WO2021082242A1 - 衣物处理装置的控制方法、装置、衣物处理装置和介质 - Google Patents

衣物处理装置的控制方法、装置、衣物处理装置和介质 Download PDF

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Publication number
WO2021082242A1
WO2021082242A1 PCT/CN2019/128034 CN2019128034W WO2021082242A1 WO 2021082242 A1 WO2021082242 A1 WO 2021082242A1 CN 2019128034 W CN2019128034 W CN 2019128034W WO 2021082242 A1 WO2021082242 A1 WO 2021082242A1
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Prior art keywords
treatment module
laundry treatment
rotation speed
clothes treatment
treatment device
Prior art date
Application number
PCT/CN2019/128034
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English (en)
French (fr)
Inventor
姚建军
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无锡小天鹅电器有限公司
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Application filed by 无锡小天鹅电器有限公司 filed Critical 无锡小天鹅电器有限公司
Priority to EP19950876.3A priority Critical patent/EP3964622A4/en
Publication of WO2021082242A1 publication Critical patent/WO2021082242A1/zh

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F31/00—Washing installations comprising an assembly of several washing machines or washing units, e.g. continuous flow assemblies
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
    • D06F2105/46—Drum speed; Actuation of motors, e.g. starting or interrupting
    • D06F2105/48—Drum speed
    • 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
    • D06F29/00—Combinations of a washing machine with other separate apparatus in a common frame or the like, e.g. with rinsing apparatus
    • 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 
    • D06F33/44—Control of the operating time, e.g. reduction of overall operating time
    • 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

Definitions

  • This application relates to the technical field of electrical equipment, and in particular to a control method, device, clothing treatment device and medium of a clothing treatment device.
  • laundry treatment devices with double washing tubs are welcomed by more and more users, and users can perform partition washing based on the laundry treatment devices with double washing tubs to improve washing efficiency.
  • the laundry treatment device with double washing tubs is rotating, such as in the process of high-speed rotary tub washing, dehydration, etc., due to the simultaneous high-speed operation of the double washing tubs, when the excitation frequency of the two washing tubs is the same, the excitation of the same frequency will be The beat vibration is generated, which causes periodic shaking of the laundry treatment device with double washing tubs, which reduces the user experience.
  • This application aims to solve one of the technical problems in the related technology at least to a certain extent.
  • the present application proposes a control method, device, laundry treatment device and medium of a laundry treatment device, so as to save the running time of the user's laundry program, and to avoid flapping when the first laundry treatment module and the second laundry treatment module are running at the same time
  • a control method, device, laundry treatment device and medium of a laundry treatment device so as to save the running time of the user's laundry program, and to avoid flapping when the first laundry treatment module and the second laundry treatment module are running at the same time
  • An embodiment of the first aspect of the present application proposes a method for controlling a clothes treatment device, including:
  • the step rotation speed maintained by the first clothes treatment module and the second clothes treatment module at the same time is controlled to have a speed difference.
  • the operation of the first clothes treatment module and the second clothes treatment module of the control object treatment device includes:
  • the rotation speed difference between the first step rotation speed in the first operation curve and the second step rotation speed maintained at the same time in the second operation curve meets the set condition.
  • the speed difference between each first step speed in the first operating curve and any second step speed in the second operating curve conforms to the setting condition.
  • the setting conditions are:
  • the speed difference is greater than or equal to the product of the corresponding first step speed or the corresponding second step speed and the set ratio;
  • the speed difference is greater than or equal to the product of the larger of the corresponding first step speed and the corresponding second step speed and the set ratio;
  • the rotation speed difference is greater than or equal to the product of the smaller of the corresponding first step rotation speed and the corresponding second step rotation speed and the set ratio.
  • the set ratio ranges from 5% to 20%.
  • the set ratio ranges from 9% to 11%.
  • the control method of the laundry treatment device of the embodiment of the present application controls the operation of the first laundry treatment module and the second laundry treatment module of the laundry treatment device; wherein, the first laundry treatment module and the second laundry treatment module are controlled to maintain at the same time
  • the step rotation speed has a rotation speed difference.
  • An embodiment of the second aspect of the present application proposes a control device of a clothes treatment device, including:
  • the control module is used to control the operation of the first clothes treatment module and the second clothes treatment module of the clothes treatment device;
  • the step rotation speed maintained by the first clothes treatment module and the second clothes treatment module at the same time is controlled to have a rotation speed difference.
  • control module includes:
  • the first control unit is configured to control the operation of the first laundry treatment module according to the first operating curve
  • the second control unit is configured to control the operation of the second laundry treatment module according to the second operating curve
  • the rotation speed difference between the first step rotation speed in the first operation curve and the second step rotation speed maintained at the same time in the second operation curve meets the set condition.
  • the rotation speed difference between each first step rotation speed in the first operating curve and any second step rotation speed in the second operation curve conforms to the setting condition.
  • the setting conditions are:
  • the speed difference is greater than or equal to the product of the corresponding first step speed or the corresponding second step speed and the set ratio;
  • the speed difference is greater than or equal to the product of the larger of the corresponding first step speed and the corresponding second step speed and the set ratio;
  • the rotation speed difference is greater than or equal to the product of the smaller of the corresponding first step rotation speed and the corresponding second step rotation speed and the set ratio.
  • the set ratio ranges from 5% to 20.
  • the set ratio ranges from 9% to 11%.
