A laundry treating apparatus

Abstract

Embodiments of the present application provide a laundry treating apparatus, comprising: a motor configured to drive rotation of an inner drum of the laundry treating apparatus; a sensor assembly configured to collect a rotation speed of the motor and a back electromotive force value of the motor; a controller configured to perform the following steps: obtaining the rotation speed and the back electromotive force value of the motor; if it is determined that the motor is locked based on the rotation speed or the back electromotive force value, controlling the motor to stop working and increasing a counter by one; if the count of the counter reaches a preset threshold, generating a fault information and adjusting a working mode of the laundry treating apparatus based on the fault information; if the count of the counter does not reach the preset threshold, restarting the motor after a delay of a preset time length, and performing the steps of obtaining the rotation speed of the motor and the back electromotive force value of the motor and subsequently determining whether the motor is locked. The technical solution of the embodiments of the present application can identify whether the motor is locked based on the rotation speed and the back electromotive force value, and the identification accuracy is relatively high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromechanical control, in particular to a clothes processing device. BACKGROUND

[0002] With the continuous improvement of people's living standards, using clothes processing devices to process clothes is a common clothes processing method for people, such as clothes washing processing, clothes drying processing, and clothes dry cleaning processing.

[0003] In the related art, after a user places clothes to be processed in an inner drum of a clothes processing device, a controller of the clothes processing device controls a motor to drive the inner drum to rotate, thereby implementing a processing process on the clothes to be processed. However, if the motor is blocked, the controller controlling the motor to drive the inner drum to rotate can easily cause damage to the motor, thereby reducing the user's satisfaction with the clothes processing device and increasing the after-sales cost. SUMMARY

[0004] To solve the above technical problems, embodiments of the present application provide a clothes processing device.

[0005] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0006] According to the clothes processing device provided in the first embodiment of the present application, the clothes processing device comprises: a motor configured to drive an inner drum of the clothes processing device to rotate; a sensor assembly configured to collect a rotating speed of the motor and a back electromotive force value of the motor; and a controller configured to perform the following steps: obtaining the rotating speed of the motor and the back electromotive force value of the motor; if it is determined that the motor is blocked according to the rotating speed or the back electromotive force value, controlling the motor to stop working and increasing a counter by one; if a count of the counter reaches a preset threshold value set according to a target working mode of the clothes processing device, generating fault information and adjusting the working mode of the clothes processing device based on the fault information; and if the count of the counter does not reach the preset threshold value, restarting the motor after a delay for a preset time length and performing the steps of obtaining the rotating speed of the motor and the back electromotive force value of the motor, controlling the motor to stop working and increasing the counter by one after it is determined that the motor is blocked according to the rotating speed or the back electromotive force value.

[0007] In the laundry treating apparatus provided in the first embodiment of the present application, the controller can determine whether the motor is locked based on the rotational speed of the motor and the back-EMF value of the motor by obtaining the rotational speed of the motor and the back-EMF value of the motor, so as to control the motor to stop working when it is determined that the motor is locked, thereby protecting the motor and prolonging the service life of the motor; on the other hand, the controller increments the counter when it is determined that the motor is locked, and then compares the count of the counter with a preset threshold value set according to the target working mode of the laundry treating apparatus, and if the count of the counter does not reach the preset threshold value, the motor is restarted after a delay of a preset time length, so as to exclude the fault of the motor being locked by restarting the motor, thereby reducing the probability of misjudging that the motor is locked; if the count of the counter reaches the preset threshold value, it indicates that the motor cannot work in the target working mode of the laundry treating apparatus, and thus a fault information is generated, and the working mode of the laundry treating apparatus is adjusted based on the fault information, so as to ensure that the laundry treating apparatus completes the treatment of the laundry, thereby improving the satisfaction of the user to the laundry treating apparatus.

[0008] According to the laundry treating apparatus provided in the second embodiment of the present application, the controller is further configured to, after restarting the motor and obtaining the rotational speed of the motor and the back-EMF value of the motor, if it is determined that the motor is not locked based on the rotational speed or the back-EMF value, clear the continuous count of the counter that is determined by the counter last time based on the rotational speed or the back-EMF value that the motor is locked.

[0009] According to the laundry treating apparatus provided in the second embodiment of the present application, after the controller restarts the motor and obtains the rotational speed of the motor and the back-EMF value of the motor after the motor is restarted, if it is determined that the motor is not locked based on the rotational speed and the back-EMF value, it indicates that the motor returns to the normal state after being restarted, and thus the continuous count of the counter that is determined by the counter last time based on the rotational speed or the back-EMF value that the motor is locked is cleared, so as to avoid that the motor working normally is misjudged as being locked due to the fluctuation of the rotational speed or the back-EMF value, and the counter is incremented, thereby causing the controller to adjust the working mode of the laundry treating apparatus.

