Water inlet control method of washing machine and washing machine

Abstract

The invention firstly provides a water inlet control method of a washing machine, the washing machine comprises a distance measuring sensor and a controller, the distance between a load and the distance measuring sensor is obtained and marked as a preset value h < standard > when inlet water meets cleaning requirements in a cleaning program, and the distance between the load and the distance measuring sensor is marked as a preset value h < standard > during rinsing inlet water. And when the real distance between the load and the distance measuring sensor is greater than or equal to the preset value h standard, controlling to stop feeding water. The invention further provides a washing machine which is provided with the water inlet control method. According to the water inlet control method of the washing machine and the washing machine, the data detected by the distance measuring sensor are compared with the preset data, so that the water inlet process is accurately controlled, rinsing water inlet is adjusted and controlled according to the distance between the load and the distance measuring sensor during water inlet cleaning and errors are added, rinsing water inlet is further accurately controlled, and the washing efficiency is improved. Insufficient water inflow is avoided, and the rinsing effect is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of washing equipment, and in particular, relates to a water inlet control method of a washing machine and a washing machine. Background Art

[0002] With the development of the national economy, washing machines have become a necessary household appliance for families. In order to make washing machines adapt to more application scenarios, such as washing thicker sheets, quilt covers, and curtains, more users choose washing machines with higher power, such as washing machines with a rated washing capacity of 8Kg or even more. However, when washing with such a large washing capacity, especially in recent years, more and more people choose to wash clothes every day, especially underwear, and the number of clothes to be washed each time is small, resulting in a significant excess capacity of washing machines with large washing capacity, causing excessive consumption of water and electricity. Therefore, if conditions permit, users will choose to equip a washing machine with a small washing capacity at the same time, such as a washing machine with a washing capacity of less than 3KGg. Pulsator washing machines with a smaller rated washing capacity came into being. With its advantages of being small, light, and able to meet daily washing, especially daily underwear washing, it is increasingly favored by users, and is combined with washing machines with a washing capacity of more than 8Kg to meet the needs of family washing.

[0003] Normally, this type of pulsator washing machine with a small washing capacity is small in size. Due to its structure and size, it is impossible to install a water level sensor. It can only be filled with water at one time, and the water intake cannot be accurately and reasonably controlled, resulting in a waste of water and electricity, which deviates from the original intention of setting up, purchasing, and using it.

[0004] Similarly, ordinary household pulsator washing machines also have the problem of insensitive water level sensors, which leads to the problem of being unable to accurately control water inlet. To solve this problem, a method of controlling water inlet by detecting the change in load height before and after water inlet has appeared on the market. However, in the rinsing process, since the load is close to the inner wall of the washing drum, controlling water inlet by changing the load height will result in insufficient water inlet and inadequate rinsing. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a water inlet control method for a washing machine and a washing machine, which controls the rinsing water inlet by obtaining the distance value between the load and the distance measuring sensor during the washing water inlet, so that the rinsing water inlet amount is consistent with the washing water inlet amount, thereby ensuring the rinsing effect.

[0006] In order to achieve the first object of the invention, the present invention first provides a method for controlling water inlet of a washing machine, and the technical solution adopted is:

[0007] A method for controlling water inlet of a washing machine, the washing machine comprising a distance sensor and a controller, obtaining the distance between a load and the distance sensor when the water inlet meets the washing requirements in a washing program and marking it as a preset value h mark, and controlling to stop water inlet when the actual distance between the load and the distance sensor is greater than or equal to the preset value h mark during rinsing water inlet.

[0008] Furthermore, during the rinsing water inlet stage, the measured distance is adjusted according to the pre-stored error value to obtain the real distance.

[0009] Furthermore, the controller pre-stores any one of an error value varying with water inlet time, an error curve based on water inlet time, an error value corresponding to different laundry amounts varying with water inlet time, or an error curve to obtain a real-time error value.

[0010] Furthermore, the controller records a correspondence table between different laundry amounts in the washing program within the cycle and the preset value h mark. When only the rinsing program is selected, the corresponding preset value h mark is selected in the correspondence table during the rinsing water intake for water intake control.

[0011] Furthermore, when water is introduced into the cleaning program, when the difference between the real-time distance detected by the distance measuring sensor and the maximum distance detected reaches a preset value, the water is controlled to stop entering.

[0012] Furthermore, after water ingress, the distance between the ranging sensor and the load detected in real time first decreases and then increases as water ingress continues, and the distance measured before the increase is the maximum distance; or there are multiple ranging sensors, and the maximum distance is the average value of the maximum distances measured by each ranging sensor; or when water ingress is initially detected, the distance between the ranging sensor and the load is set as the initial distance, and the multiple initial distances obtained are sorted, and after water ingress, the maximum value measured in real time by the ranging sensor corresponding to the maximum initial distance is the maximum distance.

[0013] Furthermore, when water is initially inflowed, the distance between the distance measuring sensor and the load is set as the initial distance, and the difference between the initial distance and the real-time distance is calculated. When the difference of the latter time is greater than or equal to the difference of the previous time or the absolute value of the difference of the latter time is less than or equal to the absolute value of the difference of the previous time, the real-time distance h corresponding to the difference of the previous time is marked as the maximum distance h2; or if the same difference appears after an interval of n differences, the real-time distance corresponding to the difference between the same differences or the maximum distance value is marked as the maximum distance.

[0014] Furthermore, when no water enters, the distance between the distance measuring sensor and the load is set as the initial distance, the difference between the initial distance and the real-time distance is calculated, and a continuous and overlapping comparison interval of the real-time distance or difference is set. There are n distance values ​​and / or differences in the interval, and an interval is set every m data, m≤n, so that the data in adjacent intervals have a certain overlap. According to the time sequence of the received data, if the real-time distance h or difference in the same interval is all the same, the data in this interval is excluded. If there is a difference in the real-time distance h or difference in a certain interval, the maximum real-time distance h or difference in the interval is determined, and for the remaining intervals after excluding the intervals with all the same data, the real-time distance corresponding to the maximum real-time distance or the maximum difference in each interval is determined and marked as the maximum distance.

