision of the washing machine 1000 by the rotation trajectory of the inner tub 1002 in the first rotation speed interval.
  • the control device 900 of the washing machine includes at least one of a processor, a controller, a logic computing device, and an embedded device.
  • the control device 900 of the washing machine is connected to the drive control circuit of the motor 1004 of the washing machine 1000. On the one hand, it controls the motor 1004. Operation, on the other hand, detects the power and operating status of the motor 1004.
  • Fig. 11 shows a schematic block diagram of a computer-readable storage medium according to an embodiment of the present application.
  • the computer-readable storage medium 1100 stores a computer program, and when the computer program is executed by the processor 904, the washing machine defined by any one of the above technical solutions is implemented 1000 steps of the control method.
  • the application proposes a washing machine control method, device, washing machine and computer-readable storage medium.
  • the degree of collision of the washing machine is determined by the rotation track without relying on the inside of the washing machine. Setting the hardware sensor can accurately and reliably realize the detection of barrel collision, which is beneficial to reduce the failure rate of the washing machine.
  • any reference signs located between parentheses should not be constructed as limitations on the claims.
  • the word “comprising” does not exclude the presence of parts or steps not listed in the claims.
  • the word “a” or “an” preceding a component does not exclude the presence of multiple such components.
  • the application can be realized by means of hardware including several different components and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item.
  • the use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)

Abstract

一种洗衣机（1000）的控制方法、控制装置（900）、洗衣机（1000）和计算机可读存储介质（1100），方法包括控制衣物洗涤设备的内桶（1002）以一定脱水转速运行，判断脱水转速是否属于第一转速区间；确定脱水转速属于第一转速区间，获取内桶在第一转速区间下的转动轨迹；根据转动轨迹确定衣物洗涤设备的撞桶程度，提高了撞桶检测的可靠性和准确性。

