Washing machine control method and washing machine

Abstract

The invention firstly provides a control method of a washing machine. A distance measuring sensor and an electric cover are arranged at a door body of the washing machine; the controller controls the electric cover to be opened before or while controlling the water inlet valve to feed water into the washing cavity according to a washing program, so that the distance measuring sensor is exposed; the distance measuring sensor detects the real-time flatness of the load surface in the water inlet process, when the detected real-time flatness is smaller than or equal to a preset value, it is regarded that water inlet meets the washing requirement, and water inlet is controlled to be stopped. The invention further provides a washing machine. According to the control method of the washing machine and the washing machine, it is not needed to determine the water consumption according to the weight of the to-be-washed clothes, the data detected by the distance measuring sensor is compared with the preset data to accurately control the water inlet process and reduce water and electricity consumption, the electric cover is arranged, foam is prevented from being attached to the distance measuring sensor, and the water consumption is reduced. The water inlet control precision is influenced.

Description

Technical Field

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

[0002] With the development of cities and the quickening pace of life, washing machines, as a household appliance that can free users' hands and save users' time in handling housework, are accepted and purchased by more and more users.

[0003] In the existing washing machine, after the user selects the washing program, the water intake will be determined according to the weight of the clothes. If the user does not adjust the water intake according to his needs, the controller will determine the water consumption according to the weight of the clothes, and further control the water intake through the liquid level meter, water intake flow rate, water intake time, etc. However, this water intake control method only considers the weight of the clothes, but not the material and water absorption of the clothes, resulting in insufficient water intake when washing clothes with strong water absorption, affecting the washing effect; when the water intake is insufficient, the water intake needs to be adjusted and the water intake needs to be supplemented if the control system allows, and there may be multiple water intake and water replenishment operations, which is time-consuming and labor-intensive, and will extend the washing cycle.

[0004] To solve this problem, some high-end washing machines are equipped with cameras and image acquisition devices. Based on the built-in algorithm, the materials of the clothes to be washed are judged when the user puts the clothes in. The water consumption is determined based on the weight of the clothes, the material of the clothes and the water absorption rate of the materials, and the water intake is controlled by the level meter, water flow rate, and water intake time. However, the cost of cameras and image acquisition devices is high, and the product audience rate is limited. Moreover, even if cameras or image acquisition devices are installed, it is impossible to avoid adjusting the water consumption and replenishing the water intake, which increases the washing time and affects the user experience. During the washing process, the foam generated by washing adheres to the camera or image acquisition device, resulting in inaccurate data collection and affecting water intake control. 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 control method and a washing machine. It is not necessary to determine the water consumption according to the weight of the clothes to be washed. The data detected by the ranging sensor is compared with the preset data to accurately control the water inlet process and reduce the water and electricity consumption. By setting an electric cover, foam is prevented from adhering to the ranging sensor and affecting the accuracy of water inlet control.

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

[0007] A control method for a washing machine, wherein a distance measuring sensor and an electric cover are arranged at the door of the washing machine; a controller controls a water inlet valve to open the electric cover before or while water is flowing into a washing chamber according to a washing program, so as to expose the distance measuring sensor; the distance measuring sensor detects the real-time flatness △ of the load surface during the water inlet process, and when the detected real-time flatness △ is less than or equal to a preset value, it is considered that the water inlet meets the washing needs, and the water inlet is stopped.

[0008] Furthermore, before water is introduced, the impeller is controlled to rotate at a first speed or the washing tub and the impeller are controlled to rotate relative to each other to agitate the clothes, and water is started to be introduced after a predetermined time.

[0009] Furthermore, there are multiple distance measuring sensors, which respectively detect the load height at different positions in the washing tub, or the distance measuring sensors can simultaneously detect the height of different positions of the load, and the surface flatness is the variance obtained by calculating multiple detection data.

