Eccentric position detection device and method and washing machine

Abstract

The invention discloses an eccentric position detection device and method and a washing machine. The washing machine eccentric position detection device is located in the center of the top of a washing machine outer cylinder, a three-dimensional rectangular coordinate system is established with the center of the top of the washing machine outer cylinder as the original point, and the three-dimensional rectangular coordinate system takes the axial direction of the washing machine as the X axis and the direction perpendicular to the tangent plane where the original point is located as the Z axis. A first position and a second position are arranged on the X axis of the rectangular coordinate system, the original point position, the first position and the second position collect dynamic information of an outer barrel of the washing machine in the dehydration process of the washing machine, and the eccentric position generated in the dehydration process of the washing machine is judged according to the collected dynamic information; the rotating speed of the motor is reasonably controlled according to the collected data, a rotating speed curve in the dewatering process is generated, it is guaranteed that rotating speed setting during dewatering of the washing machine is more scientific and reliable, dewatering time is saved, noise generated by vibration of an inner barrel and an outer barrel of the washing machine during dewatering is reduced, and the use experience of a user is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of washing machines, and in particular relates to an eccentric position detection device and method, and a washing machine. Background Art

[0002] With the development of science and technology, people have higher and higher requirements for the quality of life, and the vibration and noise experience of washing machines has received more and more attention from users. Vibration and noise have become an important indicator to measure the performance and competitiveness of washing machine products.

[0003] Currently, eccentricity detection is mainly achieved through two approaches. The first is to detect the eccentricity formed by the clothes in the drum based on the relevant data of the motor, such as power, torque, speed, electromotive force, etc.; the second is to detect the eccentricity formed by the clothes in the drum based on the relevant data of the vibration sensor, such as acceleration, displacement, angle, etc. The present invention belongs to the second approach and is mainly compared with the solution of this approach.

[0004] In the prior art, for example, the invention patent with application number CN201610187084.3 discloses a method for controlling the dehydration of a drum washing machine based on a 3D displacement sensor to determine the eccentricity. This method uses a 3D displacement sensor installed on the outer drum to detect the vibration displacement of the outer drum in real time during the dehydration process, and determines the position of the eccentricity in the dehydration inner drum according to the vibration of the outer drum, and adjusts the dehydration curve. However, the eccentricity direction of the dehydration inner drum cannot be determined clearly based on the vibration of the outer drum.

[0005] Another example is the invention patent with application number CN201910419641.3, which discloses a method for detecting the eccentric position of a washing machine. An acceleration sensor is installed in the front and rear parts of the outer drum respectively. The two sensors are coaxially installed parallel to the central axis of the outer drum of the washing machine. The axial eccentric position of the washing machine is determined according to the difference in the vibration displacement signals of the two sensors, thereby improving the accuracy of the dehydration speed control. However, if too many sensors are installed, the economic efficiency is low. If one of the sensors is damaged, the accuracy of the eccentric position detection will be affected, thereby affecting the dehydration efficiency of the washing machine.

[0006] For example, the invention patent with application number CN202110764359.6 discloses a method for identifying the eccentric position of a drum washing machine. Similarly, a vibration sensor is arranged at the front and rear ends of the outer drum respectively to obtain the vibration displacement of the front and rear of the outer drum, thereby identifying the eccentric position of the drum washing machine and providing a parameter basis for setting the dehydration speed.

[0007] The prior art generally obtains the vibration displacement data of the outer drum of the washing machine in three directions based on a three-axis acceleration sensor, and adopts a specific logic to realize the detection and determination of the eccentric position. The number of sensors is generally greater than one. The detailed determination basis of the eccentric position detection in some patents is not clarified, and some patents only explain how to detect and determine the eccentricity of individual positions. How to more accurately and detailedly determine the eccentric position of the washing machine spin drum during the dehydration process has always been a problem that needs to be solved by those skilled in the art.

[0008] In view of this, the present invention is proposed. Summary of the invention

[0009] The object of the present invention is to provide an eccentric position detection method, comprising: establishing a three-dimensional rectangular coordinate system with the center position of the top of the outer drum of the washing machine as the origin, detecting dynamic information on the coordinate axes of the three-dimensional rectangular coordinate system when the inner drum is at different speeds during the dehydration process, and formulating detection logic for the front, middle, back and diagonal positions of the drum according to the detected dynamic information, thereby achieving accurate distinction of the eccentric position, making the speed setting during dehydration more scientific and reliable, saving dehydration time, reducing the vibration noise of the whole machine during dehydration, and avoiding the possible risk of washing machine displacement.