Description

洗衣机的控制方法、装置、洗衣机和计算机可读存储介质
本申请要求于2019年10月08日提交中国国家知识产权局、申请号为“201910950222.2”、发明名称为“洗衣机的控制方法、装置、洗衣机和计算机可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及洗涤技术领域，具体而言，涉及一种洗衣机的控制方法、一种洗衣机的控制装置、一种洗衣机和一种计算机可读存储介质。
背景技术
在洗衣机运转过程中，当电机带动的内桶不平衡时，电机的转速越高，洗衣机产生的振动和噪声就会越大，从而降低洗衣机的使用寿命。
相关技术中，通过传感器对内桶进行不平衡检测，但传感器的成本较高且不便于安装，导致检测难度大；或者分别在低速或高速运行阶段，通过电机的转速或转矩对内桶进行偏心检测，其中，在低速运行阶段，由于电机按照固定转速匀速运行，因而无法实现对内桶的动态偏心检测；在高速运行阶段进行偏心检测，会导致洗衣机内部的机械部件发生碰撞，使得洗衣机发生损坏。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的一个目的在于提出了一种洗衣机的控制方法。
本申请的另一个目的在于提出了一种洗衣机的控制装置。
本申请的另一个目的在于提出了一种洗衣机。
本申请的另一个目的在于提出了一种计算机可读存储介质。
在本申请的第一方面的技术方案中，提出了一种洗衣机的控制方法，包括：控制洗衣机的内桶以脱水转速运行，判断脱水转速是否属于第一转 速区间；确定脱水转速属于第一转速区间，获取内桶在第一转速区间下的转动轨迹；根据转动轨迹确定洗衣机的撞桶程度。
作为第一种可能的实现方式，确定脱水转速属于第一转速区间，获取内桶在第一转速区间下的转动轨迹，包括：确定脱水转速属于第一转速区间；计算脱水转速在第一转速区间内的时间积分，并将时间积分的结果确定为转动轨迹。
作为第二种可能的实现方式，洗衣机的控制方法还包括：获取控制内桶运行的电机在第一转速区间下的第一功率；判断脱水转速是否属于第二转速区间，第二转速区间的最小转速小于或等于第一转速区间的最小转速；判定脱水转速属于第二转速区间，获取电机在第二转速区间下的第二功率；根据转动轨迹确定洗衣机的撞桶程度，包括：根据第一功率、第二功率和转动轨迹，确定洗衣机的撞桶程度。
作为第三种可能的实现方式，根据第一功率、第二功率和转动轨迹，确定洗衣机的撞桶程度，包括：计算第一功率与第二功率之间的功率差值；判断功率差值是否大于或等于预设差值；判定功率差值大于或等于预设差值，判断转动轨迹是否大于或等于预设转动轨迹；判定转动轨迹大于或等于预设转动轨迹，确定洗衣机存在撞桶。
作为第四种可能的实现方式，洗衣机的控制方法还包括：确定脱水转速在第一转速区间内的加速度；计算加速度与预设系数之间的乘积值，并将乘积值记作预设转动轨迹。
作为第五种可能的实现方式，洗衣机的控制方法还包括：确定洗衣机存在撞桶，执行撞桶保护操作；其中，撞桶保护操作包括降低电机的功率、进水、抖散和降低脱水转速中的至少一种操作。
作为第六种可能的实现方式，控制洗衣机的内桶以脱水转速运行前，还包括：判断洗衣机的振动频率是否属于预设频率范围，和/或，判断洗衣机是否完成洗涤进程；判定洗衣机的振动频率属于预设频率范围，或，判定洗衣机完成洗涤进程，控制洗衣机的内桶以脱水转速运行。
作为第七种可能的实现方式，第一转速区间的数值范围包含于100rpm～200rpm，第二转速区间的数值范围包含于90rpm～105rpm。
在本申请的第二方面的技术方案中，提出了一种洗衣机的控制装置，洗衣机的控制装置包括：存储器和处理器，存储器存储有计算机程序，计算机程序被处理器执行时实现如上述任一项控制方法的步骤。
在本申请的第三方面的技术方案中，提出了一种洗衣机，包括：内桶，内桶被配置为放置衣物；电机，电机被配置为控制内桶以脱水转速运行；如上述洗衣机的控制装置，控制装置被配置为内桶在第一转速区间下的转动轨迹确定洗衣机的撞桶程度。
在本申请的第四方面的技术方案中，提出了一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时，实现如上述任一项技术方案限定的洗衣机的控制方法。
本申请的附加方面和优点将在下面的描述部分中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了根据本申请的一个实施例的洗衣机的控制方法的示意流程图；
图2示出了根据本申请的另一个实施例的洗衣机的控制方法的示意流程图；
图3示出了根据本申请的另一个实施例的洗衣机的控制方法的示意流程图；
图4示出了根据本申请的另一个实施例的洗衣机的控制方法的示意流程图；
图5示出了根据本申请的另一个实施例的洗衣机的控制方法的示意流程图；
图6示出了根据本申请的另一个实施例的洗衣机的控制方法的示意流程图；
图7示出了根据本申请的另一个实施例的洗衣机的控制方法的示意流 程图；
图8示出了根据本申请的一个实施例的洗衣机的控制方案的时序图；
图9示出了根据本申请的一个实施例的洗衣机的控制装置的示意框图；
图10示出了根据本申请的一个实施例的洗衣机的示意框图；