[0015] Furthermore, when no water is entering, the distance between the distance measuring sensor and the load is set as the initial distance, and when the difference between the real-time distance detected by the distance measuring sensor and the maximum distance detected reaches a preset value and the real-time distance is greater than or equal to the initial distance, the water intake is controlled to be stopped; or while detecting the distance and entering water, the impeller of the washing machine is rotated or the impeller and the washing tub are moved in opposite phases, and when the difference between the real-time distance and the detected lowest water level reaches a preset value and the real-time distance is greater than or equal to the initial distance and / or the difference between the real-time distance and the detected lowest water level reaches a preset value, the water intake is controlled to be stopped.

[0016] The second invention objective of the present invention is to provide a pulsator washing machine, which adopts the following technical solution:

[0017] A pulsator washing machine includes a water inlet control method of the pulsator washing machine as described above.

[0018] In summary, the water inlet control method of a washing machine and the washing machine provided by the present invention have the following beneficial effects compared with the prior art:

[0019] 1. No changes are needed to the existing products. Only a distance measuring sensor needs to be added and the control program in the controller needs to be changed to complete the water inlet control method of the present invention.

[0020] 2. Use multiple distance measuring sensors, take the average value or select the sensor with the largest initial distance to judge the water inlet height according to the preset program, so as to reduce the false height caused by the stacking of clothes (load) and the support of hard clothes, which affects the judgment of water inlet control;

[0021] 3. According to the different loads, the water intake is accurately controlled by changing the distance to ensure the washing effect while avoiding the waste of water and electricity;

[0022] 4. According to the distance between the load and the distance measuring sensor during the cleaning water inlet, the rinsing water inlet is controlled by adding error adjustment, so as to further accurately control the rinsing water inlet, avoid insufficient water inlet, and ensure the rinsing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the accompanying drawings:

[0024] Figure 1 : A schematic diagram of the working state of a laser ranging sensor in a washing machine provided by the present invention;

[0025] Figure 2 : The control logic in the water inlet control method of a washing machine provided by the present invention;

[0026] Figure 3 : A comparison curve diagram of the measured distance and the actual distance in the rinsing stage in a water inlet control method of a washing machine provided by the present invention;

[0027] Among them, there are transmitting unit 1 and receiving unit 2.

[0028] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0030] 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.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The present invention provides a washing machine, comprising a washing tub, a door body, and a distance sensor, wherein the distance sensor is arranged at the upper part of the washing tub and above the highest water level allowed by the washing machine, so as to accurately detect the distance between the clothes in the washing tub and the distance sensor. In this embodiment, the distance sensor can be a laser distance measuring module, and further, the distance measuring sensor is a TOF laser distance measuring module, which has a transmitting and receiving function, and comprises a transmitting unit and a receiving unit, which can emit a laser with a wavelength of 900nm to 960nm, and it is recommended to emit a laser with a wavelength of 940nm, and emit the laser to the bottom of the washing tub. The laser is reflected after reaching the water surface or the surface of the clothes, and the receiving unit receives the reflected laser, and the height of the water surface is calculated according to the propagation speed of the laser and the propagation time from the emission to the reception, and the distance measurement detection can be performed in real time or at a fixed time to accurately control the water inlet.

[0033] like Figure 1As shown, the laser ranging module is arranged above the washing tub, such as the bottom surface of the door body (towards the inside of the washing tub), the balance ring, the upper part of the side wall of the washing tub, etc., and the laser can be emitted into the washing tub, and the laser is made to fall on the bottom of the inside of the washing tub and the clothes to effectively realize the distance detection. Taking the laser ranging module arranged on the bottom surface of the door body as an example, the laser ranging module is fixed to the bottom surface of the door body by gluing or any other means. In order to prevent the washing water from measuring the laser ranging module during the washing process, causing the laser ranging module to be ineffective due to water ingress, silicone is poured at the laser ranging module. In order to improve the appearance of the bottom surface of the door body, the silicone covers the entire bottom of the door body. The transmitting unit and the receiving unit are arranged at intervals, and transmitting holes are arranged at the transmitting unit and the receiving unit. Both transmitting holes are conical holes. The difference is that the size is different. The top of the transmitting hole corresponding to the transmitting unit (the top surface of the silicone) is directly The diameter is between 0.3cm and 0.5cm, preferably, the diameter is 0.4cm, the cone angle is between 25° and 45°, preferably, the cone angle is 35°, the top diameter of the transmitting hole corresponding to the receiving unit is between 0.15cm and 0.3cm, preferably, the diameter is 0.2cm, the cone angle is between 15° and 35°, preferably, the cone angle is 25°, the transmitting hole diameter and the cone hole of the receiving unit are smaller than the relative data of the transmitting unit, which can avoid the receiving unit from receiving too many invalid laser signals of multiple diffuse reflections, the invalid laser signals include but are not limited to the emitted laser being reflected by the load and then part of the diffusely reflected laser being reflected again by the clothes or the side wall of the washing tub and then received by the receiving unit, this part of the invalid laser signal increases the propagation time, the measured distance is greater than the real distance, and the ranging fails. The emission hole is set as a conical hole. The silicone has a certain thickness, and the large diameter end of the conical hole faces the water surface. When the water droplets splashed into the conical hole during the washing process, the path becomes narrower. Under the dual effects of gravity and surface tension, the water droplets cannot completely enter the conical hole and contact the emission unit or the receiving unit, which does not affect the laser emission and reception effects.

[0034] The laser distance measurement module is connected to the water inlet control module through a communication protocol, such as an I2C communication protocol, which is simpler to implement, has strong scalability, and can achieve synchronous communication. The water inlet control module is connected to the controller of the washing machine through a washing machine bus communication, or is integrated with the controller.

