Washing machine vibration detection method, device, system, storage medium and washing machine

Abstract

The application discloses a washing machine vibration detection method, device, system, storage medium and washing machine. The method comprises the following steps: controlling a radar arranged on a first component in the washing machine to emit electromagnetic waves; collecting echo signals reflected back by the electromagnetic waves received by the radar and reflected by a reflection component in the washing machine; wherein the first component or the reflection component is a vibration source; and determining the vibration condition of the vibration source according to the echo signals. The technical scheme provided by the application aims to realize detection on the vibration condition of the washing machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration detection, in particular to a washing machine vibration detection method, device, system, storage medium and washing machine. BACKGROUND

[0002] Washing machines come in many forms, but generally have an inner drum (also known as a washing machine dewatering drum) that carries clothes and rotates, and an outer drum (also known as a washing machine water containing drum) for containing water. Due to factors such as uneven placement of clothes in the inner drum and high dewatering speed, the inner drum is prone to eccentricity during rotation, which in turn affects the eccentricity of the outer drum, causing vibration and noise, and in extreme cases, even causing the washing machine to move, affecting user experience. In order to reduce vibration and noise, currently professional detection personnel manually judge the eccentricity or vibration of the drum, which is not only inefficient, but also affected by subjective factors such as human experience, making it difficult to ensure accuracy. SUMMARY

[0003] The main purpose of the present application is to provide a washing machine vibration detection method, device, system, storage medium and a washing machine, which can automatically detect the vibration of the washing machine.

[0004] To achieve the above purpose, the washing machine vibration detection method provided by the present application comprises: controlling a radar to emit electromagnetic waves on a first component in the washing machine; collecting echo signals reflected back by the electromagnetic waves reflected by a reflecting component in the washing machine; wherein the first component or the reflecting component is a vibration source; determining the vibration of the vibration source according to the echo signals.

[0005] Preferably, the reflecting component is a material with conductive properties.

[0006] Preferably, the reflecting component has a metal material.

[0007] Preferably, the first component is a water containing drum as a vibration source, and the reflecting component is a washing machine outer wall; or, the first component is a washing machine outer wall, and the reflecting component is a water containing drum as a vibration source.

[0008] Preferably, the radar is a millimeter wave radar.

[0009] Preferably, the radar is a frequency modulated continuous wave (FMCW) radar; determining the vibration of the vibration source according to the echo signals comprises: determining the phase of the echo signals, determining the distance between the radar and the reflecting component according to the phase; determining the reference distance between the radar and the reflecting component when the vibration source is stationary, and determining the vibration displacement of the vibration source according to the difference between the distance and the reference distance.

[0010] Preferably, the phase of the echo signal is determined by selecting sample signals corresponding to the distance quantization units from the echo signal samples.

[0011] Preferably, the radar is a continuous wave (CW) radar, and the vibration condition of the vibration source is determined according to the echo signal by performing frequency domain analysis on the echo signal and determining the vibration condition of the vibration source according to the fluctuation of the frequency domain signal.

[0012] Preferably, the radar is a continuous wave (CW) radar, and the vibration condition of the vibration source is determined according to the echo signal by performing time domain analysis on the echo signal and determining the vibration condition of the vibration source according to the fluctuation of the time domain signal.

[0013] Preferably, the method further comprises: after determining the vibration condition of the vibration source, determining whether the vibration is within a normal vibration range according to the vibration condition of the vibration source; and for the vibration that is not within the normal vibration range, performing vibration intervention, the vibration intervention comprising one or more of the following: vibration alarm; vibration control.

[0014] The application also provides a computer readable storage medium storing one or more programs, which can be executed by one or more processors to implement the method described above.

[0015] The application also provides a washing machine vibration detection device, comprising: a memory and a processor, the memory storing a program, the program being read and executed by the processor to implement the method described above.

[0016] The application also provides a washing machine vibration detection system, the system comprising:

[0017] a radar arranged on a first component in the washing machine and configured to emit electromagnetic waves; a reflecting component configured to reflect the electromagnetic waves, and cooperate with the radar to enable the reflected echo signal to be received by the radar; a washing machine vibration detection device as described above; and wherein the first component or the reflecting component is a vibration source.

[0018] The application also provides a washing machine comprising a vibration detection system as described above.

[0019] In the technical solution of the present application, the radar transmits electromagnetic waves to the first component in the washing machine, and collects the echo signals reflected by the reflecting component in the washing machine. The first component or the reflecting component is a vibration source. The vibration condition of the vibration source is determined according to the echo signals, so that the vibration condition of the washing machine is automatically detected. Since the electromagnetic wave signal is less affected by factors such as dirt, plastic parts, humid environment, installation space, etc., the technical solution based on electromagnetic waves completes vibration detection, improves the applicability of the technical solution, and improves the accuracy of the obtained vibration condition of the vibration source. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on the drawings shown.

