Method and control unit for executing a rotation program of a cleaning device, and cleaning device

Abstract

The present invention relates to a method for executing a rotation program of a cleaning device (100) having a rotatable ribless drum (112). The method comprises the steps of providing a first motion signal (312) which causes a first rotational motion of the drum (112) in a first direction until the drum (112) reaches a first target rotational speed. A second motion signal representing a second rotational motion in a second direction is provided until the drum (112) reaches a second target rotational speed greater than the first target rotational speed. Another first motion signal is provided which causes another first rotational motion in the first direction until the drum (112) reaches another first target rotational speed greater than the second target rotational speed. Another second motion signal is provided which causes another second rotational motion in the second direction until the drum (112) reaches another second target rotational speed greater than another first target rotational speed of the previous another first rotational motion. The process is repeated until the other first target rotational speed or the other second target rotational speed reaches a predetermined maximum rotational speed. A third motion signal causes a third rotational motion of the drum (112) at a predetermined maximum rotational speed in the direction of the previous rotational motion.

Description

Technical Field

[0001] The invention relates to a method and a control unit for executing a rotation program of a cleaning device, and a cleaning device. Background Art

[0002] EP 2 309 048 A1 describes a washing machine drum having at least one engagement rib.

[0003] The method provided herein sets the object of creating an improved method for executing a rotation program of a cleaning device and an improved control unit as well as an improved cleaning device.

[0004] According to the invention, this object is achieved by a method and a control unit for performing a rotation program of a cleaning device and a cleaning device having the features of the main claim. Advantageous embodiments and developments of the invention can be found in the subsequently appended claims.

[0005] The invention can achieve the advantage that the textile can be rotated safely even when using a ribless drum. In addition, imbalances and the resulting overloading of the equipment can be avoided. Summary of the invention

[0006] A method for performing a rotation program on a cleaning device having a rotatable ribless drum for accommodating textiles is provided. The method includes the step of providing a first motion signal to an interface of a driver of the cleaning device, wherein the first motion signal causes a first rotational motion of the drum in a first direction until the drum has reached a first target rotational speed. In addition, the method includes the step of providing a second motion signal to the interface of the driver. The second motion signal indicates a second rotational motion of the drum in a second direction opposite to the first direction until the drum has reached a second target rotational speed greater than the first target rotational speed. The method also includes the step of further providing another first motion signal to the interface of the driver of the cleaning device, wherein the other first motion signal causes another first rotational motion of the drum in the first direction until the drum has reached another first target rotational speed greater than the second target rotational speed of the previous second rotational motion. In a further providing step, another second motion signal is provided to the interface of the driver, wherein the other second motion signal indicates another second rotational motion of the drum in the second direction until the drum has reached another second target rotational speed greater than the other first target rotational speed of the previous other first rotational motion. In a repeating step, at least one of the further providing steps is repeated until the other first target rotational speed or the other second target rotational speed reaches a predetermined maximum rotational speed. The method further comprises the step of providing a third motion signal to an interface of the drive, wherein the third motion signal represents a third rotational motion of the drum in the direction indicated in the previous further providing step at a predetermined maximum rotational speed.

[0007] The method can be performed or controlled in a washing machine, for example, for private purposes or for commercial purposes. The cleaning device can preferably be used to clean textiles, for example, by running it through a rotatable program. For example, the drum can also be called a laundry drum and is shaped to clean the textile inside. In this case, in addition to a plurality of protrusions, the inside of the drum shell of the drum is advantageously designed or can be designed to be smooth. If the drum does not contain any geometric shape protruding from the surface of the drum radius that is reduced by more than 10%, it can be said that there is a ribless drum. "Ribless" can mean that the drum has no ribs extending between the drum base and the drum opening (for example, parallel to the rotation axis of the drum) inside. The protrusion can be understood to refer to the ridge-like height on the inside of the drum. The protrusion can be pyramidal or conical. The protrusion can have a circle or a regular polygon as its base. The protrusion can also be called a structural element, a protrusion or a mini-entrainment element. For example, the drive can be implemented as a motor that can move the drum, for example, in a first direction. The first direction of the first rotational movement of the drum, and for example, another first rotational movement of the drum can correspond to a clockwise direction or a counterclockwise direction. Accordingly, for example, the second direction of the second rotational movement of the drum and the further second rotational movement may correspond to a counterclockwise direction or, alternatively, to a clockwise direction. The second rotational movement is advantageously greater than the first rotational movement, the further first rotational movement is greater than the second rotational movement, and the further second rotational movement is greater than the further first rotational movement. As a result, it may be advantageous for the drum to perform a shaking rhythm so that the textile advantageously comes into contact with the housing of the drum in a ribless drum. The third motion signal is advantageous for rotating the drum at least one full turn, for example, for rotating the textile in a rotation program.