[0010] In order to solve the above problems in the prior art, the first aspect of the present invention provides a method for detecting an eccentric position of a washing machine:

[0011] A three-dimensional rectangular coordinate system is established with the center position of the top of the outer drum of the washing machine as the origin, and the axial direction of the washing machine is the X-axis, and the direction perpendicular to the section where the origin is located is the Z-axis;

[0012] A first position and a second position are defined on both sides of the origin along the X-axis direction, and dynamic information of the first position, the second position and the origin position on the outer drum in a three-dimensional rectangular coordinate system is obtained during the dehydration process of the washing machine. The position of the eccentric load in the inner drum is confirmed based on the dynamic information of the first position, the second position and the origin position.

[0013] Optionally, the distance between the origin and the first position is equal to the distance between the origin and the second position;

[0014] Comparing the dynamic information corresponding to the first position, the second position and the origin position, and determining the position of the eccentric load according to the difference between the dynamic information at the first position, the second position and the origin position;

[0015] Optionally, the first position and the second position are both located at the edge of the outer drum of the washing machine. When the inner drum of the washing machine is in a very small vibration state, the first position and the second position can also receive dynamic information at the first position and the second position, thereby improving the accuracy of the eccentric position detection method described in the present invention.

[0016] Optionally, the dynamic information includes a displacement distance, a displacement direction, and an acceleration during the displacement process in a three-dimensional rectangular coordinate system;

[0017] The washing machine analyzes the displacement distance, displacement direction and acceleration during the displacement process to obtain the actual displacement and rotation angle, and compares the actual displacement and offset angle of the first position, the second position and the origin position to confirm the position of the eccentric load.

[0018] Optionally, during the dehydration process, the speed of the inner drum is increased to a second speed, and a displacement ratio between the first position and the second position in the Z-axis direction of the outer drum of the washing machine is obtained;

[0019] The displacement ratio is compared with the preset first threshold and second threshold. If the displacement ratio is greater than the first threshold, it is determined that the eccentric load in the cylinder is located on the side close to the first position; if the displacement ratio is less than the second threshold, it is determined that the eccentric load in the cylinder is located on the side close to the second position; if the displacement ratio is between the first threshold and the second threshold, it is determined that there is no eccentricity.

[0020] Optionally, when the displacement ratio is between the first threshold and the second threshold, the inner cylinder is accelerated to a third speed, and the components of the offset angles of the origin position on the X, Y and Z axes are obtained. If the offset angle on the X axis is the largest, it is determined that the load causing eccentricity in the cylinder is located in the middle of the inner cylinder; otherwise, it is determined that there is no eccentricity.

[0021] Optionally, when the displacement ratio is between the first threshold and the second threshold, and it is determined that there is no eccentricity, the inner cylinder is accelerated to the fourth speed, and the displacement components of the origin on the X, Y and Z axes are obtained. If the displacement of the origin position in the X-axis direction is greater than the displacement in the Y-axis direction and greater than the displacement in the Z-axis direction, it is determined that the load causing the eccentricity is on both sides of the inner cylinder, forming a diagonal eccentricity; otherwise, it is determined that there is no eccentricity.

[0022] Optionally, based on the determination result, the dehydration speed logic is retrieved, the motor speed is adjusted and controlled, and a speed curve during the dehydration process is generated.

[0023] Optionally, during the dehydration process, before the speed of the inner drum is increased to the second speed, the speed of the inner drum is first set to the first speed, and the inner drum is kept at the first speed for a certain period of time to shake out the clothes in the inner drum.

[0024] The second aspect of the present invention provides a washing machine, which includes an eccentric position detection device, which includes a signal acquisition module, which includes a six-axis vibration sensor, which is arranged at the center position of the top of the outer drum of the washing machine, and a three-dimensional coordinate system is established at the top of the outer drum of the washing machine with the six-axis vibration sensor as the origin, so that the acceleration and angular velocity data of the outer drum of the washing machine in the X-axis, Y-axis and Z-axis directions can be detected during the dehydration process; the signal processing module is used to convert the acceleration and angular velocity data collected by the signal acquisition module into displacement data and angle data; the control module is used to set the rotation speed of the dehydration drum according to the displacement and angle data processed by the signal processing module.

