Barrel torque detection method, apparatus, medium, and laundry treating apparatus

Abstract

The present disclosure relates to a drum torque detection method, device, medium and laundry processing apparatus, the method comprising: acquiring a sampling current; the sampling current is a sampling current of a motor of the laundry processing apparatus when a rotational speed meets a preset stable condition; determining a drum torque based on the sampling current; wherein the drum is a drum for accommodating laundry in the laundry processing apparatus. In this way, accurate detection and perception of the drum torque can be achieved, and the weight of the laundry, whether it is blocked, and other conditions can be perceived based on the drum torque, which is beneficial to improve the perception accuracy; and since no additional sensors are needed, the overall cost of the laundry processing apparatus is not increased.

Description

Technical Field

[0001] This disclosure relates to the field of clothing processing equipment technology, and in particular to a method, device, medium, and clothing processing equipment for detecting drum torque. Background Technology

[0002] In recent years, with rapid economic growth and technological progress, people's living standards have continued to improve, and clothing processing equipment, such as washing machines and dryers, has gradually entered people's homes and become an indispensable household appliance in people's daily lives.

[0003] When using garment processing equipment, it is usually necessary to sense parameters related to the garments (such as weight, material, type of stains, etc.) in order to flexibly meet the processing needs of different garments. Among these, the sensing of garment weight usually involves setting up weight sensors or using parameters such as motor eccentricity and acceleration for weighing, which leads to increased costs and poor accuracy. Summary of the Invention

[0004] To solve the above-mentioned technical problems, or at least partially solve them, this disclosure provides a barrel torque detection method, apparatus, medium, and clothing processing equipment.

[0005] This disclosure provides a method for detecting the torque of a bucket, the method comprising:

[0006] Acquire the sampling current; the sampling current is the sampling current of the motor of the clothing processing equipment when the speed meets the preset stable condition.

[0007] Based on the sampled current, the barrel torque is determined; wherein, the barrel is a barrel used to hold clothing in a clothing processing device.

[0008] Optionally, acquiring the sampled current includes:

[0009] When the motor speed meets the preset stable conditions, multiple current values ​​are sampled within the time it takes for the motor to rotate one revolution, and the average current value is determined based on the multiple current values.

[0010] Within the time it takes for the motor to rotate once in the forward direction or once in the reverse direction, obtain the average current value corresponding to at least two revolutions;

[0011] Based on the average current value corresponding to at least two revolutions, determine the average current value, minimum current value, and maximum current value corresponding to one forward rotation or one reverse rotation of the motor;

[0012] The sampling current includes the average current value, the minimum current value, and the maximum current value.

[0013] Optionally, determining the bucket torque based on the sampled current includes:

[0014] Based on the average current value, the minimum current value, and the maximum current value, and in combination with the relationship between current and torque, the corresponding average torque, minimum torque, and maximum torque are determined.

[0015] Based on the minimum torque and the maximum torque, when it is determined that the torque validity condition is met, the average torque is determined to be the bucket torque;

[0016] Alternatively, determining the bucket torque based on the sampled current includes:

[0017] Based on the minimum current value and the maximum current value, and combined with the relationship between current and torque, the corresponding minimum torque and maximum torque are determined.

[0018] Based on the minimum torque and the maximum torque, when the torque validity condition is met, the bucket torque is calculated; the bucket torque is the average torque determined based on the average current value corresponding to one forward or one reverse rotation of the motor, combined with the correlation between current and torque.

[0019] Optionally, the torque effectiveness condition includes:

[0020] The minimum torque is equal to or greater than the set minimum torque value; and

[0021] The maximum torque is equal to or less than the set maximum torque value.

[0022] Optionally, the method further includes:

[0023] If the minimum torque and the maximum torque do not meet the torque validity condition, return to reacquire the sampled current.

[0024] Optionally, before acquiring the sampling current, the method further includes:

[0025] Obtain the target speed of the motor;

[0026] Based on the target rotational speed, determine the corresponding target stabilization time and the preset rotational speed fluctuation associated with the target rotational speed;

[0027] After the duration of motor rotation reaches the target stable duration, the real-time speed of the motor is obtained;

[0028] Based on the real-time rotational speed, determine whether the actual rotational speed fluctuation corresponding to the real-time rotational speed is equal to or less than the preset rotational speed fluctuation;

[0029] If the actual speed fluctuation is determined to be equal to or less than the preset speed fluctuation, then the motor speed is determined to meet the preset stability condition.

[0030] If the actual speed fluctuation is determined to be greater than the preset speed fluctuation, then return to reacquire the target speed of the motor until the preset stability condition is met.

