Control method of washing machine and related equipment

Abstract

The embodiment of the present application provides a control method for a washing machine and related equipment, wherein the control method for a washing machine comprises: in response to a balance adjustment instruction, obtaining the water loss state of the washing machine; when the water loss state meets a preset condition, controlling the washing machine to perform a balance adjustment action. The control method for a washing machine determines the timing of performing balance adjustment according to the water loss state of the washing machine, so that the timing of performing the balance adjustment action is more accurate, the control efficiency is improved, the generation of invalid control is reduced, and the user experience is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electrical appliance technology, and specifically, to a control method for a washing machine, a control device for a washing machine, a computer-readable storage medium, a washing device, and a washing machine. Background Art

[0002] During the use of the washing machine, the laundry in the washing unit is unevenly distributed and eccentric. When the washing unit rotates at high speed, it will generate a lot of vibration. In recent years, some washing machines have added active balancing systems to offset the eccentricity during the dehydration process. However, the current active balancing system is difficult to perform accurate balancing control, and it is easy to have invalid balancing adjustment actions, and the balancing control efficiency is low. Summary of the invention

[0003] The embodiments of the present application are intended to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of an embodiment of the present application provides a method for controlling a washing machine.

[0005] A second aspect of an embodiment of the present application provides a control device for a washing machine.

[0006] A third aspect of the embodiments of the present application provides a computer-readable storage medium.

[0007] A fourth aspect of the embodiments of the present application provides a laundry washing device.

[0008] A fifth aspect of an embodiment of the present application provides a washing machine.

[0009] In view of this, according to a first aspect of an embodiment of the present application, a control method for a washing machine is proposed, comprising:

[0010] In response to the balance adjustment instruction, obtaining the water loss state of the washing machine;

[0011] When the water loss state meets a preset condition, the washing machine is controlled to perform a balance adjustment action.

[0012] In a first possible implementation manner of the first aspect, the step of obtaining the water loss state of the washing machine includes:

[0013] obtaining a drainage rate of the washing machine;

[0014] It is determined whether the drainage rate is less than or equal to a preset drainage rate, and the water loss state is determined according to the determination result.

[0015] In a second possible implementation manner of the first aspect, when the water loss state satisfies a preset condition, the step of controlling the washing machine to perform a balance adjustment action includes:

[0016] When the water loss state is that the drainage rate is less than or equal to the preset drainage rate, the washing machine is controlled to perform a balance adjustment action.

[0017] In a third possible implementation manner of the first aspect, the control method of the washing machine further includes:

[0018] generating the balance adjustment instruction based on the user's operation information; and / or

[0019] obtaining a vibration amount of the washing machine;

[0020] When the vibration amount is greater than an expected vibration amount, the balance adjustment instruction is generated.

[0021] In a fourth possible implementation manner of the first aspect, the control method of the washing machine further includes:

[0022] determining the expected vibration amount based on a rotation speed of a washing unit of the washing machine;

[0023] Wherein, the expected vibration amount is negatively correlated with the rotation speed of the washing unit.

[0024] In a fifth possible implementation of the first aspect, the step of obtaining the vibration amount of the washing machine includes:

[0025] During the process of the washing unit of the washing machine increasing from the first speed to the target speed, detecting and obtaining the vibration amount of the washing machine;

[0026] The first speed is the speed for shaking the laundry in the washing unit for a first preset time after the washing machine enters the dehydration stage, and the target speed is the maximum speed of the washing machine during the dehydration process.

[0027] In a sixth possible implementation of the first aspect, the step of obtaining the vibration amount of the washing machine includes:

[0028] acquiring the vibration amount when a washing unit of the washing machine is at a transition speed or a target speed;

[0029] The transition speed is a speed between the first speed and the target speed that lasts for a second preset time.

[0030] In a seventh possible implementation of the first aspect, the vibration amount is obtained through at least one of amplitude information of the water holding unit of the washing machine during the vibration process, acceleration information of the water holding unit during the vibration process, speed information of the water holding unit during the vibration process, and radial stress information of the driving unit of the washing machine.

[0031] In an eighth possible implementation manner of the first aspect, the washing machine includes a balancing unit, and the step of controlling the washing machine to perform a balancing adjustment action includes:

[0032] Controlling the washing unit of the washing machine to maintain a current rotation speed;

[0033] determining the eccentric direction of the washing machine;

[0034] The balancing force application direction of the balancing unit is controlled so that the balancing force application direction deviates from the eccentric direction.

[0035] According to a second aspect of the present invention, a control device for a washing machine is provided, comprising:

[0036] a memory storing a computer program;

[0037] A processor, configured to execute the computer program;

[0038] Wherein, when the processor executes the computer program, it implements the control method of the washing machine of any of the above technical solutions.

[0039] According to a third aspect of the present invention, a computer-readable storage medium is provided:

[0040] The computer-readable storage medium stores a computer program to implement the control method of the washing machine of any of the above technical solutions.

[0041] According to a fourth aspect of the present invention, a washing device is proposed, comprising: a control device of the above technical solution.

[0042] According to a fifth aspect of the present invention, a washing machine is provided, comprising:

[0043] Balancing unit;

[0044] A drainage rate detection unit, used for detecting the drainage rate;

[0045] The control unit is used for obtaining the water loss state of the washing machine based on the drainage rate in response to the balance adjustment instruction, and controlling the balance unit to perform a balance adjustment action when the water loss state meets a preset condition.

[0046] In a first possible implementation manner of the fifth aspect, the washing machine further includes: a water holding unit, and the drainage rate detection unit includes:

[0047] A flow sensor is connected to the water containing unit.

[0048] In a second possible implementation manner of the fifth aspect, the washing machine further includes:

[0049] A drainage pump connected to the water storage unit;

[0050] A drainage pipeline connected to the drainage pump;

[0051] Wherein, the flow sensor is arranged between the drainage pump and the water containing unit; or

[0052] The flow sensor is arranged on the drainage pipeline.

[0053] In a third possible implementation manner of the fifth aspect, the washing machine further includes: a water holding unit, and the drainage rate detection unit includes:

[0054] The weight detection module is used to detect the weight of the water holding unit and / or the weight of the liquid discharged through the water holding unit.

[0055] In a fourth possible implementation manner of the fifth aspect, the washing machine further includes:

[0056] The vibration detection unit is used to detect the vibration amount of the water containing unit and is connected to the control unit.

[0057] In a fifth possible implementation of the fifth aspect, the vibration detection unit includes:

[0058] a speed sensor, disposed on the water holding unit, for detecting speed information during the vibration of the water holding unit; and / or

[0059] an acceleration sensor, disposed on the water holding unit, for detecting acceleration information during vibration of the water holding unit; and / or

[0060] The displacement sensor is arranged on the water holding unit and is used to detect the amplitude information of the water holding unit during vibration.

[0061] In a sixth possible implementation manner of the fifth aspect, the washing machine further includes:

[0062] a washing unit, the washing unit being arranged in the water containing unit;

[0063] A driving unit, connected to the washing unit, and used to drive the washing unit to rotate;

[0064] Wherein, the vibration detection unit includes a force sensor, and the force sensor is arranged on the driving unit to detect the radial stress of the driving unit.

[0065] In a seventh possible implementation manner of the fifth aspect, the washing machine further includes a washing unit, wherein the washing unit is disposed in the water holding unit, and the balancing unit includes:

[0066] A balancing slide rail, arranged on the washing unit;

[0067] A mass block, slidably disposed on the balancing slide rail;

[0068] A power supply unit, wherein at least a portion of the balancing rail is made of a conductive material, and the mass block is electrically connected to the power supply unit through the balancing rail;

[0069] There are two balancing rails, which are respectively mounted on two ends of the washing unit; and at least two mass blocks are arranged on each balancing rail.