  • the control device of the laundry treatment device of the embodiment of the present application controls the operation of the first laundry treatment module and the second laundry treatment module of the laundry treatment device; wherein, the first laundry treatment module and the second laundry treatment module are controlled to be maintained at the same time
  • the step rotation speed has a rotation speed difference.
  • An embodiment of the third aspect of the present application proposes a clothes treatment device, including: a first clothes treatment module and a second clothes treatment module, and a control unit connected to the first clothes treatment module and the second clothes treatment module
  • the control unit includes a memory, a processor, and a computer program that is stored in the memory and can run on the processor.
  • the processor executes the program, it implements the method for controlling the laundry treatment device as proposed in the embodiment of the first aspect of this application.
  • the embodiment of the fourth aspect of the present application proposes a non-transitory computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the control of the laundry treatment device as proposed in the embodiment of the first aspect of the present application is realized. method.
  • FIG. 1 is a schematic flowchart of a control method of a clothes treatment device provided in Embodiment 1 of the application;
  • FIG. 2 is a schematic diagram of the curve of the dewatering speed of the washing tub over time in an embodiment of the application
  • FIG. 3 is a schematic diagram of a dehydration curve corresponding to a double drum in an embodiment of the application
  • FIG. 4 is a schematic flowchart of a method for controlling a clothes treatment device according to a second embodiment of the application
  • FIG. 5 is a schematic structural diagram of a control device of a clothes treatment device according to a third embodiment of the application.
  • FIG. 6 is a schematic structural diagram of a control device of a clothes treatment device provided in a fourth embodiment of the application.
  • This application mainly aims at the technical problem that the two washing tubs in the prior art cannot operate at the same time, which causes the operation time of the user's laundry program to become longer, and proposes a method for controlling a laundry treatment device.
  • the control method of the laundry treatment device of the embodiment of the present application controls the operation of the first laundry treatment module and the second laundry treatment module of the laundry treatment device; wherein, the first laundry treatment module and the second laundry treatment module are controlled to maintain at the same time
  • the step rotation speed has a rotation speed difference.
  • FIG. 1 is a schematic flowchart of a control method of a clothes treatment device provided by Embodiment 1 of the application.
  • the laundry treatment device may be a laundry treatment device with double tubs or multiple tubs, for example, it may be a drum washing machine, pulsator washing machine, washer-dryer with double tubs or multiple tubs, or may also be other types of laundry treatments. Device, there is no restriction on this.
  • the clothes treatment device may include a first clothes treatment module and a second clothes treatment module.
  • the first clothes treatment module and the second clothes treatment module may be arranged up and down, or they may be arranged left and right, or they may also be arranged front and rear. Setting, there is no restriction on this.
  • control method of the laundry treatment device may include the following steps:
  • Step 101 Control the operation of the first laundry treatment module and the second laundry treatment module of the laundry treatment device; wherein the step rotation speed maintained by the first laundry treatment module and the second laundry treatment module at the same time is controlled to have a rotation speed difference.
  • the step rotation speed refers to the rotation speed maintained by the laundry treatment device in a preset time period, that is, during the preset time period, the rotation speed of the washing tub is fixed and presents a step shape.
  • FIG. 2 is a schematic diagram of the change in the rotation speed of the washing tub with time in an embodiment of the application.
  • the washing tub is driven by the motor, and the rotation speed value is maintained at R1 revolution per minute (rpm for short).
  • the rotation speed value of is called a step rotation speed, or, in the time period [t3, t4], the washing tub is driven by the motor, and the rotation speed value is maintained at R2 revolutions per minute. At this time, the washing tub is within [t3, t4]
  • the maintained rotation speed value can also be referred to as a step rotation speed.
  • corresponding operation curves may be defined for the first clothes treatment module and the second clothes treatment module respectively.
  • the operation curve corresponding to the first clothes treatment module may be operation curve 1
  • the operation curve corresponding to the second clothes treatment module The operating curve may be operating curve 2, where operating curve 1 and operating curve 2 are different.
  • the step rotation speed maintained at the same time has a rotation speed difference.
  • the running time of the user's laundry program can be saved, and the first laundry treatment module and the second laundry treatment module can be controlled at the same time
  • the maintained step rotation speed has a rotation speed difference, which can avoid the occurrence of flapping when the first clothes treatment module and the second clothes treatment module are running at the same time, thereby avoiding the shaking of the clothes treatment device and improving the user experience.
  • the operating curve can indicate the corresponding washing beat, rinsing beat, dehydration beat, etc.
  • the operating curve can indicate the motor's rotation and stop period, such as indicating the rotation time of the motor during the rotation period, and the motor's stop during the stop period.
  • Duration the ratio of the rotation duration of the motor to the stalling duration (or called the rotation-to-stop ratio of the motor), and indicates the change in the rotation speed (or speed) and/or acceleration of the motor over time at each period, such as indicating the rotation period , The speed and/or acceleration of the motor corresponding to changes over time.
  • the motor 1 can drive the washing tub in the first laundry treatment module to rotate according to the operating curve 1
  • the motor 2 can drive the washing tub in the second laundry treatment module to rotate according to the operating curve 2.
  • the running time of the washing program can be saved, and by controlling the first laundry treatment module
  • the step rotation speed maintained by the second laundry treatment module and the second laundry treatment module at the same time has a rotation speed difference, which can avoid the problem of flapping when the first laundry treatment module and the second laundry treatment module are washed at the same time, thereby avoiding the shaking of the laundry treatment device and improving User experience.
  • the problem that the two washing tubs cannot be dehydrated at the same time in the prior art can be solved, and the dehydration time can be saved.