[0035] The laser ranging module detects the distance between the load (including but not limited to clothes before water enters, the wet surface of clothes when water enters initially but the clothes are not completely immersed, and the water surface after the clothes are immersed, the same below) and the laser ranging module, and sends the detected real-time data to the water inlet control module (when the water inlet control module is integrated with the controller, it can be directly sent to the controller, the same below), and the water inlet control module determines whether the water inlet meets the requirements according to a predetermined procedure to control the water inlet. The data sent by the laser ranging module includes but is not limited to the laser emission time, receiving time, and converted real-time distance data. When the laser ranging module only has the emission and receiving functions, the laser ranging module will periodically emit lasers according to the instructions of the water inlet control module or controller, and receive the reflected lasers, and send the emission time and receiving time to the water inlet control module. The water inlet control module combines the laser propagation speed and wavelength of the pre-stored laser ranging module to calculate the distance between the laser ranging module and the load, and compares it with the preset value to determine whether the water inlet is satisfied and control the water inlet, or the laser ranging module has the calculation ability to calculate the distance between the loads according to the laser emission time and receiving time as well as the propagation speed and wavelength, and send the calculated distance value to the water inlet control module or controller. In order to achieve precise control of water inlet, and in combination with the different water absorption rates of clothes made of different materials and the different water consumption during the washing process, the present invention further provides a water inlet control method for a pulsator washing machine, which specifically includes:

[0036] Embodiment 1

[0037] According to the rated washing capacity of the pulsator washing machine, the user puts the clothes to be washed whose weight is less than or equal to the rated washing capacity into the washing tub of the washing machine, and selects a washing program. In the present invention, the washing program includes but is not limited to any washing link in the whole washing process, washing, and rinsing that requires controlling water inlet, and starts the washing program through a predetermined program or pressing a start button. The controller first controls the pulsator and the washing tub to move relative to each other, or only controls the pulsator to drive the clothes in the washing tub to do a small flip. During the flipping process, the clothes are spread out as much as possible and the top surface is flat to avoid the clothes from being stacked and supported on each other after being thrown in at random, and the local position of the clothes when the material is thicker and harder is towering, which affects the measurement of the initial distance between the clothes and the laser ranging module when no water is in, thereby affecting the subsequent precise control of water inlet.

[0038] After the impeller rotates or the impeller and the washing tub rotate relative to each other for a predetermined time, the surface of the clothes is deemed to be flat. At this time, water is controlled to flow in, and the distance between the surface of the clothes and the laser ranging module is measured at the same time, which is marked as the initial distance h1. The clothes have a certain water absorption. After the water flow starts, the water is poured on the clothes and absorbed by the clothes. The false height generated by the stacking of clothes in the initial state is reduced by the impact of the water flow and the gravity of the wet clothes themselves. The load sinks, and the distance value measured by the laser ranging module becomes larger. When the clothes and water are mixed to a certain proportion, the clothes are full of water. Under the action of gravity, the clothes are all attached together, the false height disappears, and the real height generated by the stacking of clothes at the bottom of the washing tub is presented. At this time, the maximum distance h2 between the load and the laser ranging module is measured, which is the minimum value of the measurable water level. As the water flow continues, the clothes that have been saturated with water no longer absorb water, and the water will rise along the surface of the clothes, causing the measured distance value to decrease. Therefore, the maximum distance h2 is the maximum value obtained during the measurement process. In this process, starting from the initial distance, the clothes absorb water and sink, there is no obvious water level in the washing tub, and then the water surface begins to rise after saturation with water. The distance value measured by the laser ranging module reaches a maximum value from the initial distance, then rebounds to the initial distance, and then the water surface rises to make the distance smaller. The laser ranging module detects the distance value in real time or according to the program setting timer, and sends the measurement data to the water inlet control module or controller, which records the initial distance, the minimum distance and the real-time distance value, and controls the continuous water inlet.

[0039] The water inlet control threshold Δhth is pre-stored in the water inlet control module or controller. When the maximum distance h2 is measured, the distance value rebounds and becomes smaller. The distance value h is detected in real time, and Δh=maximum distance h2-real-time distance h is calculated. When Δh≥Δhth, the water inlet control module or controller determines that the water in the washing drum has met the washing needs, controls to stop the water inlet and starts the washing program.

[0040] In this embodiment, although the initial distance is not involved in the calculation, the initial distance h1 is used to determine and obtain the maximum distance h2, and at the same time, to define the highest position of the load after water inflow, that is, the minimum distance between the load and the laser ranging module after water inflow. When Δh≥Δhth, the water inflow control module or controller determines that the water in the washing tub has met the washing needs, controls to stop water inflow and start the washing program. Further, when Δh≥Δhth, it is further determined that the real-time distance h≥initial distance h1, controls to stop water inflow and start the washing program. At this time, the initial distance h1 is used to define the minimum distance between the load and the laser ranging module, or is slightly higher than the initial distance h1. At this time, the water inflow has submerged the clothes and there is a surplus, which is sufficient for washing.

[0041] Regarding determining and obtaining the maximum distance h2, the following methods are included but are not limited to:

[0042] 1. After water enters, the laser distance measuring module detects the distance to the load in real time. The load in the washing machine is wetted by water and sinks, and the measured distance increases. As the clothes and water gradually mix, the distance measuring sensor detects that the distance to the load first decreases and then increases. The distance measured before the increase is marked as the maximum distance h2. The water inlet control module or controller records the real-time distance h obtained each time, and obtains the maximum value from a large number of data and marks it as the maximum distance h2. This method is the simplest and most direct, and the real-time distance can be obtained without complex calculations;

[0043] 2. Before or at the beginning of water inflow, when water inflow does not affect the position of clothes, the laser ranging module measures the distance between the clothes and the clothes and marks it as the actual initial distance h1. As the water inflow process continues, the clothes begin to sink, and the measured distance value increases. The measured data is sent to the water inflow control module or controller to calculate the difference between the initial distance h1 and the real-time distance h. In this process, the difference is negative, and the absolute value of the difference increases as the water inflow continues. The difference or the absolute value of the difference is recorded. When the latter difference is greater than or equal to the previous difference or the latter difference When the absolute value of is less than or equal to the absolute value of the previous difference, the real-time distance h corresponding to the previous difference or the absolute value of the difference is marked as the maximum distance h2; or when the same difference appears after n differences, it means that an inflection point has appeared in the increase of the real-time distance, and the inflection point is located within the n differences. If n=1, the real-time distance corresponding to the difference between the same differences is the maximum distance h2, and the distance value between the same real-time distances is the maximum distance h2. If n>1, the real-time distance corresponding to the difference in the n data or the largest distance value is marked as the maximum distance h2.

