A method for positioning the inner tub of a washing machine, a positioning device, and a washing machine.

Abstract

This invention relates to a method, device, and washing machine for positioning the inner tub of a washing machine. The method includes: controlling the inner tub to rotate at a uniform speed; determining a stop position for the inner tub's drive based on the magnetic induction intensity of the magnet's motion as the inner tub rotates at a uniform speed, detected by a magnetic sensor; and controlling the rotation of the inner tub to stop based on the stop position, so that the pressure cap aligns with the opening direction and / or opening position of the washing machine lid. This inner tub positioning method is designed for specific clothing handling devices, ensuring that the pressure cap is positioned in a specific direction each time the washing machine lid is opened, enhancing the user experience.

Description

Technical Field

[0001] This invention relates to the field of washing machine technology, and in particular to a method for positioning the inner tub of a washing machine, a positioning device, and a washing machine. Background Technology

[0002] In recent years, the washing machine industry has shown a diversified development trend. With the improvement of people's living standards, the washing method for specific items to be washed, such as underwear, has gradually become the core concept of washing machine product development. In order to meet consumers' growing demand for healthy washing, the research and development of underwear washing machines has been put on the agenda.

[0003] Currently, there are few types of small washing machines available, and they are not specifically designed for washing certain items, such as underwear and other intimate clothing. Existing solutions for washing women's intimate clothing are mostly top-loading, front-loading, or hand washing, but these conventional washing methods often result in severe deformation of the clothes and poor washing results. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method, a positioning device and a washing machine for positioning the inner drum of a washing machine.

[0005] This invention provides a method for positioning the inner tub of a washing machine. The washing machine includes an outer tub, an inner tub, a clothes support frame fixed inside the inner tub, and a pressure cover closable on the support frame for fixing clothes. The inner tub is equipped with a magnet, and the outer tub is equipped with a magnetic sensor. The method for positioning the inner tub of the washing machine includes:

[0006] Control the inner tub to rotate at a constant speed at the designated position;

[0007] Based on the magnetic induction intensity of the magnet's motion when the magnet rotates at a constant speed with the inner tub, as detected by the magnetic sensor, the position to stop the inner tub's drive is determined.

[0008] Based on the stopped driving position of the inner tub, control the stopping driving of the inner tub rotation so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid.

[0009] In some embodiments, controlling the rotation of the inner tub to stop according to the stopping drive position of the inner tub, so as to ensure that the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, includes:

[0010] Based on the magnetic induction intensity of the magnet when it stops as the inner tub stops, detected by the magnetic sensor, it is determined whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid. If it is determined that the stopping position of the inner tub makes the pressure cap inconsistent with the opening direction and / or opening position of the washing machine tub lid, the inner tub is controlled to rotate at a corrected speed until the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid.

[0011] In some embodiments, determining whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid based on the magnetic induction intensity of the magnet when the inner tub stops, detected by the magnetic sensor, includes:

[0012] Determine whether the magnetic induction intensity of the stopped magnet is within a first preset magnetic induction intensity range. If the magnetic induction intensity of the stopped magnet is within the first preset magnetic induction intensity range, then determine the stopping position of the inner tub so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid. If the magnetic induction intensity of the stopped magnet is not within the first preset magnetic induction intensity range, then determine the stopping position of the inner tub so that the pressure cap is inconsistent with the opening direction and / or opening position of the washing machine tub lid.

[0013] In some embodiments, if the inner tub's stopping position causes the pressure cap to be inconsistent with the opening direction and / or opening position of the washing machine tub lid, then controlling the inner tub to rotate at a corrective speed until the inner tub's stopping position causes the pressure cap to be consistent with the opening direction and / or opening position of the washing machine tub lid includes:

[0014] If the magnetic induction intensity of the magnet stops is not within the first preset magnetic induction intensity range, and the magnetic induction intensity of the magnet stops is positive, then the inner tub is controlled to rotate at a first correction speed lower than the positioning speed until the inner tub stops at a position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, wherein the magnetic induction intensity when the magnet is in front of the magnetic induction sensor is a positive value, and the front is consistent with the rotation direction of the inner tub.