  • the step rotation speed maintained at the same time by the first laundry treatment module and the second laundry treatment module to have a rotation speed difference, it is possible to avoid the problem of flapping when the first laundry treatment module and the second laundry treatment module are dehydrated at the same time, thereby avoiding The jitter of the clothes treatment device improves the user experience.
  • the operation curve may include a dehydration curve.
  • the dehydration curve 2 corresponding to the drum (hereinafter referred to as the lower drum) in the second laundry treatment module may be as shown in FIG. 3.
  • dehydration curve 1 and dehydration curve 2 maintain a step rotation speed difference at the same time.
  • the step rotation speed B1 in dehydration curve 1 is higher than that maintained at the corresponding time in dehydration curve 2.
  • the step rotation speed B2 in the dehydration curve 1 is also higher than the step rotation speed A2 maintained at the corresponding time in the dehydration curve 2.
  • the step rotation speed maintained by the upper drum and the lower drum at the same time has a rotation speed difference, which can solve the problem that the upper drum and the lower drum cannot be dehydrated at the same time in the prior art , It can also avoid the problem of flapping when the upper drum and the lower drum are dehydrated at the same time, thereby avoiding the shaking of the laundry treatment device and improving the user experience.
  • the dehydration time can also be saved.
  • the dehydration curve can indicate the corresponding dehydration tempo.
  • the dehydration curve can also indicate the rotation and stop period of the motor, such as indicating the rotation duration of the motor during the rotation period, the rotation duration of the motor during the rotation period, and the rotation duration of the motor.
  • the ratio to the stall duration indicates the change in the rotation speed and/or acceleration of the motor over time in each period, for example, indicates the change in the rotation speed and/or acceleration of the motor over time during the rotation period.
  • the control method of the laundry treatment device of the embodiment of the present application controls the operation of the first laundry treatment module and the second laundry treatment module of the laundry treatment device; wherein, the first laundry treatment module and the second laundry treatment module are controlled to maintain at the same time
  • the step rotation speed has a rotation speed difference.
  • the corresponding clothes treatment modules are controlled to operate according to their corresponding operating curves.
  • the first clothes treatment module and the second clothes treatment module are operated at the same time.
  • the step rotation speed maintained at the same time has a rotation speed difference, and the above rotation speed difference meets the set condition.
  • FIG. 4 is a schematic flowchart of a control method of a clothes treatment device provided in Embodiment 2 of the application.
  • control method of the laundry treatment device may include the following steps:
  • Step 201 Control the operation of the first laundry treatment module according to the first operating curve.
  • Step 202 Control the operation of the second laundry treatment module according to the second operating curve.
  • the first operating curve and the second operating curve are preset, and the first operating curve is different from the second operating curve.
  • the rotation speed difference between the first step rotation speed in the first operation curve and the second step rotation speed maintained at the same time in the second operation curve meets the set condition.
  • the operating curve may include a dehydration curve
  • the dehydration curve corresponding to the upper drum is the first dehydration curve (dehydration curve 1)
  • the dehydration curve corresponding to the lower drum is the second dehydration curve ( Dehydration curve 2)
  • the first step rotation speeds in the first dehydration curve are: B1 (430rpm), B1, B1, B2 (650rpm), B3 (850rpm), that is, the upper drum has three step rotation speeds, respectively B1 , B2 and B3
  • the second step speeds in the second dehydration curve are: A1 (370rpm), A1, A1, A2 (540rpm), A3 (750rpm), A4 (960rpm), A5 (1120rpm), namely the lower drum There are five step speeds, namely A1, A2, A3, A4 and A5.
  • the speed difference between the two step speeds maintained at the corresponding time is maintained. If the set conditions are met, it can also avoid the phenomenon of flapping during the simultaneous dehydration of the double cylinders, thereby avoiding the shaking of the laundry treatment device and improving the user experience.
  • the setting condition may be: the above-mentioned speed difference is greater than or equal to the product of the corresponding first step speed or the corresponding second step speed and the set ratio; or, the speed difference is greater than Or equal to the product of the larger of the corresponding first step speed and the corresponding second step speed and the set ratio; or, the speed difference is greater than or equal to the smaller of the corresponding first step speed and the corresponding second step speed and the set ratio The product of.
  • the set ratio is preset, for example, the value range of the set ratio can be 5% to 20%. As an example, referring to Fig. 3, the set ratio may be 9% to 11%.
  • this embodiment only takes the dehydration process as an example.
  • the control method can also be applied to other operating processes, such as high-speed rotary tub washing.
  • the speed difference between the first step speed in the operating curve and the second step speed in the second operating curve corresponding to the second laundry treatment module at the same time meets the set conditions to reduce the operating process of the laundry treatment device In the vibration, improve the user experience.
  • the control method of the laundry treatment device of the embodiment of the present application controls the operation of the first laundry treatment module according to the first operation curve; controls the operation of the second laundry treatment module according to the second operation curve; wherein, the first step in the first operation curve The rotation speed difference between the rotation speed and the second step rotation speed maintained at the same time in the second operating curve meets the set conditions.
  • the first laundry treatment module and the second laundry treatment module can be operated at the same time, which saves the running time of the user's laundry program, avoids the situation that the washing time is too long and causes user complaints, and the two laundry treatment modules are maintained at the same time
  • the difference between the rotational speeds of the two step rotational speeds meets the set conditions, and can also avoid the phenomenon of flapping when the two laundry treatment devices are running at the same time, thereby avoiding the vibration of the laundry treatment device and improving the user experience.