[0010] According to the laundry treating apparatus provided in the third embodiment of the present application, the controller is further configured to, in the process of determining whether the motor is locked based on the rotational speed, if the rotational speed is below a rotational speed threshold value set according to the target working mode of the laundry treating apparatus, it is determined that the motor is locked.

[0011] In the third embodiment of the present application, the laundry treating apparatus is provided. Since the working speed of the motor corresponding to different working modes of the laundry treating apparatus is different, the speed threshold corresponding to different working modes is also different. Therefore, the controller determines whether the speed is below the speed threshold set according to the target working mode of the laundry treating apparatus in the process of determining whether the motor is stalled according to the speed. If it is determined that the speed is below the speed threshold, it is determined that the motor is stalled, so as to improve the accuracy of identifying the motor stall.

[0012] In the fourth embodiment of the present application, the laundry treating apparatus is provided. The controller is further configured to, in the process of determining whether the motor is stalled according to the speed, if it is determined that the speed is below the speed threshold, control the first timer to start timing; and if the timing duration of the first timer reaches a preset first duration threshold, it is determined that the motor is stalled, and the first duration threshold represents an upper limit of the stall duration corresponding to the target working mode of the laundry treating apparatus.

[0013] In the fourth embodiment of the present application, the laundry treating apparatus is provided. In the process of determining whether the motor is stalled according to the speed, the controller times the duration of the speed below the speed threshold by the first timer. When the timing duration of the first timer reaches a preset first duration threshold, it is determined that the motor is stalled, so as to avoid misjudging the motor stall due to the temporary fluctuation of the speed of the motor.

[0014] In the fifth embodiment of the present application, the laundry treating apparatus is provided. The controller is further configured to, if it is determined that the speed is above the speed threshold, it is determined that the motor is not stalled, and the timing duration of the first timer when the speed is below the speed threshold is cleared last time is cleared.

[0015] In the fifth embodiment of the present application, the laundry treating apparatus is provided. When the controller determines that the speed of the motor is above the speed threshold, it means that the motor has returned to the normal state, and the timing duration of the first timer when the speed is below the speed threshold is cleared last time is cleared, so as to avoid determining that the motor is stalled when the speed of the motor fluctuates next time, and the actual timing duration does not reach the first duration threshold.

[0016] In the sixth embodiment of the present application, the laundry treating apparatus is provided. The controller is further configured to, in the process of determining whether the motor is stalled according to the back electromotive force value, if the back electromotive force value is not in a preset back electromotive force value interval, it is determined that the motor is stalled, and the back electromotive force value interval is an interval composed of the lower limit value and the upper limit value of the back electromotive force value corresponding to the target working mode of the laundry treating apparatus.

[0017] In the sixth embodiment of the present application, the upper limit value and the lower limit value of the back electromotive force value generated by the motor of the clothes treatment device are different in different working modes of the clothes treatment device, and therefore the back electromotive force value interval formed by the upper limit value and the lower limit value of the back electromotive force value is also different. Thus, in the process of determining whether the motor is locked by the controller according to the back electromotive force value, if the back electromotive force value is not in the preset back electromotive force value interval, it is determined that the motor is locked, so as to improve the accuracy of identifying the lock of the motor.

[0018] In the seventh embodiment of the present application, the controller is further configured to, in the process of determining whether the motor is locked according to the back electromotive force value, if the back electromotive force value is not in the preset back electromotive force value interval, control the second timer to start timing; and if the timing duration of the second timer reaches a preset second duration threshold, it is determined that the motor is locked.

[0019] In the seventh embodiment of the present application, in the process of determining whether the motor is locked according to the back electromotive force value, the controller times the duration when the back electromotive force value is not in the preset back electromotive force value interval by the second timer, and when the timing duration of the second timer reaches a preset second duration threshold, it is determined that the motor is locked, so as to avoid the false judgment of the lock of the motor due to the temporary fluctuation of the back electromotive force value generated by the motor.

[0020] In the eighth embodiment of the present application, the controller is further configured to, if it is determined that the back electromotive force value is in the preset back electromotive force value interval, it is determined that the motor is not locked, and the timing duration of the second timer when the back electromotive force value is not in the back electromotive force value interval is cleared.

[0021] In the eighth embodiment of the present application, when it is determined that the back electromotive force value of the motor is in the preset back electromotive force value interval, it means that the motor has returned to the normal state, and the timing duration of the second timer when the back electromotive force value is not in the back electromotive force value interval is cleared, so as to avoid that when the back electromotive force value of the motor fluctuates again, the actual timing duration does not reach the second duration threshold, and it is determined that the motor is locked.