[0031] Optionally, determining the corresponding target stabilization time based on the target rotational speed includes:

[0032] Determine whether the target rotational speed is between the first rotational speed and the second rotational speed;

[0033] If so, the target stability duration is determined to be the product of the preset duration and the first coefficient;

[0034] If not, determine whether the target rotational speed is between the second and third rotational speeds;

[0035] If so, the target stability duration is determined to be the product of the preset duration and the second coefficient;

[0036] If not, then the target stability duration is determined to be the product of the preset duration and the third coefficient;

[0037] Wherein, the first rotational speed is less than the second rotational speed and both are less than the third rotational speed; the first coefficient is less than the second coefficient and both are less than the third coefficient; the preset duration is the duration corresponding to one forward rotation or one reverse rotation of the motor.

[0038] This disclosure also provides a bucket torque detection device, which includes:

[0039] The current acquisition module is used to acquire the sampling current; the sampling current is the sampling current of the motor of the clothing processing equipment when the speed meets the preset stable condition.

[0040] A torque determination module is used to determine the bucket torque based on the sampled current; wherein the bucket is a bucket used to hold clothes in a clothing processing device.

[0041] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of any of the above methods.

[0042] This disclosure also provides a garment processing device that uses the steps of any of the above methods to achieve drum torque detection.

[0043] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0044] The drum torque detection method provided in this disclosure obtains the sampling current of the motor of the clothing processing equipment when the rotation speed meets the preset stable condition; and further determines the drum torque corresponding to the drum used to hold clothing in the clothing processing equipment. It can accurately determine the drum torque when the motor is rotating stably; and since no additional sensors are required in this process, the overall cost of the clothing processing equipment is not increased. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0046] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating a barrel torque detection method provided in this embodiment of the present disclosure;

[0048] Figure 2 for Figure 1 A detailed flowchart of S110 in the method shown;

[0049] Figure 3 for Figure 1 The method shown is a detailed flowchart of S120;

[0050] Figure 4 for Figure 1 The method shown is a further detailed flowchart of S120;

[0051] Figure 5 A schematic flowchart illustrating another barrel torque detection method provided in this embodiment of the present disclosure;

[0052] Figure 6 This is a schematic diagram of the structure of a barrel torque detection device provided in an embodiment of the present disclosure;

[0053] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0055] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0056] The drum torque detection method provided in this embodiment acquires the sampling current during the motor rotation process and further determines the drum torque. Based on the accurate sampling current and the correlation between drum torque and current, the drum torque can be determined more accurately. Furthermore, the drum torque can be used as a sensing quantity, that is, the drum torque can be used as a sensing signal to sense signals such as the weight of clothes and whether the clothes are blocked. Not only is the sensing accuracy high, but since no additional sensors are required, the overall cost of the clothes handling equipment will not be increased.

[0057] The drum torque detection method provided in this disclosure can be applied to various types of clothing processing equipment, such as washing machines and dryers, which combine motors to drive the drum rotation.

[0058] The following description, in conjunction with the accompanying drawings, provides an exemplary description of the barrel torque detection method, apparatus, medium, and clothing processing equipment provided in the embodiments of this disclosure.

[0059] For example, Figure 1 This is a schematic flowchart illustrating a barrel torque detection method provided in an embodiment of this disclosure. (Refer to...) Figure 1 The method includes the following steps:

[0060] S110, Obtain the sampling current.

[0061] In this embodiment, during the operation of the garment processing equipment, the motor rotates forward or reverse, meaning the motor is constantly switching between forward and reverse rotation. When the motor speed is stable, the motor current is sampled and transmitted to the drum torque detection device; correspondingly, the drum torque detection device acquires the sampled current.

[0062] In this embodiment, the sampling current is the sampling current of the motor of the clothing processing device when it is rotating in either forward or reverse direction, and the motor speed meets the preset stability condition. When the motor speed meets the preset stability condition, it indicates that the motor speed is stable. Sampling the motor current at this time facilitates the accurate determination of the drum torque, and consequently, the accurate determination of clothing-related sensing quantities such as clothing weight. The specific content of the preset stability condition will be described by example below.

[0063] S120. Determine the bucket torque based on the sampled current.

[0064] The bucket in this garment processing equipment is used to hold garments and is driven to rotate by the equipment's motor. Therefore, there is a conversion relationship between the bucket torque and the sampling current, which can be, for example, a linear correlation. Thus, based on the sampling current obtained in S110, the bucket torque can be obtained after conversion.

[0065] The conversion relationship between the bucket torque and the sampling current will be illustrated in the following text.

[0066] The drum torque detection method provided in this embodiment acquires the sampling current during the motor rotation process and further determines the drum torque. Based on the accurate sampling current and the conversion relationship between drum torque and current, the drum torque can be determined more accurately. Furthermore, the drum torque can be used as a sensing quantity, that is, the drum torque can be used as a sensing signal to sense signals such as the weight of clothes and whether the clothes are blocked. Not only is the sensing accuracy high, but since no additional sensors are required, the overall cost of the clothes handling equipment will not be increased.