[0008] According to one embodiment, the method may comprise the step of calculating the maximum rotational speed using a predetermined g-factor, a drum radius value representing the drum radius of the drum and a gravity constant. Advantageously, the g-factor may be between 2 and 6, with 4 being advantageous.

[0009] According to one embodiment, the second motion signal, the further first motion signal and the further second motion signal may be provided for a predetermined period of time, wherein the predetermined period of time corresponds to half the duration of a cycle of the shaking frequency. In this way, a back and forth shaking motion may be achieved.

[0010] According to one embodiment, the third motion signal may be provided for a third period of time, wherein the third period of time is a multiple of the cycle duration. Advantageously, this allows a full rotation of the drum.

[0011] According to one embodiment, the method may include the step of determining the shaking frequency using the roller radius value. To this end, for example, the roller radius value may be read in via an interface of the memory unit.

[0012] In the determining step, according to one embodiment, the shaking frequency may be determined as the quotient of the square root of the quotient of the gravity constant and the drum radius value and twice Pi. Thus, a shaking frequency suitable for the cleaning device may be achieved.

[0013] According to one embodiment, in the determination step, the shaking frequency can be increased by a predetermined factor. For example, the predetermined factor can be in the range between 10% and 40%; for example, the factor is preferably 20%. This makes it possible to take into account the emphasis of the textile to be rotated.

[0014] According to one embodiment, the first motion signal, the second motion signal, the other first motion signal and the other second motion signal may cause a constant acceleration of the drum. Thus, rotation control can be easily performed.

[0015] According to one embodiment, a first motion signal may cause a first acceleration of the drum, a second motion signal may cause a second acceleration of the drum greater than the first acceleration, another first motion signal may cause another first acceleration of the drum greater than the second acceleration, and another second motion signal causes another second acceleration greater than the another first acceleration. Advantageously, this allows for an increasing wobble deflection so that the textile is evenly pressed against the drum.

[0016] According to one embodiment, during the third repetition, the maximum rotation speed can be reached in the repetition step. Advantageously, three shaking movements can be performed. Therefore, the shaking start time can be kept short and the textile can still be transported safely.

[0017] The method described herein also creates a control unit designed to execute, control or implement the steps of the method variant provided herein in a corresponding device.The problem solved by the invention can also be solved quickly and effectively by this embodiment variant of the invention in the form of a device.

[0018] The control unit may be designed to read in an input signal and use the input signal to determine and provide an output signal. For example, the input signal may represent a sensor signal that can be read in through an input interface of the control unit. The output signal may represent a control signal or a data signal that can be provided at an output interface of the control unit. The control unit may be designed to determine the output signal using a processing specification implemented in hardware or software. For example, for this purpose, the control unit may include a logic circuit, an integrated circuit or a software module and may be implemented as or composed of discrete components.

[0019] A computer program product or a computer program having a program code storable on a machine-readable carrier or storage medium (such as a semiconductor memory, hard disk storage or optical storage) is also advantageous. If the program product or the program is executed on a computer or a control unit, the program product or the program can be used to execute, implement and / or control the steps of the method according to one of the above-described embodiments.

[0020] Furthermore, a cleaning device for cleaning textiles is provided, which has a rotatable ribless drum for receiving textiles, a drive for setting the drum in a rotational motion, and a control unit in the above-described variant.

[0021] For example, the cleaning device may be used as a standard washing machine or as a commercial or professional appliance.The interior of the drum shell of the drum may advantageously be smooth except for a plurality of projections. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Embodiments of the invention are shown in purely schematic form in the accompanying drawings and will be described in more detail below. In the accompanying drawings:

[0023] Figure 1 is a schematic diagram of a cleaning device according to one embodiment;

[0024] Figure 2 is a perspective view of a ribless drum for a cleaning device according to one embodiment;

[0025] Figure 3 is a block diagram of a control unit according to one embodiment;

[0026] Figure 4 is a flow chart of a method for performing a spin program for a cleaning device according to one embodiment; and

[0027] Figure 5 is a graph of a swing curve of a cleaning device according to one embodiment. DETAILED DESCRIPTION