[0022] In the ninth embodiment of the present application, the controller is further configured to, in the process of acquiring the rotational speed of the motor and the back electromotive force value of the motor, acquire the first phase current, the second phase current and the bus voltage corresponding to the motor collected by the sensor assembly in each PWM period; calculate the rotational speed according to the first phase current and the second phase current, and calculate the back electromotive force value according to the bus voltage.

[0023] According to the laundry treating apparatus provided in the tenth embodiment of the present application, the controller is further configured to control a power supply circuit of the motor to be short-circuited to stop the motor. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application. It is to be expressly understood, however, that the drawings are for illustration only and may not be to scale. In the drawings:

[0025] Figure 1 is a structural schematic diagram of a laundry treating apparatus according to the present application.

[0026] Figure 2 is a flowchart of a control method of a controller in a laundry treating apparatus according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0027] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art. Like reference numerals refer to like elements throughout the description.

[0028] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0029] The block diagrams in the drawings show only the functionality of the embodiments and do not imply that the functions must be implemented in a particular order. For example, the functions can be implemented in reverse order or in stages. Also, the block diagrams do not necessarily show all of the functionality of the embodiments. Some functions can be combined, some can be split into multiple functions, and some can be omitted.

[0030] The flow diagrams depicted herein are merely illustrative examples, and are not necessarily meant to imply a fixed order of operations, or that all of the operations must be performed. For example, some operations can be performed in parallel, or in different order than that shown.

[0031] It should be noted that "multiple" mentioned in this paper refers to two or more than two. "And / or" describes the association between the associated objects, which means that there can be three relationships, for example, A and / or B can represent three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0032] Figure 1 is a structural schematic diagram of a laundry treatment device provided by an embodiment of the present application. It should be noted that the laundry treatment device refers to a device for treating clothes, and the laundry treatment device includes but is not limited to a washing machine, a dryer, a dry cleaning machine, and the like. As shown in Figure 1 , the laundry treatment device 10 includes a cabinet 11, an inner drum 12, a motor 13, a sensor assembly, and a controller, which will be introduced one by one below.

[0033] The inner drum 12 is rotationally arranged in the cabinet 11, and the inner drum 12 is used to provide a space for a user to place clothes to be treated.

[0034] The motor 13 is arranged in the cabinet 11, and the output end of the motor 13 is connected with the inner drum 12. The motor 13 is configured to drive the inner drum 12 to rotate. In an embodiment of the present application, the motor 13 includes but is not limited to a brushless direct current motor, a three-phase variable frequency motor, and the like.

[0035] The sensor assembly is arranged in the cabinet 11, and the sensor assembly is configured to collect the rotation speed of the motor 13 and the back electromotive force value of the motor 13.

[0036] The manner in which the sensor assembly collects the rotation speed of the motor 13 and the back electromotive force value of the motor 13, in one example, can first collect the first phase current, the second phase current, and the bus voltage corresponding to each PWM (Pulse width modulation) period of the motor; then calculate the rotation speed corresponding to the motor according to the first phase current and the second phase current, and calculate the back electromotive force value corresponding to the motor according to the bus voltage. The calculation manner of calculating the rotation speed corresponding to the motor according to the first phase current and the second phase current includes calculating based on an SMO (Sliding mode observer) model; the calculation manner of calculating the back electromotive force value corresponding to the motor according to the bus voltage includes calculating based on an SVPWM (Space Vector Pulse Width Modulation) signal.

[0037] The controller is arranged in the cabinet 11, and the controller is electrically connected with the motor 13 and the sensor assembly respectively. The controller is configured to perform the following steps:

[0038] obtaining a rotation speed of the motor and a back electromotive force value of the motor;

[0039] If it is determined that the motor is stalled according to the rotation speed or the back electromotive force value, the motor is controlled to stop working, and the counter is incremented by one;

[0040] If the count of the counter reaches a preset threshold value set according to a target working mode of the clothes treatment apparatus, a fault information is generated, and the working mode of the clothes treatment apparatus is adjusted based on the fault information;

[0041] If the count of the counter does not reach the preset threshold value, after a delay preset time period, the motor is restarted, and the steps of obtaining the rotation speed of the motor and the back electromotive force value of the motor, controlling the motor to stop working if it is determined that the motor is stalled according to the rotation speed or the back electromotive force value, and incrementing the counter by one are performed again.

[0042] In the above process, the way of obtaining the rotation speed of the motor and the back electromotive force value of the motor can be flexibly set as needed. In one example, the rotation speed of the motor and the back electromotive force value of the motor collected by the sensor assembly can be directly obtained through an electrical connection between the controller and the sensor assembly.