图11示出了根据本申请的一个实施例的计算机可读存储介质的示意框图。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
如图1所示，根据本申请的一个实施例的洗衣机的控制方法，包括：
步骤S102，控制洗衣机的内桶以脱水转速运行，判断脱水转速是否属于第一转速区间。
为了更好的检测洗衣机在脱水阶段内桶的偏心和撞桶情况，在脱水阶段，电机控制洗衣机的内桶按照脱水转速运行，其中脱水转速包括由低转速区间逐渐升高至高转速区间。
在内桶以脱水转速运行时，实时检测脱水转速的值，并确定脱水转速的值是否属于第一转速区间。
可选的，第一转速区间为100rpm～200rpm。
可选的，洗衣机为波轮洗衣机。
步骤S104，确定脱水转速属于第一转速区间，获取内桶在第一转速区间下的转动轨迹。
脱水转速属于第一转速区间，并在内桶以脱水转速工作过程中，记录脱水时间以计算确定转动轨迹。
可知，内桶在正常运转下是有既定的转动轨迹，若内桶出现偏心，则内桶实际的转动轨迹会偏离既定的转动轨迹，通过检测内桶的转动轨迹，即可确定洗衣机是否发生撞筒。同时，第一转速区间为波轮洗衣机脱水时的平衡感知阶段，波轮洗衣机若出现撞筒，在该阶段内，内桶的转动轨迹会因为共振而被放大，这样在第一转速区间检测内桶的转动轨迹更容易、更精确。
步骤S106，根据转动轨迹确定洗衣机的撞桶程度。
由于转动轨迹与偏心程度正相关，尤其是，脱水转速属于第一转速区间时，偏心程度越大，转动轨迹的偏差越大，因此，不需要依赖于洗衣机内设置硬件传感器，即可准确且可靠地实现撞桶检测，有利于降低洗衣机的故障率。
基于图1所示的实施例中，作为一种可能的实现方式如何确定脱水转速属于第一转速区间，获取内桶在第一转速区间下的转动轨迹可以由下述步骤实现，如图2所示。
步骤S202，确定脱水转速属于第一转速区间。
第一转速区间属于脱水阶段的低转速区域，在转速较低时，即进行撞桶判定，以及时停止内桶转动。
步骤S204，计算脱水转速在第一转速区间内的时间积分，并将时间积分的结果确定为转动轨迹。
转动轨迹计算公式如下：
Figure PCTCN2020110974-appb-000001
其中，脱水转速为V(t)，t1为时间积分的下限时间，t2为时间积分的上限时间，转动轨迹为F(t)即为时段t1～t2内的积分结果，t1～t2为第一转速区间内的时段。
基于图1所示的实施例中，作为一种可能的实现方式，洗衣机的控制方法还包括以下步骤，如图3所示。
步骤S302，获取电机在第一转速区间下的第一功率。
在电机驱动内桶以脱水转速运行，且脱水转速属于第一转速区间时，对应记录电机的功率为第一功率。
其中，第一转速区间为内桶每分钟转动100rmp～200rmp，第一功率可 以是电机驱动过程的实时功率。步骤S304，判断脱水转速是否属于第二转速区间，第二转速区间的最小转速小于或等于第一转速区间的最小转速。
在内桶的脱水转速属于第二转速区间时，第二转速区间的最小转速小于或等于第一转速区间的最小转速，也即在时间轴上，先检测到进入第二转速区间。
可选的，第二转速区间为内桶每分钟转动90rmp～105rmp。
步骤S306，判定脱水转速属于第二转速区间，获取电机在第二转速区间下的第二功率。
在脱水转速属于第二转速区间时，记录电机的功率为第二功率。第二功率可以是电机驱动过程的实时功率或平均功率。
由于内桶的脱水转速从90rpm上升至105rpm所需的时间较短，因此，第一功率可以是电机在上升过程中的实时功率，也可以是上升过程中的平均功率。比如：上升过程需要1秒钟，第一功率可以通过如下计算得到：将1秒钟按照50毫秒平均划分为20个，当脱水转速达到90rmp时，每隔50毫秒获取一次电机的功率P1，在整个上升过程中，可以获取20个电机的功率P1、P2…P20；则第一功率＝(P1+P2+…+P20)/20。
步骤S308，根据第一功率、第二功率和转动轨迹，确定洗衣机的撞桶程度。
第一功率和第二功率可以为平均功率或指定时刻的实时功率，一方面，第一功率和第二功率之间的功率差值，可以基于功率差值确定偏心程度，另一方面，结合功率偏差和转动轨迹确定撞桶程度。
基于图3所示的实施例中，作为一种可能的实现方式如何根据第一功率、第二功率和转动轨迹，确定洗衣机的撞桶程度可以由以下步骤实现，如图4所示。
步骤S402，计算第一功率与第二功率之间的功率差值。
由于在第二转速区间内，内桶的转速较低且平稳，因此，内桶几乎不会出现撞桶或偏心，因此，确定第二功率作为参考功率。
步骤S404，判断功率差值是否大于或等于预设差值，若否，则执行步骤S406，若是，则执行步骤S408。
步骤S406，确定洗衣机不存在状态。
步骤S408，判定转动轨迹大于或等于预设转动轨迹，确定洗衣机存在撞桶。在判定功率差值大于或等于预设差值后，功率差值较大，则可以确定存在偏心，继续判断转动轨迹是否大于或等于预设转动轨迹，则可以确定撞桶程度。
其中，当洗衣机出现偏心或撞桶情况时，由于第一功率是在该时刻下的实时功率，功率数值会比内桶未发生撞桶时大很多，第一功率和第二功率之间的功率差值会出现异常增大，因此根据功率差值与预设差值之间的关系，初步确定洗衣机是否存在偏心。