[0028] Figure 1 A schematic diagram of a cleaning device 100 according to one embodiment is shown. The cleaning device 100 is designed to clean a textile 102. To this end, the cleaning device 100 has a rotatable ribless drum 104, a drive 106 and a control unit 108. The drum 104 is ribless and is designed to accommodate the textile 102 in its interior. The drive 106 is designed to make the drum 104 perform a rotational movement and, for example, may include an electric motor. The control unit 108 is designed, for example, to control the drive and thereby make the drum 104 perform a rotational movement. In addition, the control unit 108 is designed, for example, to execute or control a method for executing a rotation program of the cleaning device 100, as described in one of the following figures.

[0029] According to this embodiment, for example, the cleaning device 100 also has a feed unit 110, which is designed to feed cleaning liquid into a soapy water container 112 of the cleaning device 100, for example, after the cleaning program of the cleaning device 100 has started. The feed unit 110 includes, for example, a valve, via which the liquid can be controlled to flow from the feed line into the distribution chamber. The soapy water container 112 is designed to collect the cleaning liquid. The drum 104 is arranged in the soapy water container 112.

[0030] Figure 2 1 is a perspective view of a ribless roller 112 for a cleaning device according to one embodiment. The roller 112 shown therein may correspond to Figure 1 The roller 112 is described. Therefore, the roller 112 described herein can be used in a cleaning device, such as Figure 1 In this case, the drum 112 has a drum shell 200 forming a circumferential side wall of the drum 112. According to this embodiment, the inner side 202 of the drum shell 200 is smooth except for a plurality of protrusions 204. According to this embodiment, the protrusions 204 are hexagonal and have a curved shape in the direction of the inner space 206 of the drum 112. In addition, according to this embodiment, the protrusions 204 are arranged to be offset from each other and are surrounded by the honeycomb surface structure of the drum 112.

[0031] Figure 3 is a block diagram of a control unit 108 according to one embodiment. The control unit 108 may be used as follows: Figure 1 According to this embodiment, the control unit 108 has a calculation unit 300 and a providing unit 302 .

[0032] The calculation unit 300 is designed to calculate a maximum rotation speed 310 for the rotation process using a predetermined g-factor 304 , a drum radius value 306 representing a drum radius of the drum, and a gravity constant 308 .

[0033] The providing unit 302 is designed to provide a first motion signal 312, a second motion signal 314, another first motion signal 316, another second motion signal 318 and a third motion signal 320 to the interface of the driver 106 of the cleaning device. The first motion signal 312 causes a first rotational motion of the drum in a first direction until the drum has reached a first target rotational speed. The second motion signal 314 causes a second rotational motion of the drum in a second direction opposite to the first direction until the drum has reached a second target rotational speed greater than the first target rotational speed. Another first motion signal 316 continues to cause another first rotational motion of the drum in the first direction until the drum has reached another first target rotational speed greater than the second target rotational speed of the previous second rotational motion. Similar to this, another second motion signal 318 causes another second rotational motion of the drum in the second direction until the drum has reached another second target rotational speed greater than another first target rotational speed of the previous other first rotational motion. As a result, according to this embodiment, the drum is caused to perform a shaking rhythm. The third motion signal 320 causes a third rotational motion of the drum at a predetermined maximum rotational speed 310 in the previous target direction. As a result, the control unit 108 allows the cleaning device to perform a rotation program. According to one embodiment, the third rotational movement seamlessly follows the previous rotational movement. Thus, the third rotational movement can continue the rotational movement once the maximum rotational speed is reached. The third rotational movement is characterized by multiple complete rotations in the same rotational direction.

[0034] According to this embodiment, the calculation unit 300 is only optionally designed to use the roller radius value 306 to determine the shaking frequency 322. According to one embodiment, the roller radius value 306 can be optionally read in via an interface of the memory unit. Also optionally, the providing unit 302 is designed to provide the second motion signal 314, the further first motion signal 316 and the further second motion signal 318 within a predetermined time period, which corresponds to half the period duration of the shaking frequency 322. According to this embodiment, the first motion signal 312, the second motion signal 314, the further first motion signal 316 and the further second motion signal 318 optionally cause a constant acceleration of the roller. More specifically, the first motion signal 312 causes a first acceleration of the roller, the second motion signal 314 causes a second acceleration of the roller that is greater than the first acceleration, the further first motion signal 316 causes another first acceleration of the roller that is greater than the second acceleration, and the further second motion signal 318 causes another second acceleration that is greater than the further first acceleration.