[0021] Figure 1 A flow chart of a vibration detection method applied to a washing machine is provided for the embodiments of the present application.

[0022] Figure 2 A front view of a drum washing machine internally installed with a radar is provided for the embodiments of the present application.

[0023] Figure 3 A top view of a pulsator washing machine internally installed with a radar is provided for the embodiments of the present application.

[0024] Figure 4 Another front view of a drum washing machine internally installed with a radar is provided for the embodiments of the present application.

[0025] Figure 5 A principle diagram for confirming the vibration condition of a vibration source in a washing machine according to the phase of an echo signal is provided for the embodiments of the present application.

[0026] Figure 6 Another flow chart of a vibration detection method applied to a washing machine is provided for the embodiments of the present application.

[0027] Figure 7 A flow chart of a washing machine vibration detection method is provided for the application example.

[0028] Figure 8A A schematic diagram of the collected echo signals of the radar received by the washing machine is provided for the application example.

[0029] Figure 8BA signal diagram of the signal after the echo signal is subjected to FFT calculation is provided for the application example;

[0030] Figure 8C A vibration displacement-time change diagram is provided for the application example;

[0031] Figure 9 Another vibration detection method flow chart of the washing machine is provided for the application example;

[0032] Figure 10 A vibration detection device structure diagram applied to the washing machine is provided for the application example;

[0033] Figure 11 A vibration detection system structure diagram applied to the washing machine is provided for the application example;

[0034] Figure 12 A structure diagram of the washing machine is provided for the application example.

[0035] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0038] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0039] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like shall be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium, can be internal communication of two elements or interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In addition, the technical solutions among various embodiments of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0041] In order to optimize the user experience, reduce vibration and noise, the present application provides a method for automatically detecting vibration, please refer to Figure 1 The method is applied to a washing machine, and the method comprises the following steps:

[0042] Step S101 controls the radar to emit electromagnetic waves, and the radar is arranged on a first component in the washing machine;

[0043] Step S102 controls the radar to receive a return signal, the return signal is a signal reflected by an electromagnetic wave reflecting component in the washing machine, and the return signal is collected;

[0044] In the present application, the component where the radar is arranged is a vibration source, or the reflecting component for reflecting electromagnetic waves is a vibration source;

[0045] Step S103 analyzes the collected return signal, and confirms the vibration condition of the vibration source in the washing machine according to the analysis result.

[0046] In the technical solution of the present application, the radar arranged in the washing machine emits electromagnetic waves, and the radar is arranged on a first component in the washing machine, and the radar receives a return signal, the return signal is a signal reflected by an electromagnetic wave reflecting component in the washing machine, and the return signal is collected, the first component or the reflecting component is a vibration source, the collected return signal is analyzed, and the vibration condition of the vibration source in the washing machine is confirmed according to the analysis result, so as to realize automatic detection of the vibration condition of the washing machine. Since the electromagnetic wave signal is less affected by factors such as dirt, plastic shielding, humid environment and installation space, the present application completes vibration detection based on electromagnetic wave, improves the applicability of the technical solution and improves the accuracy of the obtained vibration condition of the vibration source.

[0047] In a preferred embodiment of the present application, in order to realize the reflection of electromagnetic waves and avoid electromagnetic wave penetration to cause electromagnetic wave leakage, the reflection component in the embodiment of the present application has a material with conductive performance. Preferably, the reflection component has a metal material. In addition, the material with conductive performance can also be conductive plastic.

[0048] As an example, the reflection component with a metal material can be a metal component in a washing machine.

[0049] For example, in the case that the outer wall of the washing machine is a metal material, the outer wall of the washing machine can be used as the reflection component.

[0050] Figure 2 A front view of a drum washing machine with a radar installed inside, in which 201 is the radar, 202 is the outer wall of the washing machine, 203 is the water tank of the washing machine, and 204 is the dehydration tank of the washing machine. The water tank 203 is the vibration source of the washing machine, and the outer wall 202 of the washing machine is the reflection component.

[0051] Figure 3 A top view of a pulsator washing machine with a radar installed inside, in which 301 is the radar, 302 is the outer wall of the washing machine, 303 is the water tank of the washing machine, and 304 is the dehydration tank of the washing machine. The water tank 303 is the vibration source of the washing machine, and the outer wall 302 of the washing machine is the reflection component.

