WO2024222014A1 - 衣物处理设备及其控制方法、装置和存储介质 - Google Patents

衣物处理设备及其控制方法、装置和存储介质 Download PDF

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Publication number
WO2024222014A1
WO2024222014A1 PCT/CN2023/142361 CN2023142361W WO2024222014A1 WO 2024222014 A1 WO2024222014 A1 WO 2024222014A1 CN 2023142361 W CN2023142361 W CN 2023142361W WO 2024222014 A1 WO2024222014 A1 WO 2024222014A1
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WO
WIPO (PCT)
Prior art keywords
drive motor
direct
washing
rhythm
stage
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2023/142361
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English (en)
French (fr)
Inventor
吴强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuxi Little Swan Electric Co Ltd
Original Assignee
Wuxi Little Swan Electric Co Ltd
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 Wuxi Little Swan Electric Co Ltd filed Critical Wuxi Little Swan Electric Co Ltd
Publication of WO2024222014A1 publication Critical patent/WO2024222014A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • D06F33/36—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of washing
    • 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
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/08—Control circuits or arrangements thereof
    • 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
    • D06F37/30—Driving arrangements 
    • D06F37/304—Arrangements or adaptations of electric motors
    • 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
    • D06F37/30—Driving arrangements 
    • D06F37/40—Driving arrangements  for driving the receptacle and an agitator or impeller, e.g. alternatively
    • 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
    • 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
    • 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

  • the present application relates to the field of clothing processing, and in particular to a clothing processing device and a control method, device and storage medium thereof.
  • the working mode of existing fully automatic pulsator washing machines is generally as follows: during washing and rinsing, the driving device drives the pulsator of the washing machine to rotate forward and reverse through the reduction clutch device; during dehydration, the driving device drives the pulsator and the washing tub of the washing machine to rotate synchronously at high speed through the reduction clutch device.
  • the inner drum i.e., washing tub
  • the impeller rotates forward and backward, driving the water and clothes in the inner drum to rotate and wash.
  • the washing mode is single, and when there are many clothes, the rotation of the impeller alone cannot effectively tumble the clothes, resulting in problems such as weak water flow intensity, easy entanglement of clothes, and low cleaning ratio;
  • an embodiment of the present application provides a clothing processing device and a control method, device and storage medium thereof, aiming to improve the washing effect of the clothing processing device.
  • an embodiment of the present application provides a control method for a clothes processing device, wherein the clothes processing device comprises: an inner drum, a pulsator located in the inner drum, a first direct drive motor driving the pulsator to rotate, and a second direct drive motor driving the inner drum to rotate, the method comprising:
  • the first washing rhythm and the second washing rhythm are independently configured, the first washing rhythm includes: a first forward rotation stage, a first intermittent stage and a first reverse rotation stage, and the second washing rhythm includes: a second forward rotation stage, a second intermittent stage and a second reverse rotation stage.
  • controlling the first direct-drive motor to run at a first washing beat and the second direct-drive motor to run at a second washing beat includes at least one of the following:
  • the second direct drive motor is controlled to start before the first direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • controlling the first direct-drive motor to start before the second direct-drive motor, and the first direct-drive motor to run at a first washing beat and the second direct-drive motor to run at a second washing beat comprises:
  • the first direct-drive motor is controlled to start running at the first washing rhythm, and before entering the first first intermittent stage, the second direct-drive motor is controlled to start running at the second washing rhythm.
  • controlling the second direct-drive motor to start before the first direct-drive motor, and the first direct-drive motor to run at a first washing beat and the second direct-drive motor to run at a second washing beat comprises:
  • the second direct-drive motor is controlled to start running at the second washing rhythm first, and before entering the first second intermittent stage, the first direct-drive motor is controlled to start running at the first washing rhythm.
  • the first intermittent phase and the second intermittent phase do not overlap in time.
  • the rotation speed of the other one of the two is greater than 80% of the rated rotation speed.
  • the washing stage has a plurality of washing times
  • the controlling the first direct-drive motor to operate at a first washing beat and the second direct-drive motor to operate at a second washing beat comprises:
  • the first direct drive motor is controlled to start before the second direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm, or the second direct drive motor is controlled to start before the first direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • controlling the first direct-drive motor and the second direct-drive motor to start simultaneously, and the first direct-drive motor runs at a first washing beat and the second direct-drive motor runs at a second washing beat comprises:
  • the first direct drive motor and the second direct drive motor are controlled to start simultaneously and rotate in the opposite direction, wherein the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • the first washing rhythm is run in the washing cycle, and the first washing rhythm and the second washing rhythm are the same.
  • the method further comprises:
  • an embodiment of the present application provides a control device for a clothes processing device, the clothes processing device comprising: an inner drum, a pulsator located in the inner drum, a first direct drive motor driving the pulsator to rotate, and a second direct drive motor driving the inner drum to rotate, the control device comprising:
  • a control module is configured to determine that a washing stage has begun, and control the first direct-drive motor to operate at a first washing rhythm and the second direct-drive motor to operate at a second washing rhythm;
  • the first washing rhythm and the second washing rhythm are independently configured, the first washing rhythm includes: a first forward rotation stage, a first intermittent stage and a first reverse rotation stage, and the second washing rhythm includes: a second forward rotation stage, a second intermittent stage and a second reverse rotation stage.
  • an embodiment of the present application further provides a clothing processing device, comprising: an inner drum, a pulsator located in the inner drum, a first direct-drive motor that drives the pulsator to rotate, and a second direct-drive motor that drives the inner drum to rotate, the clothing processing device also comprising: a processor and a memory for storing a computer program that can be run on the processor, wherein the processor is configured to execute the steps of the method described in the first aspect of the embodiment of the present application when running the computer program.
  • the first direct drive motor and the second direct drive motor are the first sub-motor and the second sub-motor in a dual-rotor motor.
  • an embodiment of the present application further provides a storage medium, on which a computer program is stored.
  • a computer program is stored on which a computer program is stored.
  • the technical solution provided by the embodiment of the present application comprises: an inner drum, a pulsator located in the inner drum, a first direct drive motor driving the pulsator to rotate, and a second direct drive motor driving the inner drum to rotate.