[0010] Furthermore, before water is let in, the impeller is controlled to rotate at a first rate or the washing tub and the impeller are controlled to rotate relative to each other to agitate the clothes. After agitating the clothes for a predetermined time, the washing tub and / or the impeller are controlled to rotate at a second rate to drive the clothes to rotate while detecting and obtaining the initial flatness △1 of the surface of the clothes. Then, the controller controls the water inlet valve to start letting in water.

[0011] Further, when detecting the initial flatness △1, the washing tub and / or the pulsator drives the clothes to rotate at least one circle.

[0012] Furthermore, during the water intake process, the water intake is stopped after every n seconds, the washing tub and / or the impeller drives the clothes to rotate at a third rate, and the real-time flatness △ of the load surface is detected at the same time, and the process of water intake and detecting the real-time flatness △ after stopping the water intake is repeated until the detected real-time flatness is less than or equal to the preset value, and the water intake and the detection of the real-time flatness △ are stopped; or during the water intake process, the washing tub and / or the impeller drives the clothes to rotate at a third rate, and the water intake is stopped after n seconds, the washing tub and / or the impeller continues to drive the clothes to rotate at the third rate, and the real-time flatness △ of the load surface is detected at the same time, and the process of water intake and detection of the real-time flatness △ is repeated until the detected flatness is less than or equal to the preset value, and the water intake and the detection of the real-time flatness △ are stopped.

[0013] Furthermore, when the real-time flatness △ is less than or equal to a*△1 or the real flatness △ is less than or equal to the flatness threshold △2 or the real-time flatness △ is less than or equal to a*△1 and the real flatness △ is less than or equal to the flatness threshold △2, the water intake is controlled to stop, and a is the control coefficient, which is a positive number.

[0014] Further, when detecting the initial flatness △1 of the surface of the clothes, the washing tub and / or the pulsator drives the clothes to rotate at least one circle at a first speed.

[0015] Furthermore, the washing machine also includes a lighting lamp, and during the water intake process, the lighting lamp is turned on once every predetermined time during the interval between two adjacent laser ranging times.

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

[0017] A washing machine includes a washing machine control method as described above.

[0018] In summary, the control method and 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. The control method of the present invention can be completed by adding a distance measuring sensor and changing the control program in the controller.

[0020] 2. Stirring the clothes before water intake can make the top of the clothes as flat as possible and distribute the clothes as evenly as possible to avoid the situation where some clothes are locally high, which will affect the variance calculation results in the later stage and thus affect the water intake 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. When the calculated variance is small, it means that the surface variance of the load (clothing, water surface) is small. When the water intake reaches the washing requirement, the water surface usually overflows the clothing and is relatively stable. In this way, the water intake can be effectively controlled.

[0023] 5. An electric cover is installed at the laser ranging module to prevent the foam during washing from adhering to the laser ranging module, especially adhering to or clogging the transmitting hole, which will affect the accuracy of the ranging data;

[0024] 6. When testing flatness, turn off the lighting to avoid the influence of the lighting on the distance measurement and improve the accuracy of the distance measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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:

[0026] Figure 1 : A schematic diagram of the working state of a laser ranging sensor in a washing machine provided by the present invention;

[0027] Figure 2: A schematic diagram of a laser ranging module, an electric cover, and a lighting lamp in a washing machine provided by the present invention;

[0028] Figure 3 : A schematic diagram of the control logic of an electric cover in a washing machine control method provided by the present invention;

[0029] Figure 4 : A schematic diagram of the lighting control logic in a washing machine control method provided by the present invention;

[0030] Among them, there are a transmitting unit 1, a receiving unit 2, a distance measuring sensor 3, a lighting lamp 4, a controller 5, and an electric cover 6.

[0031] 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

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The present invention provides a control method for a washing machine. A laser ranging module and an electric cover 6 are arranged at the door of the washing machine. A controller controls a water inlet valve to open the electric cover 6 before or while water is flowing into a washing chamber according to a washing program, so as to expose the laser ranging module. The real-time flatness △ of the load surface is detected during the water inlet process. When the detected real-time flatness △ is less than or equal to a preset value, it is considered that the water inlet meets the washing needs, and the water inlet is stopped.