[0025] The eccentric position detection device comprises:

[0026] A signal acquisition module, wherein the signal acquisition module is a six-axis vibration sensor, which is arranged at the center of the outer drum of the washing machine and is used to obtain acceleration and angular velocity data of the outer drum of the washing machine;

[0027] A signal processing module, used for converting the acceleration and angular velocity data collected by the signal acquisition module into displacement and angle data;

[0028] The control module controls the speed of the motor according to the displacement and angle data detected by the signal processing module.

[0029] The present invention has at least the following beneficial effects:

[0030] 1. The present invention provides an accurate detection device and method for the eccentric position of a washing machine. A six-axis vibration sensor is installed at the center of the outer drum of the washing machine, and a rectangular coordinate system is established with the six-axis vibrator as the origin. When the washing machine is in a dehydration state, the six-axis vibration sensor detects the acceleration and angular velocity data of the outer drum of the washing machine in the coordinate system. The displacement and offset angle data of the outer drum of the washing machine during the dehydration process are calculated according to the acceleration and angular velocity data, and the eccentric position of the outer drum of the washing machine is judged according to the displacement and offset angle data. The eccentric position detection device of the washing machine in the present invention can realize the accurate distinction of the eccentric position, and has the characteristics of simple hardware and high economy.

[0031] 2. The present invention realizes accurate distinction of the eccentric positions of the front, middle, back and diagonal positions of the washing machine drum based on the displacement and offset angle data detected during the dehydration process of the washing machine. The algorithm is detailed, the coverage is wide, and the actual application effect is better.

[0032] 3. The present invention can detect the position of the eccentricity during dehydration according to the dynamic data of the outer drum of the washing machine, set the maximum speed more scientifically and reliably, save dehydration time, reduce the vibration noise of the whole machine during dehydration, avoid the risk of high-speed displacement of the washing machine, protect the property and personal safety of users, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a front view of the washing machine of the present invention;

[0034] Figure 2 A top view of the washing machine of the present invention;

[0035] Figure 3 It is a schematic diagram of the washing machine of the present invention in a front eccentric state;

[0036] Figure 4 It is a schematic diagram of the washing machine of the present invention in a medium eccentric state;

[0037] Figure 5 It is a schematic diagram of the washing machine of the present invention in a rear eccentric state;

[0038] Figure 6 This is a schematic diagram of the washing machine of the present invention in a diagonally eccentric state;

[0039] Figure 7 The present invention is a flow chart for determining the eccentric position of a washing machine as described in this method.

[0040] In the figure: 1, origin; 2, first position; 3, second position; 4, front eccentric state; 5, middle eccentric state; 6, rear eccentric state; 7, diagonal eccentric state. DETAILED DESCRIPTION

[0041] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Those skilled in the art will appreciate that the following embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0042] In the description of the present invention, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0043] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0044] The drum washing machine is a cantilever beam structure. The rear of the inner drum is connected to the outer drum by a rotating shaft and bearings, and the front end of the inner drum has no fixed constraints. This results in different eccentric positions affecting the vibration and noise of the washing machine. Assuming that the clothes in the drum form an eccentricity of a certain mass, in general, the eccentricity at the front of the drum will cause more severe vibration and noise than other positions such as the middle and the back. This requires that when designing a washing machine, the eccentric position formed by the clothes in the drum should be identified as accurately as possible, so that when the eccentricity of the clothes cannot be reduced, the eccentric position and the maximum speed of dehydration should be reasonably planned according to the eccentric position and the eccentricity, so as to avoid serious vibration and noise from the washing machine, and even failures such as the displacement of the whole machine, which will affect the user experience and threaten the safety of the user's life and property.

[0045] The existing technology generally obtains the three-directional vibration displacement data of the cylinder based on a three-axis acceleration sensor, adopts specific logic to realize the detection and judgment of the eccentric position, and the number of sensors is generally greater than one. The detailed judgment basis of the eccentric position detection in some patents is not clarified, and some patents only explain how to detect and judge the eccentricity of individual positions.

[0046] The principle of the six-axis vibration sensor is to integrate the three-axis acceleration sensor and the three-axis gyro sensor to detect the offset and balance of lateral acceleration and angular velocity. It is currently mainly used in fields that require high performance under harsh environmental conditions, such as advanced driver assistance systems (ADAS), autonomous driving (AD), lane keeping assist (LKA) and other fields.