[0067] In some embodiments, Figure 2 for Figure 1 The method shown is a detailed flowchart of S110. Figure 1 Based on, refer to Figure 2 In this method, S110 may specifically include the following steps:

[0068] S111. When the motor speed meets the preset stable conditions, multiple current values ​​are sampled within the time it takes for the motor to rotate one revolution, and the average current value is determined based on the multiple current values.

[0069] The preset stability condition is used to measure whether the motor speed is stable. When the motor speed meets the preset stability condition, it indicates that the motor speed has reached a stable state. In this embodiment, the current value after the motor speed reaches a stable state is sampled to avoid collecting too many inaccurate current sampling values ​​when the current is unstable, so as to obtain a more accurate sampling current, and thus facilitate the obtaining of a more accurate bucket torque.

[0070] In this process, the motor alternates between forward and reverse rotation during the operation of the garment processing equipment; and during each forward or reverse rotation, the motor will continuously rotate multiple revolutions. In this step, the current values ​​at multiple different times are sampled within the time it takes for the motor to complete one revolution, and the average value is calculated based on the multiple current values ​​sampled within that revolution to determine the average current corresponding to one revolution of the motor.

[0071] For example, two, three or more current values ​​can be sampled within the time it takes for the motor to rotate one revolution, and the average current value can be calculated based on the sampled current values.

[0072] S112. Obtain the average current value corresponding to at least two revolutions within the time of one forward or one reverse rotation of the motor.

[0073] Based on the above, the motor will continuously rotate multiple revolutions during the time it takes for the motor to rotate forward once or reverse once. In this step, for the process of the motor rotating forward once or reverse once, the average current value corresponding to at least two stable revolutions is obtained. The average current value corresponding to each revolution can be obtained in the manner shown in S111.

[0074] For example, in this step, the average current value corresponding to two, three, or more revolutions can be obtained, which can be set according to the requirements of the barrel torque detection method and is not limited here.

[0075] S113. Based on the average current value corresponding to at least two revolutions, determine the average current value, minimum current value, and maximum current value corresponding to one forward rotation or one reverse rotation of the motor.

[0076] The sampled current includes the average current value, the minimum current value, and the maximum current value.

[0077] Among them, the average current values ​​corresponding to at least two revolutions sampled during one forward rotation of the motor are further statistically calculated to obtain the maximum current value, minimum current value and average current value corresponding to one forward rotation of the motor.

[0078] Similarly, further statistical calculations are performed on the average current values ​​corresponding to at least two revolutions sampled during one reverse rotation of the motor to obtain the maximum current value, minimum current value, and average current value corresponding to one reverse rotation of the motor.

[0079] In this embodiment of the disclosure, by sampling and statistically analyzing the motor current under the stable speed state of the motor, the sampled current, including the minimum current value, the maximum current value, and the average current value, can be obtained. Furthermore, the drum torque corresponding to one forward rotation or one reverse rotation can be determined, and then the perceived quantity such as the weight of the clothes can be determined based on the drum torque. The perception accuracy is high and there is no increase in cost.

[0080] In some embodiments, Figure 3 for Figure 1 The method shown is a detailed flowchart of S120. Figure 1 Based on, refer to Figure 3 In this method, S120 may specifically include the following steps:

[0081] S1211. Based on the average current value, minimum current value, and maximum current value corresponding to one forward or one reverse rotation of the motor, and combined with the relationship between current and torque, determine the corresponding average torque, minimum torque, and maximum torque.

[0082] The conversion relationship between current and torque can be a linear relationship. For example, the linear relationship between torque and current satisfies the following: the current is multiplied by a first coefficient and then added to a second coefficient to obtain the torque. Thus, based on the sampled current, multiplying it by the first coefficient and then adding the first coefficient, the corresponding torque can be obtained.

[0083] Specifically, by substituting the average current value corresponding to one reverse rotation or one forward rotation of the motor into the above conversion relationship, the average torque can be obtained; by substituting the minimum current value into the above conversion relationship, the minimum torque can be obtained; and by substituting the maximum current into the above conversion relationship, the maximum torque can be obtained.

[0084] In other embodiments, the relationship between current and torque may also employ other types of transformation relationships known to those skilled in the art, which will not be elaborated upon or limited here.

[0085] S1212. Based on the minimum and maximum torques, when the torque validity condition is met, the average torque is determined to be the bucket torque.

[0086] The torque validity condition is used to measure whether the average torque obtained in the preceding steps can be used as the bucket torque. Specifically, based on the torque validity condition, the torque obtained in the preceding steps is judged. When the minimum torque and the maximum torque satisfy the torque validity condition, it indicates that the average torque is valid and can be used to determine perceived quantities such as the weight of clothing. In this case, the average torque is used as the bucket torque.