[0043] In another example, the sensor assembly can only collect the first-phase current, the second-phase current, and the bus voltage of the motor, and the controller can obtain the first-phase current, the second-phase current, and the bus voltage collected by the sensor assembly through an electrical connection between the controller and the sensor assembly to complete the calculation process of determining the rotation speed corresponding to the motor and determining the back electromotive force value corresponding to the motor based on the obtained first-phase current, second-phase current, and bus voltage, thereby reducing the processing performance requirement of the sensor assembly and further reducing the production cost.

[0044] It should be noted that if the motor is stalled during the driving operation, the rotation speed corresponding to the motor will be greatly reduced, and the back electromotive force value corresponding to the motor will also be greatly reduced.

[0045] In the embodiments of the present application, after the rotation speed of the motor and the back electromotive force value of the motor are obtained, it can be determined whether the motor is stalled according to the rotation speed or the back electromotive force value. If it is determined that the motor is stalled, the motor is controlled to stop working, and the counter is incremented by one.

[0046] In one example, the motor can be controlled to stop working by controlling the power supply circuit of the motor to be powered off. In another example, the motor can be controlled to stop working by controlling the power supply circuit of the motor to be short-circuited. The way of controlling the power supply circuit of the motor to be short-circuited to make the motor stop working is faster than the way of controlling the power supply circuit of the motor to be powered off to make the motor stop working, thereby ensuring that the stalled motor is not easily damaged due to untimely stopping.

[0047] It should be noted that generally, the clothes treatment apparatus processes the clothes to be treated in a process, and different working modes are set according to the situation of the clothes to be treated for targeted processing, so that the treatment effect of the clothes treatment apparatus on the clothes to be treated is better. Among them, the situation of the clothes to be treated includes but is not limited to the weight condition, the clothes material condition and the like.

[0048] In the embodiments of the present application, when the motor is determined to be locked according to the rotation speed or the back electromotive force value, the motor is controlled to stop working, and the counter is incremented by one. Then, it is judged whether the count of the counter reaches a preset threshold value set according to the target working mode of the clothes treatment apparatus. If it is judged that yes, a fault information is generated, and the working mode of the clothes treatment apparatus is adjusted based on the fault information.

[0049] In the above process, the target working mode refers to the working mode currently selected by the user of the clothes treatment apparatus.

[0050] The way of setting the preset threshold value according to the working mode of the clothes treatment apparatus, in an example, the size of the preset threshold value can be set according to the motor speed requirement of the current working mode of the clothes treatment apparatus.

[0051] For example, if the motor speed requirement of the current working mode of the clothes treatment apparatus is high, it means that the current driving the motor is large. Since the larger the current is, the more likely the motor is damaged when the motor is locked, the preset threshold value can be set to a smaller value. Correspondingly, if the motor speed requirement of the current working mode of the clothes treatment apparatus is low, the value of the preset threshold value can be appropriately increased.

[0052] In addition, the adjustment of the working mode of the clothes treatment apparatus based on the fault information can be flexibly set as needed. In an example, the motor speed requirement in the working mode of the clothes treatment apparatus can be adjusted according to the fault information, so that when the motor is locked due to the large weight of the clothes to be treated placed in the inner drum, the torque is increased by reducing the motor speed, thereby eliminating the motor lock and achieving the purpose of driving the inner drum to rotate. In another example, the working mode of the clothes treatment apparatus can be adjusted to an alarm condition according to the fault information, so as to prompt the user that the motor of the clothes treatment apparatus is currently malfunctioning and cannot process the clothes to be treated.

[0053] In the embodiments of the present application, when it is judged whether the count of the counter reaches the preset threshold value set according to the target working mode of the clothes treatment apparatus, if it is judged that no, after a delay of a preset time, the motor is restarted, and the steps of obtaining the rotation speed of the motor and the back electromotive force value of the motor are performed. After the motor is determined to be locked according to the rotation speed or the back electromotive force value, the motor is controlled to stop working, and the counter is incremented by one.

[0054] The preset time length is set in one example based on the demand for motor speed in the working mode of the clothes processing device, that is, the higher the demand for motor speed, the longer the preset time length, and the lower the demand for motor speed, the shorter the preset time length, so as to ensure that the motor completely stops working.

[0055] Through the above embodiments, on the one hand, the controller can determine whether the motor is locked by acquiring the speed of the motor and the back electromotive force value of the motor, so as to control the motor to stop working when it is determined that the motor is locked, thereby protecting the motor and prolonging the service life of the motor; on the other hand, when it is determined that the motor is locked, the controller increments the counter by one, and then compares the count of the counter with a preset threshold value set according to the target working mode of the clothes processing device. If the count of the counter does not reach the preset threshold value, the motor is restarted after a delay of the preset time length, so as to exclude the fault of motor locking by restarting the motor, thereby reducing the probability of misjudging that the motor is locked. If the count of the counter reaches the preset threshold value, it is determined that the motor cannot work in the target working mode of the clothes processing device, and a fault information is generated, and the working mode of the clothes processing device is adjusted based on the fault information, so as to ensure that the motor is not easily damaged due to locking.