[0044] 3. Since it takes time for clothes to absorb water during the water intake process, there will be a situation in which two or more adjacent real-time distances h or the difference between the real-time distance h and the initial distance h1 obtained by the water intake control module or controller are equal within a period of time. At this time, the clothes are still in the process of absorbing water and sinking, and have not reached the lowest point. Therefore, a continuous and overlapping comparison interval of the real-time distance h or the difference is set, and there are n distance values ​​and / or difference values ​​(which can be difference values ​​or absolute values ​​of difference values) in the interval. An interval is set every m data, m≤n, so that the data in adjacent intervals have a certain overlap. According to the time sequence of the received data, if the real-time distances h or differences in the same interval are all the same, the data in this interval are excluded. If there are differences in the real-time distances h or differences in a certain interval, the maximum real-time distance h or difference value in the interval is determined, and for the remaining intervals after excluding the intervals with all the same data, the real-time distances corresponding to the maximum real-time distances h or the maximum difference values ​​in each interval are determined and marked as the maximum distance h2. It should be noted that when the clothes absorb water and the distance value increases, a large number of identical real-time distances or differences will appear. When the maximum distance is reached and the clothes begin to rebound, the water absorption reaches saturation, and the occurrence of identical real-time distances or differences decreases or even disappears. The maximum distance interval can be determined by whether there is identical data in the interval and whether the identical data disappears.

[0045] There are many methods for determining the maximum distance h. The above are only a few achievable methods. In practical applications, one can be selected according to needs. Any method for determining the maximum distance h that may appear now or in the future is applicable to the present invention.

[0046] When the distance between the load and the laser ranging module begins to rebound, the distance value starts to decrease from the maximum distance h2. When the difference Δh between the maximum distance h2 after rebound and the real-time distance h is greater than or equal to the preset value Δhth, and the real-time distance h ≥ the initial distance h1, the water inlet control module or controller determines that the water inlet can meet the washing needs and stops the water inlet. It should be noted that during the water filling process, the addition and injection of detergent are carried out in the conventional way, without any change, and will not affect the overall water inlet control logic. After the water inlet is completed, the controller controls the washing machine to start the formal washing process.

[0047] For the whole washing process, including the washing and rinsing processes, before the washing procedure, the water inlet process has the aforementioned problem that the clothes absorb water, causing the distance to increase to the maximum value and then rebound, and the distance decreases. In the rinsing process, although the clothes have water, they are not saturated, and the spin drying process at the end of washing is equivalent to the rotation of the impeller before the first water inlet of washing or the relative rotation of the impeller and the washing tub to make the surface of the clothes reach a flat state. Therefore, before the rinsing water inlet, there is no need to rotate the impeller again or make the impeller and the washing tub rotate relative to each other. According to the maximum distance h2 recorded in the washing water inlet process, and the water inlet process is detected in real time, combined with the water inlet time, when the water inlet time exceeds the predetermined value, it is detected that the difference Δh between the recorded maximum distance h2 and the real-time distance h is greater than or equal to the preset value Δhth, the water inlet is controlled to stop. Combined with the water inlet time, the time preset value is set to avoid insufficient water inlet caused by insufficient water inlet time, when the clothes and water inlet do not reach a specific ratio, and the difference Δh between the maximum distance h2 and the real-time distance h is detected to be greater than or equal to the preset value Δhth. In this embodiment, the preset control threshold Δhth is a threshold of the difference in distance between the load and the laser ranging module.

[0048] When the program selected by the user is only the rinsing program, since the surface of the clothes will not be flat when the user puts in the clothes, nor will it be the same as the clothes after being spun dry, it is also necessary to rotate the impeller or make the impeller and the washing tub move relative to each other to make the surface of the clothes flat. The clothes will also sink slightly due to absorbing water, and the sinking distance is smaller than that of dry clothes, but the water required for this part of the distance is already included in the clothes to be spun dry. Therefore, even if the difference between the maximum distance h2 and the initial distance h1 is small, there is still a certain difference. The maximum distance h2 can be determined by the above method. When the maximum distance value h2 is obtained, and the difference Δ between the real-time distance h and the maximum distance h2 is greater than or equal to the preset value Δh, the water intake is controlled to stop. Therefore, the water intake control method provided by the present invention is also applicable to a separate rinsing program.

[0049] Implementation II

[0050] It is basically the same as the first embodiment, except that, even if the impeller rotates or makes relative movement between the impeller and the washing tub, there is still deviation in the height of each point on the surface of the clothes, and it is impossible to achieve a completely flat state. Therefore, in this embodiment, a plurality of laser ranging modules are provided to detect the distance between the load at multiple positions in the washing tub and the load, so as to further accurately control the water inlet.

[0051] Multiple laser ranging modules simultaneously collect data and send the data to the water inlet control module or controller. Multiple initial distances can be obtained at the beginning of water inlet or before water inlet. Weighted average calculation is performed on the multiple initial distances, and the average value obtained by calculation is marked as the initial distance h1; the water inlet control module or controller controls continuous water inlet, and each laser ranging module determines the maximum distance of each detection position as described in Example 1. Similarly, weighted average calculation is performed on the multiple maximum distances, and the average value obtained by calculation is marked as the maximum distance h2; after the distance of each detection position reaches the maximum distance, the water level rebounds and rises, and the distance value becomes smaller. When each detection position reaches the maximum distance, the distance between all detection positions and the laser ranging module is counted in real time, and the weighted average value is calculated. The maximum distance h2 and the average value are calculated as the difference Δh described in Example 1 and compared with the preset Δhth. When the difference Δh is greater than or equal to the preset value Δhyh, the water inlet is controlled to stop.

[0052] It should be noted that since the surface of the clothes cannot be completely flat, the water absorption rate of the clothes at each detection position is not necessarily exactly the same, and the time for each detection position to reach the maximum distance is not the same. The water inlet control module or controller records the maximum distance between each laser ranging module and the detection position. When all detection positions have measured the maximum distance, the weighted average of each maximum distance is calculated. At the same time, when the maximum distance of all detection positions is detected, the water level in the washing tub will rise evenly, and then the real-time distance of each detection position will be detected, and the weighted average will be calculated. At this time, the water level at each detection position is roughly the same, and the weighted average is basically the same as the actual water level, so the water inlet can be accurately controlled.

[0053] Embodiment three:

[0054] It is basically the same as the second embodiment, and is also provided with multiple laser ranging modules, the difference being that the clothes to be washed are evenly distributed in the washing tub by rotating the impeller or making the impeller and the washing tub move relative to each other. Although the surface of the clothes cannot be completely flat, there will be no local area without clothes or very little clothes. Therefore, the multiple initial distances obtained are sorted, and the initial distance corresponding to the minimum value is regarded as the false height caused by the stacking of clothes and is excluded. The largest initial distance is marked as the initial distance h1 mentioned above. Correspondingly, after water inflow, the maximum distance detected by the laser ranging module corresponding to the initial distance is marked as the maximum distance h2 required for the water control process. After determining the maximum distance h2, continue to detect the real-time distance at this point, and control the water inflow as described in the first embodiment.