为了进一步确定洗衣机的偏心程度，在通过功率差值与预设差值之间的关系初步判断洗衣机是否存在偏心后，判断转动轨迹是否大于或等于预设转动轨迹。
其中，预设转动轨迹是指内桶未发生偏心时的转动轨迹。
基于图4所示的实施例中，作为一种可能的实现方式，洗衣机的控制方法还包括以下步骤，如图5所示。
步骤S502，确定脱水转速在第一转速区间内的加速度。
步骤S504，计算加速度与预设系数之间的乘积值，并将乘积值记作预设转动轨迹。
加速度是指无偏心情况下单位时间内洗衣机的偏移量，通常，加速度是可以根据负载量进行调整或重置的，其中，预设系数可以为2、2.5、3、3.5等数值，以预设系数为2为例，判断F(t)≥2×a(t)是否成立，其中，a(t)为加速度。
基于图1至图5所示的实施例中，洗衣机的控制方法还包括以下步骤，如图6所示。
在执行完成步骤S102、步骤S104和步骤S106后，继续执行步骤S602，确定洗衣机存在撞桶，执行撞桶保护操作。
其中，撞桶保护操作包括降低电机的功率、进水、抖散和降低脱水转速中的至少一种操作。在该技术方案中，通过在检测到洗衣机存在偏心情况时，执行撞桶保护操作，譬如，停机、进水、抖散和降低脱水转速中的 至少一种操作，以减少偏心导致的撞桶状况发生。
停机操作是指在发生偏心或撞桶情况时，直接停止脱水进程。
进水操作是指向内桶注入定量的水后，继续进行漂洗过程后再重新脱水。
抖散操作是指降低脱水转速，并控制内桶进行抖散使得衣物分布均匀。
上述这些撞桶保护操作都是为了降低内桶的偏心程度，进而有助于降低撞桶的概率。
基于图1至图5所示的实施例中，在步骤S102之前，还包括如图7所示的下述两个步骤：
步骤S702，判断洗衣机的振动频率是否属于预设频率范围，和/或，判断洗衣机是否完成洗涤进程。
步骤S704，判定洗衣机的振动频率属于预设频率范围，或，判定洗衣机完成洗涤进程，则执行步骤S102。
在该技术方案中，通过判断洗衣机的振动频率是否属于预设频率范围，和/或判断洗衣机是否完成洗涤进程，可以确定洗衣机是否需要执行脱水处理，因此，上述振动频率和洗涤进程的结束时刻，均可以作为检测偏心情况的触发条件，尤其是电机以较小的脱水转速运行时，不需要任何硬件结构和传感器，即可确定电机存在偏心情况，进而执行撞桶保护操作，以降低电机高速转动时发生撞桶，有利于提升洗衣机运行的可靠性和降噪效果。
如图8所示，第一转速区间S 1的数值范围包含于100rpm～200rpm，第二转速区间S 2的数值范围包含于90rpm～100或100～105rpm，其中，为了提升脱水阶段的可靠性，以及降低转速的波动，在脱水转速达到100rpm时保持一段预设时长，撞桶判断方案的具体步骤如下：
(1)在检测到脱水转速属于90rpm～100rpm时，计算平均功率为第二功率P 2。
(2)脱水转速继续升高至属于100rpm～200rpm时，计算第一功率P 1。
(3)计算所述第一功率P 1与所述第二功率P 2之间的功率差值ΔP，判断所述功率差值ΔP是否大于或等于预设差值，预设差值通常选取大于或等于100瓦特的数值。
(4)判定所述功率差值大于或等于所述预设差值，计算转动轨迹并判断所述转动轨迹是否大于或等于预设转动轨迹。
(5)判定所述转动轨迹大于或等于所述预设转动轨迹，确定所述洗衣机存在撞桶。
图9示出了根据本申请的一个实施例的洗衣机的控制装置的示意框图。
如图9所示，根据本申请的一个实施例的洗衣机的控制装置900，洗衣机的控制装置900包括：存储器902和处理器904，存储器902存储有计算机程序，计算机程序被处理器904执行时实现如上述任一项控制方法的步骤。
图10示出了根据本申请的一个实施例的洗衣机的示意框图。
如图10所示，根据本申请的一个实施例的洗衣机1000，包括：内桶1002，内桶1002被配置为放置衣物；电机1004，电机1004被配置为控制内桶1002以脱水转速运行；如上述洗衣机的控制装置900，控制装置900被配置为内桶1002在第一转速区间下的转动轨迹确定洗衣机1000的撞桶程度。
其中，洗衣机的控制装置900包括处理器、控制器、逻辑计算器件和嵌入式设备中的至少一种，洗衣机的控制装置900连接于洗衣机1000的电机1004的驱动控制电路，一方面，控制电机1004运行，另一方面，检测电机1004的功率和运行状态。
图11示出了根据本申请的一个实施例的计算机可读存储介质的示意框图。
如图11所示，根据本申请的一个实施例的计算机可读存储介质1100，计算机可读存储介质1100存储有计算机程序，计算机程序被处理器904执行时实现上述任一项技术方案限定的洗衣机1000的控制方法的步骤。
以上结合附图详细说明了本申请的技术方案，本申请提出了一种洗衣机的控制方法、装置、洗衣机和计算机可读存储介质，通过转动轨迹确定洗衣机的撞桶程度，不需要依赖于洗衣机内设置硬件传感器，即可准确且可靠地实现撞桶检测，有利于降低洗衣机的故障率。
应当注意的是，在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的部件或步骤。位于部件之前的单词“一”或“一个”不排除存在多个这样的部件。本申请可以借助于包括有若干不同部件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (11)