[0052] Based on Figure 2 and Figure 3 the schematic diagram shown, the vibration detection method applied to the washing machine in the embodiment of the present application is to control the radar arranged on the water tank of the washing machine to emit electromagnetic waves, and then receive the echo signals reflected back by the outer wall of the washing machine; and the vibration condition of the vibration source in the washing machine is determined by analyzing the echo signals.

[0053] If the water tank of the washing machine is a metal material, the water tank of the washing machine can also be used as the reflection component, in which the reflection component is the vibration source of the washing machine, and the radar is installed on the outer wall of the washing machine.

[0054] As another example, the reflection component with a metal material can be a component with a metal film, such as a water tank of a washing machine, which is a non-metal material. A metal film (such as a copper foil, an aluminum foil, etc.) can be attached to the surface of the water tank of the washing machine facing the outer wall of the washing machine. The water tank with the metal film is the reflection component, which is also the vibration source of the washing machine, and the radar is installed on the outer wall of the washing machine.

[0055] Figure 4 A front view of a drum washing machine with a radar installed inside, in which 401 is the radar, 402 is the outer wall of the washing machine, 403 is the water tank of the washing machine, 404 is the dehydration tank of the washing machine, and 405 is the metal film.

[0056] Based on Figure 4 As shown in the schematic diagram, the vibration detection method of the washing machine according to the embodiments of the present application is to control the radar to emit electromagnetic waves, and then the radar receives the echo signals reflected back by the metal film attached to the washing machine water tank; the vibration of the vibration source in the washing machine is determined by analyzing the echo signals.

[0057] In a preferred embodiment of the present application, the radar can be a millimeter wave radar. Since the antenna used by the millimeter wave radar is mostly a printed circuit board (PCB) antenna, which is small in size and suitable for installation inside the washing machine; low power consumption (mostly mW level power consumption), which is conducive to the energy-saving design of the washing machine. And the wavelength of the millimeter wave radar can reach 1mm, which can detect the position change of 0.01mm level, and can realize the detection of weak vibration.

[0058] In a preferred embodiment of the present application, the radar can be a frequency modulated continuous wave (FMCW) radar; the collected echo signals are analyzed using the FMCW radar, and the vibration of the vibration source in the washing machine is determined according to the analysis result, including:

[0059] Determine the phase of the collected echo signals reflected by the reflecting component;

[0060] Determine the distance between the radar and the reflecting component according to the phase; wherein the distance between the radar and the reflecting component when the vibration source is stationary is set as a reference distance; the reference distance can be written into the memory as a washing machine factory parameter, or can be obtained according to the phase of the real-time obtained echo signal before the washing machine is dehydrated;

[0061] Determine the vibration displacement of the vibration source of the washing machine according to the difference between the distance between the radar and the reflecting component determined according to the phase and the reference distance.

[0062] In a preferred embodiment of the present application, the phase of the collected echo signals reflected by the reflecting component includes:

[0063] Determine the distance quantization unit (range bin) according to the reference distance and the distance resolution of the radar;

[0064] Select the sample signal corresponding to the distance quantization unit from the collected echo signal samples to determine the phase of the echo signal reflected by the reflecting component.

[0065] An FMCW radar transmits electromagnetic waves, which are reflected by a reflective element and returned to the radar. When the distance between the FMCW radar and the reflective element remains constant, the phase of the return signal remains unchanged. However, when the vibration source vibrates, the distance between the FMCW radar and the reflective element changes, causing the phase of the return signal to shift.

[0066] The principle of confirming the vibration condition of the vibration source in the washing machine based on the phase of the echo signal is as follows: Figure 5 As shown in the figure, assume that 501 is an FMCW radar mounted on the outer wall of a washing machine, and 502 is the vibration source, the washing machine tub. When the vibration source is stationary, it is located at position A. The distance between the FMCW radar and the washing machine tub is D (the reference distance). The vector of the echo signal at this time is represented by vector A in 503. When the vibration source vibrates and moves from position A to position B, the vector of the echo signal is represented by vector B in 503. The change in position is d, which is linearly related to the phase difference θ between vectors A and B: d = λ*θ / 4π, where λ is the wavelength of the electromagnetic wave. Once d is obtained, the vibration displacement of the vibration source can be determined.

[0067] The embodiment of the present application obtains the vibration displacement of the vibration source based on the phase. Since the phase can be represented as a period, it is theoretically possible to obtain a vibration displacement in a larger range, such as exceeding 10 cm. The embodiment of the present application directly calculates the vibration displacement based on the obtained phase difference, which can improve the accuracy of the obtained vibration displacement.