  • the control method comprises: determining to enter the washing stage, controlling the first direct drive motor to rotate at the first washing stage, The first washing rhythm and the second direct drive motor run at the second washing rhythm; wherein the first washing rhythm and the second washing rhythm are independently configured, the first washing rhythm includes: a first forward rotation stage, a first intermittent stage and a first reverse rotation stage, and the second washing rhythm includes: a second forward rotation stage, a second intermittent stage and a second reverse rotation stage. Since the first direct drive motor and the second direct drive motor can independently run at their respective washing rhythms, it is possible to achieve multi-degree-of-freedom washing rhythm control of the laundry processing device during the washing stage, which can effectively improve the washing effect of the laundry processing device.
  • FIG1 is a schematic flow chart of a control method for a clothes processing device according to an embodiment of the present application
  • FIG2 is a schematic diagram of the rotation speed of a dual-power washing mode in an application example of the present application
  • FIG3 is a schematic diagram of the rotation speed of the non-stop washing mode in an application example of the present application.
  • FIG4 is a schematic diagram of the rotation speed of the non-stop washing mode in another application example of the present application.
  • FIG5 is a schematic structural diagram of a control device for a clothes processing device according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the structure of a clothing processing device according to an embodiment of the present application.
  • An embodiment of the present application provides a control method for a clothing processing device, which may be a pulsator washing machine, comprising: an inner drum, a pulsator located in the inner drum, a first direct drive (DD) motor for driving the pulsator to rotate, and a second direct drive motor for driving the inner drum to rotate.
  • a clothing processing device which may be a pulsator washing machine, comprising: an inner drum, a pulsator located in the inner drum, a first direct drive (DD) motor for driving the pulsator to rotate, and a second direct drive motor for driving the inner drum to rotate.
  • DD direct drive
  • the direct drive motor in the embodiment of the present application is the abbreviation of a direct drive motor, which mainly refers to the motor driving the load without passing through a transmission device, that is, the relevant mechanical
  • the transmission components ball screw pair, rack and pinion, transmission belt/pulley and gearbox, etc.
  • the first direct-drive motor includes a first rotor and a first stator
  • the clothing processing device includes a impeller shaft, one end of the impeller shaft is fixedly connected to the impeller, and the other end is fixedly connected to the first rotor.
  • the second direct-drive motor includes a second rotor and a second stator
  • the clothing processing device includes an inner drum shaft sleeved on the outside of the impeller shaft, one end of the inner drum shaft is fixedly connected to the inner drum, and the other end is fixedly connected to the second rotor.
  • a through channel through which the inner cylinder shaft can pass can be set on the first direct drive motor, and a through channel through which the impeller shaft can pass can also be set on the second direct drive motor.
  • Different settings correspond to the setting positions of the direct drive motors and different connection methods.
  • the distance between the first direct drive motor and the bottom of the inner cylinder along the central axis is greater than the distance between the second direct drive motor and the bottom of the inner cylinder along the central axis, that is, the first direct drive motor is located below the second direct drive motor, and the second direct drive motor has a through channel through which the impeller shaft can pass.
  • the first direct-drive motor is an outer rotor direct-drive motor, and the first rotor is located outside the first stator; the second direct-drive motor is an inner rotor direct-drive motor, and the second rotor is located inside the second stator.
  • the first direct-drive motor is an inner rotor direct-drive motor, and the first rotor is located inside the first stator; the second direct-drive motor is an outer rotor direct-drive motor, and the second rotor is located outside the second stator.
  • the first direct drive motor and the second direct drive motor may be the first sub-motor and the second sub-motor in a dual-rotor motor.
  • a conventional motor generally has only one stator and one rotor, and a dual-rotor motor has two mechanical axes (corresponding to two sub-motors), which can realize independent transmission of energy between the two mechanical axes.
  • the dual-rotor motor greatly reduces the size and weight of the equipment, improves work efficiency, can well meet the requirements of energy saving and speed regulation, and has excellent operating performance.
  • first direct drive motor and the second direct drive motor can work independently to The inner cylinder and the impeller are driven synchronously or asynchronously.
  • the clothing processing device in the embodiment of the present application adopts the first direct-drive motor and the second direct-drive motor, removes the reduction clutch structure, and greatly reduces the overall height of the drive device.
  • the space occupied by the drive system can be effectively reduced, thereby increasing the effective capacity of the washing machine inner drum; in addition, since the design and installation of mechanical transmission and components are reduced, the transmission efficiency can be effectively improved, and the noise source can be reduced, which is conducive to improving the operating effect of the clothing processing equipment; further, on the basis of the first direct-drive motor and the second direct-drive motor being independently controlled, based on the optimization of the control program, the washing effect of the clothing processing equipment can be effectively improved.
  • control method of the clothes processing device includes:
  • Step 101 determine to enter the washing stage, control the first direct drive motor to run at a first washing beat and the second direct drive motor to run at a second washing beat; wherein the first washing beat and the second washing beat are independently configured, the first washing beat includes: a first forward rotation stage, a first intermittent stage and a first reverse rotation stage, and the second washing beat includes: a second forward rotation stage, a second intermittent stage and a second reverse rotation stage.
  • a fixing device can be set on the bottom of the outer barrel of the washing machine, and a positioning device that can slide along its axial direction and cooperate with/separate from the fixing device can be set on the inner barrel shaft.
  • the first washing rhythm and the first washing rhythm of the first direct drive motor are independently configured.
  • the second washing rhythm of the second direct-drive motor allows the washing rhythm of the first direct-drive motor and the second direct-drive motor to be different.
  • the washing rhythm of the clothing processing equipment can be controlled with multiple degrees of freedom during the washing stage on the basis of the first direct-drive motor and the second direct-drive motor independently running with their own washing rhythms, which can effectively improve the washing effect of the clothing processing equipment.
  • controlling the first direct-drive motor to operate at a first washing rhythm and the second direct-drive motor to operate at a second washing rhythm includes at least one of the following:
  • the second direct drive motor is controlled to start before the first direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • the clothing processing equipment supports synchronous or asynchronous starting of the first drive motor and the second drive motor, thereby making the washing rhythm of the dual direct drive motors more free and achieving better washing rhythm control, thereby improving the clothing washing effect and improving the clothing washing efficiency.