[0015] In some embodiments, if the inner tub's stopping position causes the pressure cap to be inconsistent with the opening direction and / or opening position of the washing machine tub lid, then controlling the inner tub to rotate at a corrective speed until the inner tub's stopping position causes the pressure cap to be consistent with the opening direction and / or opening position of the washing machine tub lid includes:

[0016] If the magnetic induction intensity of the magnet stops is not within the first preset magnetic induction intensity range, and the magnetic induction intensity of the magnet stops is negative, then the inner tub is controlled to rotate at a second correction speed higher than the positioning speed until the inner tub stops at a position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, wherein the magnetic induction intensity when the magnet is located behind the magnetic induction sensor is negative, and the rear is opposite to the rotation direction of the inner tub.

[0017] In some embodiments, determining the stop position for the inner tub drive based on the magnetic induction intensity of the magnet's motion when the inner tub rotates at a constant speed, detected by the magnetic sensor, includes:

[0018] The trend of change of the moving magnetic induction intensity is determined based on the moving magnetic induction intensity of the magnet;

[0019] The stopping position of the inner barrel drive is determined based on the trend of change of the motion magnetic induction intensity and the value of the motion magnetic induction intensity of the magnet.

[0020] In some embodiments, determining the rotational position of the magnet based on the trend of change in the motion magnetic induction intensity and the value of the motion magnetic induction intensity of the magnet includes:

[0021] The position of the magnet when the magnetic induction intensity of the moving object increases from small to large, and the position of the magnet when the magnetic induction intensity value of the moving object increases to the first preset magnetic induction intensity value of the moving object, is determined as the position where the inner barrel drive is stopped.

[0022] In some embodiments, determining the rotational position of the magnet based on the trend of change in the motion magnetic induction intensity and the value of the motion magnetic induction intensity of the magnet includes:

[0023] The position of the magnet when the magnetic induction intensity decreases from large to small, and the magnetic induction intensity value of the magnet decreases to the first preset magnetic induction intensity value, is determined as the position where the inner barrel drive stops.

[0024] In some embodiments, controlling the inner tub to rotate at a uniform speed at a positioning speed includes:

[0025] Record the previous rotation speed corresponding to the end of the previous positioning of the inner barrel;

[0026] The inner tub is controlled to rotate at a constant speed, using the previous rotation speed as the positioning speed.

[0027] In some embodiments, the method further includes:

[0028] In response to the end-of-wash command, the inner tub is controlled to rotate at a constant speed;

[0029] The location of the magnet is determined when the magnetic sensor detects the maximum magnetic induction intensity during the uniform rotation of the inner barrel, and the location of the magnet is determined when the magnetic induction intensity is minimum.

[0030] The present invention also provides a washing machine inner tub positioning device, comprising:

[0031] The first control unit is used to control the inner tub to rotate at a constant speed at the positioning speed.

[0032] The first determining unit is used to determine the stopping position of the inner barrel drive based on the magnetic induction intensity of the magnet movement when the inner barrel rotates at a constant speed, detected by the magnetic sensor.

[0033] The second control unit is used to control the stopping of the inner tub's rotation.

[0034] The second determining unit is used to determine whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid based on the magnetic induction intensity of the magnet when the inner tub stops detected by the magnetic sensor. If it is determined that the stopping position of the inner tub makes the pressure cap inconsistent with the opening direction and / or opening position of the washing machine tub lid, the inner tub is controlled to rotate at a corrected speed until the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid.

[0035] The present invention also provides a washing machine, characterized in that it comprises:

[0036] Outer drum;

[0037] The inner tub is rotatably disposed within the outer tub;

[0038] A clothes support rack, fixed in the inner tub, is used to support clothes to be washed;

[0039] A pressure cap, which can be opened and closed, is mounted on the clothing support rack to secure the clothes to be washed;

[0040] A magnet is disposed in the inner barrel;

[0041] A magnetic sensor, disposed on the outer barrel and corresponding to the magnet, is used to sense the magnetic field strength around the magnet.

[0042] A controller for performing the washing machine inner tub positioning method as described in any of the above embodiments.

[0043] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0044] The inner tub positioning method of the present invention is designed for a specific clothing handling device. Each time the washing machine lid is opened, the lid is positioned in a specific direction, enhancing the user experience.

[0045] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0046] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0047] Figure 1 This is a cross-sectional view of a washing machine structure according to an exemplary embodiment of the present invention;

[0048] Figure 2 This is a flowchart illustrating a washing machine inner tub positioning method according to an exemplary embodiment of the present invention;

[0049] Figure 3 This is a flowchart illustrating a washing machine inner tub positioning method according to another exemplary embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram illustrating the change of magnetic induction intensity with the rotation angle of a magnet according to an exemplary embodiment of the present invention.