[0055] Rotating the impeller or the relative rotation of the impeller and the washing tub sometimes cannot completely solve the false height caused by the clothes squeezing each other. Therefore, the detection position with the largest initial distance is selected as the detection point of the initial distance and the maximum distance of the data. The initial distance is the largest, and the height of the clothes here is the smallest. Correspondingly, the maximum distance at this position will also be the largest. In this way, the water level can be controlled to avoid the false height caused by the clothes squeezing each other, resulting in insufficient water intake and ineffective washing.

[0056] Embodiment 4

[0057] The method of determining the initial distance and the maximum distance in the first embodiment is basically the same, and a laser distance measuring module is set. The difference is that: when detecting the initial distance, the maximum distance and the real-time distance after the distance rebounds, while water is entering, the impeller is kept rotating or the washing tub and the impeller are moved in the opposite direction, so that the laser distance measuring module can detect at different positions in the washing tub. As time goes on, each detection position forms a ring, and the water entry process is controlled accordingly. Specifically:

[0058] like Figure 2 As shown, the user puts the clothes to be washed (the weight of the clothes is less than or equal to the washing capacity) into the washing tub of the washing machine according to the rated washing capacity of the pulsator washing machine, and selects a washing program (including but not limited to the whole washing process, washing, and any washing link in rinsing that requires controlling water inlet), and starts the washing program through a predetermined program or pressing a start button. The controller first controls the pulsator and the washing tub to move relative to each other, or only controls the movement of the pulsator, driving the clothes in the washing tub to do a small flip or movement. During the flipping process, the clothes are spread out as much as possible and the top surface is flat, so as to avoid the clothes from being stacked and supported on each other after being thrown in at random, and the local position of the clothes when the material is thicker and harder is towering, which affects the measurement of the initial distance between the clothes and the laser ranging module when no water is in, thereby affecting the subsequent precise control of water inlet.

[0059] Keep the impeller rotating or the impeller and the washing tub in relative motion. During the motion, the laser ranging module starts to work and detects the distance between the clothes and the laser ranging module. Since the laser ranging module needs to calculate the distance based on the emission time and the receiving time, the transmitting unit will emit lasers at a fixed time. As the impeller rotates or the relative motion between the impeller and the washing tub continues, the transmitting unit forms a ring-shaped laser detection point at the bottom of the washing tub. The initial distance h1 mentioned above is obtained by performing a ring detection on the bottom of the washing tub and taking the average value of multiple detection values. The specific setting time of the time period T1 can be determined according to the rotation speed of the impeller and the laser emission time interval of the laser ranging module transmitting unit. At least each detection position forms a complete ring at the bottom of the washing tub, and each detection position is evenly distributed on this ring. The weighted average calculation of the multiple initial distances h1 obtained is performed to obtain the distance average value havr within the period T1, and it is set as the upper limit of the water level hmax, that is, after the water enters, the highest height of the load does not exceed the average height of the dry clothes before the water enters.

[0060] After the period T1, the water inlet control module or controller starts to control the water inlet, and in the period T1, the distance between the load (including but not limited to clothes, wet clothes after absorbing water, and water level) and the laser ranging module is measured in real time. Similarly, the distance obtained in the period T1 is weighted averaged to obtain the distance average h in the period T1. As the water inlet time continues, the water inlet time will continue for multiple periods T1, and multiple distance averages h are obtained. As described in the first embodiment, the multiple distance averages h are compared to obtain the maximum distance h2, that is, the minimum water level, and marked as hmin (hmin = the distance between the laser ranging module and the washing machine). The distance from the bottom of the barrel is H-the maximum distance h2), Δh=h-hmin is calculated, and the threshold for stopping water inlet is pre-stored as Δhth, and Δh≥Δhth is set as the first judgment condition for triggering the stop of water inlet; further, in order to avoid the occasional situation that a single Δh≥Δhth is caused by the lower local clothes resulting in a larger detection distance and thus affecting the average distance, for this purpose, a time period T2 is set. When Δh≥Δhth is detected for the first time, period T2 is entered at the same time. During period T2, the number of Δh≥Δhth detected is counted. When the number of Δh≥Δhth is greater than the preset value, the water inlet is controlled to stop.

[0061] Furthermore, in order to more accurately control the water inlet and avoid the first detection of Δh≥Δhth as an accidental situation, when Δh≥Δhth is detected, the average value of the real-time distance is further judged against the upper limit hmax set before water inlet. When h≥hmax, there is no need to enter the time period T2, and the water inlet is directly stopped and the washing program is started.

[0062] In this embodiment, as described above, when Δh≥Δhth is detected, it can be determined whether to stop water supply and start the washing program by judging h≥hmax. When h<hmax, the number of Δh≥Δhth within the cycle T2 is further determined. In practical applications, the conditions for triggering the stop of water intake can be determined based on experimental results, including but not limited to the above two conditions. At the same time, a single trigger condition can also be selected. For example, when Δh≥Δhth is detected, there is no need to enter period T2, keep water intake, and continue to perform distance detection and weighted average calculation. The calculation period is period T1. When it is detected that h≥hmax, the control stops and the washing program starts; or when Δh≥Δhth is detected, enter period T2, count the number of Δh≥Δhth, and when the number of Δh≥Δhth is greater than the preset value, control stops water intake and starts the washing program; or, or when Δh≥Δhth is detected, enter period T2, count the number of Δh≥Δhth, and when the number of Δh≥Δhth is greater than the preset value and h≥hmax, control stops water intake and starts the washing program. When Δh≥Δhth is detected, it is necessary to count the number of Δh≥Δhth and judge h≥hmax. The trigger sequence can be further determined in combination with the volume, water inlet flow rate, water inlet flow rate and other conditions of the washing machine. Any of the trigger conditions mentioned above is within the protection scope of the present invention.

[0063] Furthermore, in the four water inlet control embodiments provided by the present invention, the distance between the load and the laser distance measuring module is detected by a laser distance measuring module and judged with a preset value to accurately control the water inlet. The laser distance measuring module is arranged inside the washing machine, at any position such as the upper part of the washing tub, the inner side of the door, the balance ring, etc., without affecting the washing program, not easily contacting with splashing washing water and causing moisture failure, and can emit laser into the washing tub, so as to stably detect the height of the load in the washing tub or the distance between the load and the laser distance measuring module.