  • the setting condition may be: the above-mentioned speed difference is greater than or equal to the product of the corresponding first step speed or the corresponding second step speed and the set ratio; or, the speed difference is greater than or equal to the corresponding first step speed and the corresponding second step speed The product of the larger one and the set ratio; or, the speed difference is greater than or equal to the product of the smaller of the corresponding first step speed and the corresponding second step speed and the set ratio.
  • the operating curve may include a dehydration curve. See Fig. 3.
  • the first step rotation speed is B1
  • the speed difference (60rpm) is greater than 10%*A1
  • the speed difference (110rpm) is greater than 10%*A2
  • the same is true Obtained that the speed difference between B1 and A3 is greater than 10%*B1 and greater than 10%*A3
  • the speed difference between B1 and A4 is greater than 10%*B1 and greater than 10%*A4
  • the speed difference between B1 and A5 is greater than 10%*B1 and greater than 10%*A5.
  • the speed difference between B2 and A1, A2, A3, A4 or A5 is greater than 10%*B2, and greater than 10%*A1, 10%*A2, 10%*A3, 10%*A4 or 10 %*A5, and the speed difference between B3 and A1, A2, A3, A4 or A5 is greater than 10%*B3, and greater than 10%*A1, 10%*A2, 10%*A3, 10%*A4 Or 10%*A5.
  • Table 1 can be summarized, in which, among the step rotation speeds corresponding to all the dehydration rotation speeds of the upper drum and the lower drum, the rotation speed difference between any two step rotation speeds can meet the set conditions.
  • the corresponding dehydration curves are set for the two drums respectively, and the speed difference of any two step speeds of all the dehydration speeds of the two drums meets the set conditions, which can realize the simultaneous dehydration of the double drums, save the dehydration time, and avoid the dehydration delay.
  • This causes user complaints, and the speed difference between any two step speeds of all the dehydration speeds of the two drums meets the set conditions, which can also avoid the situation of flapping and improve the user experience.
  • any one of the second operating curves corresponding to the second laundry treating module is The speed difference between the two steps of speed is in line with the set conditions, which can realize the simultaneous operation of two clothes treatment devices, which saves the running time of the user's laundry program, and the speed difference of any two steps in all the speeds of the two clothes treatment modules All meet the set conditions, and it can also avoid the situation of beat vibration and improve the user experience.
  • the present application also proposes a control device for a clothes treatment device.
  • FIG. 5 is a schematic structural diagram of a control device of a clothes treatment device provided in Embodiment 3 of the application.
  • control device of the laundry treatment device includes: a control module 110.
  • control module 110 is used to control the operation of the first clothes treatment module and the second clothes treatment module of the clothes treatment device; wherein, the step speeds maintained by the first clothes treatment module and the second clothes treatment module at the same time have a speed difference .
  • control module 110 includes:
  • the first control unit 111 is configured to control the operation of the first laundry treatment module according to the first operating curve.
  • the second control unit 112 is configured to control the operation of the second laundry treatment module according to the second operating curve.
  • the rotation speed difference between the first step rotation speed in the first operation curve and the second step rotation speed maintained at the same time in the second operation curve meets the set condition.
  • the rotation speed difference between each first step rotation speed in the first operation curve and any second step rotation speed in the second operation curve meets the set condition.
  • the setting condition is: the rotation speed difference is greater than or equal to the corresponding first step rotation speed or the product of the corresponding second step rotation speed and the set ratio; or the rotation speed difference is greater than or equal to the corresponding first step rotation speed and the corresponding The product of the larger of the second step speeds and the set ratio; or, the speed difference is greater than or equal to the product of the smaller of the corresponding first step speeds and the corresponding second step speeds and the set ratio.
  • the value range of the set ratio is 5% to 20%.
  • the value range of the set ratio is 9% to 11%.
  • the control device of the laundry treatment device of the embodiment of the present application controls the operation of the first laundry treatment module and the second laundry treatment module of the laundry treatment device; wherein, the first laundry treatment module and the second laundry treatment module are controlled to be maintained at the same time
  • the step rotation speed has a rotation speed difference.
  • this application also proposes a clothes treatment device, including: a first clothes treatment module and a second clothes treatment module, and a control unit connected to the first clothes treatment module and the second clothes treatment module; a control unit It includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor. When the processor executes the program, the method for controlling the laundry treatment device as proposed in the foregoing embodiment of the present application is implemented.
  • this application also proposes a non-transitory computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for controlling the laundry treatment device as proposed in the previous embodiment of this application is implemented. .
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality of” means at least two, such as two, three, etc., unless specifically defined otherwise.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (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 compact 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 it can be used, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable media if necessary. The program is processed in a way to obtain the program electronically and then stored in the computer memory.
  • each part of this application can be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • Discrete logic gate circuits with logic functions for data signals Logic circuit, application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the method of the foregoing embodiments can be implemented by a program instructing relevant hardware to complete.