[0070] In an eighth possible implementation manner of the fifth aspect, the washing machine further includes a washing unit, wherein the washing unit is disposed in the water holding unit, and the balancing unit includes:

[0071] A plurality of liquid tanks are arranged on the washing unit;

[0072] A liquid injection part, connected to each of the liquid bins, for injecting liquid into the liquid bin;

[0073] A balancing ring is sleeved on the washing unit, and a plurality of liquid bins are provided in the balancing ring;

[0074] There are two balancing rings, which are respectively sleeved on the two ends of the washing unit.

[0075] In a ninth possible implementation manner of the fifth aspect, the washing machine further includes:

[0076] A mounting seat, on which the water containing unit is arranged;

[0077] A shock absorbing member is arranged between the water containing unit and the mounting seat.

[0078] Compared with the prior art, the present invention has at least the following beneficial effects:

[0079] The control method of the washing machine provided in the embodiment of the present application obtains the water loss state of the washing machine in response to the balance adjustment instruction, and controls the washing machine to perform the balance adjustment action when the water loss state meets the preset conditions. The present embodiment determines the timing of performing the balance adjustment action by the water loss state of the washing machine, so that the timing of performing the balance adjustment action is more accurate, the balance control efficiency is improved, and the generation of invalid balance control is reduced. On the one hand, the computing resources of the washing machine control system are saved, and on the other hand, the action frequency of the balance unit in the balance control process can be reduced, thereby reducing the loss of related components. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The above and / or additional aspects and advantages of the embodiments of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0081] Figure 1 This is a flowchart of a method for controlling a washing machine according to an embodiment of the present application;

[0082] Figure 2 This is a structural block diagram of a control device for a washing machine according to an embodiment of the present application;

[0083] Figure 3 A structural block diagram of a computer-readable storage medium of a washing machine according to an embodiment of the present application;

[0084] Figure 4 This is a schematic structural diagram of a washing machine according to an embodiment of the present application;

[0085] Figure 5 A schematic structural diagram of a washing unit of a washing machine according to an embodiment of the present application;

[0086] Figure 6 This is a schematic structural diagram of a balancing unit of a washing machine according to an embodiment of the present application;

[0087] Figure 7 A schematic structural diagram of a balancing unit of a washing machine according to another embodiment of the present application;

[0088] Figure 8 A schematic structural diagram of the installation position of a drainage rate detection unit of a washing machine according to an embodiment of the present application;

[0089] Fig. 9 This is a structural block diagram of the installation position of a drainage rate detection unit of a washing machine according to an embodiment of the present application;

[0090] Fig.10 This is a structural block diagram of the installation position of a drainage rate detection unit of a washing machine according to another embodiment of the present application;

[0091] Figure 11 to Fig.11dA schematic structural diagram of a balancing force adjustment state of a balancing unit of a washing machine according to an embodiment of the present application;

[0092] Fig.12 A schematic diagram of adjusting the balancing force of a balancing unit of a washing machine according to an embodiment of the present application;

[0093] Fig.13 A schematic diagram of adjusting the balancing force of a balancing unit of a washing machine according to another embodiment of the present application;

[0094] Fig.14 A diagram showing a corresponding relationship between the speed of a washing unit and time in a dehydration state of a washing machine according to an embodiment of the present application;

[0095] Fig.15 This is a flowchart of a method for controlling a washing machine according to a specific embodiment of the present application.

[0096] in, Figures 2 to 13 The corresponding relationship between the reference numerals and the component names is as follows:

[0097] 200 control device, 201 memory, 202 processor;

[0098] 300 computer readable storage medium, 301 computer program;

[0099] 410 water holding unit, 420 washing unit, 430 balancing unit, 440 drainage rate detection unit, 450 drainage pump, 460 connecting pipeline, 470 drainage pipeline, 480 vibration detection unit, 490 mounting seat, 500 shock absorbing member;

[0100] 411 outer barrel, 421 inner barrel, 422 tripod, 423 first ring assembly, 424 second ring assembly, 431 first balancing rail, 432 second balancing rail, 433 first mass block, 434 second mass block, 435 power supply unit, 436 liquid tank, 437 balancing ring;

[0101] 4311 support rail, 4312 metal guide rail; 4361 first liquid tank, 4362 second liquid tank, 4363 third liquid tank. DETAILED DESCRIPTION

[0102] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0103] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0104] like Figure 1 As shown, according to a first aspect of an embodiment of the present application, a method for controlling a washing machine is proposed, comprising:

[0105] Step 101: Responding to the balance adjustment instruction, obtaining the water loss state of the washing machine. When the washing machine receives the balance adjustment instruction, it means that the washing machine may have uneven distribution of the laundry in the washing unit, the washing unit of the washing machine may be eccentric, and the washing machine may be generating large vibrations. At this time, responding to the balance adjustment instruction facilitates the processing of the vibration of the washing machine as soon as possible, which can improve the user experience. It is understandable that the balance adjustment instruction can be issued by the user operating the washing machine, or it can be automatically generated by the washing machine detecting the vibration state. After knowing that the washing machine needs to be vibrated, the water loss state of the washing machine is obtained, and the timing of the balance adjustment can be determined based on the water loss state, so that the timing of executing the balance adjustment action is more accurate, the control efficiency is improved, the generation of invalid control is reduced, and the user experience is improved. It is understandable that the water loss state can be the rate of liquid loss in the washing machine, which is the amount of liquid loss per unit time.

[0106] Step 102: When the water loss state meets the preset conditions, the washing machine is controlled to perform a balance adjustment action. The influence of the water loss state of the washing machine on the balance adjustment is taken into consideration. For example, when the washing machine is in a high water loss state, the water in the washing machine is lost at a faster rate, the magnitude of the eccentric force of the washing machine changes at a faster rate, and the eccentric direction of the washing machine may also change. At this time, if the balance adjustment action is directly performed, the balance adjustment cannot adapt to the rapid change of the eccentric force, which may cause the balance adjustment to be invalid, and even cause the vibration of the washing machine to be more intense. The balance adjustment action is performed only when the water loss state meets the preset conditions, which clarifies the timing of performing the balance adjustment action and can ensure the high efficiency of the balance adjustment.

[0107] The control method of the washing machine provided in the embodiment of the present application determines the timing of executing the balance adjustment according to the water loss state of the washing machine, so that the timing of executing the balance adjustment action is more accurate, the balance control efficiency is improved, and the generation of invalid balance control is reduced.

[0108] The control method of the washing machine provided in the embodiment of the present application takes into account that the magnitude and direction of the eccentric force of the washing machine change at different speeds under different water loss states. For example, when the washing machine loses water quickly, the magnitude of the eccentric force of the washing unit will change rapidly, and the eccentric direction may also change rapidly. In this state, the control system of the washing machine needs to continuously perform calculations to adapt to the change of the eccentric force, and the balancing unit of the washing machine needs to continuously move to adapt to the change of the eccentric force. This embodiment determines the timing of performing the balancing adjustment according to the water loss state of the washing machine, which can save the computing resources of the washing machine control system on the one hand, and reduce the action frequency of the balancing unit during the balancing control process on the other hand, thereby reducing the loss of related components.

[0109] In some examples, if the water loss state does not meet the preset conditions, the balancing adjustment action is not performed. A preset time can be set, and the water loss state of the washing machine is obtained every preset time until the water loss state meets the preset conditions, and then the balancing adjustment action is performed. By querying the water loss state of the washing machine in a polling manner, it is possible to timely learn that the water loss state meets the preset conditions, and the balancing adjustment action can be performed as soon as possible and in a timely manner.

[0110] In some examples, the step of obtaining the water loss state of the washing machine includes: obtaining the drainage rate of the washing machine; determining whether the drainage rate is less than or equal to a preset drainage rate, and determining the water loss state according to the determination result.

