A self-leveling system and its leveling method

Abstract

This invention provides a self-leveling system and a leveling method using the self-leveling system. The self-leveling system includes a tub, suspension rods, a suspension rod controller, and a tilt sensor. The tub is connected to and suspended by multiple suspension rods. The tilt sensor detects the tilt angle of the tub and transmits the signal to the suspension rod controller. The suspension rod controller controls the movement of the suspension rods based on the tilt angle detected by the tilt sensor to correct the tilt angle of the tub. The self-leveling system and method of this invention can be used for the automatic adjustment and balancing of a washing machine tub, automatically adapting to different ground tilt angles, eliminating the hassle of manual leveling of the tub by the user. Furthermore, the self-leveling system includes a suspension rod range control device to ensure that the suspension rods move within their range during the adjustment of the washing tub's level.

Description

Technical Field

[0001] This invention belongs to the field of washing machine control systems, and particularly relates to a self-leveling system and its leveling method for a washing machine tub. Background Technology

[0002] With the development of society and the economy, washing machines have become an indispensable tool in people's daily lives, bringing great convenience. With further advancements in science and technology, washing machines are becoming increasingly intelligent and feature-rich.

[0003] Currently, the main types of fully automatic washing machines are front-loading and top-loading washing machines. Their outer tubs are suspended from the machine body by four rods located at the four corners. Since floors in users' homes are not always level or have uneven surfaces, the washing machine may initially or gradually become off-center during installation. This off-center movement can cause the tub to collide during washing, leading to machine displacement, noise, safety hazards, and increased user inconvenience.

[0004] To address these issues, the current practice is to install an adjustable leveling foot on the washing machine, allowing users to level it themselves. However, this method can be inconvenient for users in practice, such as those with limited strength, those needing to readjust the leveling after moving, or those whose washing machine is installed on a surface with an excessively steep incline, making leveling difficult. Summary of the Invention

[0005] To address the technical problems of barrel leveling in the prior art, the present invention provides a self-leveling system and its leveling method to achieve the self-leveling function of the suspended barrel.

[0006] A self-leveling system includes a bucket, booms, a boom controller, and a tilt sensor. The bucket is connected to and suspended by multiple booms. The tilt sensor detects the tilt angle of the bucket and transmits the signal to the boom controller. The boom controller controls the movement of the booms based on the tilt angle detected by the tilt sensor to correct the tilt angle of the bucket.

[0007] Furthermore, it also includes a boom range control device, which controls the boom to move within its range.

[0008] Furthermore, the boom range control device includes a drive device, an upper limit position, a lower limit position, and a limit sensor. The limit sensor can detect a trigger signal when the boom approaches the upper limit position or the lower limit position and transmit the trigger signal to the boom controller. The boom controller drives the boom to move away from the upper limit position or the lower limit position according to the trigger signal detected by the limit sensor.

[0009] Furthermore, the boom range control device also includes a shock-absorbing buffer, which is connected to one end of the boom.

[0010] Furthermore, the driving device is a rotary driving device or a linear motion driving device.

[0011] Furthermore, the driving device is a motor, and the boom range control device also includes a transmission device, which includes a transmission gear and an adjusting gear. The motor drives the boom to move through the transmission device, and the boom controller controls all or part of the boom to move according to the trigger signal transmitted by the limit sensor.

[0012] Furthermore, the tilt angle X0 detected by the tilt sensor is filtered to obtain a stable output tilt angle X1, and the boom controller calculates and controls the movement of the boom based on the tilt angle X1.

[0013] According to another aspect of the present invention, a leveling method using the above-described self-leveling system is also provided, comprising the following steps: Step 1: setting the initial tilt angle corresponding to the horizontal state of the bucket as Xc, and measuring the tilt angle X0 of the bucket using a tilt sensor; Step 2: comparing the measured tilt angle X0 with Xc, and when |X0-Xc| / Xc is greater than the allowable error value A, calculating the moving direction and distance of the boom based on the difference between X0 and Xc and driving the boom to move to perform the tilt angle correction action, until |X0-Xc| / Xc is less than the allowable error value A.

[0014] Furthermore, after step one and before step two, the process includes comparing X0 and Xmax. When X0 is greater than Xmax, the boom controller obtains the signal from the tilt sensor and controls the boom to stop adjusting, and sends a signal to the user to adjust the installation position of the washing machine. When X0 is less than Xmax, step two begins.

[0015] Furthermore, in step one, the tilt angle X0 detected by the tilt sensor is filtered to obtain a stable output tilt angle value X1, which is then used to replace X0 in step two for calculation and control.