[0087] In this embodiment of the disclosure, based on the obtained sampling current, the data is converted by combining the correlation relationship and the torque validity is judged to determine the bucket torque.

[0088] It should be noted that in this embodiment, the maximum torque, minimum torque, and average torque are determined together before the torque validity judgment. In other embodiments, only the maximum torque and minimum torque may be determined before the torque validity judgment; subsequently, if the torque validity judgment is passed, the average torque is calculated and used as the bucket torque; if the torque validity judgment is failed, the average torque is not calculated; thereby reducing the amount of data processing and improving data processing efficiency. The following is in conjunction with... Figure 4 The process steps are illustrated below.

[0089] In some embodiments, Figure 4 for Figure 1 The illustrated method is a further detailed flowchart of S120. Figure 1 Based on, refer to Figure 4 In this method, S120 may specifically include the following steps:

[0090] S1221. Based on the minimum and maximum current values, and combined with the relationship between current and torque, determine the corresponding minimum and maximum torque.

[0091] The conversion relationship between current and torque can be a linear relationship. For example, the linear relationship between torque and current satisfies the following: the current is multiplied by a first coefficient and then added to a second coefficient to obtain the torque. Thus, based on the sampled current, multiplying it by the first coefficient and then adding the first coefficient, the corresponding torque can be obtained.

[0092] Specifically, substituting the minimum current value into the above conversion relationship yields the minimum torque; substituting the maximum current into the above conversion relationship yields the maximum torque.

[0093] S1222. Based on the minimum and maximum torques, calculate the bucket torque when the torque validity condition is met.

[0094] Among them, the barrel torque is the average torque determined based on the average current value corresponding to one forward or one reverse rotation of the motor, combined with the correlation between current and torque.

[0095] The torque validity condition is used to measure whether the average torque obtained in the preceding steps can be used as the bucket torque. Specifically, based on the torque validity condition, the torque obtained in the preceding steps is judged. When the minimum torque and the maximum torque satisfy the torque validity condition, it indicates that the average torque is valid and can be used to determine perceived quantities such as the weight of clothing. At this time, the average torque is calculated again and used as the bucket torque.

[0096] For example, by substituting the average current value corresponding to one reverse rotation or one forward rotation of the motor into the above conversion relationship, the average torque can be obtained.

[0097] In this embodiment of the disclosure, after determining that the torque obtained by data conversion based on the sampling current passes the torque stability judgment, the average torque is calculated and used as the bucket torque, thereby obtaining the bucket torque.

[0098] In other implementations, the average torque is not calculated if the torque stability judgment fails.

[0099] In some embodiments, the above-mentioned torque validity conditions include: the minimum torque is equal to or greater than a set minimum torque value; and the maximum torque is equal to or less than a set maximum torque value.

[0100] The minimum and maximum torque values ​​are set as boundary conditions to determine whether the torque is valid. Therefore, if both the minimum and maximum torques calculated from the sampled current in the preceding steps are within the boundary conditions, the torque is valid; if either the minimum or maximum torque exceeds the boundary conditions, or if both exceed the boundary conditions, the torque is invalid.

[0101] Specifically, if the minimum torque is less than the set minimum torque value, or the maximum torque is greater than the set maximum torque value, or both the minimum torque is less than the set minimum torque value and the maximum torque is greater than the set maximum torque value, then the average torque obtained from the above steps is invalid.

[0102] It should be noted that the specific values ​​for setting the minimum torque and the maximum torque can be set based on the requirements of the bucket torque detection method, and will not be elaborated or limited here.

[0103] In some embodiments, after determining the effectiveness of the torque, the method may further include:

[0104] If the minimum and maximum torques do not meet the torque validity conditions, return to reacquire the sampled current.

[0105] Specifically, if the minimum and maximum torques do not meet the torque validity conditions, the torque is determined to be invalid. That is, the average torque obtained in the aforementioned steps is no longer used to calculate perceived quantities such as clothing weight, or the sampling current is no longer used to calculate the average torque. In this case, it is necessary to reacquire the sampling value, that is, return to reacquire the sampling current, and repeat the steps of data conversion based on the sampling current and torque validity judgment until the torque passes the validity judgment.

[0106] In this embodiment of the disclosure, if the validity judgment of the torque corresponding to one forward rotation of the motor fails, the sampling current can be acquired again and the torque conversion and validity judgment can be performed again when the motor rotates in reverse next time. If the validity judgment of the torque still fails, the sampling current can be acquired again and the torque conversion and validity judgment can be performed again when the motor rotates in forward next time, until the validity judgment passes and the barrel torque is determined.