  • the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, it includes one of the steps of the method embodiment or a combination thereof.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can 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, etc.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)
  • Accessory Of Washing/Drying Machine, Commercial Washing/Drying Machine, Other Washing/Drying Machine (AREA)

Abstract

一种衣物处理装置的控制方法、装置、衣物处理装置和介质，其中，方法包括：控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。该方法能够实现节省用户洗衣程序的运行时长，并且，避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。

Description

衣物处理装置的控制方法、装置、衣物处理装置和介质
相关申请的交叉引用
本申请要求无锡小天鹅电器有限公司于2019年10月28日提交的、发明名称为“衣物处理装置的控制方法、装置、衣物处理装置和介质”的、中国专利申请号“201911031436.6”的优先权。
技术领域
本申请涉及电器设备技术领域，尤其涉及一种衣物处理装置的控制方法、装置、衣物处理装置和介质。
背景技术
目前，具有双洗涤桶的衣物处理装置受到越来越多用户的欢迎，用户可以基于具有双洗涤桶的衣物处理装置进行分区洗涤，以提升洗衣效率。然而，具有双洗涤桶的衣物处理装置在转动时，例如在高速旋桶洗涤、脱水等过程中，由于双洗涤桶同时高速运转，当两个洗涤桶的激励频率相同时，相同频率的激励会产生拍振，造成具有双洗涤桶的衣物处理装置周期性的抖动，降低了用户的使用体验。
相关技术中，为了避免具有双洗涤桶的衣物处理装置发生抖动的情况，在衣物处理装置运行时，首先控制一个洗涤桶进行转动，当该洗涤桶停止运行后，再控制另一个洗涤桶进行转动，即双洗涤桶不能同时运行。
这种方式下，极大地延长了用户洗衣程序的运行时长，降低用户的使用体验。
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。
本申请提出一种衣物处理装置的控制方法、装置、衣物处理装置和介质，以实现节省用户洗衣程序的运行时长，并且，避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验，用于解决现有技术中双洗涤桶无法同时运行，而造成用户洗衣程序的运行时长变长的技术问题。
本申请第一方面实施例提出了一种衣物处理装置的控制方法，包括：
控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；
其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转 速差。
作为本申请第一方面实施例的第一种可能的实现方式，控制物处理装置的第一衣物处理模块及第二衣物处理模块运行，包括：
根据第一运行曲线控制第一衣物处理模块运行；
根据第二运行曲线控制第二衣物处理模块运行；
其中，第一运行曲线中的第一台阶转速与第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件。
作为本申请第一方面实施例的第二种可能的实现方式，第一运行曲线中的每一个第一台阶转速与第二运行曲线中任一个第二台阶转速之间的转速差均符合设定条件。
作为本申请第一方面实施例的第三种可能的实现方式，设定条件为：
转速差大于或等于相应第一台阶转速或相应第二台阶转速与设定比例的乘积；
或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较大者与设定比例的乘积；
或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较小者与设定比例的乘积。
作为本申请第一方面实施例的第四种可能的实现方式，设定比例取值范围为5％至20％。
作为本申请第一方面实施例的第五种可能的实现方式，设定比例取值范围为9％至11％。
本申请实施例的衣物处理装置的控制方法，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。由此，通过控制衣物处理装置中的第一衣物处理模块和第二衣物处理模块同时运行，可以节省用户的洗衣程序的运行时长，并且，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
本申请第二方面实施例提出了一种衣物处理装置的控制装置，包括：
控制模块，用于控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；
其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。
作为本申请第二方面实施例的第一种可能的实现方式，控制模块，包括：
第一控制单元，用于根据第一运行曲线控制第一衣物处理模块运行；
第二控制单元，用于根据第二运行曲线控制第二衣物处理模块运行；
其中，第一运行曲线中的第一台阶转速与第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件。
作为本申请第二方面实施例的第二种可能的实现方式，第一运行曲线中的每一个第一台阶转速与第二运行曲线中任一个第二台阶转速之间的转速差均符合设定条件。
作为本申请第二方面实施例的第三种可能的实现方式，设定条件为：
转速差大于或等于相应第一台阶转速或相应第二台阶转速与设定比例的乘积；
或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较大者与设定比例的乘积；
或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较小者与设定比例的乘积。
作为本申请第二方面实施例的第四种可能的实现方式，设定比例取值范围为5％至20。
作为本申请第二方面实施例的第五种可能的实现方式，设定比例取值范围为9％至11％。
本申请实施例的衣物处理装置的控制装置，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。由此，通过控制衣物处理装置中的第一衣物处理模块和第二衣物处理模块同时运行，可以节省用户的洗衣程序的运行时长，并且，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