[0051] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0052] In the description of this invention, it should be noted that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "contact," and "communication" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] like Figures 1 to 2The present invention provides a method for positioning the inner tub of a washing machine. The washing machine includes an outer tub 1, an inner tub 2, a clothes support frame fixed inside the inner tub 2, and a pressure cover 4 that is closable and disposed on the support frame for fixing clothes, and a tub cover 3 for covering the outer tub 1 and the inner tub 2. The inner tub 2 is provided with a magnet 5, and the outer tub is provided with a magnetic sensor 6. The method for positioning the inner tub of the washing machine includes steps S11, S12, and S13.

[0055] In step S11, the inner tub is controlled to rotate at a constant positioning speed. At the end of the washing cycle, the empty inner tub of the washing machine rotates at a preset positioning speed. For example, the previous rotation speed corresponding to the end of the previous positioning cycle can be recorded; the inner tub is then controlled to rotate at the aforementioned previous rotation speed as the positioning speed.

[0056] Preferably, before step S11, the positioning method may further include: in response to the washing end command, controlling the inner tub to rotate at a constant speed; obtaining the location of the magnet when the magnetic sensor detects the maximum magnetic induction intensity during the uniform rotation of the inner tub, and the location of the magnet when the minimum induction intensity is detected.

[0057] In step S12, the stopping position for the inner tub drive is determined based on the magnetic flux density of the magnet 5 as it rotates at a constant speed with the inner tub 2, detected by the magnetic sensor 6. When the inner tub rotates at a constant speed, the magnetic sensor 6 can detect the real-time magnetic flux density of the magnet during its movement. When the magnetic sensor 6 detects that the magnetic flux density of the magnet is at a preset value, the position of the magnet at that preset value is determined as the stopping position for the inner tub drive.

[0058] In step S13, the inner tub is stopped from rotating according to the inner tub stop driving position, so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid.

[0059] When the magnetic sensor 6 detects that the magnetic induction intensity of the magnet's movement is the preset magnetic induction intensity value, it indicates that the magnet has reached the stop driving position of the inner tub. At this time, the control stops the rotation of the inner tub, and the inner tub rotates by inertial force until it stops. The inner tub is in the position when it stops, which makes the pressure cover consistent with the opening direction and / or opening position of the washing machine tub lid.

[0060] In some embodiments, step S13 includes:

[0061] Based on the magnetic induction intensity of the magnet when it stops as the inner tub stops, detected by the magnetic sensor, it is determined whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid. If it is determined that the stopping position of the inner tub makes the pressure cap inconsistent with the opening direction and / or opening position of the washing machine tub lid, the inner tub is controlled to rotate at a corrected speed until the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid.

[0062] In some embodiments, determining whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid based on the magnetic induction intensity of the magnet when the inner tub stops, detected by the magnetic sensor, includes:

[0063] Determine whether the magnetic induction intensity of the stopped magnet is within a first preset magnetic induction intensity range. If the magnetic induction intensity of the stopped magnet is within the first preset magnetic induction intensity range, then determine the stopping position of the inner tub so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid. If the magnetic induction intensity of the stopped magnet is not within the first preset magnetic induction intensity range, then determine the stopping position of the inner tub so that the pressure cap is inconsistent with the opening direction and / or opening position of the washing machine tub lid.

[0064] In some embodiments, if the inner tub's stopping position causes the pressure cap to be inconsistent with the opening direction and / or opening position of the washing machine tub lid, then controlling the inner tub to rotate at a corrective speed until the inner tub's stopping position causes the pressure cap to be consistent with the opening direction and / or opening position of the washing machine tub lid includes:

[0065] If the magnetic induction intensity of the magnet stops is not within the first preset magnetic induction intensity range, and the magnetic induction intensity of the magnet stops is positive, then the inner tub is controlled to rotate at a first correction speed lower than the positioning speed until the inner tub stops at a position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, wherein the magnetic induction intensity when the magnet is in front of the magnetic induction sensor is a positive value, and the front is consistent with the rotation direction of the inner tub.

[0066] If the magnetic induction intensity of the magnet stops is not within the first preset magnetic induction intensity range, and the magnetic induction intensity of the magnet stops is negative, then the inner tub is controlled to rotate at a second correction speed higher than the positioning speed until the inner tub stops at a position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, wherein the magnetic induction intensity when the magnet is located behind the magnetic induction sensor is negative, and the rear is opposite to the rotation direction of the inner tub.