[0047] In view of the deficiencies in the prior art, the present invention aims to provide a device and method for accurately detecting the eccentric position of a washing machine. A single six-axis vibration sensor is installed at the center position of the top of the outer drum of the washing machine. The six-axis vibration sensor can obtain the displacement data and rotation angle data of the outer drum during the dehydration process, formulate the detection logic of the front, middle, back and diagonal positions of the drum, and then realize the accurate distinction of the eccentric position, so that the speed setting during dehydration is more scientific and reliable, saving dehydration time, reducing the vibration noise of the whole machine during dehydration, and avoiding the possible risk of washing machine displacement.

[0048] The following is a specific example

[0049] Embodiment 1

[0050] As an embodiment of the present invention, this embodiment provides a method for an eccentric position detection device.

[0051] include:

[0052] like Figure 1 and Figure 2 As shown, a three-dimensional rectangular coordinate system is established with the center position of the top of the outer drum of the washing machine as the origin 1, the plane where the top of the outer drum of the washing machine is located is parallel to the ground, and the three-dimensional rectangular coordinate system takes the axial direction of the washing machine as the X-axis, and the direction perpendicular to the section where the origin 1 is located as the Z-axis;

[0053] In this embodiment, a first position 2 and a second position 3 are defined on both sides of an origin 1 along the X-axis direction, the first position 2 is close to one side of a door body of the washing machine, and the second position 3 is close to the other side opposite to the door body. During the dehydration process of the washing machine, dynamic information of the first position 2, the second position 3 and the origin 1 on the outer drum in a three-dimensional rectangular coordinate system is obtained, and the position of the eccentric load in the inner drum is confirmed based on the dynamic information of the first position 2, the second position 3 and the origin 1.

[0054] Furthermore, the distance between the origin 1 and the first position 2 is equal to the distance between the origin 1 and the second position 3; the dynamic information corresponding to the first position 2, the second position 3 and the origin 1 is compared, and the position of the eccentric load is determined according to the difference in the dynamic information between the first position 2, the second position 3 and the origin 1;

[0055] Furthermore, the dynamic information includes displacement distance, displacement direction and acceleration during displacement in a three-dimensional rectangular coordinate system; the washing machine analyzes the displacement distance, displacement direction and acceleration during displacement to obtain actual displacement and rotation angle, and compares the actual displacement and offset angle of the first position 2, the second position 3 and the origin 1 to confirm the position of the eccentric load.

[0056] Furthermore, during the dehydration process, the rotation speed of the inner drum is set to a first speed, and the first speed is preferably between 40-60 rpm. In this embodiment, the first speed is 50 rpm. The inner drum rotates continuously for 30 seconds at the first speed to shake out the clothes in the inner drum and ensure that the clothes are evenly distributed in the inner drum.

[0057] Furthermore, during the dehydration process, the inner drum is accelerated to a second speed, and the second speed is preferably between 120rpm-180rpm. In this embodiment, the second speed is 150rpm. After the inner drum maintains a rotation speed of 150rpm for 15s, the washing machine obtains the displacement ratio of the first position 2 to the second position 3 in the Z-axis direction of the outer drum of the washing machine, which is defined as P.

[0058] like Figure 3 and Figure 5 As shown, P is compared with the preset first threshold and second threshold. If P is greater than the first threshold, it is determined that the load generating eccentricity in the drum is located on the side close to the first position 2, and the washing machine is in the front eccentric state 4; if P is less than the second threshold, it is determined that the load generating eccentricity in the drum is located on the side close to the second position 3, and the washing machine is in the rear eccentric state; if P is between the first threshold and the second threshold, it is determined that there is no eccentricity. The values ​​of the first threshold and the second threshold can be adjusted according to the actual situation of the washing machine. In this embodiment, the value of the first threshold is 1.45, and the value of the second threshold is 0.45.

[0059] Furthermore, when the washing machine is in the dehydration process, in order to detect the vibration amplitude of the outer drum of the washing machine more accurately, the first position 2 and the second position 3 are located at the edge of the top of the outer drum of the washing machine, and the distance between the first position 2 and the origin 1 and the distance between the origin 1 and the second position 3 are increased as much as possible to ensure that the six-axis vibration sensor can detect even very small vibrations, thereby improving the accuracy of the eccentric position detection device and thus improving the dehydration efficiency of the washing machine.

[0060] Based on the judgment results, the eccentric position of the washing machine can be accurately distinguished, the dehydration speed logic can be called up, the speed of the control motor can be adjusted, and the speed curve during the dehydration process can be generated, so that the speed setting during dehydration is more scientific and reliable, saving dehydration time, reducing the vibration noise of the whole machine during dehydration, and avoiding the possible risk of washing machine displacement.