[0064] The transmitting unit of the laser ranging module transmits a laser beam (hereinafter referred to as laser) at a certain interval, and the receiving unit receives the laser reflected by the load. According to the transmitting and receiving time, and in combination with the wavelength or propagation speed of the laser, the distance between the laser ranging module and the load is calculated. The laser emission interval time can be controlled according to factors such as the height of the washing tub, the installation position of the laser ranging module, and the laser wavelength. Further, considering that the surface of the clothes is a rough surface, the laser is diffusely reflected on the surface of the clothes. Even if it is a water surface, due to the rotation of the impeller and / or the washing tub during the water intake process, the water surface is dynamic, and the reflection of the laser on the dynamic water surface cannot guarantee the realization of complete mirror reflection and reflection angle. The diffusely reflected laser may be reflected on the washing tub, and then reflected by the washing tub again or multiple times before being received by the receiving unit. At this time, the received reflected laser has a path that exceeds the actual distance between the load and the laser ranging module due to multiple reflections. Therefore, this part of the signal needs to be excluded. In the present invention, the first signal received by the receiving unit within a predetermined time after the transmitting unit emits the laser is the received signal after the laser reflection, which is used to calculate the distance. The signals received after the predetermined time and the signals after the first signal are all regarded as invalid signals. When no valid signal is received within the predetermined time, the water inlet control module or controller counts the number of valid signals, especially for the third and fourth embodiments, when the corresponding initial distance and maximum distance are obtained by calculating the weighted average, invalid signals are excluded and the number of signals is reduced to avoid distortion of the calculated distance value, such as the occasional Δh≥Δhth in the fourth embodiment. The predetermined time for receiving the valid signal is determined according to the time when the laser direct irradiation washing bucket (no load) bottom reflection is normally received by the receiving unit. Further, the predetermined time is variable. When the initial distance is detected, the predetermined time is less than the time when the laser direct irradiation washing bucket bottom reflection is normally received by the receiving unit, and as the detected distance increases, the predetermined time becomes longer. When the maximum distance is reached, the predetermined time is less than or equal to the time when the laser direct irradiation washing bucket bottom reflection is normally received by the receiving unit. As the distance rebounds, the predetermined time decreases. The water inlet control module or controller presets a corresponding table of the predetermined time and the distance value. In the corresponding table, the distance value corresponding to the predetermined time is a data range, so as to be applicable to different washing situations. The time interval of laser emission is greater than the predetermined time, and further, the time interval of laser emission is greater than the maximum predetermined time in the corresponding table, so as to avoid that in the adjacent laser emission and reception process, the receiving unit receives multiple diffuse reflection signals of the laser emitted by the previous emission unit in the latter emission and reception process. It should be noted that, due to the angle problem, the laser after multiple diffusion of the conical hole set at the receiving unit will usually be shot on the wall of the conical hole when it enters the conical hole at the receiving unit, thereby effectively avoiding the reception of the laser signal after multiple diffuse reflections. The diameter of the conical hole at the receiving unit is set to be smaller than the diameter of the conical hole at the transmitting unit, so as to further avoid the reception of redundant invalid signals.

[0065] It should be noted that the water inlet control method described above is applicable to the initial water inlet process of the washing program and the initial rinsing water inlet in a separate rinsing program selected by the user. In these two cases, the load is placed into the washing drum by the user and is relatively evenly distributed at the bottom of the washing drum. By rotating the washing drum before water inlet, the load can be further evenly distributed. During the water inlet process, the load height first drops and then rises due to the water absorption of the laundry (load). The water inlet can be controlled by the method described above.

[0066] After the washing is completed, the load is spun dry and dehydrated and then enters the rinsing program. Under the action of centrifugal force during the drying process, after the drying is completed, the load is close to the wall of the washing drum, and a blank area appears at the bottom of the washing drum. At this time, water enters, and the load height will no longer drop and then rise. The water inlet control method described above is no longer applicable to the water inlet control of the rinsing process.

[0067] In this regard, the present invention further provides a method for accurately controlling water inlet for a rinsing procedure after washing and drying or for a user to select a separate rinsing procedure (when rinsing separately, there will also be a drying procedure before water inlet).

[0068] The water intake control before rinsing can adopt the conventional control method in the prior art, or the water intake control method as described above. The controller records the distance between the laser ranging module and the load when the water intake meets the washing requirements during the cleaning process, and records it as a preset value h mark, which is used to control the subsequent rinsing water intake. When the water intake during the rinsing process reaches a distance between the load and the laser ranging module that is less than the preset value h mark, the rinsing water intake is basically the same as the cleaning water intake, and the water intake is deemed to meet the rinsing requirements, the water intake is stopped, and a less rinsing program is performed.

[0069] Specific:

[0070] During the rinsing water inlet process, the laser ranging module detects the load height, that is, the distance between the load and the laser ranging module. Before water inlet, the distance between the bottom of the washing tub and the laser ranging module is detected. Since there is a blank area in the center of the washing tub, the detection range of the laser ranging module is basically within the blank area. As water inlet continues, the distance between the water surface and the laser ranging module will be detected. When the distance between the water surface and the laser ranging module and the water level (load) height reach the distance from the load to the laser ranging module and the load height determined during the cleaning water inlet recorded by the controller, the water inlet is deemed to be consistent with the water inlet volume in the cleaning program, the water inlet demand is met, the water inlet is stopped, and the rinsing process is started.

[0071] Through intermittent water inflow test, we observed and recorded the measured data and the real data, and found that due to factors such as water surface reflection and shaking, there is a certain error between the measured data and the actual real data. Figure 3This is the data curve between the measured distance and the real distance during the rinsing water inlet stage and the drainage stage. There will be a certain difference between the measured distance between the load (water surface) and the laser ranging module and the real distance, that is, the error. As the water inlet time continues, the distance between the load and the laser ranging module changes, and the error also varies:

[0072] Before water enters, the distance between the bottom of the washing tub and the laser ranging module is detected, which is the maximum value. As water continues to enter, the distance value gradually decreases;

[0073] When water enters the washing tub for the first time, the water directly hits the bottom of the washing tub, splashing water and causing severe shaking of the water surface. The detection point of the laser ranging module is close to the point where the water enters the washing tub. At this time, the distance between the water surface and the laser ranging module measured is greater than the actual height, and the measured distance is greater than the actual distance. At this time, the error is positive.