[0035] The third motion signal 320 is provided by the providing unit 302 for a third time period, which according to this embodiment is a multiple of the cycle duration. According to this embodiment, the calculating unit 300 optionally calculates the shaking frequency 322 according to the square root of the quotient of the gravity constant 308 and the drum radius value 306 and the quotient with twice Pi.

[0036] According to this embodiment, the calculation unit 300 increases the shaking frequency 322 by a predetermined factor, for example, the predetermined factor is between 10% and 40%. However, advantageously, the factor is preferably 20%. For example, the factor is stored in a memory unit.

[0037] In other words, according to this embodiment, the control unit 108 is designed to execute a shaking washing rhythm for the cleaning device in order to hold the textile firmly against the drum shell, despite the tendency to slip in the drum. This means that possible imbalances can be measured, for example, and the textile can be rotated.

[0038] Figure 4 4 is a flow chart of a method 400 for executing a rotation procedure of a cleaning device according to one embodiment. For example, the method 400 may be performed as follows: Figure 1 The method is performed in the cleaning device shown in . The method is performed or controlled by, for example, a control unit, such as Figure 3 As described in.

[0039] Method 400 includes a step 402 of providing a first motion signal to an interface of a driver of a cleaning device. In this case, the first motion signal causes a first rotational motion of the drum in a first direction until the drum has reached a first target rotational speed. In a providing step 404, a second motion signal is provided to the interface of the driver, wherein the second motion signal causes a second rotational motion of the drum in a second direction opposite to the first direction until the drum has reached a second target rotational speed greater than the first target rotational speed.

[0040] The method 400 also includes a step 406 of further providing another first motion signal to an interface of a driver of the cleaning device. The other first motion signal causes another first rotational motion of the drum in the first direction until the drum has reached another first target rotational speed greater than the second target rotational speed of the previous second rotational motion. In a further providing step 408, another second motion signal is provided to the interface of the driver, wherein the other second motion signal causes another second rotational motion of the drum in the second direction until the drum has reached another second target rotational speed greater than the other first target rotational speed of the previous other first rotational motion. The method 400 also includes a step 410 of repeating at least one of the further providing steps 406, 408 until the other first target rotational speed or the other second target rotational speed reaches a predetermined maximum rotational speed.

[0041] For example, the maximum rotation speed is reached during the third repetition in the repetition step 410. This means, for example, that it is sufficient to perform three shaking movements of the drum.

[0042] In a providing step 412, a third movement signal is provided to the interface of the drive, wherein the third movement signal represents a third rotational movement of the drum in the direction of the previous further providing step at a predetermined maximum rotational speed. This ensures, for example, that the fabric in the ribless drum abuts against the drum shell, for example, before the cleaning device starts a rotation program. This avoids the formation of imbalances, which, for example, would cause damage to the cleaning device.

[0043] Furthermore, and only optionally, the method 400 includes step 414 of calculating a maximum rotational speed using a predetermined g-factor, a drum radius value representing a drum radius, and a gravity constant.

[0044] According to this embodiment, method 400 includes a step 416 of determining the shaking frequency using the drum radius value. According to this embodiment, determining step 416 may be performed before step 402 of providing the first motion signal and calculating step 414. Steps 414 and 416 may also be performed simultaneously.

[0045] Figure 5 500 is a graph of a rocking curve of a cleaning device according to one embodiment. The rotational speed is shown on the ordinate and the time is shown on the abscissa. For example, the rocking curve graph 500 may correspond to the rotational motion of the drum over time 502, such as Figure 4 The method for executing a rotation program of a cleaning device is described in the foregoing. This means that, according to this embodiment, the rotational movement of the drum is represented using an amplitude profile 504. The amplitude profile 504 clearly shows that the drum initially performs a shaking movement several times and thus achieves higher rotation speed values ​​with each shaking movement. According to this embodiment, when the maximum rotation speed is reached, the drum movement accelerates, which means that the drum continues to rotate in the current direction and, for example, the rotation program of the cleaning device is executed. According to this embodiment, the rotation direction of the drum does not change.