  1. 一种洗衣机的控制方法，其中，所述方法包括：
    控制所述洗衣机的内桶以脱水转速运行，判断所述脱水转速是否属于第一转速区间；
    确定所述脱水转速属于所述第一转速区间，获取所述内桶在所述第一转速区间下的转动轨迹；
    根据所述转动轨迹确定所述洗衣机的撞桶程度。
  2. 根据权利要求1所述的控制方法，其中，所述确定所述脱水转速属于所述第一转速区间，获取所述内桶在所述第一转速区间下的转动轨迹，包括：
    确定所述脱水转速属于所述第一转速区间；
    计算所述脱水转速在所述第一转速区间内的时间积分，并将所述时间积分的结果确定为所述转动轨迹。
  3. 根据权利要求1所述的控制方法，其中，所述方法，还包括：
    获取控制内桶运行的电机在所述第一转速区间下的第一功率；
    判断所述脱水转速是否属于第二转速区间，所述第二转速区间的最小转速小于或等于所述第一转速区间的最小转速；
    判定所述脱水转速属于所述第二转速区间，获取电机在所述第二转速区间下的第二功率；
    所述根据所述转动轨迹确定所述洗衣机的撞桶程度，包括：
    根据所述第一功率、所述第二功率和所述转动轨迹，确定所述洗衣机的撞桶程度。
  4. 根据权利要求3所述的控制方法，其中，所述根据所述第一功率、所述第二功率和所述转动轨迹，确定所述洗衣机的撞桶程度，包括：
    计算所述第一功率与所述第二功率之间的功率差值；
    判断所述功率差值是否大于或等于预设差值；
    判定所述功率差值大于或等于所述预设差值，判断所述转动轨迹是否大于或等于预设转动轨迹；
    判定所述转动轨迹大于或等于所述预设转动轨迹，确定所述洗衣机存在撞 桶。
  5. 根据权利要求4所述的控制方法，其中，还包括：
    确定所述脱水转速在所述第一转速区间内的加速度；
    计算所述加速度与预设系数之间的乘积值，并将所述乘积值记作所述预设转动轨迹。
  6. 根据权利要求1至5中任一项所述的控制方法，其中，所述方法还包括：
    确定所述洗衣机存在撞桶，执行撞桶保护操作；
    其中，所述撞桶保护操作包括降低电机的功率、进水、抖散和降低脱水转速中的至少一种操作。
  7. 根据权利要求1至5中任一项所述的控制方法，其中，所述控制所述洗衣机的内桶以脱水转速运行前，还包括：
    判断所述洗衣机的振动频率是否属于预设频率范围，和/或，判断所述洗衣机是否完成洗涤进程；
    判定所述洗衣机的振动频率属于所述预设频率范围，或，判定所述洗衣机完成所述洗涤进程，控制所述洗衣机的内桶以脱水转速运行。
  8. 根据权利要求3所述的控制方法，其中，
    所述第一转速区间的数值范围包含于100rpm～200rpm，所述第二转速区间的数值范围包含于90rpm～105rpm。
  9. 一种洗衣机的控制装置，其中，包括：
    存储器和处理器，所述存储器存储有计算机程序，
    所述计算机程序被所述处理器执行时实现如权利要求1至8中任一项所述的洗衣机的控制方法。
  10. 一种洗衣机，其中，包括：
    内桶，所述内桶被配置为放置衣物；
    电机，所述电机被配置为控制内桶以脱水转速运行；
    如权利要求9所述的洗衣机的控制装置，所述控制装置被配置为所述内桶在所述第一转速区间下的转动轨迹确定所述洗衣机的撞桶程度。
  11. 一种计算机可读存储介质，其中，包括：
    所述计算机可读存储介质中存储有计算机程序，所述计算机程序被执行时，实现如权利要求1至8中任一项所述的洗衣机的控制方法。
PCT/CN2020/110974 2019-10-08 2020-08-25 洗衣机的控制方法、装置、洗衣机和计算机可读存储介质 WO2021068659A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910950222.2 2019-10-08
CN201910950222.2A CN112626796B (zh) 2019-10-08 2019-10-08 洗衣机的控制方法、装置、洗衣机和计算机可读存储介质