[0068] In a preferred embodiment of the present application, the radar may be a continuous wave (CW) radar. The CW radar is used to analyze the collected echo signals, and the vibration condition of the vibration source in the washing machine is determined based on the analysis results. The following two methods may be used:

[0069] One method involves performing time-domain analysis on the echo signals collected by a CW radar, and confirming the vibration of the vibration source based on the fluctuations in the obtained time-domain signals. When the vibration source is stationary, a time-domain signal with a constant voltage value can be obtained. When the vibration source experiences transient vibrations, the time-domain signal also experiences transient vibrations, with a sudden change in voltage amplitude. When the vibration source experiences periodic vibrations, the time-domain signal also experiences periodic vibrations.

[0070] Another method is to perform frequency domain analysis on the echo signal collected by CW radar. Similar to the previous method, the vibration condition of the vibration source can also be confirmed based on the waveform of the frequency domain signal.

[0071] With the CW radar, whether the vibration source vibrates and the strength of the vibration (e.g. the greater the amplitude of the obtained time-domain signal or frequency-domain signal, the stronger the vibration) can be obtained according to the fluctuation of the echo signal, and the vibration period can be obtained when the periodic vibration occurs, but the specific vibration displacement of the vibration source cannot be obtained.

[0072] In a preferred embodiment of the present application, as shown in Figure 6 the method can further include:

[0073] Step 104, after confirming the vibration condition of the vibration source, determining whether the vibration is normal vibration according to the vibration condition of the vibration source;

[0074] The normal vibration is vibration meeting the preset requirement, e.g. the vibration displacement of the vibration source is within the preset range, then the vibration is determined as normal vibration; or the amplitude of the echo signal reflecting the vibration intensity is within the preset range, then the vibration is determined as normal vibration;

[0075] Step 105, for the non-normal vibration, vibration alarm or vibration control can be performed, or vibration alarm and vibration control can be performed simultaneously;

[0076] The vibration alarm can be acoustic alarm or display alarm, or acoustic alarm and display alarm can be performed simultaneously;

[0077] The vibration control can be performed by using the existing vibration reduction method;

[0078] Step 106, for the normal vibration, no operation can be performed.

[0079] The vibration detection method applied to the washing machine according to the embodiments of the present application will be described below with a specific application example.

[0080] Application Example One

[0081] The radar is arranged on the outer wall of the washing machine, and the normal line of the radar is directed to the vibration direction of the washing machine; the radar is arranged in the FMCW working mode;

[0082] The washing machine vibration detection method shown in the application example is as shown in Figure 7 ;

[0083] Step 701 controls the radar to emit electromagnetic waves;

[0084] Step 702 collects the echo signal reflected by the washing machine through the washing machine water tank, as shown in Figure 8A , in which the horizontal coordinate is time and the vertical coordinate is voltage amplitude;

[0085] Step 703 performs FFT calculation on the echo signal to obtain Figure 8BThe shown signal, the horizontal coordinate of the figure is the distance quantization unit range bin;

[0086] Step 704 selects the distance quantization unit range bin according to the reference distance and the distance resolution of the radar; selects the sample signal corresponding to the selected distance quantization unit from the collected echo signal sample; for example, if the reference distance is 10 cm and the distance resolution is 3.75 cm, then the third range bin is selected according to 3.75*3 < 10 < 3.75*4 = 3;

[0087] Step 705 determines the phase according to the selected sample signal;

[0088] Step 706 obtains the vibration displacement signal according to the change of the phase with time and the relationship between the phase and the vibration displacement, for example, Figure 8C As shown in the figure, the horizontal coordinate is time and the vertical coordinate is displacement.

[0089] Application Example Two

[0090] The radar is arranged on the outer wall of the washing machine, and the normal line of the radar is directed to the vibration direction of the washing machine; the radar is arranged in the CW working mode;

[0091] The washing machine vibration detection method shown in the application example is as shown in Figure 9 ;

[0092] Step 901 controls the radar to emit electromagnetic waves;

[0093] Step 902 collects the echo signal reflected back by the washing machine through the water tank;

[0094] Or step 903 is performed to analyze the echo signal in the time domain, and the vibration condition of the vibration source is confirmed according to the fluctuation condition of the time domain signal;

[0095] Or step 904 is performed to perform time-frequency transformation on the echo signal, analyze in the frequency domain, and confirm the vibration condition of the vibration source according to the fluctuation condition of the frequency domain signal.

[0096] The embodiment of the application further provides a computer readable storage medium, which stores one program or a plurality of programs, and the one program or the plurality of programs can be executed by a processor or a plurality of processors to implement the method as described in any one of the preceding embodiments.