  • the first washing rhythm and the second washing rhythm also support the configuration of different washing accelerations and washing speeds, so that the personalized setting of the washing intensity can be achieved based on the independent control of the washing rhythm.
  • controlling the first direct drive motor and the second direct drive motor to start simultaneously, and the first direct drive motor to run at a first washing rhythm and the second direct drive motor to run at a second washing rhythm includes:
  • the first direct drive motor and the second direct drive motor are controlled to start simultaneously and rotate in the opposite direction, wherein the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • the first washing rhythm is run in the washing cycle, and the first washing rhythm and the second washing rhythm are the same.
  • the washing speed of the first direct drive motor is shown by the solid line in FIG2
  • the washing speed of the second direct drive motor is shown by the dotted line in FIG2, so that dual-power washing can be achieved without interfering with each other between the dual direct drive motors.
  • the pulsator rotates at the first washing beat driven by the first direct drive motor
  • the inner drum rotates at the second washing beat driven by the second direct drive motor
  • the rotation directions of the pulsator and the inner drum are opposite, so that a strong vortex can be formed inside the inner drum, thereby enhancing the decontamination and washing effect of the clothes.
  • controlling the first direct drive motor to start before the second direct drive motor, and the first direct drive motor to run at a first washing rhythm and the second direct drive motor to run at a second washing rhythm includes:
  • the first direct-drive motor is controlled to start running at the first washing rhythm, and before entering the first first intermittent stage, the second direct-drive motor is controlled to start running at the second washing rhythm.
  • the washing speed of the first direct drive motor is shown as the solid line in FIG3, and the washing speed of the second direct drive motor is shown as the dotted line in FIG3.
  • the first direct drive motor starts running with the first washing beat and drives the pulsator to run in the first forward rotation stage, and before entering the first first intermittent stage, the second direct drive motor starts running with the second washing beat and drives the inner drum to run in the second forward rotation stage, then the first direct drive motor drives the pulsator to run in the first reverse rotation stage after the first intermittent stage, and the second direct drive motor drives the inner drum to run in the second reverse rotation stage after the second intermittent stage, and this cycle is repeated.
  • the first intermittent stage and the second intermittent stage do not overlap in time. It is understandable that, since the first intermittent stage and the second intermittent stage do not overlap in time, the washing effect of uninterrupted washing can be achieved on the basis of asynchronously starting the first direct-drive motor and the second direct-drive motor, and since both the first direct-drive motor and the second direct-drive motor have reasonable intermittent durations, defects such as poor heat dissipation or excessive loss caused by the direct-drive motor working for too long can be alleviated, thereby effectively extending the service life of the direct-drive motor in the scenario of uninterrupted washing.
  • controlling the second direct-drive motor to start before the first direct-drive motor, and the first direct-drive motor to run at a first washing rhythm and the second direct-drive motor to run at a second washing rhythm includes:
  • the second direct-drive motor is controlled to start running at the second washing rhythm first, and before entering the first second intermittent stage, the first direct-drive motor is controlled to start running at the first washing rhythm.
  • the washing speed of the first direct drive motor is shown as the solid line in FIG4, and the washing speed of the second direct drive motor is shown as the dotted line in FIG4.
  • the second direct drive motor starts running at the second washing beat and drives the inner drum to run in the second forward rotation stage, and before entering the first second intermittent stage, the first direct drive motor starts running at the first washing beat and drives the pulsator to run in the first forward rotation stage, and then the second direct drive motor drives the inner drum to run in the second reverse rotation stage after the second intermittent stage, and the first direct drive motor drives the pulsator to run in the first reverse rotation stage after the first intermittent stage, and the cycle is repeated.
  • the first intermittent stage and the second intermittent stage do not overlap in time. It is understandable that, since the first intermittent stage and the second intermittent stage do not overlap in time, the washing effect of uninterrupted washing can be achieved on the basis of asynchronously starting the first direct-drive motor and the second direct-drive motor, and since both the first direct-drive motor and the second direct-drive motor have reasonable intermittent durations, defects such as poor heat dissipation or excessive loss caused by the direct-drive motor working for too long can be alleviated, thereby effectively extending the service life of the direct-drive motor in the scenario of uninterrupted washing.
  • the speed of the other of the two is greater than 80% of the rated speed, that is, when the first direct-drive motor is in the first intermittent stage, the speed of the second direct-drive motor is greater than 80% of the rated speed, and when the second direct-drive motor is in the second intermittent stage, the speed of the first direct-drive motor is greater than 80% of the rated speed.
  • the fluctuation of the washing speed in the non-stop washing mode can be reduced, which is beneficial to ensuring the washing efficiency.
  • the washing step is repeated multiple times, and the control step A direct-drive motor operates at a first washing rhythm and the second direct-drive motor operates at a second washing rhythm, comprising:
  • the first direct drive motor is controlled to start before the second direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm, or the second direct drive motor is controlled to start before the first direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • the first washing control in the washing stage it can work in the dual-power washing mode shown in Figure 2.
  • a strong vortex can be formed inside the inner drum, thereby enhancing the decontamination and washing effect of the clothes;
  • the washing control after the first washing it can work in the uninterrupted washing mode shown in Figure 3 or Figure 4, and then the washing efficiency can be improved based on the uninterrupted washing mode and the washing time can be shortened.
  • the method further includes:
  • the frequency converter can be configured to achieve independent configuration of the first washing rhythm and/or the second washing rhythm, wherein the first drive motor and the second drive motor can share a frequency converter or be driven by independent frequency converters, which is not limited in the embodiments of the present application.
  • the embodiment of the present application also provides a control device of a clothing processing equipment, which corresponds to the control method of the above-mentioned clothing processing equipment, and each step in the embodiment of the control method of the above-mentioned clothing processing equipment is also fully applicable to the embodiment of the control device of the present clothing processing equipment.
  • the control device of the clothes processing device comprises: a control module 501 configured as follows: Determine to enter the washing stage, control the first direct-drive motor to run at a first washing rhythm and the second direct-drive motor to run at a second washing rhythm; wherein the first washing rhythm and the second washing rhythm are independently configured, the first washing rhythm includes: a first forward rotation stage, a first intermittent stage and a first reverse rotation stage, and the second washing rhythm includes: a second forward rotation stage, a second intermittent stage and a second reverse rotation stage.