[0111] In this embodiment, a specific step of obtaining the water loss state of the washing machine is further provided, and the water loss state of the washing machine is confirmed by obtaining the drainage rate of the washing machine and comparing the drainage rate with the preset drainage rate. On the one hand, by comparing the obtained drainage rate with the preset drainage rate, the difficulty of algorithm processing can be reduced and the judgment efficiency and response efficiency can be improved; on the other hand, based on the preset drainage efficiency, when the actual drainage efficiency is greater than the preset drainage rate, it is considered that the washing machine is currently in a high-speed water loss state, and the speed of the change of the eccentric force of the washing unit of the washing machine is relatively fast; when the actual drainage efficiency is less than or equal to the drainage rate, it is considered that the washing machine is currently in a low-speed water loss state, and the speed of the change of the eccentric force of the washing unit of the washing machine is relatively slow.

[0112] It can be understood that the drainage rate is the amount of water discharged per unit time. The drainage rate can be measured by a flow sensor, or calculated based on the water discharged from the washing machine per unit time, or based on the weight reduction of the washing machine per unit time.

[0113] In some examples, the preset drainage rate can be determined based on the laundry performance and the washing machine drainage performance. The laundry performance includes the water absorption rate of the laundry, and the washing machine drainage performance includes the maximum drainage rate of the washing machine. For example, for laundry with a higher water absorption rate, the corresponding preset drainage rate is lower, and for laundry with a higher water absorption rate, the corresponding preset drainage rate is higher; while for a washing machine with better drainage performance and a larger maximum drainage rate, the corresponding preset drainage efficiency is higher, and for a washing machine with poor drainage performance and a smaller maximum drainage rate, the corresponding preset drainage efficiency is lower.

[0114] In some examples, when the water loss state meets a preset condition, the step of controlling the washing machine to perform a balancing adjustment action includes: when the water loss state is a drainage rate less than or equal to a preset drainage rate, controlling the washing machine to perform a balancing adjustment action.

[0115] In this embodiment, when the water loss state is that the drainage rate is less than or equal to the preset drainage rate, the washing machine is controlled to perform a balancing adjustment action. The drainage rate of the washing machine is low. At this time, the size of the eccentric force of the washing machine changes slowly, and the size of the eccentric force is stable. In this case, a balancing adjustment action is performed to control the washing machine to balance the eccentric force of the washing unit. The control efficiency is higher and the effect of reducing the vibration of the washing machine is better.

[0116] In some examples, the control method of the washing machine further includes: generating a balance adjustment instruction based on user operation information; and / or obtaining the vibration amount of the washing machine; and generating a balance adjustment instruction when the vibration amount is greater than the expected vibration amount.

[0117] In this embodiment, a balance adjustment instruction can be generated based on the user's operation information. After the balance adjustment instruction is generated, the balance adjustment instruction can be responded to. This method allows the user to intervene in the operation of the balance condition of the washing machine. For example, if the user finds that the vibration of the washing machine is large, or the user needs to rest and the large vibration of the washing machine brings inconvenience to the user, a balance condition request can be generated through remote communication, button operation and touch operation. The remote communication method includes but is not limited to: WiFi communication, Bluetooth communication and NFC communication.

[0118] It is understandable that the washing machine may include a processor and a button, and the processor can generate a balance adjustment instruction when the user presses the button; similarly, the washing machine may also include a touch screen, and the processor can also generate a balance adjustment instruction by the user touching or pressing the touch screen.

[0119] In this embodiment, the vibration amount of the washing machine can also be obtained. When the vibration amount is greater than the expected vibration amount, it means that the current vibration amount of the washing machine is large and balance adjustment is required. In this case, a balance adjustment instruction can be generated so that the washing machine can perform the balance adjustment action as soon as possible to reduce the vibration amount of the washing machine.

[0120] In some examples, the vibration amount of the washing machine may be obtained by providing a velocity sensor, an acceleration sensor, a displacement sensor, and a force sensor.

[0121] In some examples, the control method of the washing machine further includes: determining an expected vibration amount based on a rotation speed of a washing unit of the washing machine; wherein the expected vibration amount is negatively correlated with the rotation speed of the washing unit.

[0122] In this embodiment, the method for determining the expected vibration amount takes into account that when the washing unit is rotating at a low speed, the vibration frequency of the washing machine is low, and even if the vibration amount of the washing machine is large, the user will not feel a strong vibration; when the washing unit rotates at a high speed, the vibration frequency of the washing machine will increase, and even if the vibration amount of the washing machine is small, the user will feel a strong vibration.

[0123] On this basis, in this embodiment, the expected vibration amount is negatively correlated with the rotational speed of the washing unit, that is, the faster the current rotational speed of the washing unit of the washing machine, the lower the value of the expected vibration amount, which fully takes the user's senses into consideration and can improve the user experience.

[0124] It can be understood that the washing machine includes a shell and a water holding unit arranged in the shell, and the washing unit is arranged in the water holding unit. The expected vibration amount is smaller than the gap between the water holding unit and the shell to avoid the water holding unit hitting the shell. The distance between the shell and the water holding unit is based on the different models of the washing machine, and is usually 5mm to 20mm.

[0125] In some examples, the step of obtaining the vibration amount of the washing machine includes: detecting and obtaining the vibration amount of the washing machine during the process of the washing unit of the washing machine increasing from a first speed to a target speed; wherein the first speed is the speed for a first preset time for shaking the laundry in the washing unit after the washing machine enters a dehydration stage, and the target speed is the maximum speed of the washing machine during the dehydration process.

[0126] In some examples, after the washing machine enters the dehydration stage, the washing unit of the washing machine is controlled to run at a first speed for a first preset time; and the washing unit of the washing machine is controlled to increase the speed from the first speed to a target speed.

[0127] In this embodiment, it is considered that during the dehydration process, when the washing unit is running at the first speed and the laundry is shaken, the washing machine usually does not generate excessive vibration, so it is not necessary to detect the vibration amount of the washing machine at this stage. In the process of the washing unit increasing the speed from the first speed to the target speed, the vibration amount of the washing machine is detected and obtained. On the one hand, the time for detecting the vibration amount is relatively shortened, making the washing machine more energy-efficient, and the amount of data processing can be reduced accordingly, which is convenient for improving the performance of the washing machine, reducing the requirements of the washing machine on the processor, and reducing the cost of the washing machine. On the other hand, the vibration amount of the washing machine is obtained during the speed increase process. As long as the vibration amount is greater than the expected vibration amount, a balancing adjustment action can be generated. Further, when the drainage rate meets the preset conditions, the washing machine can be balanced and adjusted, and the vibration of the washing machine can be suppressed as soon as possible to improve the user experience.

[0128] It can be understood that the process in which the washing unit increases the speed from the first speed to the target speed refers to the entire process in which the washing unit of the washing machine reaches the target speed through the first speed.

[0129] In this embodiment, considering that the washing machine usually vibrates in the dehydration state, after the washing machine enters the dehydration stage, the washing unit of the washing machine is controlled to run at a first speed for a first preset time, and then the speed increase of the washing unit of the washing machine is controlled, so that the washing unit rotates at a relatively slow speed in the initial stage of dehydration, which can shake the laundry and spread the laundry evenly in the washing unit, thereby reducing the probability of eccentricity in the subsequent dehydration process and reducing the probability of large-scale vibration of the washing machine.

[0130] like Fig.14 As shown, in some examples, the step of obtaining the vibration amount of the washing machine includes: obtaining the vibration amount when the washing unit of the washing machine is at a transition speed or a target speed; wherein the transition speed is a speed between a first speed and a target speed that lasts for a second preset time.

[0131] In this embodiment, considering that during the dehydration process, when the washing unit is running at the first speed and the laundry is shaken out, the washing machine usually does not generate excessive vibration, so it is not necessary to detect the vibration amount of the washing machine at this stage.

[0132] like Fig.14 As shown, in this embodiment, after the washing unit increases in speed from a first speed to a target speed and when the speed of the washing unit reaches a transition speed, the washing unit is controlled to run at the transition speed for a second preset time, so that the washing unit increases in a step-by-step manner during the dehydration stage, which can reduce the probability of eccentricity of the laundry in the washing unit.