[0097] The embodiment of the application further provides a vibration detection device applied to a washing machine, as shown in Figure 10As shown, the system can include: a memory 1001 and a processor 1002, the memory 1001 stores a program, the program is read and executed by the processor 1002, and the method as described in any one of the preceding embodiments is realized. Since the vibration detection device adopts all the technical solutions of the washing machine vibration detection method described in the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0098] The application also provides a vibration detection system applied to a washing machine, as shown in Figure 11 As shown, the system can include:

[0099] The radar 1100 arranged on the first component in the washing machine is arranged to emit electromagnetic waves;

[0100] The reflecting component 1101 is arranged to reflect the electromagnetic waves emitted by the radar, and cooperates with the radar to make the reflected echo signal be received by the radar;

[0101] The washing machine vibration detection device 1102 as described in the preceding embodiments;

[0102] The first component or the reflecting component in the embodiment is a vibration source.

[0103] Since the washing machine adopts all the technical solutions of the washing machine vibration detection device described in the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0104] The application also provides a washing machine, as shown in Figure 12 As shown, the system includes the vibration detection system applied to the washing machine as described in the preceding embodiments. Since the washing machine adopts all the technical solutions of the vibration detection system applied to the washing machine described in the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0105] The above is only the preferred embodiment of the application, not the limitation of the patent scope of the application, any equivalent structural transformation made by the application specification and the attached drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

[0106] Those of ordinary skill in the art will realize and understand that all or some of the steps in the methods disclosed above and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementation, the division between the functional modules / units referred to in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the components can be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by a computer. Further, it is common knowledge to those of ordinary skill in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

[0107] Further, in describing representative embodiments, the specification can have presented the method and / or process as a particular sequence of steps. However, to the extent that the method or process depends on the particular order of steps, the methodology should not be limited to the specific order presented. As would be understood by one of ordinary skill in the art, other sequences of steps can also be possible. Therefore, the particular order of the steps set forth in the specification should not be construed as a limitation on the claims. Furthermore, the claims should not be limited to the steps of the method and / or process in the order presented, as one of ordinary skill in the art can readily appreciate that varying of the order of the steps can be possible and still remain within the spirit and scope of the present embodiments.

Claims

1.A method for detecting vibration of a washing machine, the method comprising: controlling a radar to emit electromagnetic waves on a first component in the washing machine; collecting echo signals reflected by a reflecting component in the washing machine, wherein the first component or the reflecting component is a vibration source; determining a vibration condition of the vibration source according to the echo signals; when the radar is a frequency-modulated continuous wave (FMCW) radar, the determining the vibration condition of the vibration source according to the echo signals comprises: determining a phase of the echo signals, and determining a distance between the radar and the reflecting component according to the phase; determining a reference distance between the radar and the reflecting component when the vibration source is static, and determining a vibration displacement of the vibration source according to a difference between the distance and the reference distance; the determining the phase of the echo signals comprises: determining a distance quantization unit according to the reference distance and a distance resolution of the radar; and selecting a sample signal corresponding to the distance quantization unit from the echo signals to determine the phase. 2.The method of claim 1, wherein: the first component is a tub as the vibration source, and the reflecting component is a wall of the washing machine; or the first component is the wall of the washing machine, and the reflecting component is the tub as the vibration source. 3.The method of claim 2, wherein: the reflecting component has a material with conductive performance. 4.The method of claim 3, wherein: the reflecting component has a metal material. 5.The method of claim 1, wherein: the radar is a millimeter wave radar. The method further comprises: determining whether the vibration is normal or not according to the vibration condition of the vibration source after the vibration condition of the vibration source is determined; and performing vibration intervention for the non-normal vibration, wherein the vibration intervention comprises one or more of the following: vibration alarm; and vibration control. 7.A computer readable storage medium storing one or more programs, wherein the one or more programs are executable by one or more processors to implement the method of any one of claims 1 to 6. A memory and a processor, wherein the memory stores a program, and the program, when read and executed by the processor, implements the method of any one of claims 1 to 6. The system comprises: a radar configured to emit electromagnetic waves on a first component in the washing machine; a reflecting component configured to reflect the electromagnetic waves, and cooperate with the radar to make the reflected echo signals be received by the radar; and the washing machine vibration detection device of claim 8. 10.A washing machine comprising the vibration detection system of claim 9. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 6. The method of claim 1, wherein, ​ ​ ​ ​ ​ ​ 8. A washing machine vibration detection apparatus comprising: ​ 9. A washing machine vibration detection system, characterized by, ​ ​ ​ ​ ​

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