  • control module 501 controls the first direct-drive motor to operate at a first washing rhythm and the second direct-drive motor to operate at a second washing rhythm, including at least one of the following:
  • the second direct drive motor is controlled to start before the first direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • control module 501 controls the first direct drive motor and the second direct drive motor to start simultaneously, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm, including:
  • the first direct-drive motor and the second direct-drive motor are controlled to start simultaneously and rotate in the opposite direction, wherein the first direct-drive motor runs at a first washing rhythm, and the second direct-drive motor runs at a second washing rhythm, and the first washing rhythm and the second washing rhythm are the same.
  • control module 501 controls the first direct drive motor to start before the second direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm, including:
  • the first direct-drive motor is controlled to start running at the first washing rhythm, and before entering the first first intermittent stage, the second direct-drive motor is controlled to start running at the second washing rhythm.
  • control module 501 controls the second direct drive motor to drive the first The direct drive motor is started, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm, including:
  • the second direct-drive motor is controlled to start running at the second washing rhythm first, and before entering the first second intermittent stage, the first direct-drive motor is controlled to start running at the first washing rhythm.
  • the first intermittent phase and the second intermittent phase do not overlap in time.
  • the rotation speed of the other one of the two is greater than 80% of the rated rotation speed.
  • the washing number of the washing stage is multiple times, and the control module 501 controls the first direct-drive motor to run at a first washing beat and the second direct-drive motor to run at a second washing beat, including:
  • the first direct drive motor is controlled to start before the second direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm, or the second direct drive motor is controlled to start before the first direct drive motor, and the first direct drive motor runs at a first washing rhythm and the second direct drive motor runs at a second washing rhythm.
  • control device of the laundry processing equipment further includes: a configuration module 502, which is used to configure the first washing rhythm and/or the second washing rhythm.
  • control module 501 and the configuration module 502 can be implemented by a processor in the control device of the clothing processing device.
  • the processor needs to run the computer program in the memory to realize its function.
  • control device of the clothes processing equipment provided in the above embodiment
  • the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the above-described processing.
  • control device for the clothing treatment device provided in the above embodiment and the control method embodiment of the clothing treatment device belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.
  • the embodiment of the present application also provides a clothes processing device.
  • Figure 6 only shows an exemplary structure of the clothes processing device rather than the entire structure. Part or all of the structure shown in Figure 6 can be implemented as needed.
  • the clothing processing device 600 provided in the embodiment of the present application includes: at least one processor 601, a memory 602 and a user interface 603.
  • the various components in the clothing processing device 600 are coupled together through a bus system 604.
  • the bus system 604 is used to realize the connection and communication between these components.
  • the bus system 604 also includes a power bus, a control bus and a status signal bus.
  • various buses are marked as bus systems 604 in FIG6 .
  • the clothing processing device in the embodiment of the present application further includes: an inner drum, a pulsator located in the inner drum, a first direct drive motor that drives the pulsator to rotate, and a second direct drive motor that drives the inner drum to rotate.
  • the user interface 603 in the embodiment of the present application may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch pad or a touch screen.
  • the memory 602 in the embodiment of the present application is used to store various types of data to support the operation of the laundry processing device. Examples of such data include: any computer program used to operate on the laundry processing device.
  • Processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the control method of the clothing processing device can be completed by the hardware integrated logic circuit or software instructions in the processor 601.
  • the above-mentioned processor 601 can be a general processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • DSP Digital Signal Processor
  • Processor 601 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of this application.
  • a general processor can be a microprocessor or any conventional processor, etc.
  • the decoding processor In combination with the steps of the method disclosed in the embodiments of this application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a storage medium, which is located in the memory 602.
  • the processor 601 reads the information in the memory 602 and completes the steps of the control method of the clothing processing device provided in the embodiment of this application in combination with its hardware.
  • the clothing processing device can be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.
  • ASIC application specific integrated circuits
  • DSP digital signal processor
  • PLD programmable logic device
  • CPLD complex programmable logic device
  • FPGA field programmable gate array
  • general processor controller
  • MCU microcontroller
  • microprocessor or other electronic components to execute the aforementioned method.
  • the memory 602 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.
  • the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (RAM), or a 32-bit ...
  • Volatile memory may be a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a magnetic disk memory or a magnetic tape memory.
  • Volatile memory may be a random access memory (RAM), which is used as an external cache.
  • RAM random access memory
  • RAM random access memory
  • SRAM static random access memory
  • SSRAM synchronous static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDRSDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • DRRAM direct memory bus random access memory
  • the memory described in the embodiments of the present application is intended to include but is not limited to these and any other suitable types of memory.
  • the present application also provides a storage medium, namely a computer storage medium, which may be a computer-readable storage medium, for example, a memory 602 storing a computer program, and the computer program may be executed by a processor 601 of a clothing processing device to complete the steps described in the method of the present application.
  • the computer-readable storage medium may be a memory such as a ROM, a PROM, an EPROM, an EEPROM, a Flash Memory, a magnetic surface memory, an optical disk, or a CD-ROM.