[0074] As the water continues to flow in, the load begins to absorb water and slides toward the center of the washing tub under the action of gravity. Under the action of the load, the impact force generated at the water drop point decreases, the swaying of the water surface decreases, and although the measured distance is still greater than the true distance, the difference between the two, i.e. the error, decreases.

[0075] When a certain amount of water is reached, Figure 3 As shown, in this embodiment, when the distance between the load and the laser ranging module reaches the interval of (500, 550), the bottom load absorbs water and slides toward the bottom of the barrel to cover the bottom of the washing tub. In this process, the water entering is absorbed by the load. At this time, the distance between the load and the laser ranging module is detected, and the measured distance is equal to the real distance.

[0076] As water ingress continues, the water-absorbed load increases and the weight increases, and the distance between the load and the laser ranging module decreases. At this time, part of the load floats, generating a false height, the measured distance is less than the true distance, and the error is negative.

[0077] During the experiment, the measured distance and the real distance at different water inlet time points were recorded respectively. After each measured distance was obtained, the water was stopped, and the real distance was measured after the water surface was stable. The measured distance and the real distance at the corresponding time points were recorded respectively. The same method was used to obtain multiple corresponding measured distances and real distances during the drainage process. Multiple data were connected separately to obtain the following: Figure 3 The time-based distance variation curve during the water inflow and outflow process is shown.

[0078] During the experiment, as the water inflow time continues, the accuracy data can be set to record the real distance and the measured distance data of the laser ranging module at every set accuracy distance. For example, during the experiment, the measured distance and the corresponding actual value of the laser ranging module are recorded every 10mm (the set accuracy is 10mm, and this value can be changed according to the accuracy requirement). For example: when the distance value measured by the ranging module is 300mm, stop letting in water, wait for the water surface to balance, obtain the actual distance, record the measured distance value h300 to correspond to the actual distance; when the measured distance value is 310mm, record the actual distance value h310 and the corresponding real distance; when the measured distance value is 320mm, record the actual distance value h320 and the corresponding real distance... and so on. Figure 3 The graph shown.

[0079] In actual applications, before the washing machine leaves the factory, within the rated washing capacity range, experiments are conducted on the water inflow conditions at different water inflow stages during the rinsing stage for different actual washing capacities, as described above, to obtain the error value between the measured distance and the actual distance that changes with the water inflow time for different washing capacities, and solidify it into the control process according to the preset principles, so as to control the water inflow during the rinsing stage.

[0080] If the user only selects a separate rinsing program, during this rinsing process, the controller does not record the preset value h mark of the washing water inlet stage. The actual distance obtained during the rinsing water inlet process cannot be compared with the preset value h mark to control the rinsing water inlet. To solve this problem, the rinsing water inlet control process also includes an adaptive program to record the preset value h mark corresponding to different laundry amounts of the user in the entire washing process within the cycle. Taking into account the different water absorption rates of clothes, the weight of the rinsed clothes with the same dry weight after being soaked in water and then spun dry is different. The controller records the weight of the rinsed clothes corresponding to different laundry amounts to form a correspondence table between the weight of the rinsed clothes and the preset value h mark. When the user chooses to rinse alone, the corresponding preset value h mark is selected in the corresponding table based on the weight of the rinsed clothes obtained before the water inlet, and this is used as the standard value to control the rinsing water inlet.

[0081] Furthermore, the controller has a statistical function, which forms a weight interval for multiple rinsed laundry weights corresponding to the same preset value h mark, and regularly updates the interval range. For example, every 10 times the full cleaning process is used, the rinsed laundry weight interval in the corresponding table is updated according to the recorded data, or every three months (or other predetermined time), the rinsed laundry weight interval in the corresponding table is updated according to the recorded data.

[0082] The preset time can be a fixed value or can be set according to the user's laundry habits. Each preset time forms a cycle, and the controller records the cleaning data within the cycle to adjust the preset value h standard accordingly.

[0083] When the weight interval of the rinsed clothes is not set, if the corresponding preset value h mark is not found for the weight of the clothes to be rinsed this time, the current rinse weight will be compared with all the data recorded in the controller, and the difference between the historical rinse weight and the current rinse weight will be sorted. The preset value h mark corresponding to the historical rinse weight corresponding to the data with the smallest difference will be used as the standard value for this rinse operation. During the water intake process, this will be used as a benchmark to control the rinsing water intake process.

[0084] When the same weight of rinsed clothes corresponds to multiple preset values ​​h in the recorded data, the maximum preset value h is used as the standard value of the rinse water inlet for this time to control the rinse water inlet to avoid insufficient water inlet and incomplete rinsing.

[0085] Taking into account that during a period of water intake, that is, during the time when the measured distance is equal to the actual distance, the water intake is far from meeting the rinsing requirement, and after that, the measured distance and the actual distance basically change linearly, and the difference between the two, that is, the error, changes very little after a period of time, and basically maintains a constant value and does not change with the water intake time. Therefore, the error data obtained from the experiment can be fitted into a constant value and solidified into the controller. After the preset rinsing water intake time t, laser ranging is performed again, and the real distance is obtained through real distance = measured distance + error. When the real distance (the distance between the load and the laser ranging module) is equal to the preset value h mark determined during the water intake process, the water intake is stopped.

[0086] Furthermore, the error data fitted into a constant value can be used to make a correspondence table between the weight of the clothes and the error value according to the weight of the clothes. In the rinsing program after the washing program, the error value is obtained from the correspondence table according to the weight of the clothes obtained during the washing program, which is used to obtain the actual distance during the rinsing water inlet process to control the rinsing water inlet.

[0087] The predetermined time t can be determined according to the water inflow time t1 when the measured distance obtained in the experiment is equal to the actual distance, and the predetermined time t is greater than or equal to the water inflow time t1; further, if Figure 3 As shown in the figure, within t2 time after the measured distance is equal to the real distance, the error changes linearly, not a constant value. After t2 time, the error becomes a constant value until t3 time, when the water inflow meets the rinsing demand. Therefore, t1≤t≤t2, or t1≤t<t3, or t2≤t<t3 can be set. After the predetermined time t, the distance between the load and the laser ranging module is detected again to control the rinsing water inflow.