[0056] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0057] If it is determined according to the speed or the back electromotive force value that the motor is not locked, the continuous count of the counter that the motor is locked according to the speed or the back electromotive force value last time is cleared.

[0058] In the embodiments of the present application, after the motor is restarted and the speed of the motor and the back electromotive force value of the motor are acquired, if it is determined according to the speed or the back electromotive force value that the motor is not locked, the continuous count of the counter that the motor is locked according to the speed or the back electromotive force value last time is cleared.

[0059] For example, when the preset threshold value is 4 and the count of the counter is 3, it indicates that the motor has been determined to be locked 3 times continuously in the current working mode of the clothes processing device. At this time, after the motor is restarted and the speed of the motor and the back electromotive force value of the motor are acquired, if it is determined according to the speed or the back electromotive force value that the motor is not locked, the count of the counter is cleared, so as to avoid the situation that the count of the counter reaches 4 after the counter is incremented by one when the motor that has returned to normal work is determined to be locked due to fluctuations in the speed or the back electromotive force value. This also avoids the situation that the working mode of the clothes processing device is adjusted by generating a fault information when the continuous number of times that the motor is determined to be locked does not reach the preset threshold value, thereby improving the user's satisfaction with the clothes processing device.

[0060] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0061] If the rotation speed is below a rotation speed threshold value set according to the target operation mode of the laundry treatment apparatus, it is determined that the motor is stalled.

[0062] In the embodiments of the present application, in the process of determining whether the motor is stalled according to the rotation speed, it can be determined whether the rotation speed is below a rotation speed threshold value set according to the target operation mode of the laundry treatment apparatus, and if it is determined that the rotation speed is below the rotation speed threshold value, it is determined that the motor is stalled.

[0063] The manner of setting the rotation speed threshold value according to the operation mode of the laundry treatment apparatus can be flexibly set as needed. In one example, the size of the rotation speed threshold value can be set according to the motor rotation speed requirement corresponding to the operation mode of the laundry treatment apparatus. For example, the greater the motor rotation speed requirement in the operation mode of the laundry treatment apparatus, the greater the rotation speed threshold value set compared to the rotation speed threshold value of the smaller motor rotation speed requirement.

[0064] In another example, the size of the rotation speed threshold value can be set according to the load amount of the laundry to be treated corresponding to the operation mode of the laundry treatment apparatus. For example, the greater the load amount of the laundry to be treated corresponding to the operation mode of the laundry treatment apparatus, the greater the rotation speed threshold value set compared to the rotation speed threshold value of the smaller load amount of the laundry to be treated.

[0065] Through the above embodiments, the respective rotation speed threshold values corresponding to different operation modes of the laundry treatment apparatus can be used to determine whether the motor is stalled according to the obtained rotation speed, thereby improving the accuracy of determining whether the motor is stalled.

[0066] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0067] If it is determined that the rotation speed is below the rotation speed threshold value, the first timer is controlled to start timing.

[0068] If the timing duration of the first timer reaches a preset first duration threshold value, it is determined that the motor is stalled.

[0069] In the embodiments of the present application, in the process of determining whether the motor is stalled according to the rotation speed, if it is determined that the rotation speed is below the rotation speed threshold value, the first timer is controlled to start timing.

[0070] The first timer can be an external timer electrically connected to the controller, or a timer integrated in the controller.

[0071] In the above process, the first duration threshold value represents an upper limit value of the locked-rotor duration corresponding to the target working mode of the clothes treatment apparatus. In addition, since the clothes treatment apparatus includes multiple different working modes, and the running conditions of different working modes are also different. Therefore, the upper limit value of the locked-rotor duration corresponding to different working modes of the clothes treatment apparatus can be different, and the corresponding first duration threshold value is also different.

[0072] In the embodiments of the present application, after the first timer starts timing, it can be determined whether the timing duration of the first timer reaches the preset first duration threshold value. If it is determined to be yes, it means that the locked-rotor duration of the motor has reached the upper limit value of the locked-rotor duration corresponding to the current working mode of the clothes treatment apparatus, and it is determined that the motor is locked.

[0073] Through the above embodiments, when it is determined that the rotation speed is below the rotation speed threshold value, the first timer can be used for timing. When the timing duration of the first timer reaches the preset first duration threshold value, it is determined that the motor is locked, thereby avoiding false judgment of motor locking due to temporary fluctuation of motor rotation speed.