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Abstract

一种衣物处理设备及其控制方法、装置和存储介质。该衣物处理设备包括：内筒、位于内筒内的波轮、驱动波轮转动的第一直驱电机和驱动内筒转动的第二直驱电机。该控制方法包括：确定进入洗涤阶段，控制第一直驱电机以第一洗涤节拍运行和第二直驱电机以第二洗涤节拍运行；第一洗涤节拍和第二洗涤节拍被独立地配置，第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。这能够实现多自由度的洗涤节拍控制，改善洗涤效果。

Description

衣物处理设备及其控制方法、装置和存储介质
相关申请的交叉引用
本申请基于申请号为202310472729.8、申请日为2023年04月27日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及衣物处理领域，尤其涉及一种衣物处理设备及其控制方法、装置和存储介质。
背景技术
随着衣物处理设备的普遍应用，其逐渐成为人们生活中不可或缺的一部分，而全自动波轮洗衣机作为一种主要的衣物处理设备类型，占有较大的市场。现有全自动波轮洗衣机的工作方式一般为：洗涤和漂洗时，驱动装置通过减速离合装置驱动洗衣机的波轮正反转；脱水时，驱动装置通过减速离合装置驱动洗衣机的波轮和洗涤桶同步高速转动。
然而上述工作方式的全自动波轮洗衣机存在以下缺陷：
1)、洗涤时，内筒(即洗涤桶)不转动，波轮做正反向旋转，带动内筒内的水和衣物转动实现洗涤。洗涤模式单一，且当衣物较多时，仅靠波轮的转动不能使衣物有效翻滚，存在水流强度弱、衣物易缠绕、洗净比低等问题；
2)、减速离合装置大多是通过行星齿轮进行减速，通过离合器棘爪的运动实现洗涤与脱水的切换。由于使用行星齿轮进行减速，导致传动效率降低的同时，又给洗衣机引入了新的噪声源。离合器的使用，不仅增加了 洗衣机制造和装配的工艺难度，而且还增大了驱动系统所占用的洗衣机空间，减少了洗衣机内筒的有效容量。
发明内容
有鉴于此，本申请实施例提供了一种衣物处理设备及其控制方法、装置和存储介质，旨在改善衣物处理设备的洗涤效果。
本申请实施例的技术方案是这样实现的：
第一方面，本申请实施例提供了一种衣物处理设备的控制方法，所述衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，所述方法包括：
确定进入洗涤阶段，控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
其中，所述第一洗涤节拍和所述第二洗涤节拍被独立地配置，所述第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，所述第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。
在一些实施方案中，所述控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括以下至少之一：
控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
在一些实施方案中，所述控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第一直驱电机以第一洗涤节拍先启动运行，并在进入首个第一间歇阶段之前，控制所述第二直驱电机以第二洗涤节拍启动运行。
在一些实施方案中，所述控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第二直驱电机以第二洗涤节拍先启动运行，并在进入首个第二间歇阶段之前，控制所述第一直驱电机以第一洗涤节拍启动运行。
在一些实施方案中，所述第一间歇阶段和所述第二间歇阶段在时间上不重叠。
在一些实施方案中，所述第一直驱电机或所述第二直驱电机处于间歇阶段时，两者中的另一者的转速大于额定转速的80％。
在一些实施方案中，所述洗涤阶段的洗涤次数为多次，所述控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
确定为所述洗涤阶段的第一次洗涤，控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
确定为所述第一次洗涤之后的洗涤控制，控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，或者，控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
在一些实施方案中，所述控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第一直驱电机与所述第二直驱电机同时启动且反向转动，其中，所述第一直驱电机以第一洗涤节拍运行，所述第二直驱电机以第二洗 涤节拍运行，所述第一洗涤节拍和所述第二洗涤节拍相同。
在一些实施方案中，所述方法还包括：
配置所述第一洗涤节拍和/或所述第二洗涤节拍。
第二方面，本申请实施例提供了一种衣物处理设备的控制装置，所述衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，所述控制装置包括：
控制模块，配置为确定进入洗涤阶段，控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
其中，所述第一洗涤节拍和所述第二洗涤节拍被独立地配置，所述第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，所述第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。
第三方面，本申请实施例还提供了一种衣物处理设备，所述衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，所述衣物处理设备还包括：处理器和用于存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器配置为运行计算机程序时，执行本申请实施例第一方面所述方法的步骤。
在一些实施方案中，所述第一直驱电机和所述第二直驱电机为双转子电机中的第一子电机和第二子电机。
第四方面，本申请实施例还提供了一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时，实现本申请实施例所述方法的步骤。
本申请实施例提供的技术方案，该衣物处理设备包括：内筒、位于内筒内的波轮、驱动波轮转动的第一直驱电机和驱动内筒转动的第二直驱电机。该控制方法包括：确定进入洗涤阶段，控制第一直驱电机以第一洗涤 节拍运行和第二直驱电机以第二洗涤节拍运行；其中，第一洗涤节拍和第二洗涤节拍被独立地配置，第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。由于第一直驱电机和第二直驱电机可以独立地以各自的洗涤节拍运行，进而能够实现衣物处理设备在洗涤阶段的多自由度的洗涤节拍的控制，可以有效改善衣物处理设备的洗涤效果。
附图说明
图1为本申请实施例衣物处理设备的控制方法的流程示意图；
图2为本申请一应用示例中双动力洗涤模式的转速示意图；
图3为本申请一应用示例中不间断洗涤模式的转速示意图；
图4为本申请另一应用示例中不间断洗涤模式的转速示意图；
图5为本申请实施例衣物处理设备的控制装置的结构示意图；
图6为本申请实施例衣物处理设备的结构示意图。
具体实施方式
下面结合附图及实施例对本申请再作进一步详细的描述。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。
本申请实施例提供了一种衣物处理设备的控制方法，该衣物处理设备可以为波轮洗衣机，该衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱(direct drive，DD)电机和驱动所述内筒转动的第二直驱电机。