本申请第三方面实施例提出了一种衣物处理装置，包括：第一衣物处理模块和第二衣物处理模块，以及与所述第一衣物处理模块和所述第二衣物处理模块连接的控制单元；所述控制单元包括存储器、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，处理器执行程序时，实现如本申请第一方面实施例提出的衣物处理装置的控制方法。
本申请第四方面实施例提出了一种非临时性计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请第一方面实施例提出的衣物处理装置的控制方法。
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衣物处理装置的控制方法的流程示意图；
图2为本申请实施例中洗涤桶的脱水转速随时间变化的曲线示意图；
图3为本申请实施例中双滚筒对应的脱水曲线示意图；
图4为本申请实施例二所提供的衣物处理装置的控制方法的流程示意图；
图5为本申请实施例三所提供的衣物处理装置的控制装置的结构示意图；
图6为本申请实施例四所提供的衣物处理装置的控制装置的结构示意图。
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。
本申请主要针对现有技术中双洗涤桶无法同时运行，而造成用户洗衣程序的运行时长变长的技术问题，提出一种衣物处理装置的控制方法。
本申请实施例的衣物处理装置的控制方法，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。由此，通过控制衣物处理装置中的第一衣物处理模块和第二衣物处理模块同时运行，可以节省用户的洗衣程序的运行时长，并且，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
下面参考附图描述本申请实施例的衣物处理装置的控制方法、装置、衣物处理装置和介质。
图1为本申请实施例一所提供的衣物处理装置的控制方法的流程示意图。
本申请实施例的衣物处理装置的控制方法，可以应用于衣物处理装置中。其中，衣物处理装置可以为具有双桶或者多桶的衣物处理装置，例如，可以为双桶或多桶的滚筒洗衣机、波轮洗衣机、洗干一体机，或者，还可以为其他类型的衣物处理装置，对此不作限制。
本申请实施例中，衣物处理装置可以包括第一衣物处理模块和第二衣物处理模块，第一衣物处理模块和第二衣物处理模块可以上下设置，或者，还可以左右设置，或者，还可以前后设置，对此不做限制。
如图1所示，该衣物处理装置的控制方法可以包括以下步骤：
步骤101，控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。
本申请实施例中，台阶转速，是指衣物处理装置在预设时间段内维持的转速，即在该预设时间段内，洗涤桶的转速值固定，呈现台阶状。作为一种示例，参见图2，图2为本申请实施例中洗涤桶转速随时间变化的曲线示意图。其中，在时间段[t1,t2]内，洗涤桶在电机的带动下，转速值维持在R1转/分钟(revolution per minute，简称rpm)，此时，洗涤桶在[t1,t2]内维持的转速值称为一个台阶转速，或者，在时间段[t3,t4]内，洗涤桶在电机的带动下，转速值维持在R2转/分钟，此时，洗涤桶在[t3,t4]内维持的转速值也可以称为一个台阶转速。
本申请实施例中，可以对第一衣物处理模块和第二衣物处理模块分别定义对应的运行曲线，例如，第一衣物处理模块对应的运行曲线可以为运行曲线1，第二衣物处理模块对应的运行曲线可以为运行曲线2，其中，运行曲线1和运行曲线2不同。运行曲线1和运行曲线2中，在同一时刻维持的台阶转速具有转速差。由此，通过控制衣物处理装置中的第一衣物处理模块和第二衣物处理模块同时运行，可以节省用户洗衣程序的运行时长，并且，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
其中，运行曲线可以指示对应的洗涤节拍、漂洗节拍、脱水节拍等，例如，运行曲线可以指示电机的转停时段，比如指示电机在转动时段对应的转动时长、电机在停转时段对应的停转时长、电机的转动时长和停转时长之比(或称为电机的转停比)，以及，指示在各时段电机的转速(或速度)和/或加速度随时间变化情况，比如指示在转动时段，电机对应的转速和/或加速度随时间变化情况。应当理解的是，当电机的转速和/或加速度改变时，由于电机带动洗涤桶进行转动，洗涤桶对应的转速和/或加速度也随之发生变化。例如，电机1可以根据运行曲线1，带动第一衣物处理模块中的洗涤桶进行转动，电机2可以根据运行曲线2，带动第二衣物处理模块中的洗涤桶进行转动。
作为一种应用场景，在高速旋桶洗涤过程，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块同时洗涤，可以节省洗涤程序的运行时长，并且，通过控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时洗涤时发生拍振的问题，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
作为另一种应用场景，在脱水过程，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块同时脱水，可以解决现有技术中双洗涤桶无法同时脱水的问题，节省脱水 时长。并且，通过控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时脱水时发生拍振的问题，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
作为一种示例，以衣物处理装置为具有双滚筒的洗衣机进行示例，在脱水过程中，运行曲线可以包括脱水曲线。当衣物处理装置中的第一衣物处理模块和第二衣物处理模块上下设置时，位于上方的第一衣物处理模块中的滚筒(以下简称为上筒)对应的脱水曲线1，和位于下方的第二衣物处理模块中的滚筒(以下简称为下筒)对应的脱水曲线2可以如图3所示。其中，脱水曲线1和脱水曲线2在同一时刻维持的台阶转速具有转速差，例如，在时间段[120s,150s]内，脱水曲线1中的台阶转速B1，高于脱水曲线2中对应时刻维持的台阶转速A1，再例如，在时间段[370s,380s]内，脱水曲线1中的台阶转速B2，也高于脱水曲线2中对应时刻维持的台阶转速A2。由此，通过对上筒和下筒分别定义不同的脱水曲线，使上筒和下筒在同一时刻维持的台阶转速具有转速差，可以解决现有技术中上筒和下筒无法同时脱水的问题，也可以避免上筒和下筒同时脱水时发生拍振的问题，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。并且，通过控制衣物处理装置的双滚筒同时脱水，还可以节省脱水时长。
其中，脱水曲线可以指示对应的脱水节拍，例如，脱水曲线同样可以指示电机的转停时段，比如指示电机在转动时段对应的转动时长、电机在停转时段对应的停转时长、电机的转动时长和停转时长之比，以及，指示在各时段电机的转速和/或加速度随时间变化情况，比如指示在转动时段，电机对应的转速和/或加速度随时间变化情况。