[0074] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0075] If it is determined that the rotation speed is above the rotation speed threshold value, it is determined that the motor is not locked, and the timing duration of the first timer for the last time when the rotation speed is determined to be below the rotation speed threshold value is cleared.

[0076] In the embodiments of the present application, after the rotation speed of the motor is obtained, if it is determined that the rotation speed of the motor is above the rotation speed threshold value, it means that the motor has returned to the normal state, and the timing duration of the first timer for the last time when the rotation speed is determined to be below the rotation speed threshold value is cleared.

[0077] For example, when the first duration threshold value is 3s and the timing duration of the first timer is 2s, it means that the rotation speed of the motor under the current working mode of the clothes treatment apparatus has been below the rotation speed threshold value corresponding to the working mode for 2s. After the rotation speed of the motor is obtained, if it is determined that the rotation speed is above the rotation speed threshold value, the timing duration of the first timer is cleared to avoid the situation that the rotation speed of the motor continues to fluctuate after working, and when the rotation speed is below the rotation speed threshold value, the first timer continues to time based on the previous timing duration, resulting in the situation that the timing duration reaches 3s after the first timer times for only 1s. The situation that the timing duration of the motor below the rotation speed threshold value does not reach the first duration threshold value to determine that the motor is locked is also avoided.

[0078] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0079] If the counter electromotive force value is not in the preset counter electromotive force value interval, it is determined that the motor is locked.

[0080] The back electromotive force value interval is an interval constituted by a lower limit value and an upper limit value of the back electromotive force value corresponding to the target operation mode of the clothes treatment apparatus. In addition, since the clothes treatment apparatus includes multiple operation modes, the intervals constituted by the lower limit value and the upper limit value of the back electromotive force value corresponding to the respective operation modes of the clothes treatment apparatus are also different.

[0081] In the embodiments of the present application, in the process of determining whether the motor is stalled according to the back electromotive force value, it can be determined whether the back electromotive force value is in the preset back electromotive force value interval. If it is determined that the back electromotive force value is not in the preset back electromotive force value interval, it is determined that the motor is stalled.

[0082] Through the above embodiments, the respective back electromotive force value intervals corresponding to the different operation modes of the clothes treatment apparatus can be used to determine whether the motor is stalled according to the obtained back electromotive force value, thereby improving the accuracy of determining whether the motor is stalled.

[0083] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0084] If the back electromotive force value is not in the preset back electromotive force value interval, the second timer is controlled to start timing.

[0085] If the timing duration of the second timer reaches a preset second duration threshold, it is determined that the motor is stalled.

[0086] In the embodiments of the present application, in the process of determining whether the motor is stalled according to the back electromotive force value, if the back electromotive force value is not in the preset back electromotive force value interval, the second timer is controlled to start timing.

[0087] The second timer can be an external timer electrically connected to the controller, or a timer integrated in the controller.

[0088] In the above process, the second duration threshold represents an upper limit value of the stall duration corresponding to the target operation mode of the clothes treatment apparatus. In addition, the second duration threshold and the first duration threshold can be set to the same upper limit value of the stall duration, or different upper limit values of the stall duration can be set based on the rotational speed and the back electromotive force value, respectively.

[0089] In the embodiments of the present application, after the second timer starts timing, it can be determined whether the timing duration of the second timer reaches a preset second duration threshold. If it is determined that the timing duration of the second timer reaches the preset second duration threshold, it is determined that the stall duration of the motor has reached the upper limit value of the stall duration corresponding to the current operation mode of the clothes treatment apparatus, and it is determined that the motor is stalled.

[0090] By the above embodiments, when it is determined that the back electromotive force value of the motor is not in the back electromotive force value interval, the second timer can be used for timing, and when the timing duration of the second timer reaches the preset second duration threshold, it is determined that the motor is locked. Thus, the motor lock can be avoided due to the temporary fluctuation of the back electromotive force value of the motor.

[0091] In another exemplary embodiment, the controller is further configured to perform the following steps:

[0092] If it is determined that the back electromotive force value is in the preset back electromotive force value interval, it is determined that the motor is not locked, and the timing duration of the second timer when the back electromotive force value is last determined not to be in the back electromotive force value interval is cleared.

[0093] In the embodiments of the present application, after the back electromotive force value of the motor is obtained, if it is determined that the back electromotive force value is in the preset back electromotive force value interval, it is determined that the motor has returned to the normal working state, and the timing duration of the second timer when the back electromotive force value is last determined not to be in the back electromotive force value interval is cleared.