[0036] In this embodiment, a pulsator washing machine is taken as an example to introduce the specific structure and control method of the washing machine provided by the present invention.

[0037] A pulsator washing machine, such as Figure 1 and Figure 2 As shown, it includes a washing tub and a door body. During the washing process, the door body closes the clothing loading port at the top of the washing tub to prevent the washing water from splashing during the washing process and accidents during the drying process.

[0038] The washing machine also includes a distance sensor 3, which is arranged on the upper part of the washing tub and above the highest water level allowed by the washing machine to accurately detect the distance between the clothes in the washing tub and the distance sensor. In this embodiment, the distance sensor 3 is a laser distance measuring module. Further, the distance sensor 3 is a TOF laser distance measuring module, which has the function of emitting and receiving lasers, including an emitting unit 1 and a receiving unit 2, which can emit lasers with a wavelength of 900nm to 960nm, and it is recommended to emit lasers with a wavelength of 940nm, and emit lasers into the washing tub. The lasers are reflected after reaching the water surface or the surface of the clothes (collectively referred to as the load surface), and the reflected lasers are received by the receiving unit 2. According to the propagation speed of the laser and the propagation time from emission to reception, the height of the load is calculated.

[0039] like Figure 1 As shown, the laser ranging module is arranged above the washing tub. In order to avoid the washing water measured during the washing process from entering the ranging sensor 3 and causing the ranging sensor 3 to malfunction, preferably, the ranging sensor 3 is arranged at the balance ring on the top of the washing tub and / or at the bottom surface of the door body (inner side, facing the washing tub), etc., and can emit laser into the washing tub, and make the laser fall on the water surface and clothes inside the washing tub and be received by the reflection unit 2 after being reflected, so as to effectively realize distance detection.

[0040] Taking the laser ranging module set on the bottom surface of the door body as an example, the laser ranging module is fixed on the bottom surface of the door body by gluing or any other means. In order to prevent washing water from splashing onto the laser ranging module during washing, causing the laser ranging module to become water-infiltrated and fail, silicone is poured at the laser ranging module, and the laser ranging module is fixed to the door body by the silicone, protecting the laser ranging module from being immersed in the measured washing water.

[0041] The transmitting unit 1 and the receiving unit 2 are arranged at intervals, and transmitting holes are set at the transmitting unit 1 and the receiving unit 2. Both transmitting holes are tapered holes. The difference lies in the size and the angle of the tapered hole. The top diameter (silicone top surface) of the transmitting hole corresponding to the transmitting unit 1 is between 0.3 cm and 0.5 cm, preferably, the diameter is 0.4 cm, and the tapered hole angle is between 25° and 45°, preferably, the tapered hole angle is 35°; the top diameter of the transmitting hole corresponding to the receiving unit 2 is between 0.15 cm and 0.3 cm, preferably, the diameter is 0.2 cm, and the tapered hole angle is within the range of 15° to 35°, preferably, the tapered hole angle is 25°. The diameter of the transmitting hole and the cone hole of the receiving unit 2 are smaller than the relative data of the transmitting unit 1, which can prevent the receiving unit 2 from receiving too many invalid laser signals of multiple diffuse reflections. The invalid laser signals include but are not limited to the transmitted 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 2. This part of the invalid laser signal increases the propagation time, the measured distance is greater than the actual distance, and the distance measurement fails. The transmitting hole is set as a cone hole, the silica gel has a certain thickness, and the large diameter end of the cone hole faces the water surface. After the splashed water droplets enter the cone 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 cone hole and contact the transmitting unit 1 or the receiving unit 2, which does not affect the laser emission and reception effect.

[0042] The distance sensor 3 is electrically connected or signal-connected to the controller of the washing machine, and the controller controls the working state and working mode of the two components respectively. Further, the distance sensor 3 is connected to the controller through I2C communication, and the controller sends control instructions to the distance sensor 3 through I2C communication, and receives real-time measurement data information sent by the distance sensor 3.