[0133] In this embodiment, the vibration amount of the washing machine is detected after the washing unit reaches the transition speed, which relatively shortens the time for detecting the vibration amount, making the washing machine more energy-efficient, and the data processing amount can be reduced accordingly, which is convenient for improving the performance of the washing machine, reducing the requirements of the washing machine on the processor, and reducing the cost of the washing machine.

[0134] It can be understood that if the number of speed increase information is N, the number of transition speeds is N-1, where the value of N is greater than 2. Fig.14 As shown, in Fig.14 The value of N is 4, so 3 transition speeds are set.

[0135] In this embodiment, the vibration amount is obtained when the washing unit is at the target speed. When the washing unit is at the target speed, it means that the washing unit has increased to the expected speed. The target speed is the maximum speed of the washing unit in the dehydration stage. Therefore, by obtaining the vibration amount under the target speed state, the washing unit of the washing machine can maintain balanced operation at the maximum speed, further reducing the vibration felt by the user and improving the user experience.

[0136] It is understandable that the preset number of speed increase information may be set by a user, or may be set by a processor of the washing machine based on the performance of a driving unit of the washing machine.

[0137] In some examples, after the washing machine enters the dehydration stage, the washing unit of the washing machine is controlled to run at a first speed for a first preset time; a target speed and at least one transition speed are determined, wherein the target speed and at least one transition speed are obtained based on preset speed increase information, and the target speed is greater than the transition speed; the washing unit of the washing machine is controlled to increase the speed from the first speed to the target speed; when the speed of the washing unit of the washing machine reaches the transition speed or the target speed, the washing unit is controlled to run at the current speed for a second preset time.

[0138] In this embodiment, considering that the washing machine usually vibrates in the dehydration state, after the washing machine enters the dehydration stage, the washing unit of the washing machine is controlled to run at a first speed for a first preset time, and then the speed increase of the washing unit of the washing machine is controlled, so that the washing unit rotates at a relatively slow speed in the initial stage of dehydration, which can shake the laundry and spread the laundry evenly in the washing unit, thereby reducing the probability of eccentricity in the subsequent dehydration process and reducing the probability of large-scale vibration of the washing machine.

[0139] In some examples, the vibration amount is obtained through at least one of amplitude information of the water holding unit of the washing machine during vibration, acceleration information of the water holding unit during vibration, speed information of the water holding unit during vibration, and radial stress information of the driving unit of the washing machine.

[0140] In this embodiment, the vibration amount is obtained through at least one of the amplitude information, acceleration information, speed information of the water holding unit during the vibration process and the radial stress information of the driving unit of the washing machine, so that the acquisition of the vibration amount is more accurate and can more accurately characterize the vibration feeling experienced by the user.

[0141] It is understandable that the greater the amplitude information, acceleration information and speed information, the greater the vibration amount. A displacement sensor can be set on the water holding unit to detect the amplitude information, a speed sensor can be set on the water holding unit to detect the speed information, and an acceleration sensor can be set on the water holding unit to detect the acceleration information. The driving unit is used to drive the washing unit to rotate. A mechanical sensor can be set on the driving shaft or bearing of the driving unit to collect the radial stress information of the driving unit. The greater the radial stress information, the more serious the eccentricity of the washing unit, and the greater the vibration amount of the water holding unit.

[0142] In some examples, the washing machine includes a balancing unit, and the steps of controlling the washing machine to perform a balancing adjustment action include: controlling the washing unit of the washing machine to maintain a current rotation speed; determining the eccentricity direction of the washing machine; and controlling the balancing force application direction of the balancing unit so that the balancing force application direction deviates from the eccentricity direction.

[0143] In this embodiment, a step of performing a balancing adjustment action is further provided. By controlling the washing unit to maintain a current rotation speed, the eccentricity of the washing unit caused by a change in the rotation speed of the washing unit can be avoided, thereby improving the efficiency and accuracy of the balancing adjustment.

[0144] In this embodiment, the eccentricity direction of the washing machine can be obtained based on the vibration amount of the washing machine, and the direction of applying the balancing force of the balancing unit can be further determined based on the eccentricity direction, so that the eccentricity direction deviates from the direction of applying the balancing force. The balancing force applied by the balancing unit can offset at least part of the eccentricity force, thereby reducing the vibration amount of the washing machine.

[0145] In some examples, the magnitude of the eccentric force may be determined based on the amount of vibration of the washing machine, and the magnitude of the balancing force may be further determined based on the magnitude of the eccentric force, so that the balancing force can offset the eccentric force of the washing unit to suppress the vibration of the washing machine.

[0146] In this embodiment, the timing for performing the balancing adjustment is determined by the water loss state of the washing machine. When the eccentric force of the washing unit changes slowly, the balancing unit is controlled to perform the balancing adjustment action, thereby reducing the frequency of the movement of the balancing unit. The balancing force applied by the balancing unit can be more adapted to the size of the eccentric force, thereby better suppressing the vibration of the washing machine.

[0147] It can be understood that the balancing effect is best when the balancing force applied by the balancing unit is equal to the eccentric force of the washing unit.

[0148] like Figure 2 As shown, according to the second aspect of the present invention, a control device 200 for a washing machine is proposed, comprising: a memory 201 storing a computer program; a processor 202 executing the computer program; wherein the processor 202 implements the control method of the washing machine of any of the above embodiments when executing the computer program.

[0149] The washing machine control device 200 provided in this embodiment has all the beneficial effects of the washing machine control method because the processor 202 executes the washing machine control method of any of the above embodiments when executing the computer program, and thus, it will not be elaborated here.

[0150] like Figure 3 As shown, according to a third aspect of the present invention, a computer-readable storage medium 300 is proposed, including: the computer-readable storage medium 300 stores a computer program 301 to implement the control method of the washing machine of any of the above embodiments.

[0151] The computer-readable storage medium 300 provided in this embodiment stores a computer program 301 to implement the control method of the washing machine of any of the above-mentioned embodiments. Therefore, the computer-readable storage medium 300 has all the beneficial effects of the control method of the washing machine, which will not be elaborated here.

[0152] According to a fourth aspect of the present invention, a washing device is provided, comprising: the control device 200 of the above embodiment.

[0153] The washing device provided in this embodiment includes the control device 200 of the above embodiment, so the washing device has all the beneficial effects of the control device 200, which will not be described in detail here.

[0154] like Figure 4 As shown, according to a fifth aspect of the present invention, a washing machine is proposed, comprising: a balancing unit 430; a drainage rate detection unit for detecting the drainage rate; a control unit for obtaining the water loss state of the washing machine based on the drainage rate in response to a balance adjustment instruction; when the water loss state meets a preset condition, controlling the balancing unit 430 to perform a balance adjustment action.

[0155] The washing machine provided in the embodiment of the present application determines the timing of executing balance adjustment according to the water loss state of the washing machine, so that the timing of executing the balance adjustment action is more accurate, the balance control efficiency is improved, and the generation of invalid balance control is reduced.

[0156] The washing machine provided in the embodiment of the present application takes into account that the magnitude and direction of the eccentric force of the washing machine change at different speeds under different water loss states. For example, when the washing machine loses water quickly, the magnitude of the eccentric force of the washing unit changes rapidly, and the eccentric direction may also change rapidly. In this state, the control system of the washing machine needs to continuously perform calculations to adapt to the changes in the eccentric force, and the balancing unit of the washing machine needs to continuously move to adapt to the changes in the eccentric force. This embodiment determines the timing of performing the balancing adjustment according to the water loss state of the washing machine, which can save the computing resources of the washing machine control system on the one hand, and reduce the action frequency of the balancing unit during the balancing control process on the other hand, thereby reducing the loss of related components.

[0157] like Figure 4 As shown, in some examples, the washing machine further includes: a water holding unit 410 , a washing unit 420 , a balancing unit 430 , and a drainage rate detection unit 440 .