[0016] Furthermore, the method also includes the following steps: when the limit sensor detects a trigger signal that the boom is approaching the upper or lower limit, the boom controller cancels the tilt angle correction action according to the trigger signal detected by the limit sensor, and the boom controller controls all or part of the boom to move away from the upper or lower limit.

[0017] The self-leveling system and its leveling method of the present invention can be used for automatic adjustment and balancing of the washing tub of a washing machine. It can automatically adapt to different ground tilt angles, saving users the trouble of manually leveling the washing tub. In addition, the self-leveling system also includes a suspension rod range control device to ensure that the suspension rod moves within the range during the process of adjusting the level of the washing tub. Attached Figure Description

[0018] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0019] Figure 1 A schematic diagram of the structure of a washing machine using the self-leveling system of the present invention;

[0020] Figure 2 This is a schematic diagram of the leveling control process in the self-leveling system of the present invention.

[0021] Figure 3 This is a schematic diagram of the boom range control device in the self-leveling system of the present invention.

[0022] Figure 4 This is a schematic diagram of the boom range control process in the self-leveling system of the present invention.

[0023] The attached diagram is labeled as follows: washing machine-10, washing tub-11, lifting rod-20, lifting rod range control device-30, limit sensor-31, upper limit position-32, lower limit position-33, motor-34, transmission gear-35, adjusting gear-36, shock absorber spring-37.

[0024] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale. Detailed Implementation

[0025] The invention will now be further described with reference to the accompanying drawings.

[0026] The self-leveling system of this invention can be used for the automatic leveling of the washing tub 11 of the washing machine 10. It can also be used for the automatic control and leveling of other suspended tubs. The washing tub 11 of the pulsator washing machine 10 will be used as an example for explanation. Figure 1As shown, the washing machine 10 includes a washing tub 11, which comprises an outer tub and an inner tub nested together. Generally, the inner tub rotates to perform the washing action, while the outer tub remains relatively fixed. The washing tub 11 is suspended inside the washing machine 10 by multiple suspension rods 20, for example, suspended inside the outer casing by multiple suspension rods 20. The self-leveling system of this invention also includes a suspension rod 20 controller and a tilt sensor. The tilt sensor detects the tilt angle of the washing tub 11 and transmits the signal to the suspension rod 20 controller. The suspension rod 20 is moved by the suspension rod 20 controller to raise or lower the height of the suspension rod 20 over the washing tub 11, correcting the height of the washing tub 11 until the washing tub 11 is horizontal and the suspension rod 20 is in a vertical state. Thus, the suspension rod 20 is moved by the suspension rod 20 controller to achieve automatic leveling of the washing tub 11.

[0027] The aforementioned tilt sensor is preferably installed on the outer tub of the washing tub 11. Since the inner tub and the outer tub of the washing tub 11 are nested together, with the outer tub serving a fixing function and the inner tub serving a washing function, and the inner tub and the outer tub being on the same central axis, the tilt sensor detects the tilt angle of the washing tub 11 and transmits the detection signal to the hanger 20 controller. The hanger 20 controller controls the movement direction and distance of multiple hangers 20 according to the detected tilt angle. During the movement, the hangers 20 simultaneously level the inner tub and the outer tub.

[0028] Tilt sensors operate based on fundamental physical principles. While the velocity within the system cannot be measured, acceleration can. If the initial velocity is known, the linear velocity can be calculated through integration, and thus the linear displacement can be calculated. Tilt sensors are a type of acceleration sensor that utilizes the principle of inertia. When the tilt sensor is stationary, meaning there is no acceleration in the lateral or vertical directions, only gravitational acceleration acts on it. The angle between the vertical axis of gravity and the sensitive axis of the acceleration sensor is the tilt angle detected by the tilt sensor.

[0029] like Figure 3As shown, the self-leveling system of the present invention also includes a boom range control device 30. The boom range control device 30 can control the movement direction of the boom 20, ensuring that the boom 20 moves within its range and preventing the boom 20 from exceeding its range and thus disengaging from the system connection, for example, the boom 20 disengaging from the gears. The boom range control device 30 includes a drive device, an upper limit position 32, a lower limit position 33, a limit sensor 31, and possibly a transmission device. When the limit sensor 31 detects that the boom 20 is moving close to the lower limit position, the limit sensor 31 transmits a signal to the boom 20 controller, and the boom 20 controller controls the drive device, which drives the boom 20 to move away from the lower limit position. When the limit sensor 31 detects that the boom 20 is moving close to the upper limit position, the limit sensor 31 transmits a signal to the boom 20 controller, and the boom 20 controller controls the drive device, which drives the boom 20 to move away from the upper limit position.