[0043] Furthermore, the laser distance measurement module is connected to the water inlet control module via a communication protocol, such as an I2C communication protocol, which makes communication simpler, more extensible, and can achieve synchronous communication. The water inlet control module is connected to the controller of the washing machine via a washing machine bus communication or integrated with the controller.

[0044] 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 but the clothes are not 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, hereinafter referred to as the controller). After the controller calculates the height of the load, it further calculates the flatness of the load surface, and controls the water inlet according to the relationship between the flatness obtained during the water inlet process and the preset value. Specifically, when the flatness is small, it means that the water has overflowed the clothes, and the water surface is detected. The water inlet can meet the washing needs, and the water inlet is controlled to stop.

[0045] The data sent by the laser ranging module include but are 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 emits the laser at a fixed time according to the instructions of the water inlet control module or the controller, and receives the reflected laser, and sends the emission time and receiving time to the water inlet control module. The water inlet control module calculates the distance between the laser ranging module and the load based on the laser propagation speed and wavelength of the pre-stored laser ranging module to obtain the height of the load, and sends the calculated distance value or the height of the load to the water inlet control module or the controller.

[0046] Furthermore, in order to further prevent the detergent foam generated during the washing process from splashing onto the door body and blocking the emission hole, or accumulating and adhering to the laser ranging module, thereby affecting the laser ranging result when water enters, in the present embodiment, an electric cover 6 is provided at the door body, and its action is controlled by a controller, so that the electric cover 6 is used to close the laser ranging module during the washing process.

[0047] Preferably, a protective frame is provided inside the door body, the laser ranging module is provided in the space enclosed by the protective frame and the bottom surface of the door body, and an electric cover 6 is provided on the top surface of the protective frame. The electric cover 6 closes or opens the open end of the protective frame under the action of the driver. The driver is also provided in the space enclosed by the protective frame and the door body to prevent the driver from being damaged by water.

[0048] The electric cover 6 is slidably connected to the protection frame, a slide groove is provided at the bottom of the electric cover 6, the end of the protection frame is inserted into the slide groove, and the electric cover 6 is fixed to the output shaft of the driver;

[0049] Alternatively, one end of the electric cover 6 is pivotally connected to the corresponding side wall of the protection frame, and the electric cover 6 can be rotated around a fixed point under the drive of a driver to open or close the open end of the protection frame.

[0050] In practical applications, the specific structures of the protection frame and the electric cover 6 and the action mode of the electric cover 6 can be determined according to the volume of the laser ranging module and the bottom area of ​​the door body. For example, the protection frame can be two parallel side panels, and two parallel slide grooves are set on the bottom surface of the electric cover 6; or the protection frame is only a side panel, and the electric cover 6 is pivotally connected to the side panel.

[0051] The electric cover 6 may be a plate-like structure, connected to the protective frame by sliding or pivoting, or the electric cover 6 may be a box-like structure or a U-shaped frame structure with one end open, and the laser ranging module may be accommodated in the space enclosed by the box-like structure or the U-shaped frame structure and the door body. When the electric cover 6 is a box-like structure or a U-shaped frame structure, whether a protective frame needs to be provided is determined according to the size of the box-like structure or the U-shaped frame structure. When the protective frame is not provided, the electric cover 6 is connected to the door body by straight pull assembly, such as being connected to the door body by sliding or pivoting.

[0052] The coordination structure between the electric cover 6 and the door body can adopt existing technology or any technology that may appear in the future. The electric cover 6 can cover the laser ranging module to prevent the foam and water droplets generated during the washing process from adhering to the surface of the laser ranging module and affecting the ranging result. No requirements or restrictions are made.

[0053] The driver of the electric cover can be a motor or an electromagnet. The electric cover 6 is provided with magnetic material and a reset spring. The electromagnet is arranged on the door body. When water enters, the electromagnet is energized, and under the magnetic attraction, the electric cover 6 opens and compresses the reset spring. When the water enters, the electromagnet loses power and the magnetism disappears. Under the action of the reset spring, the electric cover is reset to cover the laser ranging module.