[0158] Among them, the washing unit 420 is arranged in the water holding unit 410; the balancing unit 430 is arranged on the washing unit 420; the drainage rate detection unit 440 is used to detect the drainage rate; the control unit is used to respond to the balance adjustment instruction, and obtain the water loss state of the washing machine through the detection result of the drainage rate detection unit. The control unit is also used to control the balancing unit to perform a balance adjustment action when the water loss state meets the preset conditions.

[0159] In this embodiment, the washing machine further includes a water holding unit 410, a washing unit 420, a balancing unit 430 and a drainage rate detection unit 440. During use, laundry is placed in the washing unit 420, and the water holding unit 410 is filled with water for washing the laundry. The laundry in the washing unit 420 can be washed by moving the washing unit 420 relative to the water holding unit 410.

[0160] In this embodiment, when the laundry becomes eccentric in the washing unit 420 and the washing unit 420 causes the water holding unit 410 to vibrate, or when a balance adjustment instruction is generated based on a user operation, the control unit will respond to the balance adjustment instruction, and obtain the drainage rate of the water holding unit 410 through the drainage rate detection unit 440, so as to determine the timing to adjust the balance of the washing machine through the balancing unit 430 to suppress the vibration of the water holding unit 410, thereby improving the control efficiency of the balancing unit 430, avoiding the generation of invalid control, and improving the user experience.

[0161] In this embodiment, the drainage status of the washing machine can be known based on the drainage rate. When the drainage rate is less than or equal to the preset drainage rate, the size of the balancing force applied by the balancing unit 430 and the direction of the balancing force applied can be adjusted so that the balancing force applied by the balancing unit 430 is adapted to the size of the eccentric force of the washing unit 420, and the direction of the balancing force applied deviates from the centrifugal direction of the washing unit 420. The washing unit 420 can be balanced, thereby suppressing the vibration of the water holding unit 410 and improving the user experience.

[0162] In some examples, Figure 5 As shown, the washing unit 420 may include an inner barrel 421, a tripod 422, a first ring assembly 423 and a second ring assembly 424. The first ring assembly 423 is fixed to the front end of the inner barrel 421, the second ring assembly 424 is fixed to the rear end of the inner barrel 421, and the tripod 422 is threadedly connected to the second ring assembly 424. The laundry may be placed in the inner barrel 421, and the driving unit connected to the tripod 422 may drive the inner barrel 421 to rotate. The arrangement of the first ring assembly 423 and the second ring assembly 424 improves the strength of the washing unit 420 and facilitates the installation of the balancing unit 430.

[0163] In some examples, the washing machine further includes a water holding unit 410 , and the drainage rate detection unit 440 includes a flow sensor connected to the water holding unit 410 .

[0164] In this embodiment, the drainage rate detection unit 440 includes a flow sensor, which is connected to the water storage unit 410 to obtain the amount of liquid discharged per unit time by the water storage unit 410, and thus the drainage rate of the washing machine. The flow sensor is easy to install and facilitates the control unit to collect drainage rate information.

[0165] In some examples, the washing machine further includes: a drain pump 450 connected to the water holding unit 410; a drain pipe 470 connected to the drain pump 450; wherein a flow sensor is disposed between the drain pump 450 and the water holding unit 410; or a flow sensor is disposed on the drain pipe 470.

[0166] like Figures 8 to 10 As shown, in this embodiment, the washing machine includes a drainage pump 450. Through the arrangement of the drainage pump 450, the water in the water holding unit 410 can be discharged, so that the water holding unit 410 can be quickly drained.

[0167] like Figure 8 As shown, the drain pump 450 can be connected to the water holding unit via a connecting pipe 460 to facilitate installation and removal of the drain pump 450 .

[0168] like Fig.10As shown, in this embodiment, the flow sensor can be arranged between the water holding unit 410 and the drainage pump 450. Such an arrangement, on the one hand, places the flow sensor in a relatively concealed position, thereby preventing other components or other objects in the working environment from colliding with the flow sensor, thereby increasing the service life of the flow sensor and reducing the failure rate.

[0169] like Figure 8 and Fig. 9 As shown, in this embodiment, the flow sensor can also be set on the drainage pipe 470 of the drainage pump 450 away from the side of the water holding unit 410, which can also detect the drainage efficiency of the water holding unit 410 and facilitate the installation of the flow sensor.

[0170] In some examples, the drainage rate detection unit 440 includes: a weight detection module for detecting the weight of the water holding unit 410 and / or the weight of the liquid discharged through the water holding unit 410 .

[0171] In this embodiment, the drainage rate detection unit 440 may also include a weight detection module, which can be used to detect the weight of the water holding unit 410. For example, the weight detection module may include a first weighing module, and the water holding unit 410 is arranged on the first weighing module. The water loss rate of the water holding unit 410 can be obtained by counting the weight change of the water holding unit 410 per unit time.

[0172] In this embodiment, considering that if the water holding unit 410 vibrates, it may affect the weighing result of the water holding unit 410, and further may affect the accuracy of the drainage rate detection, the weight detection module can be used to detect the weight of the liquid discharged through the water holding unit 410. For example, the weight detection module may include a second weighing module and a shell, and the shell is connected to the drain port of the water holding unit 410. The water discharged through the water holding unit 410 is supplied to the shell, and the second weighing unit can obtain the drainage rate of the water holding unit 410 by detecting the weight change of the shell per unit time.

[0173] It is understandable that, in order to further ensure the accuracy of the drainage rate detection, the weight detection module can also simultaneously detect the weight of the water holding unit 410 and the weight of the liquid discharged from the water holding unit 410. For example, the weight detection module can simultaneously include a first weighing module, a second weighing module and a housing.

[0174] like Figure 4 As shown, in some examples, the washing machine further includes: a vibration amount detection unit 480, which is used to detect the vibration amount of the water holding unit 410 and is connected to the control unit.

[0175] In this embodiment, the washing machine further includes a vibration detection unit 480, through which the vibration detection unit 480 can detect the vibration of the water holding unit 410, and the control unit is connected to the vibration detection unit 480, and the control unit can obtain the vibration of the water holding unit 410 through the vibration detection unit 480. When the vibration exceeds the expected vibration, it means that the vibration of the water holding unit 410 is more obvious, which may affect the user experience, and thus a balance adjustment instruction can be generated. Further, the control unit can respond to the balance adjustment instruction, determine the water loss state of the washing machine through the drainage rate detection unit 440, and then determine the timing of executing the balance adjustment action, thereby improving the efficiency and accuracy of the balance adjustment control of the washing machine.

[0176] In some examples, the vibration detection unit 480 includes: a speed sensor, disposed on the water holding unit 410, for detecting speed information during the vibration of the water holding unit 410; and / or an acceleration sensor, disposed on the water holding unit 410, for detecting acceleration information during the vibration of the water holding unit 410; and / or a displacement sensor, disposed on the water holding unit 410, for detecting amplitude information during the vibration of the water holding unit 410.

[0177] In this embodiment, the vibration detection unit 480 may include a speed sensor. Through the setting of the speed sensor, the displacement speed of the water holding unit 410 during the vibration process can be detected, and then the control unit can determine the vibration amount of the washing machine based on the displacement speed of the water holding unit 410. It can be understood that the greater the detection result of the speed sensor, the greater the current vibration amount of the washing machine.

[0178] In this embodiment, the vibration detection unit 480 may include an acceleration sensor. Through the setting of the acceleration sensor, the acceleration of the water holding unit 410 during the vibration process can be detected, and then the control unit can determine the vibration amount of the washing machine based on the acceleration of the water holding unit 410. It can be understood that the greater the detection result of the acceleration sensor, the greater the current vibration amount of the washing machine.

[0179] In this embodiment, the vibration detection unit 480 may also include a displacement sensor. Through the setting of the displacement sensor, the displacement of the water holding unit 410 during the vibration process can be detected, and then the control unit can determine the vibration amount of the washing machine based on the displacement of the water holding unit 410. It can be understood that the larger the detection result of the displacement sensor, the greater the current vibration amount of the washing machine.