Publications (1)

Publication Number Publication Date
WO2021068659A1 true WO2021068659A1 (zh) 2021-04-15

Family

ID=75283043

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/110974 WO2021068659A1 (zh) 2019-10-08 2020-08-25 洗衣机的控制方法、装置、洗衣机和计算机可读存储介质

Country Status (2)

Country Link
CN (1) CN112626796B (zh)
WO (1) WO2021068659A1 (zh)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104593996A (zh) * 2014-12-11 2015-05-06 广东威灵电机制造有限公司 脱水控制方法、装置和洗衣机
CN106283489A (zh) * 2015-05-29 2017-01-04 无锡小天鹅股份有限公司 洗衣机的控制方法和装置
CN106283487A (zh) * 2015-05-26 2017-01-04 无锡小天鹅股份有限公司 洗衣机的防撞保护方法和洗衣机
CN106400386A (zh) * 2016-10-31 2017-02-15 无锡小天鹅股份有限公司 洗衣机及其脱水控制方法和装置
CN205999638U (zh) * 2016-06-30 2017-03-08 无锡小天鹅股份有限公司 洗衣机及其脱水振动检测装置
CN109837695A (zh) * 2017-11-24 2019-06-04 无锡小天鹅股份有限公司 洗衣机的偏心感知方法、系统及洗衣机
EP3505670A1 (en) * 2017-12-28 2019-07-03 LG Electronics Inc. Method for controlling washing machine