[0107] In related technologies, current values ​​are usually sampled directly. Since no stabilization period is set, sampling can begin immediately after the motor starts. In the early stages of motor startup, the operation is not yet stable, resulting in large fluctuations, noise, and glitches in the initial current sample values. Algorithms are needed to remove current sample values ​​with large deviations to smooth the overall current value. However, this wastes a lot of computing power and results in long data processing time and slow processing speed.

[0108] To address this, in this embodiment, a preset stability condition is set to determine the timing of current sampling. Specifically, current sampling only begins after the preset stability condition is met. This allows current sampling to start only after the motor is running stably, effectively filtering out fluctuations and glitches, avoiding current instability, and improving the stability of the sampled current. This, in turn, helps reduce data processing time and required computing power, improves data processing efficiency, and saves computing power.

[0109] In some embodiments, Figure 1 Based on this, prior to S110, the method further includes:

[0110] Obtain the target speed of the motor;

[0111] Based on the target rotational speed, determine the corresponding target stabilization time and the preset rotational speed fluctuation associated with the target rotational speed;

[0112] After the motor has been rotating for a certain period of time, the real-time speed of the motor is obtained.

[0113] Based on the real-time rotational speed, determine whether the actual rotational speed fluctuation corresponding to the real-time rotational speed is equal to or less than the preset rotational speed fluctuation;

[0114] If the actual speed fluctuation is determined to be equal to or less than the preset speed fluctuation, then the motor speed is determined to meet the preset stability condition.

[0115] If the actual speed fluctuation is determined to be greater than the preset speed fluctuation, the process returns to reacquire the target speed of the motor until the preset stability condition is met.

[0116] In this embodiment of the present disclosure, a preset stability condition is first determined before the sampling current is acquired; the sampling current is acquired only after the preset stability condition is met; if the preset stability condition is not met, the determination is repeated until the preset stability condition is met.

[0117] Specifically, corresponding to the target speed of the motor, a corresponding target stabilization time (also known as "speed stabilization time") and a preset speed fluctuation are set; for example, the larger the target speed, the longer it takes to reach stability, and the longer the target stabilization time and the larger the preset speed fluctuation can be.

[0118] For example, if the target speed is 30 rpm, the corresponding preset speed fluctuation can be 1.5 rpm, and the corresponding target stabilization time can be rpmTime1 / 3; if the target speed is 55 rpm, the corresponding preset speed fluctuation can be 2.5 rpm, and the corresponding target stabilization time can be rpmTime1 / 2; if the target speed is other speed values, the corresponding target stabilization time and preset speed fluctuation can be set to determine the preset stabilization conditions used to measure whether the motor rotates stably.

[0119] After determining the target stabilization time and preset speed fluctuation corresponding to the target speed, the duration of motor rotation is first judged. If the duration reaches the target stabilization time, it indicates that the motor speed may have stabilized. At this time, the speed fluctuation is further judged. If the actual speed fluctuation is within the preset speed fluctuation range, it indicates that the motor speed fluctuation is small and the preset stabilization condition is met. If the actual speed fluctuation is not within the preset speed fluctuation range, it indicates that the motor speed fluctuation is still large and the preset stabilization condition is not met. The above steps need to be repeated until the motor speed stabilizes.

[0120] In this embodiment, the stability of the motor speed is determined by combining the target stabilization time corresponding to the target speed and the preset speed fluctuation. After determining that the motor speed meets the preset stability condition, the sampling current is obtained, which facilitates the acquisition of a more stable current, reduces the computing power requirement, saves data processing time, and improves data processing speed. At the same time, it improves the accuracy of the bucket torque.

[0121] In some embodiments, determining the corresponding target stabilization time based on the target rotational speed includes:

[0122] Determine whether the target speed is between the first speed and the second speed;

[0123] If so, the target stability duration is determined to be the product of the preset duration and the first coefficient;

[0124] If not, determine whether the target speed is between the second and third speeds;

[0125] If so, the target stability duration is determined to be the product of the preset duration and the second coefficient;

[0126] If not, then the target stability duration is determined to be the product of the preset duration and the third coefficient;

[0127] Among them, the first speed is less than the second speed and both are less than the third speed; the first coefficient is less than the second coefficient and both are less than the third coefficient; the preset duration is the duration corresponding to one forward rotation or one reverse rotation of the motor.

[0128] Specifically, the motor speed is divided into three different speed ranges. The first and second speeds define a relatively low speed range, the second and third speeds define a mid-range speed range, and speeds above the third speed correspond to a relatively high speed range. For each different speed range, a corresponding target stabilization time is set, and the stabilization time increases with the speed. Specifically, the target stabilization time can be obtained by multiplying the time corresponding to one forward or reverse rotation of the motor by a different coefficient.