[0180] It can be understood that the vibration detection unit 480 may include one or more of an acceleration sensor, a velocity sensor and a displacement sensor. When including an acceleration sensor, a velocity sensor and a displacement sensor at the same time, the vibration amount can be measured by different types of sensors, and the detection tolerance rate is higher, which can further improve the accuracy of the balance adjustment.

[0181] In some examples, the washing machine also includes: a washing unit 420, which is disposed in the water holding unit 410; a driving unit, connected to the washing unit 420, for driving the washing unit 420 to rotate; wherein the vibration detection unit 480 includes a force sensor, which is disposed on the driving unit, for detecting the radial stress of the driving unit.

[0182] In this embodiment, the washing machine also includes a driving unit, which can drive the washing unit 420 to rotate. The laundry is set in the washing unit 420, and the laundry can be displaced relative to the water in the water holding unit 410, thereby playing the role of cleaning the laundry.

[0183] In this embodiment, the vibration detection unit 480 includes a force sensor, and the force sensor can detect the radial stress of the driving unit in the radial direction, and then the vibration amount of the washing machine can be determined based on the radial stress of the driving unit. It can be understood that the greater the detection result of the force sensor, the greater the current vibration amount of the washing machine.

[0184] In some examples, the driving unit may include a driving shaft and a bearing, and the force sensor may be disposed on the driving shaft or the bearing to detect radial stress in a radial direction of the driving shaft.

[0185] In some examples, the washing machine also includes: a washing unit 420, which is disposed in the water holding unit 410, and a balancing unit 430 including: a balancing rail, which is disposed on the washing unit 420; a mass block, which is slidably disposed on the balancing rail; a power supply unit 435, at least a portion of the balancing rail is made of a conductive material, and the mass block is electrically connected to the power supply unit 435 through the balancing rail; wherein there are two balancing rails, which are respectively mounted on both ends of the washing unit 420; wherein each balancing rail is provided with at least two mass blocks.

[0186] In this embodiment, the balancing unit 430 includes a balancing rail and a mass block. The direction of the balancing force applied by the balancing unit 430 can be changed by moving the mass block on the balancing rail. For example, by controlling the movement of the mass block on the balancing rail so that the mass block deviates from the eccentric direction of the washing unit 420, the balance adjustment can be achieved.

[0187] Figures 11a to 11dAs shown, the principle of applying the balancing force of the balancing unit 430 is illustrated, and the mass block is illustrated in the form of a cart. Fig.11a The action is that the first mass block 433 and the second mass block 434 move towards each other, the first mass block 433 moves clockwise, and the second mass block 434 moves counterclockwise. Fig.11b The action is that the first mass block 433 and the second mass block 434 move towards each other, the first mass block 433 moves counterclockwise, and the second mass block 434 moves clockwise. Fig.11c The action is that the first mass block 433 and the second mass block 434 move in the same direction, the first mass block 433 moves clockwise, and the second mass block 434 moves clockwise. Fig.11d The action is that the first mass block 433 and the second mass block 434 move in the same direction, the first mass block 433 moves counterclockwise, and the second mass block 434 moves counterclockwise. The action refers to the direction in which the balancing unit 430 moves. The distance of the movement may be different according to the control strategy. Fig.11a and Fig.11b The purpose of the action is to change the magnitude of the resultant force. Fig.11c and Fig.11d The purpose of the action is to change the direction of the resultant force.

[0188] Fig.12 As shown, Fu shows the eccentric direction and eccentric force of the washing unit 420, Fc1 and Fc2 are the eccentric forces caused by the first mass block 433 and the second mass block 434 respectively, and Fc is the resultant force of the first mass block 433 and the second mass block 434. If Fc cannot balance Fu, the two mass blocks will continue to be moved, wherein changing the angle between the two mass blocks can change the magnitude of the resultant force, and changing the position without changing the angle can change the direction of the resultant force. Therefore, Fc1' and Fc2' forces are generated when the new position is reached, and the resultant force Fc=Fu can offset the eccentric force caused by eccentricity, thereby achieving balance.

[0189] In this embodiment, the balancing unit 430 further includes a power supply unit 435 , and at least a portion of the balancing rail is made of a conductive material. The power supply unit 435 can power the mass block through the balancing rail, and the mass block can move on the balancing rail.

[0190] In some examples, the mass block may include a roller, and the mass block is connected to the balancing rail via the roller to facilitate movement of the mass block on the balancing rail.

[0191] In some examples, each balancing slide rail may include two slideways, and the power supply unit 435 is connected to the two slideways to form a passage.

[0192] In some examples, the balancing unit 430 may further include a control circuit, the control circuit being connected to the mass block to control the moving direction of the mass block on the balancing rail.

[0193] In this embodiment, there are two balancing slide rails, which are respectively mounted on both ends of the washing unit 420. Through the setting of the two balancing slide rails, on the one hand, the eccentricity of the washing unit 420 can be suppressed as soon as possible; on the other hand, by setting the balancing slide rails at both ends of the washing unit 420, it is possible to avoid uneven force on the washing unit 420 due to the setting of the balancing slide rails, thereby increasing the service life of the driving unit.

[0194] In this embodiment, at least two mass blocks are arranged on each balancing slide rail. By setting at least two mass blocks, the magnitude of the resultant force of the multiple mass blocks can be adjusted. For example, if the multiple mass blocks are close to each other, the magnitude of the resultant force will increase, and if the multiple mass blocks are far away from each other, the magnitude of the resultant force will decrease. In this way, the balancing force applied by the balancing unit 430 can be equal to or closer to the magnitude of the eccentric force, so that the balancing adjustment effect of the washing unit 420 is better, which can improve the user experience.

[0195] like Figure 6 As shown, there may be two balancing rails, namely a first balancing rail 431 and a second balancing rail 432, each balancing rail having two mass blocks, a first mass block 433 and a second mass block 434 are disposed in the first balancing rail 431, and a first mass block 433 and a second mass block 434 are also disposed in the second balancing rail 432. Further, each balancing rail may include a supporting rail 4311 and a metal guide rail 4312, a gap is formed between the supporting rail 4311 and the metal guide rail 4312, and the first mass block 433 and the second mass block 434 are slidably disposed in the gap.

[0196] The support rail 4311 and the metal guide rail 4312 can be two to make the movement of the mass block more stable, and the balancing slide rail can be powered by the two metal guide rails 4312, and the metal guide rail 4312 can be powered by a battery or other types of power supply units 435.

[0197] In some examples, the metal rail 4312 can be made of copper to improve the electrical conductivity.

[0198] like Figure 7 As shown, in some examples, the balancing unit 430 includes: a plurality of liquid tanks 436, which are arranged on the washing unit 420; a liquid injection part, connected to each liquid tank 436, for injecting liquid into the liquid tank 436; a balancing ring 437, which is sleeved on the washing unit 420, and a plurality of liquid tanks 436 are opened in the balancing ring 437; wherein, there are two balancing rings 437, which are respectively sleeved on the two ends of the washing unit 420.

[0199] In this embodiment, the washing machine also includes: a washing unit 420, which is arranged in the water holding unit 410. The balancing unit 430 may also include a plurality of liquid tanks 436 and a liquid injection part. By injecting liquid into different liquid tanks 436 through the liquid injection part, the weight in each liquid tank 436 can be changed, and then the combined force of the plurality of liquid tanks 436 can be changed, so that the combined force of the plurality of liquid tanks 436 is more adapted to the eccentric force of the washing unit 420, which is beneficial to suppressing the vibration of the water holding unit 410.

[0200] Figure 7 Another principle of applying a balancing force of a balancing unit 430 is shown. The balancing unit 430 includes a first liquid tank 4361, a second liquid tank 4362 and a third liquid tank 4363. Injecting a certain amount of water into the first liquid tank 4361, the second liquid tank 4362 and the third liquid tank 4363 respectively can form different combined forces, thereby achieving offset balancing control of the eccentricity.