需要说明的是，本申请实施例的直驱电机是直接驱动式电机的简称，主要是指电机在驱动负载时，不需要经过传动装置来传动，即相关的机械 传动部件(滚珠丝杠副、齿条与齿轮、传动皮带/皮带轮以及齿轮箱等)均被取消，进而消除了由机械传动带来的反向间隙、柔度以及与之相关的其它问题。
为了实现两个直驱电机分别与波轮、内筒的连接。作为本申请实施例的一种实施方式，第一直驱电机包括第一转子和第一定子，衣物处理设备包括波轮轴，波轮轴的一端固定连接波轮，另一端固定连接第一转子。第二直驱电机包括第二转子和第二定子，衣物处理设备包括套设在波轮轴外部的内筒轴，内筒轴的一端固定连接内筒，另一端固定连接第二转子。
示例性地，可以在第一直驱电机上设置可供内筒轴穿过的贯通通道，也可以在第二直驱电机上设置可供波轮轴穿过的贯通通道，不同的设置方式对应直驱电机的设置位置，连接方式不同。作为一种实施方式，第一直驱电机与内筒的筒底沿中心轴线的距离大于第二直驱电机与内筒的筒底沿中心轴线的距离，即第一直驱电机位于第二直驱电机之下，第二直驱电机具有可以供波轮轴穿过的贯通通道。
在一应用示例中，第一直驱电机为外转子直驱电机，第一转子位于第一定子的外部；第二直驱电机为内转子直驱电机，第二转子位于第二定子的内部。在另一应用示例中，第一直驱电机为内转子直驱电机，第一转子位于第一定子的内部；第二直驱电机为外转子直驱电机，第二转子位于第二定子的外部。
示例性地，第一直驱电机和第二直驱电机可以为双转子电机中的第一子电机和第二子电机。需要说明的是，传统的电机一般只有一个定子和一个转子，双转子电机具有两个机械轴(对应两个子电机)，可以实现两个机械轴能量的独立传递，该双转子电机极大地减小了设备的体积和重量，提高了工作效率，能很好地满足节能和调速的要求，有着优越的运行性能。
可以理解的是，第一直驱电机和第二直驱电机可以独立地工作，以同 步或者不同步地驱动内筒和波轮。
需要说明的是，本申请实施例的衣物处理设备，由于采用第一直驱电机和第二直驱电机，去掉了减速离合结构，大大降低了驱动装置的整体高度，在同等箱体高度尺寸的前提下，可以有效减小驱动系统所占用的空间，进而增大洗衣机内筒的有效容量；此外，由于减少了机械传动及零部件的设计安装，可以有效提高传动效率，并减少噪声源，利于改善衣物处理设备的运行效果；进一步地，在第一直驱电机和第二直驱电机被独立控制的基础上，基于控制程序的优化，可以有效改善衣物处理设备的洗涤效果。
如图1所示，本申请实施例衣物处理设备的控制方法，包括：
步骤101，确定进入洗涤阶段，控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；其中，所述第一洗涤节拍和所述第二洗涤节拍被独立地配置，所述第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，所述第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。
可以理解的是，本申请实施例的控制方法中，由于第一直驱电机和第二直驱电机可以独立地以各自的洗涤节拍运行，进而能够实现衣物处理设备在洗涤阶段的多自由度的洗涤节拍的控制，可以有效改善衣物处理设备的洗涤效果。
需要说明的是，相关技术中，往往需要引入动力切换装置来实现第一直驱电机和第二直驱电机的同步或者脱离状态之间的切换。例如，可以在洗衣机的外桶的桶底上设置固定装置，内筒轴上设置可沿其轴向滑动且与该固定装置配合/分离的定位装置，通过固定装置和定位装置的设置，控制二者的啮合状态以及第一直驱电机、第二直驱电机动力的输出，实现多工况的洗涤效果。
本申请实施例中，通过独立地配置第一直驱电机的第一洗涤节拍和第 二直驱电机的第二洗涤节拍，使得第一直驱电机和第二直驱电机的洗涤节拍可以不同，相较于传统的单独启动一个直驱电机或者同步启动两个直驱电机的控制方案，可以在第一直驱电机和第二直驱电机独立地以各自的洗涤节拍运行的基础上，实现衣物处理设备在洗涤阶段的多自由度的洗涤节拍的控制，可以有效改善衣物处理设备的洗涤效果。
示例性地，所述控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括以下至少之一：
控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
这里，衣物处理设备在洗涤阶段，由于支持第一驱动电机和第二驱动电机同步启动或者异步启动，从而使得双直驱电机配合的洗涤节拍的自由度更为丰富，能够实现更佳的洗涤节拍控制，进而改善衣物洗涤效果，提高衣物洗涤效率。
示例性地，第一洗涤节拍和第二洗涤节拍还支持配置不同的洗涤加速度和洗涤转速，如此，可以在洗涤节拍独立控制的基础上，实现洗涤强度的个性化设置。
示例性地，所述控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第一直驱电机与所述第二直驱电机同时启动且反向转动，其中，所述第一直驱电机以第一洗涤节拍运行，所述第二直驱电机以第二洗 涤节拍运行，所述第一洗涤节拍和所述第二洗涤节拍相同。
在一应用示例中，第一直驱电机的洗涤转速如图2中的实线所示，第二直驱电机的洗涤转速如图2中的虚线所示，如此，可以在双直驱电机之间互不干扰的情形下，实现双动力洗涤。可以理解的是，波轮在第一直驱电机的驱动下以第一洗涤节拍转动，内筒在第二直驱电机的驱动下以第二洗涤节拍转动，且波轮和内筒的转动方向相反，进而可以在内筒内部形成较强涡流，从而增强衣物的去污洗涤效果。
示例性地，所述控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第一直驱电机以第一洗涤节拍先启动运行，并在进入首个第一间歇阶段之前，控制所述第二直驱电机以第二洗涤节拍启动运行。
在一应用示例中，第一直驱电机的洗涤转速如图3中的实线所示，第二直驱电机的洗涤转速如图3中的虚线所示。由图3可以得知，第一直驱电机以第一洗涤节拍先启动运行并带动波轮运行在第一正转阶段，并在进入首个第一间歇阶段之前，第二直驱电机以第二洗涤节拍启动运行并带动内筒运行在第二正转阶段，接着第一直驱电机在该第一间歇阶段之后带动波轮运行在第一反转阶段，第二直驱电机在第二间歇阶段之后带动内筒运行在第二反转阶段，并如此循环反复。
示例性地，第一间歇阶段和第二间歇阶段在时间上不重叠。可以理解的是，由于第一间歇阶段和第二间歇阶段在时间上不重叠，如此，可以在第一直驱电机和第二直驱电机异步启动的基础上，实现不间断洗涤的洗涤效果，且由于第一直驱电机和第二直驱电机均存在合理的间歇时长，能够减缓直驱电机持续工作时长过长导致的散热不良或者损耗过大等缺陷，进而可以在不间断洗涤的场景下有效延长直驱电机的使用寿命。
示例性地，所述控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第二直驱电机以第二洗涤节拍先启动运行，并在进入首个第二间歇阶段之前，控制所述第一直驱电机以第一洗涤节拍启动运行。
在一应用示例中，第一直驱电机的洗涤转速如图4中的实线所示，第二直驱电机的洗涤转速如图4中的虚线所示。由图4可以得知，第二直驱电机以第二洗涤节拍先启动运行并带动内筒运行在第二正转阶段，并在进入首个第二间歇阶段之前，第一直驱电机以第一洗涤节拍启动运行并带动波轮运行在第一正转阶段，接着第二直驱电机在该第二间歇阶段之后带动内筒运行在第二反转阶段，第一直驱电机在第一间歇阶段之后带动波轮运行在第一反转阶段，并如此循环反复。
示例性地，第一间歇阶段和第二间歇阶段在时间上不重叠。可以理解的是，由于第一间歇阶段和第二间歇阶段在时间上不重叠，如此，可以在第一直驱电机和第二直驱电机异步启动的基础上，实现不间断洗涤的洗涤效果，且由于第一直驱电机和第二直驱电机均存在合理的间歇时长，能够减缓直驱电机持续工作时长过长导致的散热不良或者损耗过大等缺陷，进而可以在不间断洗涤的场景下有效延长直驱电机的使用寿命。
示例性地，对于前述的不间断洗涤模式，第一直驱电机或第二直驱电机处于间歇阶段时，两者中的另一者的转速大于额定转速的80％，即第一直驱电机处于第一间歇阶段时，第二直驱电机的转速大于额定转速的80％，第二直驱电机处于第二间歇阶段时，第一直驱电机的转速大于额定转速的80％，如此，可以减小不间断洗涤模式下的洗涤转速的波动，利于保障洗涤效率。