[0067] In some embodiments, determining the stop position for the inner tub drive based on the magnetic induction intensity of the magnet's motion when the inner tub rotates at a constant speed, detected by the magnetic sensor, includes:

[0068] The trend of change of the moving magnetic induction intensity is determined based on the moving magnetic induction intensity of the magnet;

[0069] The stopping position of the inner barrel drive is determined based on the trend of change of the motion magnetic induction intensity and the value of the motion magnetic induction intensity of the magnet.

[0070] In one example, determining the rotational position of the magnet based on the trend of change in the motion magnetic induction intensity and the value of the motion magnetic induction intensity of the magnet includes:

[0071] The position of the magnet when the magnetic induction intensity of the moving object increases from small to large, and the position of the magnet when the magnetic induction intensity value of the moving object increases to the first preset magnetic induction intensity value of the moving object, is determined as the position where the inner barrel drive is stopped.

[0072] In another example, determining the rotational position of the magnet based on the trend of change in the magnetic flux density and the magnetic flux density value of the magnet includes:

[0073] The position of the magnet when the magnetic induction intensity decreases from large to small, and the magnetic induction intensity value of the magnet decreases to the first preset magnetic induction intensity value, is determined as the position where the inner barrel drive stops.

[0074] The present invention also provides a washing machine inner tub positioning device, comprising:

[0075] The first control unit is used to control the inner tub to rotate at a constant speed at the positioning speed.

[0076] The first determining unit is used to determine the stopping position of the inner tub drive based on the magnetic induction intensity of the magnet's motion when the magnet follows the inner tub at a constant speed, as detected by the magnetic sensor.

[0077] The second control unit and the first control unit are used to control the inner tub to rotate at a constant speed at the positioning speed.

[0078] The first determining unit determines the stopping position of the inner tub drive based on the magnetic induction intensity of the magnet's motion when the magnet rotates at a constant speed with the inner tub, as detected by the magnetic sensor.

[0079] The second control unit is used to control the inner tub to stop rotating according to the inner tub's stop driving position, so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid.

[0080] In some embodiments, the second control unit is configured to control the rotation of the inner tub to stop according to the stopping position of the inner tub, so that the pressure cap is aligned with the opening direction and / or opening position of the washing machine tub lid:

[0081] Based on the magnetic induction intensity of the magnet when the inner tub stops, detected by the magnetic sensor, it is determined whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid. If it is determined that the stopping position of the inner tub makes the pressure cap inconsistent with the opening direction and / or opening position of the washing machine tub lid, the inner tub is controlled to rotate at a corrected speed until the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid.

[0082] In some embodiments, such as Figures 3 to 4 As shown, the maximum value of the magnetic induction intensity is Bmax. The method to obtain the maximum value is: before the washing machine's washing program is about to end, rotate it at a low speed and uniform speed for one revolution, and detect the maximum value of the magnetic induction intensity.

[0083] The range of magnetic induction intensity detected in the angle range (-α, α) is (Bn, Bmax), and the trend of change with the angle is Bn → increase → Bmax → decrease → Bn; the range of magnetic induction intensity in which the final stopping position of the inner barrel meets the requirements is (Bm, Bmax), Bn < Bm.

[0084] The angle interval (0, α) is a positive interval, and the angle interval (-α, 0) is a negative interval;

[0085] Set the speed during the inner barrel positioning correction process to Vi (i is initially 0), and determine the rotational speed of the last low-speed uniform rotation when the magnet is located in the angle range of (-α, α).

[0086] The revised method for fixing the final position of the inner tub is to drive the inner tub to rotate again, adjust the inner tub speed to increase / decrease, and stop driving when the magnetic induction intensity is detected to increase from small to large to Bx, where Bn < Bx < Bm;

[0087] Users use the clothing processing device to process their clothes:

[0088] When the washing machine S1 finishes its washing program, record the rotation speed Vi (initially 0) before the program ends. The rotation speed Vi is also the positioning speed mentioned above. Specifically, record the previous rotation speed corresponding to the end of the previous positioning of the inner tub. Control the inner tub to rotate at a constant speed using the previous rotation speed as the positioning speed.

[0089] S2 activates the magnetic sensor and executes the positioning device control logic;

[0090] S3 determines whether the magnet set on the inner barrel is within the angle range (-α, α), that is, the magnetic induction intensity range is within (Bn, Bmax). If yes, proceed to step S5; otherwise, proceed to step S4.

[0091] S4 drives the inner tub to rotate at a low and constant speed of Vi. When the magnetic induction intensity is detected to increase from small to large to Bx, the drive stops and proceeds to step S3.