本申请实施例的衣物处理装置的控制方法，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。由此，通过控制衣物处理装置中的第一衣物处理模块和第二衣物处理模块同时运行，可以节省用户的洗衣程序的运行时长，并且，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
作为一种可能的实现方式，在第一衣物处理模块和第二衣物处理模块同时运行时，是根据各自对应的运行曲线，控制相应的衣物处理模块进行运行，其中，第一衣物处理模块和第二衣物处理模块对应的运行曲线中，同一时刻维持的台阶转速具有转速差，并且，上述转速差符合设定条件。下面结合实施例二，对上述过程进行详细说明。
图4为本申请实施例二所提供的衣物处理装置的控制方法的流程示意图。
如图4所示，该衣物处理装置的控制方法可以包括以下步骤：
步骤201，根据第一运行曲线控制第一衣物处理模块运行。
步骤202，根据第二运行曲线控制第二衣物处理模块运行。
本申请实施例中，第一运行曲线和第二运行曲线为预先设置的，第一运行曲线与第二运行曲线不同。其中，第一运行曲线中的第一台阶转速与第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件。
作为一种示例，参见图3，在脱水过程中，运行曲线可以包括脱水曲线，上筒对应的脱水曲线为第一脱水曲线(脱水曲线1)，下筒对应的脱水曲线为第二脱水曲线(脱水曲线2)，第一脱水曲线中的各第一台阶转速分别为：B1(430rpm)、B1、B1、B2(650rpm)、B3(850rpm)，即上筒具有三个台阶转速，分别为B1、B2和B3，第二脱水曲线中各第二台阶转速分别为：A1(370rpm)、A1、A1、A2(540rpm)、A3(750rpm)、A4(960rpm)、A5(1120rpm)，即下筒具有五个台阶转速，分别为A1、A2、A3、A4和A5。
由图3可知，B1和A1之间的转速差(430-370＝60rpm)大于10％*B1，并且，转速差(60rpm)大于10％*A1，同样地，B2和A2之间的转速差(650-540＝90rpm)大于10％*B2，并且，转速差(90rpm)大于10％*A2，同样地，B3和A3之间的转速差(850-750＝100rpm)大于10％*B3，并且，转速差(100rpm)大于10％*B3。由此，在脱水过程中，可以实现双筒同时脱水，节省脱水时间，避免脱水延迟而造成用户投诉的情况，并且，两个滚筒所有脱水转速中，对应时刻维持的两个台阶转速的转速差符合设定条件，还可以避免双筒同时脱水时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
因此，作为本申请实施例的一种可能的实现方式，设定条件可以为：上述转速差大于或等于相应第一台阶转速或相应第二台阶转速与设定比例的乘积；或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较大者与设定比例的乘积；或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较小者与设定比例的乘积。
其中，设定比例为预先设置的，比如，设定比例的取值范围可以为5％至20％。作为一种示例，参见图3，设定比例可以为9％至11％。
需要说明的是，本实施例仅以脱水过程进行示例，该控制方法还可以应用于其他运行过程，如高速旋桶洗涤等过程，在其他运行过程，同样保证第一衣物处理模块对应的第一运行曲线中的第一台阶转速，与第二衣物处理模块对应的第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件，来减小衣物处理装置在运行过程中的振动，改善用户的使用体验。
本申请实施例的衣物处理装置的控制方法，通过根据第一运行曲线控制第一衣物处理模块运行；根据第二运行曲线控制第二衣物处理模块运行；其中，第一运行曲线中的第一台阶转速与第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件。 由此，可以实现第一衣物处理模块和第二衣物处理模块同时运行，节省用户洗衣程序的运行时长，避免洗涤时长过长而造成用户投诉的情况，并且，两个衣物处理模块在相同时刻维持的两个台阶转速的转速差符合设定条件，还可以避免两个衣物处理装置同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
作为一种可能的实现方式，在图4所示实施例的基础上，不仅第一运行曲线中的第一台阶转速与第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件，而且，第一运行曲线中的每一个第一台阶转速与第二运行曲线中任一个第二台阶转速之间的转速差，也可以均符合设定条件。
其中，设定条件可以为：上述转速差大于或等于相应第一台阶转速或相应第二台阶转速与设定比例的乘积；或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较大者与设定比例的乘积；或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较小者与设定比例的乘积。
作为一种示例，在脱水过程中，运行曲线可以包括脱水曲线，参见图3，当第一台阶转速为B1时，B1与A1之间的转速差(430-370＝60rpm)大于10％*B1，并且，转速差(60rpm)大于10％*A1，B1和A2之间的转速差(540-430＝110rpm)大于10％*B1，并且，转速差(110rpm)大于10％*A2，同样可以得到B1和A3之间的转速差大于10％*B1且大于10％*A3，B1和A4之间的转速差大于10％*B1且大于10％*A4，B1和A5之间的转速差大于10％*B1且大于10％*A5。同理，可以得到B2与A1、A2、A3、A4或A5之间的转速差大于10％*B2，且大于10％*A1、10％*A2、10％*A3、10％*A4或10％*A5，并且，得到B3与A1、A2、A3、A4或A5之间的转速差大于10％*B3，且大于10％*A1、10％*A2、10％*A3、10％*A4或10％*A5。
例如，根据图3可以得到总结得到表格1，其中，上筒和下筒所有脱水转速对应的台阶转速中，任意两个台阶转速之间的转速差，均可以符合设定条件。
Figure PCTCN2019128034-appb-000001
表1
由此，针对两个滚筒分别设置对应的脱水曲线，两个滚筒所有脱水转速中任意两个台 阶转速的转速差均满足设定条件，可以实现双筒同时脱水，节省脱水时间，避免脱水延迟而造成用户投诉的情况，并且，两个滚筒所有脱水转速中任意两个台阶转速的转速差均满足设定条件，还可以避免拍振的情况，改善用户的使用体验。