在一些实施例中，所述洗涤阶段的洗涤次数为多次，所述控制所述第 一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
确定为所述洗涤阶段的第一次洗涤，控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
确定为所述第一次洗涤之后的洗涤控制，控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，或者，控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
可以理解的是，对于洗涤阶段的第一次洗涤控制，可以工作在图2所示的双动力洗涤模式，如此，可以基于波轮和内筒的转动方向相反，进而在内筒内部形成较强涡流，从而增强衣物的去污洗涤效果；对于第一次洗涤之后的洗涤控制，则可以工作在图3或者图4所示的不间断洗涤模式，进而可以基于不间断洗涤模式提高洗涤效率，缩短洗涤时长。
示例性地，所述方法还包括：
配置所述第一洗涤节拍和/或所述第二洗涤节拍。
示例性地，可以对变频器进行配置，实现第一洗涤节拍和/或第二洗涤节拍的独立配置，其中，第一驱动电机和第二驱动电机可以共用一个变频器驱动，亦可以由独立的变频器驱动，本申请实施例对此不做限定。
为了实现本申请实施例的方法，本申请实施例还提供一种衣物处理设备的控制装置，该衣物处理设备的控制装置与上述衣物处理设备的控制方法对应，上述衣物处理设备的控制方法实施例中的各步骤也完全适用于本衣物处理设备的控制装置实施例。
如图5所示，该衣物处理设备的控制装置包括：控制模块501，配置为 确定进入洗涤阶段，控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；其中，所述第一洗涤节拍和所述第二洗涤节拍被独立地配置，所述第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，所述第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。
在一些实施例中，控制模块501控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括以下至少之一：
控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
在一些实施例中，控制模块501控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第一直驱电机与所述第二直驱电机同时启动且反向转动，其中，所述第一直驱电机以第一洗涤节拍运行，所述第二直驱电机以第二洗涤节拍运行，所述第一洗涤节拍和所述第二洗涤节拍相同。
在一些实施例中，控制模块501控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第一直驱电机以第一洗涤节拍先启动运行，并在进入首个第一间歇阶段之前，控制所述第二直驱电机以第二洗涤节拍启动运行。
在一些实施例中，控制模块501控制所述第二直驱电机先于所述第一 直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
控制所述第二直驱电机以第二洗涤节拍先启动运行，并在进入首个第二间歇阶段之前，控制所述第一直驱电机以第一洗涤节拍启动运行。
在一些实施例中，所述第一间歇阶段和所述第二间歇阶段在时间上不重叠。
在一些实施例中，所述第一直驱电机或所述第二直驱电机处于间歇阶段时，两者中的另一者的转速大于额定转速的80％。
在一些实施例中，所述洗涤阶段的洗涤次数为多次，控制模块501控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
确定为所述洗涤阶段的第一次洗涤，控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
确定为所述第一次洗涤之后的洗涤控制，控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，或者，控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
在一些实施例中，该衣物处理设备的控制装置还包括：配置模块502，用于配置所述第一洗涤节拍和/或所述第二洗涤节拍。
实际应用时，控制模块501和配置模块502，可以由衣物处理设备的控制装置中的处理器来实现。当然，处理器需要运行存储器中的计算机程序来实现它的功能。
需要说明的是：上述实施例提供的衣物处理设备的控制装置在进行衣 物处理设备控制时，仅以上述各程序模块的划分进行举例说明，实际应用中，可以根据需要而将上述处理分配由不同的程序模块完成，即将装置的内部结构划分成不同的程序模块，以完成以上描述的全部或者部分处理。另外，上述实施例提供的衣物处理设备的控制装置与衣物处理设备的控制方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
基于上述程序模块的硬件实现，且为了实现本申请实施例的方法，本申请实施例还提供一种衣物处理设备。图6仅仅示出了该衣物处理设备的示例性结构而非全部结构，根据需要可以实施图6示出的部分结构或全部结构。
如图6所示，本申请实施例提供的衣物处理设备600包括：至少一个处理器601、存储器602和用户接口603。衣物处理设备600中的各个组件通过总线系统604耦合在一起。可以理解，总线系统604用于实现这些组件之间的连接通信。总线系统604除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图6中将各种总线都标为总线系统604。
本申请实施例衣物处理设备还包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，具体可以参照前述描述，在此不再赘述。
本申请实施例中的用户接口603可以包括显示器、键盘、鼠标、轨迹球、点击轮、按键、按钮、触感板或者触摸屏等。
本申请实施例中的存储器602用于存储各种类型的数据以支持衣物处理设备的操作。这些数据的示例包括：用于在衣物处理设备上操作的任何计算机程序。
本申请实施例揭示的衣物处理设备的控制方法可以应用于处理器601 中，或者由处理器601实现。处理器601可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，衣物处理设备的控制方法的各步骤可以通过处理器601中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器601可以是通用处理器、数字信号处理器(DSP，Digital Signal Processor)，或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。处理器601可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤，可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于存储介质中，该存储介质位于存储器602，处理器601读取存储器602中的信息，结合其硬件完成本申请实施例提供的衣物处理设备的控制方法的步骤。
在示例性实施例中，衣物处理设备可以被一个或多个应用专用集成电路(ASIC，Application Specific Integrated Circuit)、DSP、可编程逻辑器件(PLD，Programmable Logic Device)、复杂可编程逻辑器件(CPLD，Complex Programmable Logic Device)、现场可编程逻辑门阵列(FPGA，Field Programmable Gate Array)、通用处理器、控制器、微控制器(MCU，Micro Controller Unit)、微处理器(Microprocessor)、或者其他电子元件实现，用于执行前述方法。