[0129] In this embodiment of the disclosure, a corresponding target stabilization time is set for different speed ranges, so that the size of the target stabilization time is related to the size of the target speed. When the speed is low, stabilization can be achieved faster, so a smaller target stabilization time is set accordingly; when the speed is high, it takes a longer time to achieve stabilization, so a larger target stabilization time is set accordingly. This allows for the judgment of speed fluctuations after an appropriate preset stabilization time for different speeds, which helps to improve the judgment efficiency.

[0130] In this embodiment of the disclosure, the target speed of the motor is divided into three different speed ranges; in other embodiments, the number of speed ranges may be two, four or other numbers, which are not limited here.

[0131] In some embodiments, Figure 5 This is a schematic flowchart illustrating another method for detecting barrel torque provided in an embodiment of this disclosure. (Refer to...) Figure 5 The method may include the following steps:

[0132] S201, Start: Start the motor, set the target speed rpm and the corresponding speed fluctuation rpm1.

[0133] S202, Obtain the forward / reverse rotation time of the motor (rpmTime).

[0134] S2031, rpm≤50&&rpm>0?

[0135] Determine if the target speed is between 0 and 50. If yes, execute S2041; otherwise, continue the determination and execute S2032.

[0136] S2032, rpm≤60&&rpm>50?

[0137] Determine if the target speed is between 50 and 60; if yes, execute S2042; if no, execute S2043.

[0138] S2041, Rotational speed stabilization time: rpmTime1 = rpmTime1 / 3.

[0139] That is, when the target speed is between 0 and 50, the corresponding preset stabilization time is 1 / 3 of the time it takes for the motor to rotate once.

[0140] S2042, Rotational speed stabilization time: rpmTime1 = rpmTime1 / 2.

[0141] When the target speed is between 50 and 60, the corresponding preset stabilization time is 1 / 2 of the time it takes for the motor to rotate once.

[0142] S2043, Rotational speed stabilization time: rpmTime1 = 3rpmTime1 / 4.

[0143] That is, when the target speed is greater than 60, the corresponding preset stabilization time is 3 / 4 of the time it takes for the motor to rotate once.

[0144] That is, by combining S2031, S2032, S2041, S2042 and S2043, a corresponding preset stabilization time is set based on the target speed.

[0145] S205, rpmTime--; rpmTime1--;

[0146] This means obtaining the duration of the motor's rotation (forward or reverse) from the start of the current rotation and the corresponding preset stabilization time.

[0147] S206, rpmTime1 = 0?

[0148] Based on the duration, countdown is performed on the preset stabilization time to determine whether the countdown for the required time to stabilize the speed has ended; if so, speed fluctuation is judged, i.e., S207 is executed; if not, return to execute S205.

[0149] S207, rpm<(rpm+rpm1)&&rpm>(rpm-rpm1)?

[0150] Here, rpm+rpm1 represents the upper limit of the rotational speed, and rpm-rpm1 represents the lower limit of the rotational speed. rpm-rpm1 and rpm+rpm1 define the boundary conditions for the rotational speed change. When the real-time rotational speed is within these boundary conditions, it indicates that the rotational speed meets the preset stability conditions. Then, S208 is executed. Otherwise, it indicates that the rotational speed fluctuates greatly and does not meet the preset stability conditions. Then, S201 is executed again.

[0151] S208. Sample a current value at interval t, and sample n current values ​​for each revolution of the motor: I1, I2, I3, ..., In; and calculate the average current value.

[0152] That is, n current values ​​are sampled within the time it takes for the motor to rotate one revolution, and the sampling time interval between two adjacent current values ​​is t; based on the sampled n current values, the average current value corresponding to one revolution of the motor is calculated.

[0153] Where n is a positive integer.

[0154] S209. Following the method in the previous step, sample the average current of m cycles. These m average currents are filtered to obtain statistical values: average current value IA, minimum current value Imin, and maximum current value Imax.

[0155] That is, during one forward or one reverse rotation of the motor, the average current value corresponding to at least two rotations is sampled according to the method of S208, and the average current value, minimum current value and maximum current value are further calculated.

[0156] S210. Calculate the torque of the bucket: D = I × B + A; thus, we obtain the average torque Dave, the minimum torque Dmin, and the maximum torque Dmax.

[0157] Where D represents torque, I represents current, B represents the first coefficient, and A represents the second coefficient. Based on the sampling current determined in S209, data conversion is performed using D = I × B + A to obtain the corresponding average torque, minimum torque, and maximum torque.

[0158] S211、(Dmin≥Set minimum torque value)&&(Dmax≤Set maximum torque value)?

[0159] The validity of the torque is determined by verifying whether the torque determined in S210 meets the torque validity condition; if yes, the torque is valid and S212 is executed; if no, the torque is invalid and S201 is executed.