[0094] For example, when the second duration threshold is 3s and the timing duration of the second timer is 2s, it is indicated that the back electromotive force value of the motor in the current working mode of the clothes treatment apparatus has been kept out of the back electromotive force value interval corresponding to the working mode for 2s; at this time, after the back electromotive force value of the motor is obtained, if it is determined that the back electromotive force value is in the back electromotive force value interval, the timing duration of the second timer is cleared to avoid the fluctuation of the back electromotive force value of the motor that continues to work thereafter, so that when the back electromotive force value is not in the back electromotive force value interval, the second timer continues to time based on the previous timing duration, resulting in the situation that the timing duration reaches 3s after the second timer times for only 1s. Thus, the situation that the motor is determined to be locked when the timing duration of the back electromotive force value not in the back electromotive force value interval does not reach the second duration threshold is avoided.

[0095] Figure 2 is a flowchart of the control of the controller of the clothes treatment apparatus in an exemplary embodiment of the present application, as Figure 2 shown, the specific implementation method at least includes steps S201 to S217, which are described in detail as follows:

[0096] In step S201, the speed of the motor and the back electromotive force value of the motor are obtained.

[0097] The specific way of obtaining the speed of the motor and the back electromotive force value of the motor has been described in detail in the above process, which will not be repeated here.

[0098] In step S202, it is determined whether the motor is locked.

[0099] After the rotation speed of the motor and the back electromotive force value of the motor are acquired, it can be determined whether the motor is stalled.

[0100] Step S202 includes step S203 of determining whether the rotation speed of the motor is below the rotation speed threshold.

[0101] The rotation speed threshold can be set according to the working mode of the clothes treatment apparatus. If it is determined to be yes, step S204 is performed, and if it is determined to be no, step S205 is performed.

[0102] In step S204, when it is determined that the rotation speed of the motor is below the rotation speed threshold, it is indicated that the motor can be stalled at present, and the first timer is controlled to start timing to further determine whether the motor is stalled.

[0103] After the first timer is controlled to start timing, step S206 is performed to determine whether the timing duration reaches the first duration threshold.

[0104] The first duration threshold can be set according to the working mode of the clothes treatment apparatus. If it is determined to be yes, it is indicated that the motor is currently continuously stalled, and step S207 is performed to determine that the motor is stalled and control the motor to stop working. If it is determined to be no, it is indicated that the motor is stalled for a short time, and it cannot be determined whether the motor is in a situation of temporary rotation speed fluctuation at present, and step S201 is performed to continue acquiring the rotation speed of the motor, so as to determine again subsequently, thereby avoiding misjudgment of the motor being stalled.

[0105] In step S205, the timing duration of the first timer is cleared.

[0106] When it is determined that the rotation speed of the motor is not below the rotation speed threshold, it is indicated that the motor is restored to normal working, and the timing duration of the first timer is cleared.

[0107] Step S202 also includes step S208 of determining whether the back electromotive force value is not in the back electromotive force value interval.

[0108] The back electromotive force value interval can be set according to the working mode of the clothes treatment apparatus. If it is determined to be yes, step S209 is performed, and if it is determined to be no, step S210 is performed.

[0109] In step S209, when it is determined that the back electromotive force value of the motor is not in the back electromotive force value interval, it is indicated that the motor can be stalled at present, and the second timer is controlled to start timing to further determine whether the motor is stalled.

[0110] After the second timer is controlled to start timing, step S211 is performed to determine whether the timing duration reaches the second duration threshold.

[0111] The second time length threshold can be set according to the working mode of the clothes processing apparatus. If the determination is yes, it indicates that the motor is currently continuously stalled, and step S208 is performed. If the determination is no, it indicates that the motor is currently stalled for a short time, and it cannot be determined whether the motor is currently in the situation of temporary fluctuation of the back electromotive force value, and step S201 is performed to continue to obtain the back electromotive force value of the motor, so as to make a subsequent determination again, thereby avoiding misjudgment of the motor stall.

[0112] After step S208 is performed, that is, the motor is determined to be stalled, and the motor is controlled to stop working, step S212 is performed to increase the counter by one.

[0113] In step S213, after the counter is increased by one, it is determined whether the count of the counter reaches a preset threshold.

[0114] The preset threshold can be set according to the working mode of the clothes processing apparatus. If the determination is yes, it indicates that the motor is continuously determined to be stalled during working, and it is highly possible that the motor is stalled, and step S214 is performed to generate fault information and adjust the working mode of the clothes processing apparatus based on the fault information, so as to protect the motor from being damaged. If the determination is no, it indicates that the motor is determined to be stalled during working, but it is not highly possible that the motor is stalled, and the motor can be further verified, and step S215 is performed to control the delay timer to start timing, and step S216 is performed after the delay timer starts timing.