[0054] like Figure 3 As shown, the driver of the electric cover 6 is connected to the controller, and the controller controls the position of the electric cover 6 according to the received washing signal. For example, when the controller receives the washing signal and controls the water inlet valve to open to let water in, the electric cover 6 is opened to expose the laser distance measuring module for distance detection. When the water inlet is finished and the washing program (cleaning or rinsing process) is entered, the controller controls the electronic cover to close to prevent the foam generated by washing from affecting the distance measurement. In the present invention, the "exposed" means that the electric cover 6 is set below the laser distance measuring module (toward the side of the washing tub) to block the emission hole. When water is in, the electric cover 6 pivots or slides to leave the emission hole position. The emission hole is unobstructed, and the laser can be emitted into the washing tub and the reflected laser can be received to perform distance detection.

[0055] like Figure 4 As shown, in this embodiment, the washing machine is also provided with a lighting lamp 4. After the program is started, the lighting lamp 4 is turned on to illuminate the inside of the washing tub, so that the user can observe the water inflow and washing conditions in real time. The lighting lamp 4 can be set on the balance ring or the door body. Preferably, as shown in FIG. Figure 2 As shown, the lighting lamp 4 is integrated with the laser ranging module 3 to form a ranging lighting module, which is sealed and fixed to the bottom of the door body using silicone. The lighting lamp 4 includes a plurality of LED lamp beads, which are evenly distributed in the silicone to provide necessary lighting for the washing tub. The LED lamp beads are cold light sources and do not generate much heat.

[0056] When an electric cover 6 is provided, since the electric cover 6 will block the laser ranging module 3 during the washing process, the lighting lamp 4 is provided on the outer side of the electric cover 6. During the washing process, the electric cover 6 is closed, and the lighting lamp 4 faces the washing tub to illuminate the washing tub.

[0057] In order to achieve accurate control of water inlet, the present invention further provides a control method for a pulsator washing machine, which can achieve accurate water inlet control without the need to set a camera or an image acquisition device, or pre-set the water consumption according to the weight of the clothes. The control method includes the following two embodiments:

[0058] Embodiment 1

[0059] The control method provided in this embodiment includes the following steps:

[0060] S1, put in clothes, select washing program and start, the controller receives the command and determines the washing program.

[0061] 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 this embodiment, the washing program includes but is not limited to the entire washing process, any washing link in the washing and rinsing process that requires controlling the water intake, and the washing program is started by a predetermined program or by pressing a start button.

[0062] The controller has a pre-stored automatic water inlet control program. There is no need to select the amount of water according to the weight of the clothes. Instead, the water inlet is automatically controlled. During the water inlet process, the water inlet process and the final water inlet amount are controlled according to the flatness of the load surface detected during the water inlet process.

[0063] S2, the controller controls the water inlet valve to let water into the washing chamber.

[0064] When a washing program is selected and the door is closed, the controller controls the lighting lamp 4 to turn on so that the user can observe the status in the washing tub at any time.

[0065] In this embodiment, this step includes:

[0066] S21, obtain the initial flatness △1 of the load surface:

[0067] After the washing program is selected and started, the controller controls the pulsator and the washing tub to move relative to each other, wherein the rotation speeds of the pulsator and the washing tub are both at a first rate, or the pulsator rotates at the first rate and the washing tub rotates at a rate less than the first rate; or only the pulsator is controlled to rotate at the first rate. The rotation of the pulsator and the washing tub stirs the clothes in the washing tub to make a small turn.

[0068] During the process of the pulsator stirring the clothes to turn over, the rotation speed of the pulsator is controlled to be a first rate, which is lower than the rotation speed of the pulsator or the washing tub during the spin-drying process.