[0160] In this embodiment, after the motor starts, it rotates forward or backward. The stabilization time varies depending on the speed; the higher the speed, the longer the stabilization time. After the stabilization time is reached, speed fluctuation detection is performed. If a large speed fluctuation is detected, detection is stopped. When the speed is relatively stable, current detection, sampling, and filtering statistics are performed to obtain the average current value, maximum current value, and minimum current value. After data conversion, the average torque, maximum torque, and minimum torque are obtained, and torque validity is further judged. If at least one of the maximum torque and minimum torque does not meet the set torque validity condition, it indicates that the current torque fluctuation is not satisfied. If the sampled torque data is problematic or inaccurate, the average torque of this sample is discarded and will not be used as a reference for sensing quantities such as clothing weight. It will be detected again in the next rotational speed stage. If both the maximum and minimum torques meet the torque validity condition, it means that the sampled torque data is accurate. In this case, the average torque of this sample is used as the drum torque and is used as a reference for determining sensing quantities such as clothing weight in the future. Thus, by sensing the drum torque by rotating the motor forward or backward, parameters such as the weight of the clothes in the drum can be known with high accuracy. Moreover, since no additional sensors are required, the overall cost of the clothing processing equipment will not be increased.

[0161] Based on the above embodiments and the same inventive concept, this disclosure also provides a barrel torque detection device, which can be used to perform the steps of any of the barrel torque detection methods in the above embodiments to achieve the corresponding beneficial effects.

[0162] In some embodiments, Figure 6 This is a schematic diagram of a barrel torque detection device provided in an embodiment of this disclosure. (Refer to...) Figure 6 The device 3 may include: a current acquisition module 31 for acquiring a sampling current; the sampling current is the sampling current of the motor of the clothing processing equipment when the speed meets the preset stable condition; and a torque determination module 32 for determining the drum torque based on the sampling current; wherein the drum is the drum in the clothing processing equipment used to hold clothing.

[0163] In the drum torque detection device 3 provided in this embodiment, the sampling current during the motor rotation process can be acquired through the synergistic effect between the current acquisition module 31 and the torque determination module 32, and the drum torque can be further determined. In this way, the drum torque can be determined more accurately based on the accurate sampling current and the conversion relationship between drum torque and current. Furthermore, the drum torque can be used as a sensing quantity, that is, the drum torque can be used as a sensing signal to sense signals such as the weight of clothes and whether the clothes are blocked. Not only is the sensing accuracy high, but since no additional sensors are required, the overall cost of the clothes processing equipment will not be increased.

[0164] It should be noted that, Figure 6 The barrel torque detection device shown can implement the steps of any of the barrel torque detection methods in the above embodiments and has corresponding beneficial effects. For a reference to the explanation of the barrel torque detection method above, it will not be repeated here.

[0165] Based on the above embodiments, this disclosure also provides a computer-readable storage medium storing a computer program thereon, which is executed by a processor to implement the steps of any of the methods in the above embodiments and achieve the corresponding beneficial effects.

[0166] Based on the above embodiments, this disclosure also provides an electronic device, including a memory and a processor; the memory stores an executable program or instructions; the processor runs the program or instructions to implement the steps of any of the methods in the embodiments and achieve the corresponding beneficial effects.

[0167] For example, such as Figure 7 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this disclosure. (Refer to...) Figure 7 The electronic device 4 includes a memory 41 and a processor 42; the memory 41 stores executable programs or instructions; the processor 42 runs the programs or instructions to implement the steps of any of the methods in the above embodiments, and has corresponding beneficial effects. The similarities can be understood with reference to the above text, and will not be repeated here.

[0168] For example, the electronic device may be a garment processing device, an electronic device built into a garment processing device, or an electronic device connected to a garment processing device. The specific connection method may be a wired connection or a wireless connection, which is not limited here.

[0169] Based on the above embodiments, this disclosure also provides a garment processing device that applies the steps of any of the methods in the above embodiments to achieve drum torque detection.

[0170] In some embodiments, the garment processing device may be a specific implementation of the electronic device described above. Exemplarily, the garment processing device may be a dryer, a front-loading washing machine, a top-loading washing machine, or other types of garment processing devices, which are not limited herein.

[0171] In some embodiments, the garment processing device may further include a speed sensor and a current sensor. The speed sensor is used to collect the motor speed and transmit it to the processor; the current sensor is used to collect the motor current and transmit it to the processor; or the current value obtained from real-time sampling is preliminarily processed before being transmitted to the processor, so that the processor can execute the steps of any of the methods in the above embodiments to realize the barrel torque detection.

[0172] In other embodiments, the garment processing equipment may also include other mechanical or functional structures, which are not described in detail or are not limited herein.

[0173] This disclosure also provides a garment processing device that uses the steps of any of the above methods to achieve drum torque detection, and has corresponding beneficial effects.

[0174] For example, the garment processing equipment may be a dryer, a front-loading washing machine, a top-loading washing machine, or other garment processing equipment, and is not limited thereto. In other embodiments, the garment processing equipment may also include other structural and functional components known to those skilled in the art, and is not limited thereto.