[0115] In step S216, it is determined whether the timing time length reaches a preset time length.

[0116] The preset time length can be set according to the working mode of the clothes processing apparatus, and the preset time length represents the time length during which the motor stops working, so as to ensure that the motor completely stops rotating. If the determination is no, step S215 is performed, and if the determination is yes, step S217 is performed.

[0117] In step S217, when the time length during which the motor stops working reaches the preset time length, it indicates that the motor has completely stopped rotating, and the motor is restarted, which can rejudge whether the motor is stalled, improve the accuracy of judging whether the motor is stalled, and test whether the motor stall fault can be eliminated by restarting the motor.

[0118] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. It is intended that the application embrace any and all variations of the application that fall within the scope of the general inventive concept as defined in the claims and that the application include all modifications, equivalents and alternatives falling within the scope of the application.

[0119] It is to be understood that the application is not limited to the precise construction already described above and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application should only be limited by the claims appended hereto.

Claims

1. A garment processing device, characterized in that, include: An electric motor is configured to drive the inner drum of the garment processing device to rotate; The sensor assembly is configured to acquire the rotational speed of the motor and the back electromotive force of the motor; The controller is configured to perform the following steps: Obtain the rotational speed and back electromotive force of the motor; If the motor is determined to be stalled based on the rotational speed or the back electromotive force value, then the motor is controlled to stop working and the counter is incremented by one; If the counter count reaches a preset threshold set according to the target working mode of the clothing processing equipment, a fault message is generated, and the working mode of the clothing processing equipment is adjusted based on the fault message. If the counter count does not reach the preset threshold, the motor is restarted after a preset delay, and the steps of obtaining the motor speed and the motor back electromotive force value are executed. After determining that the motor is stalled based on the speed or the back electromotive force value, the motor is controlled to stop working, and the counter is incremented by one. After restarting the motor and obtaining the motor speed and the motor back EMF value, if it is determined that the motor is not stalled based on the speed or the back EMF value, then the counter is reset to zero for the most recent determination that the motor was stalled based on the speed or the back EMF value.

2. The garment processing equipment according to claim 1, characterized in that, The controller is also configured to perform the following steps: In the process of determining whether the motor is stalled based on the rotational speed, if the rotational speed is below the speed threshold set according to the target working mode of the clothing processing equipment, then the motor is determined to be stalled.

3. The garment processing equipment according to claim 2, characterized in that, The controller is also configured to perform the following steps: In the process of determining whether the motor is stalled based on the rotational speed, if the rotational speed is determined to be below the rotational speed threshold, then the first timer is controlled to start timing; If the timing duration of the first timer reaches a preset first duration threshold, then the motor is determined to be stalled. The first duration threshold represents the upper limit of the stall duration corresponding to the target working mode of the clothing processing equipment.

4. The garment processing equipment according to claim 3, characterized in that, The controller is also configured to perform the following steps: If the rotational speed is determined to be above the rotational speed threshold, then the motor is determined not to be stalled, and the timing duration of the first timer when the rotational speed was most recently determined to be below the rotational speed threshold is reset to zero.

5. The garment processing equipment according to claim 1, characterized in that, The controller is also configured to perform the following steps: In the process of determining whether the motor is stalled based on the back electromotive force value, if the back electromotive force value is not within the preset back electromotive force value range, then the motor is determined to be stalled. The back electromotive force value range is the range consisting of the lower limit and the upper limit of the back electromotive force value corresponding to the target working mode of the clothing processing equipment.

6. The garment processing equipment according to claim 5, characterized in that, The controller is also configured to perform the following steps: In the process of determining whether the motor is stalled based on the back electromotive force value, if the back electromotive force value is not within the preset back electromotive force value range, the second timer is controlled to start timing. If the duration of the second timer reaches the preset second duration threshold, then the motor is determined to be stalled.

7. The garment processing equipment according to claim 6, characterized in that, The controller is also configured to perform the following steps: If it is determined that the back EMF value is within the preset back EMF value range, then it is determined that the motor is not stalled, and the timing duration of the second timer for the most recent determination that the back EMF value is not within the back EMF value range is reset to zero.

8. The garment processing equipment according to claim 1, characterized in that, The sensor assembly is also configured to perform the following steps: During the process of collecting the motor speed and the motor back electromotive force value, the first phase current, the second phase current and the bus voltage of the motor are collected for each PWM cycle. The rotational speed is calculated based on the first phase current and the second phase current, and the back electromotive force is calculated based on the bus voltage.

9. The garment processing equipment according to claim 1, characterized in that, The controller is also configured to perform the following steps: The power supply circuit of the motor is short-circuited to stop the motor.

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