[0046] According to one embodiment, the drum first rotates in a first direction for a period of time t1 until a rotation speed A(n) is reached. 开始 The time period t1 is shorter than or equal to half the duration T of the cycle of the shaking frequency. Then, the drum rotates alternately in the opposite direction, each time for a time period of half a cycle T / 2. With each rotation, the rotation speed increases until a maximum rotation speed is reached, at which the drum then rotates further without changing direction for a duration of t PI Time period t PIGreater than a plurality of cycle durations T. According to the embodiment shown, after the drum has started to rotate, it rotates in a second direction opposite to the first direction, wherein a rotation speed of -A(n) is reached. 开始 +ΔA(n). Immediately thereafter, the drum rotates in the first direction, reaching a rotational speed A(n) 开始 +2ΔA(n). Immediately thereafter, the drum rotates again in the second direction, immediately thereafter again in the first direction, immediately thereafter again in the second direction, and immediately thereafter again in the first direction, wherein a rotational speed A(n) equal to the maximum rotational speed is reached. 结束 .

[0047] In other words, the drum is set in a rocking motion, i.e. a side-to-side motion, which causes the textile to perform a rocking motion. This has the advantage that the amplitude of the rocking motion, shown here as an amplitude characteristic curve 504, gradually increases until it is so large that the textile (also called laundry) is firmly in contact with the drum housing and does not fall off by keeping the maximum rotation speed 310 of the rocking motion constant. The rocking frequency f 摇摆 According to the physical formula of the swing frequency, the roller radius r is suitable for the roller 滚筒 The gravity constant g is designated g according to this embodiment and is g=9.81 m / s 2 :

[0048]

[0049] To implement the rocking motion, according to this embodiment, a triangular rotation speed profile with increasing amplitude is executed at a corresponding rocking frequency. The triangular shape is achieved by alternating the acceleration of the drive with partial constant accelerations, without having to draw a sine curve. Since the curve of the rotation angle represents the integral of the rotation speed curve, due to the characteristics of the integral, it still runs almost sinusoidally, so that an attenuation of the higher frequency components of -20 dB / decade is achieved. According to this embodiment, this method is sufficient in practice to safely entrain the textile without slipping. An exact sine curve is not required. The triangular curve has the advantage that it can be implemented with a lower computing power of the drive controller, which is referred to as the control unit in this article.

[0050] It is advantageous to parameterize taking into account the previously calculated rolling frequency. Since this refers to the drum radius, but the center of gravity of the textile is further inward, the actual rolling frequency is about 20% higher. Therefore, according to this embodiment, the duration T is correspondingly reduced by 10% to 40%, preferably 20%. The steady rotation speed n, also referred to herein as the maximum rotation speed 310, PI Determined with the aid of the g-factor which depends on the roller radius. The g-factor is calculated as follows:

[0051] g factor = r 滚筒 (2πn / 60rpm / s) 2 / g

[0052] Where n is the rotation speed, π is the number Pi (3.1415926535), and g is the gravitational constant (9.81 m / s 2 ). Since the radius of the textile moving on a circular path is smaller than the radius of the drum, a g factor greater than 1 is used. According to this embodiment, the g factor is in the range between 2 and 6, preferably 4. For example, changing the formula to obtain the corresponding steady rotation speed n PI The portion of the first half cycle k1 is set in the range between 0.2 and 1, and preferably 1, in order to achieve a suitable phase distribution when switching to a steady rotation speed. Starting speed amplitude A(n) 开始 and the amplitude increment ΔA(n) are both set at n PI / 10 and n PI / 4, and preferably n PI / 4. This means that the acceleration (run-up) occurs after 3 shaking movements. For example, if the maximum rotation speed 310 is 120rpm, the amplitude increment and the starting speed amplitude are both 120rpm / 4=30rpm. Therefore, take the following steps as an example for acceleration:

[0053] Accelerating counterclockwise to 30 rpm causes the textile to deflect to the right.

[0054] Slowing down counterclockwise and accelerating clockwise to 60 rpm causes the textile to deflect to the left.

[0055] Slowing down clockwise and accelerating counterclockwise to 90 rpm causes the textile to deflect to the right.

[0056] The rocking motion is returned by decelerating counterclockwise and accelerating clockwise to 120 rpm, then maintaining 120 rpm, and the rotation speed is maintained as the textile is placed against the drum during the counterclockwise rocking return motion.

[0057] This makes it possible to position or rotate a textile which tends to slide or roll in a ribless drum without creating an imbalance, for example when the textile suddenly rests against the drum at a high rotation speed.