[0175] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0176] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the torque of a bucket, characterized in that, include: Obtain the sampling current; The sampling current is the sampling current of the motor of the clothing processing equipment when the speed meets the preset stable condition. Based on the sampled current, the barrel torque is determined; wherein, the barrel is a barrel used to hold clothing in a clothing processing device; Before acquiring the sampled current, the method further includes: Obtain the target speed of the motor; Based on the target rotational speed, determine the corresponding target stabilization time and the preset rotational speed fluctuation associated with the target rotational speed; After the duration of motor rotation reaches the target stable duration, the real-time speed of the motor is obtained; Based on the real-time rotational speed, determine whether the actual rotational speed fluctuation corresponding to the real-time rotational speed is equal to or less than the preset rotational speed fluctuation; If the actual speed fluctuation is determined to be equal to or less than the preset speed fluctuation, then the motor speed is determined to meet the preset stability condition. If the actual speed fluctuation is determined to be greater than the preset speed fluctuation, then return to reacquire the target speed of the motor until the preset stability condition is met.

2. The method according to claim 1, characterized in that, The acquisition of the sampled current includes: When the motor speed meets the preset stable conditions, multiple current values ​​are sampled within the time it takes for the motor to rotate one revolution, and the average current value is determined based on the multiple current values. Within the time it takes for the motor to rotate once in the forward direction or once in the reverse direction, obtain the average current value corresponding to at least two revolutions; Based on the average current value corresponding to at least two revolutions, determine the average current value, minimum current value, and maximum current value corresponding to one forward rotation or one reverse rotation of the motor; The sampling current includes the average current value, the minimum current value, and the maximum current value.

3. The method according to claim 2, characterized in that, The determination of the bucket torque based on the sampled current includes: Based on the average current value, the minimum current value, and the maximum current value corresponding to one forward or one reverse rotation of the motor, and combined with the correlation between current and torque, the corresponding average torque, minimum torque, and maximum torque are determined. Based on the minimum torque and the maximum torque, when it is determined that the torque validity condition is met, the average torque is determined to be the bucket torque; Alternatively, determining the bucket torque based on the sampled current includes: Based on the minimum current value and the maximum current value, and combined with the relationship between current and torque, the corresponding minimum torque and maximum torque are determined. Based on the minimum torque and the maximum torque, when the torque validity condition is met, the bucket torque is calculated; the bucket torque is the average torque determined based on the average current value corresponding to one forward or one reverse rotation of the motor, combined with the correlation between current and torque.

4. The method according to claim 3, characterized in that, The torque effectiveness conditions include: The minimum torque is equal to or greater than the set minimum torque value; and The maximum torque is equal to or less than the set maximum torque value.

5. The method according to claim 3, characterized in that, Also includes: If the minimum torque and the maximum torque do not meet the torque validity condition, return to reacquire the sampled current.

6. The method according to claim 1, characterized in that, The step of determining the corresponding target stabilization time based on the target rotational speed includes: Determine whether the target rotational speed is between the first rotational speed and the second rotational speed; If so, the target stability duration is determined to be the product of the preset duration and the first coefficient; If not, determine whether the target rotational speed is between the second and third rotational speeds; If so, the target stability duration is determined to be the product of the preset duration and the second coefficient; If not, then the target stability duration is determined to be the product of the preset duration and the third coefficient; Wherein, the first rotational speed is less than the second rotational speed and both are less than the third rotational speed; the first coefficient is less than the second coefficient and both are less than the third coefficient; the preset duration is the duration corresponding to one forward rotation or one reverse rotation of the motor.

7. A bucket torque detection device, characterized in that, include: Current acquisition module, used to acquire sampled current; The sampling current is the sampling current of the motor of the clothing processing equipment when its speed meets a preset stability condition. Before acquiring the sampling current, the target speed of the motor is also acquired. Based on the target speed, a corresponding target stability duration and a preset speed fluctuation associated with the target speed are determined. After the duration of motor rotation reaches the target stability duration, the real-time speed of the motor is acquired. Based on the real-time speed, it is determined whether the actual speed fluctuation corresponding to the real-time speed is equal to or less than the preset speed fluctuation. If the actual speed fluctuation is equal to or less than the preset speed fluctuation, the motor speed is determined to meet the preset stability condition. If the actual speed fluctuation is greater than the preset speed fluctuation, the process returns to reacquiring the target speed of the motor until the preset stability condition is met. A torque determination module is used to determine the bucket torque based on the sampled current; wherein the bucket is a bucket used to hold clothes in a clothing processing device.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor to implement the steps of the method as described in any one of claims 1-5.

9. A garment processing device, characterized in that, The barrel torque detection is achieved by applying the steps of the method as described in any one of claims 1-5.

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