[0030] The aforementioned boom range control device 30 also includes a shock-absorbing buffer, which is connected to one end of the boom 20 to ensure the smoothness of the boom 20 during movement. For example, the shock-absorbing buffer is a shock-absorbing spring 37, which is connected to one end of the boom 20. During the movement of the boom 20, the shock-absorbing spring 37 will be compressed or stretched, thereby making the boom 20 move smoothly.

[0031] like Figure 3 As shown, the aforementioned driving device can be a rotary driving device or a linear motion driving device. For example, the driving device can be a motor 34, the transmission device is a transmission gear 35 and an adjusting gear 36, and the limit sensor 31 is a distance detection sensor. The limit sensor 31 can detect the distance between the end of the suspension rod 20 and the upper or lower limit position. The motor 34 drives the transmission gear 35 to rotate forward or backward, thereby driving the adjusting gear 36 to rotate forward or backward. The adjusting gear 36 rotates forward or backward, thereby driving the suspension rod 20 to move downward or upward. When the positions of multiple suspension rods 20 are all close to the lower limit position, in order to prevent the suspension rods 20 from disengaging, the suspension rod 20 controller controls multiple suspension rods 20 to move away from the lower limit position, so that the suspension rods 20 as a whole move upward and drive the washing tub 11 to rise. When the positions of multiple suspension rods 20 are all close to the upper limit position, in order to prevent the suspension rods 20 from disengaging, the suspension rod 20 controller controls multiple suspension rods 20 to move away from the upper limit position, so that the suspension rods 20 as a whole move downward and drive the washing tub 11 to fall. Since the washing tub 11 is usually roughly horizontal, when adjusting the overall range, the boom 20 controller typically controls multiple booms 20 to move up and down synchronously. Furthermore, when some booms 20 are close to their range limits while the rest are in the middle position, the boom 20 controller can also control only the booms 20 that are close to their limits to move, thus moving them away from their limits and into the middle position, preventing them from disengaging.

[0032] As Figure 2 and Figure 4 shown, the method for leveling the washing tub 11 using the self-leveling system of the present invention or the operation of the self-leveling system of the present invention includes the following processes:

[0033] Detection process

[0034] Taking the pulsator washing machine 10 as an example, when the washing machine 10 leaves the factory, the reference horizontal plane is calibrated first to ensure that the washing tub 11 is in a horizontal state when the washing machine 10 leaves the factory. The initial tilt angle detected and output by the tilt sensor is approximately Xc = 0, that is, the default leveling at the factory is horizontal without a tilt angle, that is, it is defaulted to be horizontal. After the washing machine 10 is installed in the user's home, when the washing machine 10 is stationary and in an empty tub state, it is powered on, and the tilt sensor measures the tilt angle of the washing tub 11 relative to the horizontal plane. The tilt angle X0 output by the tilt sensor is then filtered to output a stable tilt angle value X1.

[0035] Reminder process

[0036] When it is detected that the tilt angle is too large, that is, when X1 has exceeded Xmax, that is, the tilt angle is too large. At this time, after the hanger 20 controller obtains the signal of the tilt sensor, it outputs to stop adjusting the hanger 20 and sends a signal to the user to adjust the installation position of the washing machine 10, for example, sending a signal to remind the user to adjust the installation position of the washing machine 10 in the form of a control panel or a voice device connected to the hanger 20 controller. Therefore, the self-leveling system or leveling method of the present invention is mainly applied to the cleaning with a not very large tilt angle of the washing tub 11 or the hanger 20. When the tilt angle is too large, the user needs to manually move the washing machine 10 to a flatter position first. As mentioned above, because the movement of the hanger 20 also has a range limit, when the tilt angle is too large, the hanger 20 cannot achieve precise leveling within the range of movement, and only rough manual adjustment can be made first. The value of Xmax is related to the length of the hanger 20 and the size of the washing tub 11, etc.