[0201] Fig.13 As shown, Fu shows the eccentric direction and eccentric force of the washing unit 420, Fc1 and Fc2 are the eccentric forces generated by injecting a certain amount of water into different liquid tanks 436 of the balancing unit 430, respectively. Since the directions of Fc1 and Fc2 are fixed, the sizes of Fc1 and Fc2 are adjusted by changing the water injection amount of different chambers, so that the resultant force Fc is the same as Fu in size and opposite in direction, thereby achieving eccentric balance.

[0202] In some examples, the liquid injection portion can be a nozzle disposed on the washing unit 420, and the liquid tank 436 is provided with a track and a liquid injection port on one side facing the washing unit 420. The nozzle sprays liquid in the direction of the track, and the liquid can be injected into the liquid tank 436 through the liquid injection port.

[0203] In this embodiment, the balancing unit 430 includes a balancing ring 437 . The balancing ring 437 is provided to facilitate installation and removal of the liquid tank 436 , and to facilitate repair and maintenance of the balancing unit 430 .

[0204] In this embodiment, there are two balancing rings 437, which are respectively mounted on the two ends of the washing unit 420. On the one hand, the eccentric state of the washing unit 420 can be adjusted as quickly as possible by setting the two balancing rings 437; on the other hand, balancing slide rails are set at both ends of the washing unit 420 to avoid uneven force on the washing unit 420 due to the setting of the balancing rings 437, thereby increasing the service life of the driving unit.

[0205] In some examples, the washing machine further includes: a mounting seat 490 on which the water containing unit 410 is disposed; and a shock absorbing member 500 disposed between the water containing unit 410 and the mounting seat 490 .

[0206] In this embodiment, the washing machine further includes a mounting seat 490 and a shock absorbing member 500 . The shock absorbing member 500 is located between the mounting seat 490 and the water containing unit 410 , and can play a role in shock absorbing for the water containing unit 410 . Specific embodiments

[0208] like Figures 4 to 12 As shown, this embodiment provides a washing machine, including: a washing unit 420, for receiving laundry, which is rotatably supported by a horizontal or inclined rotating shaft; a driving unit, which rotationally drives the washing unit 420; a water holding unit 410, which is for receiving the washing unit 420; at least one balancing unit 430 mounted on the washing unit 420; at least one drainage rate detection unit 440 for detecting the drainage rate, arranged at the drainage position of the water holding unit 410, and connected between the water holding unit 410 and the drainage pump 450 or at the rear of the drainage pump 450.

[0209] Among them, the balancing unit 430 may include a balancing slide rail, which is hollow inside, and each balancing slide rail has two controllable movable mass blocks with a certain mass. The balancing slide rail is configured at the front end of the washing unit 420 and / or the rear end of the washing unit 420; at least one detection unit for detecting the vibration level of the water holding unit 410 is usually configured on the water holding unit 410, preferably at the front end.

[0210] Fig.15 As shown, the control method of the washing machine includes:

[0211] 601: Obtain the vibration amount of the washing machine;

[0212] 602: Determine whether the vibration amount is greater than the expected vibration amount, if so, execute step 603;

[0213] 603: Get the drainage rate of the washing machine;

[0214] 604: Determine whether the drainage rate is greater than a preset drainage rate, if so, execute step 603, if not, execute step 605;

[0215] 605: Perform balance adjustment action.

[0216] During the dehydration process of the washing machine, the driving unit is increased to a certain speed, and the vibration detection unit 480 detects the vibration of the water holding unit 410 in real time. It determines whether balance adjustment is required based on the detected vibration. If balance adjustment is required, a balance adjustment instruction is generated. The drainage rate of the washing machine during the dehydration process is further monitored by the drainage rate detection unit 440. If the washing machine is in a high-speed water loss state, the balance adjustment needs to wait until the high-speed water loss state ends before starting, which is conducive to improving the control speed and reducing invalid control actions. If the washing machine is in a low-speed water loss state, the balance unit 430 can be controlled to adjust the size and direction of the balancing force to perform the balance adjustment action, reduce the invalid actions of the balance unit 430, and improve the efficiency of the balance adjustment.

[0217] The water holding unit 410 may be detected by an acceleration sensor, or by a velocity sensor, a displacement sensor, a force sensor, etc. The vibration amount may be a displacement signal obtained by calculating an acceleration signal, or the vibration level may be directly determined by using an acceleration signal, etc.

[0218] The drainage rate detection unit 440 may be a flow sensor or a weight detection module with a weighing function. The drainage volume detection sensor may be arranged between the drainage hole of the water storage unit 410 and the drainage pump 450 , or may be arranged on the drainage pipeline 470 after the drainage pump 450 .

[0219] The balancing unit 430 may be a solid balancing ring 437 with a movable mass block, or may be a liquid balancing ring 437 with a plurality of liquid tanks 436 .

[0220] The washing machine may be a washing machine with double balancing rings 437 or a washing machine with a single balancing ring 437 .

[0221] The washing machine of this embodiment adds a drainage rate detection unit 440, and the drainage rate can predict whether the current system is in a stage of obvious eccentricity change. When the system needs to be controlled and the drainage rate is low, it means that the eccentricity change is slight and vibration control can be performed immediately. When the system needs to be controlled but the drainage rate is high, it means that the eccentricity change is obvious, and it is necessary to wait for the clothes water loss rate to decrease before entering the active control action, thereby reducing invalid judgments and actions or even wrong judgments and actions caused by obvious eccentricity changes. This further improves the control efficiency and achieves better control effects.

[0222] Figure 5 As shown, the washing unit 420 may include an inner barrel 421, a tripod 422, a first ring assembly 423 and a second ring assembly 424, the first ring assembly 423 is fixed at the front end of the inner barrel 421, the second ring assembly 424 is fixed at the rear end of the inner barrel 421, and the tripod 422 is threadedly connected to the second ring assembly 424.

[0223] Figure 3 and Figure 5 As shown, a first balancing rail 431 and a second balancing rail 432 are installed at both ends of the washing unit 420, the inner barrel 421 is connected to the outer barrel 411 of the water holding unit 410 through a tripod 422, the outer barrel 411 is installed on the mounting seat 490 through a shock absorber 500, and a vibration detection unit 480 is installed on the outer barrel 411. The first vibration detection unit 480 is located at the front of the outer barrel 411 and is used to sense the vibration of the front end of the water holding unit 410, and the second vibration detection unit 480 is located at the rear of the outer barrel 411 and is used to sense the vibration of the rear end of the water holding unit 410.

[0224] Figure 6 As shown, each balancing rail has two mass blocks, a first mass block 433 and a second mass block 434 are arranged in the first balancing rail 431, and a first mass block 433 and a second mass block 434 are also arranged in the first balancing rail 431. Each balancing rail is powered by two metal rails 4312, and the metal rails 4312 can be powered by a battery or other type of power supply unit 435.

[0225] Figure 8 As shown, the installation position of the drainage rate detection unit 440 is shown, wherein the drainage pump 450 is connected to the water holding unit 410 through a connecting pipe, and a drainage pipe is connected behind the drainage pump 450, wherein the drainage rate detection unit 440 is connected to the drainage pipe to test the drainage rate through the drainage pipe.

[0226] Fig. 9 As shown, the drainage pump 450 is connected to the water holding unit 410 to perform drainage pressurization to discharge the water flowing out of the water holding unit 410. The drainage rate detection unit 440 is connected to the drainage pipe of the drainage pump 450 to measure the amount of water discharged by the pump or the drainage rate, and provide the measured drainage rate / drainage volume information to the control unit.

[0227] Fig.10 As shown, the drainage rate detection unit 440 is arranged between the drainage hole of the water storage unit 410 and the drainage pump 450, measures the amount of water or the drainage rate flowing from the water storage unit 410 into the drainage pump 450, and provides the measured drainage rate / drainage information to the response unit. The drainage pump 450 is connected to the drainage pipe to discharge the pressurized water.