[0088] After a predetermined time t, the distance between the load and the laser distance measuring module is regularly detected, and the actual distance is obtained through error adjustment, and the rinsing water inlet is controlled accordingly;

[0089] Furthermore, through the data obtained from the experiment, the time-based error curves under different laundry amounts and / or the time-based error curves under different laundry amount intervals and / or the time-based error curves for the same rated laundry amount are fitted, and the error curves are solidified into the control process. During the rinsing water inlet process, the real-time measured distance is obtained, and the corresponding error value is obtained in the error curve. The actual distance is calculated and compared with the preset value h obtained during the cleaning process to control the rinsing water inlet.

[0090] As described above, in the rinse water inlet control method, the actual distance is obtained by experimentally obtaining an error constant and / or an error curve, and compared with the preset value h mark recorded in the washing program or the preset value h mark obtained through the adaptive program to control the water inlet. The controller pre-stores any one of the error values ​​including but not limited to the error value that varies with the water inlet time mentioned above, the error curve based on the water inlet time, the error value corresponding to different laundry amounts that varies with the water inlet time, or the error curve to obtain the error value. In actual applications, a variety of methods for obtaining the actual distance can be expanded according to the present invention, all of which are within the protection scope of the present invention.

[0091] In summary, the water inlet control method of a washing machine and the washing machine provided by the present invention have the following beneficial effects compared with the prior art:

[0092] 1. No changes are needed to the existing products. The water inlet control method of the present invention can be completed by adding a distance measuring sensor and changing the control program in the controller;

[0093] 2. Use multiple distance measuring sensors, take the average value or select the sensor with the largest initial distance to determine the water inlet height according to the preset program, so as to reduce the false height caused by the stacking of clothes (load) and the support of hard clothes, which affects the judgment of water inlet control;

[0094] 3. According to the different loads, the water intake is accurately controlled by changing the distance to ensure the washing effect while avoiding the waste of water and electricity;

[0095] 4. According to the distance between the load and the distance measuring sensor during the washing water inlet, the rinsing water inlet is controlled by adding error adjustment, so as to further accurately control the rinsing water inlet, avoid insufficient water inlet, and ensure the rinsing effect.

[0096] 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 controlling water inlet of a washing machine, characterized in that: The washing machine includes a distance measuring sensor and a controller, which obtains the distance between the load and the distance measuring sensor when the water inflow meets the cleaning requirements in the washing program and marks it as a preset value h mark. During the rinsing water inflow, when the actual distance between the load and the distance measuring sensor is greater than or equal to the preset value h mark, the water inflow is controlled to stop.

2. A method for controlling water inlet of a washing machine as claimed in claim 1, characterized in that: During the rinsing water inlet stage, the measured distance is adjusted according to the pre-stored error value to obtain the real distance.

3. A method for controlling water inlet of a washing machine as claimed in claim 2, characterized in that: The controller pre-stores any one of an error value varying with water inlet time, an error curve based on water inlet time, an error value corresponding to different laundry amounts varying with water inlet time, or an error curve to obtain a real-time error value.

4. A method for controlling water inlet of a washing machine as claimed in claim 1, characterized in that: The controller records the correspondence table between different laundry amounts in the washing program within the cycle and the preset value h mark. When only the rinsing program is selected, the corresponding preset value h mark is selected in the correspondence table during the rinsing water intake for water intake control.

5. A method for controlling water inlet of a washing machine according to any one of claims 1 to 4, characterized in that: When water is introduced into the washing program, when the difference between the real-time distance detected by the distance measuring sensor and the maximum distance detected reaches a preset value, the water is controlled to stop introducing.

6. A method for controlling water inlet of a washing machine as claimed in claim 5, characterized in that: After water ingress, the distance between the distance measuring sensor and the load detected in real time first decreases and then increases as water ingress continues, and the distance measured before the increase is the maximum distance; or there are multiple distance measuring sensors, and the maximum distance is the average value of the maximum distances measured by each of the distance measuring sensors; or when water ingress is initially achieved, the distance between the distance measuring sensor and the load measured by the distance measuring sensor is set as the initial distance, and the multiple initial distances obtained are sorted, and after water ingress, the maximum value measured in real time by the distance measuring sensor corresponding to the maximum initial distance is the maximum distance.

7. A method for controlling water inlet of a washing machine as claimed in claim 5, characterized in that: When water is initially inflowed, the distance between the distance measuring sensor and the load is set as the initial distance, and the difference between the initial distance and the real-time distance is calculated. When the difference of the latter time is greater than or equal to the difference of the previous time or the absolute value of the difference of the latter time is less than or equal to the absolute value of the difference of the previous time, the real-time distance h corresponding to the difference of the previous time is marked as the maximum distance h2; or if the same difference appears after n differences, the real-time distance corresponding to the difference between the same differences or the maximum distance value is marked as the maximum distance.

8. A method for controlling water inlet of a washing machine as claimed in claim 5, characterized in that: When no water enters, the distance between the distance measuring sensor and the load is set as the initial distance, and the difference between the initial distance and the real-time distance is calculated. A continuous and overlapping comparison interval of the real-time distance or difference is set, and there are n distance values ​​and / or difference values ​​in the interval. An interval is set every m data, m≤n, so that the data in adjacent intervals have a certain overlap. According to the time sequence of the received data, if the real-time distance h or difference values ​​in the same interval are all the same, the data in this interval are excluded. If there are differences in the real-time distance h or difference values ​​in a certain interval, the maximum real-time distance h or difference value in the interval is determined, and for the remaining intervals after excluding the intervals with all the same data, the real-time distance corresponding to the maximum real-time distance or maximum difference value in each interval is determined and marked as the maximum distance.

9. A method for controlling water inlet of a washing machine according to any one of claims 5 to 8, characterized in that: When no water is entering, the distance between the distance measuring sensor and the load is set as the initial distance. When the difference between the real-time distance detected by the distance measuring sensor and the maximum distance detected reaches a preset value and the real-time distance is greater than or equal to the initial distance, the water intake is controlled to stop; or while detecting the distance and entering water, the impeller of the washing machine is rotated or the impeller and the washing tub are moved in opposite phases, and the difference between the real-time distance and the detected lowest water level reaches a preset value and the real-time distance is greater than or equal to the initial distance and / or the difference between the real-time distance and the detected lowest water level reaches a preset value, the water intake is controlled to stop.

10. A washing machine, characterized in that: A water inlet control method for a washing machine comprising the method described in any one of claims 1 to 9.

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