可以理解，存储器602可以是易失性存储器或非易失性存储器，也可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(ROM，Read Only Memory)、可编程只读存储器(PROM，Programmable Read-Only Memory)、可擦除可编程只读存储器(EPROM，Erasable Programmable Read-Only Memory)、电可擦除可编程只读存储器(EEPROM，Electrically Erasable Programmable Read-Only Memory)、磁性随机存取存储 器(FRAM，ferromagnetic random access memory)、快闪存储器(Flash Memory)、磁表面存储器、光盘、或只读光盘(CD-ROM，Compact Disc Read-Only Memory)；磁表面存储器可以是磁盘存储器或磁带存储器。易失性存储器可以是随机存取存储器(RAM，Random Access Memory)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(SRAM，Static Random Access Memory)、同步静态随机存取存储器(SSRAM，Synchronous Static Random Access Memory)、动态随机存取存储器(DRAM，Dynamic Random Access Memory)、同步动态随机存取存储器(SDRAM，Synchronous Dynamic Random Access Memory)、双倍数据速率同步动态随机存取存储器(DDRSDRAM，Double Data Rate Synchronous Dynamic Random Access Memory)、增强型同步动态随机存取存储器(ESDRAM，Enhanced Synchronous Dynamic Random Access Memory)、同步连接动态随机存取存储器(SLDRAM，SyncLink Dynamic Random Access Memory)、直接内存总线随机存取存储器(DRRAM，Direct Rambus Random Access Memory)。本申请实施例描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
在示例性实施例中，本申请实施例还提供了一种存储介质，即计算机存储介质，具体可以是计算机可读存储介质，例如包括存储计算机程序的存储器602，上述计算机程序可由衣物处理设备的处理器601执行，以完成本申请实施例方法所述的步骤。计算机可读存储介质可以是ROM、PROM、EPROM、EEPROM、Flash Memory、磁表面存储器、光盘、或CD-ROM等存储器。
需要说明的是：“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
另外，本申请实施例所记载的技术方案之间，在不冲突的情况下，可 以任意组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请披露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (13)

  1. 一种衣物处理设备的控制方法，所述衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，所述方法包括：
    确定进入洗涤阶段，控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
    其中，所述第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，所述第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。
  2. 根据权利要求1所述的方法，其中，所述控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括以下至少之一：
    控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
    控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
  3. 根据权利要求2所述的方法，其中，所述控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
    控制所述第一直驱电机以第一洗涤节拍先启动运行，并在进入首个第一间歇阶段之前，控制所述第二直驱电机以第二洗涤节拍启动运行。
  4. 根据权利要求2所述的方法，其中，所述控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
    控制所述第二直驱电机以第二洗涤节拍先启动运行，并在进入首个第二间歇阶段之前，控制所述第一直驱电机以第一洗涤节拍启动运行。
  5. 根据权利要求2所述的方法，其中，所述第一间歇阶段和所述第二间歇阶段在时间上不重叠。
  6. 根据权利要求5所述的方法，所述第一直驱电机或所述第二直驱电机处于间歇阶段时，两者中的另一者的转速大于额定转速的80％。
  7. 根据权利要求2所述的方法，其中，所述洗涤阶段的洗涤次数为多次，所述控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
    确定为所述洗涤阶段的第一次洗涤，控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
    确定为所述第一次洗涤之后的洗涤控制，控制所述第一直驱电机先于所述第二直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，或者，控制所述第二直驱电机先于所述第一直驱电机启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行。
  8. 根据权利要求7所述的方法，其中，所述控制所述第一直驱电机与所述第二直驱电机同时启动，且所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行，包括：
    控制所述第一直驱电机与所述第二直驱电机同时启动且反向转动，其中，所述第一直驱电机以第一洗涤节拍运行，所述第二直驱电机以第二洗涤节拍运行，所述第一洗涤节拍和所述第二洗涤节拍相同。
  9. 根据权利要求1至8任一项所述的方法，其中，所述方法还包括：
    配置所述第一洗涤节拍和/或所述第二洗涤节拍。
  10. 一种衣物处理设备的控制装置，所述衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，所述控制装置包括：
    控制模块，配置为确定进入洗涤阶段，控制所述第一直驱电机以第一洗涤节拍运行和所述第二直驱电机以第二洗涤节拍运行；
    其中，所述第一洗涤节拍和所述第二洗涤节拍被独立地配置，所述第一洗涤节拍包括：第一正转阶段、第一间歇阶段和第一反转阶段，所述第二洗涤节拍包括：第二正转阶段、第二间歇阶段和第二反转阶段。
  11. 一种衣物处理设备，所述衣物处理设备包括：内筒、位于所述内筒内的波轮、驱动所述波轮转动的第一直驱电机和驱动所述内筒转动的第二直驱电机，所述衣物处理设备还包括：处理器和用于存储能够在处理器上运行的计算机程序的存储器，其中，
    所述处理器，配置为运行计算机程序时，执行权利要求1至9任一项所述方法的步骤。
  12. 根据权利要求11所述的衣物处理设备，其中，所述第一直驱电机和所述第二直驱电机为双转子电机中的第一子电机和第二子电机。
  13. 一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时，实现权利要求1至9任一项所述方法的步骤。
PCT/CN2023/142361 2023-04-27 2023-12-27 衣物处理设备及其控制方法、装置和存储介质 Ceased WO2024222014A1 (zh)

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