[0092] S5 determines whether the angle range when the inner barrel stops is in the positive range (0, α). If yes, proceed to step S6; otherwise, proceed to step S7.

[0093] S6 reduces the rotation speed according to Vi, and rotates at a low and constant speed at the newly adjusted speed (the newly adjusted speed is uniformly recorded as Vi+1). When the magnetic induction intensity is detected to increase from small to large to Bx, the drive stops and proceeds to step S8.

[0094] S7 increases the rotation speed according to Vi, and rotates at a low and constant speed at the newly adjusted speed (the newly adjusted speed is uniformly recorded as Vi+1). When the magnetic induction intensity is detected to increase from small to large to Bx, the drive stops and proceeds to step S8.

[0095] S8 determines whether the magnetic induction intensity at the stopping position of the inner barrel after running at speed Vi+1 is within the range of (Bm, Bmax). If yes, proceed to step S10; otherwise, proceed to step S9.

[0096] S9i = i++ (initially 0), proceed to step S3;

[0097] S10 operation has ended.

[0098] The present invention also provides a washing machine, comprising: an outer tub 1; an inner tub 2 rotatably disposed within the outer tub 1; a clothes support frame fixed within the inner tub for supporting clothes to be washed; a pressure cover 4 openably disposed on the clothes support frame for securing the clothes to be washed; a magnet 5 disposed within the inner tub 2; a magnetic sensor 6 disposed within the outer tub 1, corresponding to the magnet 5, for sensing the magnetic induction intensity around the magnet; and a controller for executing the washing machine inner tub positioning method as described in any of the above embodiments. The magnet 5 and the magnetic sensor 6 are located on the same horizontal plane, within this horizontal plane.

[0099] It can be further understood that in this disclosure, "multiple" refers to two or more, and other quantifiers are similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0100] It is further understood that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not indicate a specific order or degree of importance. In fact, the expressions "first," "second," etc., are completely interchangeable. For example, without departing from the scope of this disclosure, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.

[0101] It is further understood that although operations are described in a specific order in the accompanying drawings in the embodiments of this disclosure, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all of the shown operations to be performed to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0102] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0103] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for positioning the inner tub of a washing machine, characterized in that, The washing machine includes an outer tub, an inner tub, a clothes support frame fixed inside the inner tub, and a pressure cover that can be opened and closed on the support frame for fixing clothes. The inner tub is equipped with a magnet, and the outer tub is equipped with a magnetic sensor. The method for positioning the inner tub of the washing machine includes: Control the inner tub to rotate at a constant speed at the designated position; The stopping position of the inner tub is determined based on the magnetic induction intensity value of the magnet motion when the magnet rotates at a constant speed with the inner tub, detected by the magnetic sensor. Based on the stopping position of the inner tub, control the drive to stop the inner tub from rotating, so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid.

2. The washing machine inner tub positioning method according to claim 1, characterized in that, The step of controlling the inner tub to stop rotating based on the inner tub's stop position, so that the pressure cap is aligned with the opening direction and / or opening position of the washing machine tub lid, includes: Based on the magnetic induction intensity of the magnet when the inner tub stops, detected by the magnetic sensor, it is determined whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid. If it is determined that the stopping position of the inner tub makes the pressure cap inconsistent with the opening direction and / or opening position of the washing machine tub lid, the inner tub is controlled to rotate at a corrected speed until the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid.

3. The washing machine inner tub positioning method according to claim 2, characterized in that, The step of determining whether the stopping position of the inner tub makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid based on the magnetic induction intensity of the magnet when the magnet stops, detected by the magnetic sensor, includes: Determine whether the magnetic induction intensity of the stopped magnet is within a first preset magnetic induction intensity range. If the magnetic induction intensity of the stopped magnet is within the first preset magnetic induction intensity range, then determine the stopping position of the inner tub so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid. If the magnetic induction intensity of the stopped magnet is not within the first preset magnetic induction intensity range, then determine the stopping position of the inner tub so that the pressure cap is inconsistent with the opening direction and / or opening position of the washing machine tub lid.

4. The washing machine inner tub positioning method according to claim 3, characterized in that, If the inner tub is determined to be at a stop position that causes the pressure cap to be inconsistent with the opening direction and / or opening position of the washing machine tub lid, then controlling the inner tub to rotate at a corrective speed until the inner tub is at a stop position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid includes: If the magnetic induction intensity of the magnet stops is not within the first preset magnetic induction intensity range, and the magnetic induction intensity of the magnet stops is positive, then the inner tub is controlled to rotate at a first correction speed lower than the positioning speed until the inner tub stops at a position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, wherein the magnetic induction intensity when the magnet is in front of the magnetic induction sensor is a positive value, and the front is consistent with the rotation direction of the inner tub.