[0061] Embodiment 2

[0062] As an embodiment of the present invention, this embodiment further improves the eccentric position method based on the first embodiment, as follows:

[0063] like Figure 4 As shown, when P is between the first threshold and the second threshold, the inner drum speeds up to the third speed, and the third speed is preferably a rotation speed between 200rpm-300rpm. In the present embodiment, the third speed is 300rpm. After the inner drum maintains the third speed for 10s, the components of the offset angles of the origin 1 on the X, Y and Z axes are obtained. If the offset angle on the X axis is the largest, it is determined that the eccentric load in the drum is located in the middle of the inner drum. At this time, the washing machine is in the middle eccentric state 5. Otherwise, it is determined that there is no eccentricity.

[0064] This embodiment determines the middle eccentric state 5 of the washing machine on the basis of determining that the washing machine is in the front eccentric state 4 and the rear eccentric state 6, which basically covers all eccentric states that occur in the dehydration process of the washing machine. The washing machine calls up the dehydration speed logic according to the determination result, adjusts the control motor speed, and generates a speed curve during the dehydration process, so that the speed setting during dehydration is more scientific and reliable, saving dehydration time, reducing the vibration noise of the whole machine during dehydration, avoiding the possible risk of washing machine displacement, and improving the user experience.

[0065] Embodiment 3

[0066] As an embodiment of the present invention, this embodiment further improves the eccentric position method based on the first and second embodiments, as follows:

[0067] like Figure 6 As shown, when P is between the first threshold and the second threshold, and it is determined that there is no eccentricity, the inner drum is accelerated to the fourth speed, and the fourth speed is preferably between 350-400rpm. In this embodiment, after the inner drum is maintained at the fourth speed for 10s, the displacement components of the origin 1 on the X, Y and Z axes are obtained. If the displacement of the origin 1 position in the X-axis direction is greater than the displacement in the Y-axis direction and greater than the displacement in the Z-axis direction, it is determined that the load causing the eccentricity is on both sides of the inner drum, forming a diagonal eccentricity. At this time, the washing machine is in the diagonal eccentricity state 7, otherwise, it is determined that there is no eccentricity.

[0068] like Figure 7 As shown, this embodiment realizes accurate distinction of the eccentric positions of the front, middle, back and diagonal positions of the washing machine drum according to the displacement and offset angle data detected during the dehydration process of the washing machine. The algorithm is detailed, the coverage is wide, and the actual application effect is better. According to the dynamic data of the outer drum of the washing machine, the position of the eccentricity during dehydration is detected, and the maximum speed is set more scientifically and reliably, saving dehydration time, reducing the vibration noise of the whole machine during dehydration, avoiding the possible risk of high-speed displacement of the washing machine, protecting the property and personal safety of users, and improving the user experience.

[0069] Embodiment 4

[0070] As an embodiment of the present invention, this embodiment provides an eccentric position detection device based on the first embodiment, the second embodiment and the third embodiment, including:

[0071] like Figure 1 and Figure 2As shown, the present invention provides a device for accurately detecting the eccentric position of a washing machine, comprising a signal acquisition module, the signal acquisition module is located on the outer drum of the washing machine, and is used to obtain the acceleration and angular velocity of the outer drum of the washing machine when the washing machine is in a dehydration process; a signal processing module, used to convert the acceleration and angular velocity data collected by the signal acquisition module into displacement and angle data; a control module, the control module is used to convert the acceleration and angular velocity data collected by the signal acquisition module into displacement and angle data; the control module determines the eccentric position of the washing machine in the dehydration process according to the displacement and angle data collected by the signal processing module, and then reasonably controls the speed of the motor according to the collected data, so that the speed setting of the washing machine during dehydration is more scientific and reliable, saves dehydration time, reduces the noise generated by the vibration of the inner and outer drums of the washing machine during dehydration, and improves the user experience.

[0072] In this embodiment, the signal acquisition module includes a six-axis vibration sensor. When the washing machine is a drum washing machine, the six-axis vibration sensor is arranged at the center position of the top of the outer drum of the drum washing machine. A three-dimensional rectangular coordinate system is established with the position of the six-axis vibration sensor as the origin 1 to detect the acceleration and angular velocity data of the outer drum of the washing machine in various directions.

[0073] Furthermore, the eccentric position of the clothes in the dehydration process of the washing machine is determined according to the detected acceleration and angular velocity data.