本申请实施例的衣物处理装置的控制方法，通过限定第一衣物处理模块对应的第一运行曲线中的每一个第一台阶转速，与第二衣物处理模块对应的第二运行曲线中任一个第二台阶转速之间的转速差均符合设定条件，可以实现两个衣物处理装置同时运行，节省用户洗衣程序的运行时长，并且，两个衣物处理模块所有转速中任意两个台阶转速的转速差均满足设定条件，还可以避免拍振的情况，改善用户的使用体验。
为了实现上述实施例，本申请还提出一种衣物处理装置的控制装置。
图5为本申请实施例三所提供的衣物处理装置的控制装置的结构示意图。
如图5所示，该衣物处理装置的控制装置包括：控制模块110。
其中，控制模块110，用于控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差。
进一步地，在本申请实施例的一种可能的实现方式中，参见图6，在图5所示实施例的基础上，控制模块110，包括：
第一控制单元111，用于根据第一运行曲线控制第一衣物处理模块运行。
第二控制单元112，用于根据第二运行曲线控制第二衣物处理模块运行。
其中，第一运行曲线中的第一台阶转速与第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件。
作为一种可能的实现方式，第一运行曲线中的每一个第一台阶转速与第二运行曲线中任一个第二台阶转速之间的转速差均符合设定条件。
作为一种可能的实现方式，设定条件为：转速差大于或等于相应第一台阶转速或相应第二台阶转速与设定比例的乘积；或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较大者与设定比例的乘积；或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较小者与设定比例的乘积。
作为一种可能的实现方式，设定比例取值范围为5％至20％。
作为另一种可能的实现方式，设定比例取值范围为9％至11％。
需要说明的是，前述对衣物处理装置的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控制装置，此处不再赘述。
本申请实施例的衣物处理装置的控制装置，通过控制衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；其中，控制第一衣物处理模块及第二衣物处理模块在同一时 刻维持的台阶转速具有转速差。由此，通过控制衣物处理装置中的第一衣物处理模块和第二衣物处理模块同时运行，可以节省用户的洗衣程序的运行时长，并且，控制第一衣物处理模块及第二衣物处理模块在同一时刻维持的台阶转速具有转速差，可以避免第一衣物处理模块和第二衣物处理模块同时运行时发生拍振的情况，从而避免衣物处理装置发生抖动的情况，改善用户的使用体验。
为了实现上述实施例，本申请还提出一种衣物处理装置，包括：第一衣物处理模块和第二衣物处理模块，以及与第一衣物处理模块和第二衣物处理模块连接的控制单元；控制单元包括存储器、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，处理器执行程序时，实现如本申请前述实施例提出的衣物处理装置的控制方法。
需要说明的是，前述对用于衣物处理装置的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，此处不再赘述。
为了实现上述实施例，本申请还提出一种非临时性计算机可读存储介质，其上存储有计算机程序，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控制方法。
需要说明的是，前述对用于衣物处理装置的控制方法实施例的解释说明也适用于该实施例的非临时性计算机可读存储介质，此处不再赘述。
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 (11)

  1. 一种衣物处理装置的控制方法，其特征在于，所述方法包括：
    控制所述衣物处理装置的第一衣物处理模块及第二衣物处理模块运行；
    其中，控制所述第一衣物处理模块及所述第二衣物处理模块在同一时刻维持的台阶转速具有转速差。
  2. 根据权利要求1所述的控制方法，其特征在于，所述控制所述物处理装置的第一衣物处理模块及第二衣物处理模块运行包括：
    根据第一运行曲线控制所述第一衣物处理模块运行；
    根据第二运行曲线控制所述第二衣物处理模块运行；
    其中，所述第一运行曲线中的第一台阶转速与所述第二运行曲线中相同时刻维持的第二台阶转速之间的转速差，符合设定条件。
  3. 根据权利要求2所述的控制方法，其特征在于，
    所述第一运行曲线中的每一个第一台阶转速与所述第二运行曲线中任一个第二台阶转速之间的转速差均符合所述设定条件。
  4. 根据权利要求2或3所述的控制方法，其特征在于，所述设定条件为：
    转速差大于或等于相应第一台阶转速或相应第二台阶转速与设定比例的乘积；
    或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较大者与设定比例的乘积；
    或者，转速差大于或等于相应第一台阶转速和相应第二台阶转速中较小者与设定比例的乘积。
  5. 根据权利要求4所述的控制方法，其特征在于，
    所述设定比例取值范围为5％至20％。
  6. 根据权利要求5所述的控制方法，其特征在于，所述设定比例取值范围为9％至11％。
  7. 一种衣物处理装置的控制装置，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的第一衣物处理模块及第二衣物处理模块运行；
    其中，控制所述第一衣物处理模块及所述第二衣物处理模块在同一时刻维持的台阶转速具有转速差。
  8. 根据权利要求7所述的控制装置，其特征在于，所述控制模块，包括：
    第一控制单元，用于根据第一运行曲线控制所述第一衣物处理模块运行；
    第二控制单元，用于根据第二运行曲线控制所述第二衣物处理模块运行；
    其中，所述第一运行曲线中的第一台阶转速与所述第二运行曲线中相同时刻维持的第 二台阶转速之间的转速差，符合设定条件。
  9. 根据权利要求8所述的控制装置，其特征在于，
    所述第一运行曲线中的每一个第一台阶转速与所述第二运行曲线中任一个第二台阶转速之间的转速差均符合所述设定条件。
  10. 一种衣物处理装置，其特征在于，包括第一衣物处理模块和第二衣物处理模块，以及与所述第一衣物处理模块和所述第二衣物处理模块连接的控制单元；所述控制单元包括存储器、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1-6中任一所述的控制方法。
  11. 一种非临时性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1-6中任一所述的控制方法。
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