[0058] The method can advantageously be used in the cleaning process technology of ribless drum cleaning devices. In this way, it can be ensured that even with a small amount of laundry, the laundry does not slip when the drum rotates and is entrained by the drum. Therefore, if there is sufficient centrifugal force, the laundry comes into contact with the drum housing for rotation. By the rotation start as described above, it can be avoided that the laundry only suddenly comes into contact at higher rotation speeds, at which the friction between the drum and the laundry items is very high. Therefore, the formation of imbalances can be avoided, and it can also be avoided that the washing machine vibrates strongly and thus leaves its set position.

Claims

1. A method (400) for performing a rotation program of a cleaning device (100), the cleaning device (100) having a rotatable ribless drum (112) for receiving a textile (102), the method (400) comprising the following steps: Step (402): providing a first motion signal (312) to an interface of a driver (106) of the cleaning device (100), wherein the first motion signal (312) causes a first rotational movement of the ribless roller (112) in a first direction until the ribless roller (112) has reached a first target rotational speed; Step (404): providing a second motion signal (314) to an interface of the driver (106), wherein the second motion signal (314) indicates a second rotational motion of the ribless roller (112) in a second direction opposite to the first direction until the ribless roller (112) reaches a second target rotational speed greater than the first target rotational speed; Step (406): further providing another first motion signal (316) to an interface of the driver (106) of the cleaning device (100), wherein the another first motion signal (316) causes another first rotational motion of the ribless roller (112) in the first direction until the ribless roller (112) has reached another first target rotational speed that is greater than the second target rotational speed of the previous second rotational motion; Step (408): further providing another second motion signal (318) to the interface of the driver (106), wherein the another second motion signal (318) causes another second rotational motion of the ribless roller (112) in the second direction until the ribless roller (112) has reached another second target rotational speed greater than the another first target rotational speed of the another first rotational motion; Step (410): Repeating at least one of the further providing steps (406, 408) until the another first target rotational speed or the another second target rotational speed reaches a predetermined maximum rotational speed (310); and Step (412): providing a third motion signal (320) to the interface of the drive (106), wherein the third motion signal (320) causes the ribless roller (112) to perform a third rotational motion at the predetermined maximum rotational speed (310) in the direction of the further providing steps (406, 408), The method includes a step (414) of calculating the predetermined maximum rotational speed (310) using a predetermined g-factor (304), a roller radius value (306) representing the ribless roller (112), and a gravity constant (308).

2. The method (400) according to claim 1, wherein: The second motion signal (314), the further first motion signal (316) and the further second motion signal (318) are provided for a predetermined period of time, wherein the predetermined period of time corresponds to a half cycle duration of a shaking frequency (322).

3. The method (400) according to claim 2, wherein: The third motion signal (320) is provided for a third time period, wherein the third time period is a multiple of the cycle duration.

4. The method (400) according to claim 2 or 3, comprising the step (416) of determining the rocking frequency (322) using the drum radius value (306).

5. The method (400) according to claim 4, wherein: In the determining step (416), the roll frequency (322) is determined as the square root of the quotient of the gravity constant (308) and the drum radius value (306) and twice Pi.

6. The method (400) according to claim 4, wherein: In the determining step (416), the shaking frequency (322) is increased by a predetermined factor.

7. The method (400) according to claim 1 or 2, wherein: The first motion signal (312), the second motion signal (314), the further first motion signal (316), and the further second motion signal (318) cause a constant acceleration of the ribless roller (112).

8. The method (400) according to claim 7, wherein: The first motion signal (312) causes a first acceleration of the ribless roller (112), the second motion signal (314) causes a second acceleration of the ribless roller (112) greater than the first acceleration, the other first motion signal (316) causes another first acceleration of the ribless roller (112) greater than the second acceleration, and the other second motion signal (318) causes another second acceleration greater than the other first acceleration.

9. The method (400) according to claim 1 or 2, wherein: In the repeating step (410), the predetermined maximum rotation speed (310) is reached during a third repetition.

10. A control unit (108) designed to execute the steps (402, 404, 406, 408, 410, 412, 414, 416) of the method (400) according to any of the preceding claims in a corresponding unit (300, 302).

11. A computer program product comprising a program code for performing the method (400) according to any one of claims 1 to 9 when the computer program product is executed on a control unit (108) according to claim 10.

12. A cleaning device (100) for cleaning a textile (102), having the following characteristics: a rotatable ribless drum (112) for receiving the textile (102); a drive (106) for causing the ribless drum (112) to perform a rotational movement; and A control unit (108) according to claim 10.

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