5. The washing machine inner tub positioning method according to claim 3, characterized in that, If the inner tub is determined to be at a stop position that causes the pressure cap to be inconsistent with the opening direction and / or opening position of the washing machine tub lid, then controlling the inner tub to rotate at a corrective speed until the inner tub is at a stop position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid includes: If the magnetic induction intensity value of the magnet is not within the first preset magnetic induction intensity range, and the magnetic induction intensity value of the magnet is negative, then the inner tub is controlled to rotate at a second correction speed higher than the positioning speed until the inner tub stops at a position that makes the pressure cap consistent with the opening direction and / or opening position of the washing machine tub lid, wherein the magnetic induction intensity value is negative when the magnet is located behind the magnetic induction sensor, and the rear is opposite to the rotation direction of the inner tub.

6. The method for positioning the inner tub of a washing machine according to any one of claims 1-5, characterized in that, The step of determining the stopping position of the inner tub based on the magnetic induction intensity value of the magnet's motion when the magnet rotates at a constant speed with the inner tub, detected by the magnetic sensor, includes: Based on the magnetic flux density value of the moving magnet, determine the trend of change in the magnetic flux density. The stopping position of the inner barrel is determined based on the trend of change in the magnetic induction intensity of the motion and the magnetic induction intensity value of the magnet.

7. The washing machine inner tub positioning method according to claim 6, characterized in that, The step of determining the rotational position of the magnet based on the trend of change in the magnetic flux density and the magnetic flux density value of the magnet includes: The position of the magnet when the magnetic induction intensity of the moving object increases from small to large, and the position of the magnet when the magnetic induction intensity value of the moving object increases to the first preset magnetic induction intensity value of the moving object, is determined as the stopping position of the inner barrel.

8. The washing machine inner tub positioning method according to claim 6, characterized in that, The step of determining the rotational position of the magnet based on the trend of change in the magnetic flux density and the magnetic flux density value of the magnet includes: The position of the magnet is determined as the stopping position of the inner barrel when the magnetic induction intensity decreases from large to small and the magnetic induction intensity value of the magnet decreases to the first preset magnetic induction intensity value.

9. The method for positioning the inner tub of a washing machine according to any one of claims 1-5, characterized in that, The control of the inner tub to rotate at a uniform speed at a positioning speed includes: Record the previous rotation speed corresponding to the end of the previous positioning of the inner barrel; The inner tub is controlled to rotate at a constant speed, using the previous rotation speed as the positioning speed.

10. The washing machine inner tub positioning method according to claim 1, characterized in that, The method further includes: In response to the end-of-wash command, the inner tub is controlled to rotate at a constant speed; The location of the magnet is determined when the magnetic sensor detects the maximum magnetic induction intensity during the uniform rotation of the inner barrel, and the location of the magnet is determined when the magnetic induction intensity is minimum.

11. A washing machine inner tub positioning device, characterized in that, The washing machine includes an outer tub, an inner tub, a clothes support frame fixed inside the inner tub, and a pressure cover that can be opened and closed on the support frame for fixing clothes. The inner tub is equipped with a magnet, and the outer tub is equipped with a magnetic sensor. The washing machine inner tub positioning device includes: The first control unit is used to control the inner tub to rotate at a constant speed at the positioning speed. The first determining unit determines the stopping position of the inner tub based on the magnetic induction intensity value of the magnet's motion when the magnet rotates at a constant speed with the inner tub, detected by the magnetic sensor. The second control unit is used to control the inner tub to stop rotating according to the stopping position of the inner tub, so that the pressure cap is consistent with the opening direction and / or opening position of the washing machine tub lid.

12. A washing machine, characterized in that, include: Outer drum; The inner tub is rotatably disposed within the outer tub; A clothes support rack, fixed in the inner tub, is used to support clothes to be washed; A pressure cap, which can be opened and closed, is mounted on the clothing support rack to secure the clothes to be washed; A magnet is disposed in the inner barrel; A magnetic sensor is disposed on the outer tub, corresponding to the magnet, and is used to detect the magnetic induction intensity value of the magnet motion when the magnet rotates at a constant speed with the inner tub. A controller for performing the washing machine inner tub positioning method as described in any one of claims 1-10.

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