[0037] Adjustment process

[0038] When X1 < Xmax, it means that within the adjustable range of the hanger 20, the main control board of the washing machine 10 compares the tilt angle X1 with Xc, calculates the control amounts of the lengths of multiple hangers 20 (for example, four), and then converts them into the specific driving or rotating directions (forward or reverse) of the driving device. Finally, the hanger 20 controller issues a control command to make the driving device drive the hanger 20 to move. During the control process, the detected output value X1 of the tilt angle is continuously detected until X1 ≈ X0 (that is, |X0 - Xc| / |Xc| ≈ 1% - 3%, that is, the error tolerance value A). It is preferred that each hanger 20 is separately connected to a hanger 20 controller to separately control the moving distance of each hanger 20. As Figure 3 and Figure 4 As shown, due to the travel limit on the boom 20, when the control motor 34 reaches the maximum control travel, the control motor 34 does not perform the tilt angle adjustment action, but readjusts the control scheme. For example, if the upper limit switch 32 is triggered, all boom 20 control motors 34 will be stopped, and then the motors 34 will be reversed to make all booms 20 move upward, and then the control scheme will continue to be executed to continue the leveling control, ensuring that the leveling control is carried out within the travel range of the boom 20.

[0039] The self-leveling system of this invention uses a tilt sensor installed on the outer tub of the washing tub 11 and a controllable rod 20. The rod 20 controller moves the rod 20 according to the data from the tilt sensor, controlling its direction and distance of movement. It automatically adjusts the length of the rod 20 based on the installation configuration to ensure the washing tub 11 is level. During the adjustment of the rod 20 to correct the tilt angle, a travel limit device on the rod 20 cuts off power to the motor 34 when it encounters the upper or lower limit switch 33, halting further operation and readjusting the control scheme to prevent the rod 20's travel from exceeding its limit during length control.

[0040] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A leveling method for a self-leveling system, characterized in that, The self-leveling system includes a bucket, booms, boom controller, and tilt sensor. The bucket is connected to and suspended by multiple booms. The tilt sensor can detect the tilt angle of the bucket and transmit the signal to the boom controller. The boom controller controls the movement of the booms according to the tilt angle detected by the tilt sensor to correct the tilt angle of the bucket. The leveling method for a self-leveling system includes the following steps: Step 1: Set the initial tilt angle corresponding to the horizontal state of the bucket as Xc, and measure the tilt angle X0 of the bucket using the tilt sensor; Step 2: Compare the measured tilt angles X0 and Xc. When |X0-Xc| / Xc is greater than the allowable error value A, calculate the moving direction and distance of the boom based on the difference between X0 and Xc, and drive the boom to move to perform tilt angle correction until |X0-Xc| / Xc is less than the allowable error value A. The process after step one and before step two includes comparing X0 and Xmax. When X0 is greater than Xmax, the boom controller receives the signal from the tilt sensor and controls the boom to stop adjusting, and sends a signal to the user to adjust the installation position of the washing machine. When X0 is less than Xmax, step two begins.

2. The leveling method of the self-leveling system according to claim 1, characterized in that, The self-leveling system also includes a boom range control device, which controls the boom to move within its range.

3. The leveling method of the self-leveling system according to claim 2, characterized in that, The boom range control device includes a drive unit, an upper limit position, a lower limit position, and a limit sensor. The limit sensor can detect a trigger signal when the boom approaches the upper limit position or the lower limit position and transmit the trigger signal to the boom controller. The boom controller drives the boom to move away from the upper limit position or the lower limit position according to the trigger signal detected by the limit sensor.

4. The leveling method of the self-leveling system according to claim 3, characterized in that, The boom range control device also includes a shock-absorbing buffer, which is connected to one end of the boom.

5. The leveling method of the self-leveling system according to claim 3, characterized in that, The driving device is a rotary driving device or a linear motion driving device.

6. The leveling method for the self-leveling system according to claim 5, characterized in that, The driving device is a motor, and the boom range control device also includes a transmission device, which includes a transmission gear and an adjusting gear. The motor drives the boom to move through the transmission device, and the boom controller controls all or part of the boom to move according to the trigger signal transmitted by the limit sensor.

7. The leveling method for the self-leveling system according to claim 1, characterized in that, The tilt angle X0 detected by the tilt sensor is filtered to obtain a stable output tilt angle X1. The boom controller calculates and controls the movement of the boom based on the tilt angle X1.

8. The leveling method according to claim 1, characterized in that, In step one, the tilt angle X0 detected by the tilt sensor is filtered to obtain a stable output tilt angle value X1, which is then used to replace X0 in step two for calculation and control.

9. The leveling method according to claim 1, characterized in that, The method also includes the following steps: when the limit sensor detects a trigger signal that the boom is approaching the upper or lower limit, the boom controller cancels the tilt angle correction action according to the trigger signal detected by the limit sensor, and the boom controller controls all or part of the boom to move away from the upper or lower limit.

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