[0228] FIG11 shows the principle of applying the balancing force of the balancing unit 430, and illustrates the mass block in the form of a cart. Fig.11a The action is that the first mass block 433 and the second mass block 434 move towards each other, the first mass block 433 moves clockwise, and the second mass block 434 moves counterclockwise. Fig.11bThe action is that the first mass block 433 and the second mass block 434 move towards each other, the first mass block 433 moves counterclockwise, and the second mass block 434 moves clockwise. Fig.11c The action is that the first mass block 433 and the second mass block 434 move in the same direction, the first mass block 433 moves clockwise, and the second mass block 434 moves clockwise. Fig.11d The action is that the first mass block 433 and the second mass block 434 move in the same direction, the first mass block 433 moves counterclockwise, and the second mass block 434 moves counterclockwise. The action refers to the direction in which the balancing unit 430 moves. The distance of the movement may be different according to the control strategy. Fig.11a and Fig.11b The purpose of the action is to change the magnitude of the resultant force. Fig.11c and Fig.11d The purpose of the action is to change the direction of the resultant force.

[0229] Fig.12 The invention shows a principle of applying a balancing force of a balancing unit 430, wherein Fu shows the eccentric direction and magnitude of the eccentric force of the washing unit 420, Fc1 and Fc2 are the magnitudes of the eccentric forces caused by the first mass block 433 and the second mass block 434 respectively, and Fc is the resultant force of the first mass block 433 and the second mass block 434. If Fc cannot balance Fu, the two mass blocks continue to be moved, wherein changing the angle between the two mass blocks can change the magnitude of the resultant force, and changing the position without changing the angle can change the direction of the resultant force. Therefore, Fc1' and Fc2' forces are generated when the new position is reached, and the resultant force Fc=Fu can offset the eccentric force caused by the eccentricity, thereby achieving balance.

[0230] Figure 7 Another principle of applying a balancing force of a balancing unit 430 is shown. The balancing unit 430 includes a first liquid tank 4361, a second liquid tank 4362 and a third liquid tank 4363. Injecting a certain amount of water into the first liquid tank 4361, the second liquid tank 4362 and the third liquid tank 4363 respectively can form different combined forces, thereby achieving offset balancing control of the eccentricity.

[0231] Fig.13 The figure shows the eccentric balancing principle of the liquid balancing ring 437: Fu shows the eccentric direction and eccentric force of the washing unit 420, Fc1 and Fc2 are the eccentric forces generated by injecting a certain amount of water into different liquid tanks 436 of the balancing unit 430, and since the directions of Fc1 and Fc2 are fixed, the sizes of Fc1 and Fc2 are adjusted by changing the water injection amount of different chambers, so that the size of the resultant force Fc is the same as Fu but the opposite direction, thereby achieving eccentric balance.

[0232] Fig.14As shown, after the washing machine starts to dehydrate, the clothes are first shaken and evenly distributed, and the washing unit 420 is rotated at a low speed to make the laundry as evenly distributed as possible in the washing unit 420. Then the speed is increased in multiple (at least 1) speed stages, and the water holding unit 410 of the washing machine is continuously detected during the speed increase process. If the vibration during the speed increase process is always less than the expected vibration amount, the vibration amount and drainage rate are judged after reaching the target speed to determine whether to perform active control. If the vibration amount exceeds the expected vibration amount during the speed increase process, the speed of the washing machine when the vibration amount exceeds the expected vibration amount is maintained, and it is determined whether to start active control based on the current drainage rate. After completing the active control, the speed continues to increase to the target speed.

[0233] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0234] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0235] In the description of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the present invention, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0236] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a washing machine, characterized in that: include: In response to the balance adjustment instruction, obtaining the water loss state of the washing machine; When the water loss state meets a preset condition, controlling the washing machine to perform a balance adjustment action; The step of obtaining the water loss state of the washing machine comprises: obtaining a drainage rate of the washing machine; Determining whether the drainage rate is less than or equal to a preset drainage rate, and determining the water loss state according to the determination result; When the water loss state meets the preset condition, the step of controlling the washing machine to perform a balance adjustment action includes: When the water loss state is that the drainage rate is less than or equal to the preset drainage rate, the washing machine is controlled to perform a balance adjustment action.

2. The control method of the washing machine according to claim 1, characterized in that: Also includes: Based on the user's operation information, generating the balance adjustment instruction; and / or obtaining a vibration amount of the washing machine; When the vibration amount is greater than an expected vibration amount, the balance adjustment instruction is generated.

3. The control method of the washing machine according to claim 2, characterized in that: Also includes: determining the expected vibration amount based on a rotation speed of a washing unit of the washing machine; Wherein, the expected vibration amount is negatively correlated with the rotation speed of the washing unit.

4. The control method of the washing machine according to claim 2, characterized in that: The step of obtaining the vibration amount of the washing machine comprises: During the process of the washing unit of the washing machine increasing from a first speed to a target speed, detecting and obtaining a vibration amount of the washing machine; The first speed is the speed for shaking the laundry in the washing unit for a first preset time after the washing machine enters the dehydration stage, and the target speed is the maximum speed of the washing machine during the dehydration process.

5. The control method of the washing machine according to claim 4, characterized in that: The step of obtaining the vibration amount of the washing machine comprises: acquiring the vibration amount when a washing unit of the washing machine is at a transition speed or a target speed; The transition speed is a speed between the first speed and the target speed that lasts for a second preset time.

6. The control method of the washing machine according to claim 2, characterized in that: The vibration amount is obtained through at least one of amplitude information of the water holding unit of the washing machine during vibration, acceleration information of the water holding unit during vibration, speed information of the water holding unit during vibration, and radial stress information of the driving unit of the washing machine.

7. The control method of the washing machine according to claim 1, characterized in that: The washing machine includes a balancing unit, and the step of controlling the washing machine to perform a balancing adjustment action includes: Controlling the washing unit of the washing machine to maintain a current rotation speed; determining the eccentric direction of the washing machine; The balancing force application direction of the balancing unit is controlled so that the balancing force application direction deviates from the eccentric direction.

8. A control device for a washing machine, characterized in that: include: a memory storing a computer program; A processor, configured to execute the computer program; Wherein, when the processor executes the computer program, it implements the control method of the washing machine as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for implementing the control method of the washing machine according to any one of claims 1 to 7.

10. A washing device, characterized in that: include: A control device as claimed in claim 8.

11. A washing machine, characterized in that: include: Balancing unit; A drainage rate detection unit, used for detecting the drainage rate; A control unit, configured to obtain a water loss state of the washing machine based on the drainage rate in response to a balance adjustment instruction, and control the balance unit to perform a balance adjustment action when the water loss state meets a preset condition; The step of obtaining the water loss state of the washing machine comprises: obtaining a drainage rate of the washing machine; Determining whether the drainage rate is less than or equal to a preset drainage rate, and determining the water loss state according to the determination result; When the water loss state meets the preset condition, the step of controlling the washing machine to perform a balance adjustment action includes: When the water loss state is that the drainage rate is less than or equal to the preset drainage rate, the washing machine is controlled to perform a balance adjustment action.

12. The washing machine according to claim 11, characterized in that: The washing machine further comprises: a water holding unit, and the drainage rate detection unit comprises: A flow sensor is connected to the water containing unit.

13. The washing machine according to claim 12, characterized in that: Also includes: A drainage pump connected to the water storage unit; A drainage pipeline connected to the drainage pump; Wherein, the flow sensor is arranged between the drainage pump and the water containing unit; or The flow sensor is arranged on the drainage pipeline.

14. The washing machine according to claim 11, characterized in that: The washing machine further comprises: a water holding unit, and the drainage rate detection unit comprises: The weight detection module is used to detect the weight of the water holding unit and / or the weight of the liquid discharged through the water holding unit.

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