[0074] The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation scheme in the above embodiment can also be further combined or replaced. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the solution of the present invention.

Claims

1. A method for detecting an eccentric position, characterized in that: A three-dimensional rectangular coordinate system is established with the center position of the top of the outer drum of the washing machine as the origin (1), wherein the axial direction of the washing machine is the X-axis and the direction perpendicular to the section where the origin (1) is located is the Z-axis; A first position (2) and a second position (3) are defined on both sides of an origin (1) along the X-axis direction. During the dehydration process of the washing machine, dynamic information of the first position (2), the second position (3) and the position of the origin (1) on the outer drum in a three-dimensional rectangular coordinate system is obtained. Based on the dynamic information of the first position (2), the second position (3) and the position of the origin (1), the position of the load generating the eccentricity in the inner drum is confirmed.

2. The eccentric position detection method according to claim 1, characterized in that: The distance between the origin (1) and the first position (2) is equal to the distance between the origin (1) and the second position (3); Comparing the dynamic information corresponding to the first position (2), the second position (3) and the origin (1), and determining the position of the load generating the eccentricity according to the difference between the dynamic information at the first position (2), the second position (3) and the origin (1); Preferably, the first position (2) and the second position (3) are both located at the edge of the outer drum of the washing machine.

3. The eccentric position detection method according to claim 1 or 2, characterized in that: The dynamic information includes the displacement distance, displacement direction and acceleration during the displacement process in a three-dimensional rectangular coordinate system; The washing machine analyzes the displacement distance, displacement direction and acceleration during the displacement process to obtain the actual displacement and rotation angle, and compares the actual displacement and offset angle of the first position (2), the second position (3) and the origin (1) to confirm the position of the eccentric load.

4. The eccentric position detection method according to claim 3, characterized in that: During the dehydration process, the speed of the inner drum is increased to a second speed, and the displacement ratio between the first position (2) and the second position (3) in the Z-axis direction of the outer drum of the washing machine is obtained; P is compared with a preset first threshold and a preset second threshold. If the displacement ratio is greater than the first threshold, it is determined that the load causing eccentricity in the cylinder is located on the side close to the first position (2); if the displacement ratio is less than the second threshold, it is determined that the load causing eccentricity in the cylinder is located on the side close to the second position (3); if the displacement ratio is between the first threshold and the second threshold, it is determined that there is no eccentricity.

5. The eccentric position detection method according to claim 4, characterized in that: When P is between the first threshold and the second threshold, the inner cylinder is accelerated to the third speed, and the components of the offset angles of the origin (1) on the X, Y and Z axes are obtained. If the offset angle on the X axis is the largest, it is determined that the load causing eccentricity in the cylinder is located in the middle of the inner cylinder. Otherwise, it is determined that there is no eccentricity.

6. The eccentric position detection method according to claim 4 or 5, characterized in that: When P is between the first threshold and the second threshold, and it is determined that there is no eccentricity, the inner cylinder is accelerated to the fourth speed, and the displacement components of the origin on the X, Y and Z axes are obtained. If the displacement of the origin (1) position in the X-axis direction is greater than the displacement in the Y-axis direction and greater than the displacement in the Z-axis direction, it is determined that the load that generates the eccentricity is on both sides of the inner cylinder, forming a diagonal eccentricity. Otherwise, it is determined that there is no eccentricity.

7. The method for detecting an eccentric position according to claim 4, characterized in that: During the dehydration process, before the speed of the inner drum is increased to the second speed, the speed of the inner drum is first set to the first speed. The inner drum is kept at the first speed for a certain period of time to shake out the clothes in the inner drum.

8. The eccentric position detection method according to any one of claims 1 to 6, characterized in that: According to the judgment result, the dehydration speed logic is called up, the motor speed is adjusted and controlled, and the speed curve during the dehydration process is generated.

9. A washing machine, comprising an eccentricity detection device, characterized in that: Applicable to any eccentricity detection method described in claims 1-9 above.

10. A washing machine according to claim 9, characterized in that: include: A signal acquisition module, wherein the signal acquisition module is a six-axis vibration sensor, which is arranged at the center of the outer drum of the washing machine and is used to obtain acceleration and angular velocity data of the outer drum of the washing machine; A signal processing module, used for converting the acceleration and angular velocity data collected by the signal acquisition module into displacement and angle data; The control module controls the speed of the motor according to the displacement and angle data detected by the signal processing module.

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