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004130059A (ja) * 2002-10-10 2004-04-30 Lg Electronics Inc ドラム洗濯機の脱水運転制御方法
US7296445B2 (en) * 2004-06-23 2007-11-20 Whirlpool Corporation Method and apparatus for monitoring load imbalance in a washing machine
JP4674601B2 (ja) * 2007-10-18 2011-04-20 パナソニック株式会社 ドラム式洗濯機

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104593996A (zh) * 2014-12-11 2015-05-06 广东威灵电机制造有限公司 脱水控制方法、装置和洗衣机
CN106283487A (zh) * 2015-05-26 2017-01-04 无锡小天鹅股份有限公司 洗衣机的防撞保护方法和洗衣机
CN106283489A (zh) * 2015-05-29 2017-01-04 无锡小天鹅股份有限公司 洗衣机的控制方法和装置
CN205999638U (zh) * 2016-06-30 2017-03-08 无锡小天鹅股份有限公司 洗衣机及其脱水振动检测装置
CN106400386A (zh) * 2016-10-31 2017-02-15 无锡小天鹅股份有限公司 洗衣机及其脱水控制方法和装置
CN109837695A (zh) * 2017-11-24 2019-06-04 无锡小天鹅股份有限公司 洗衣机的偏心感知方法、系统及洗衣机
EP3505670A1 (en) * 2017-12-28 2019-07-03 LG Electronics Inc. Method for controlling washing machine

Also Published As

Publication number Publication date
CN112626796A (zh) 2021-04-09
CN112626796B (zh) 2023-09-15

Similar Documents

Publication Publication Date Title
RU2230843C1 (ru) Способ управления отжимом в стиральной машине барабанного типа
US7296445B2 (en) Method and apparatus for monitoring load imbalance in a washing machine
CN106811916A (zh) 一种洗衣机的排水方法
KR20200112974A (ko) 의류처리장치의 운행제어방법, 시스템, 의류처리장치 및 저장매체
CN110872760B (zh) 一种洗衣机偏心检测方法
EP2458063A2 (en) Washing machine and method to detect suds thereof
CN105986399B (zh) 洗衣机及判定洗衣机负载偏心的方法
EP1610144A2 (en) Method for calibrating offset from DC bus
CN102191660A (zh) 洗衣机脱水控制方法和装置
US10676853B2 (en) Front-loading washing machine and unbalance detection method and device thereof
CN106996006A (zh) 一种洗衣机脱水控制方法及装置、洗衣机
WO2021068659A1 (zh) 洗衣机的控制方法、装置、洗衣机和计算机可读存储介质
CN110512395A (zh) 一种洗衣机的控制方法
JP2004130059A (ja) ドラム洗濯機の脱水運転制御方法
CN105506923A (zh) 洗衣机及洗衣机的不平衡检测方法
WO2020006883A1 (zh) 衣物处理装置的平衡控制方法、装置和衣物处理装置
KR100762145B1 (ko) 드럼세탁기의 탈수 제어방법 및 그 장치
US20040181882A1 (en) Method of detecting washing machine unbalance and operation control method using the same
CN111118820A (zh) 一种滚筒洗衣机偏心检测方法和装置
CN107109749A (zh) 脱水机
CN110016784A (zh) 洗衣机的控制方法及装置
CN111041770A (zh) 衣物处理设备及其控制方法、装置、可读存储介质
CN111962258A (zh) 洗衣机平衡装置的控制方法和洗衣机
EA023319B1 (ru) Способ регулирования частоты вращения барабана стиральной и/или сушильной машины при центрифугировании белья
EP1461487A1 (en) Method for determining unbalanced load

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20873947

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20873947

Country of ref document: EP

Kind code of ref document: A1