[0069] Furthermore, the principle for determining the first rate is: in the process of driving the clothes to rotate, basically no centrifugal force is generated or the centrifugal force generated is relatively small, and the clothes will not move toward the wall of the washing tub under the action of centrifugal force and stick to the wall of the washing tub, resulting in a situation where the height of the clothes in the center is low or even no clothes, and the clothes are close to or piled up on the wall of the washing tub, that is, the clothes at the edge are high; at the first rate, the impeller can stir the clothes and turn them slightly, and spread them out as much as possible at the bottom of the washing tub, and the top surface of the piled clothes is relatively flat, to avoid the clothes being stacked and supported on each other after being thrown in at random, and the local position of the clothes being high when the clothes are thicker and harder, which affects the measurement of the initial distance between the clothes and the laser ranging module when no water is infiltrated, thereby affecting the subsequent precise control of water inlet.

[0070] After the pulsator rotates or the pulsator and the washing tub rotate relative to each other for a predetermined time to turn the clothes over, it is considered that the situation where the piled clothes are locally too high has been eliminated and the top surface of the clothes has become basically flat. The pulsator is controlled to rotate continuously at a second speed and drive the clothes to rotate synchronously. At this time, the laser ranging module detects the height of the clothes at the bottom of the washing tub.

[0071] The principle for determining the second rate is: basically no centrifugal force is generated during the rotation process or the centrifugal force generated will not cause the clothes to be washed to rotate centripetally and stick to the inner wall of the washing tub, and the second rate is ≤ the first rate; further, at the second rate, the impeller drives the clothes to rotate but does not stir the clothes to continue turning over, thereby avoiding changes in the flatness of the top surface of the clothes during the measurement process and affecting the measurement results.

[0072] During the detection process, the impeller drives the clothes to rotate at least one circle. During the rotation process, the distance sensor 3 operates multiple times to obtain detection data at multiple different positions (detection points). In order to obtain the flatness of the top surface of the clothes in the washing tub, it is recommended that the laser distance measurement module is set on the bottom surface of the door body. Preferably, the laser beam emitted by the laser distance measurement module is projected at 1 / 3 to 2 / 3 of any radius of the bottom of the washing tub. The best is to correspond to the landing point in the washing tub when the water inlet device fills the washing tub with water, so that when the real-time flatness is detected later, the surface of the wet clothes can be directly detected, making the detection result more real and accurate.

[0073] The impeller drives the clothes to rotate at least one circle, and the distance sensor 3 operates at a fixed time according to a predetermined program, and the detection points formed on the washing tub form a circle, and the detection points are evenly distributed on the circumference.

[0074] There are multiple laser distance measurement modules, or the laser distance measurement module includes multiple transmitting units 1 and receiving units 2, which are evenly distributed on the bottom surface of the door body. The laser beam emitted by each transmitting unit 1 is projected on the bottom of the washing tub, so as to detect the height of the load at multiple points. The impeller drives the clothes to rotate at least one circle, and multiple detection points form multiple circles, so as to more comprehensively detect the overall height of the load.

[0075] Since the clothes will slightly turn over during the detection process, the height of the clothes at the same detection point may change after one rotation. Preferably, in this embodiment, the impeller drives the clothes to rotate three times during the detection process to obtain sufficient measurement data. In actual applications, the number of times the impeller drives the clothes to rotate can be set as needed, at least one rotation.

[0076] By controlling the second rate and the action interval of the distance sensor 3, when the impeller drives the clothes to rotate for multiple cycles, the detection points in each cycle of detection do not overlap, further increasing the detection data and avoiding repeated detection.

[0077] In the present invention, the flatness of the load surface is represented by the variance calculated from all the test data. The height of the load is calculated using all the test data obtained, and the height of the load at each test point is subjected to variance calculation to obtain the flatness of the load surface described in the present invention, which is recorded as the initial flatness △1. The calculation of the variance is a conventional method, and no requirements or restrictions are imposed, and it is not described in detail in this embodiment.

[0078] Furthermore, the initial flatness △1 can be calculated every time the impeller drives the clothes to rotate one circle. After the impeller drives the clothes to rotate three circles, the weighted average of the three initial flatness △1 obtained is taken as the final initial flatness △1 calculated this time.

[0079] S22, after obtaining the initial flatness △1, the controller controls the water inlet valve to open, preparing to let water into the washing tub.

[0080] S3, detecting the real-time flatness △ of the load surface during water inflow. When the detected real-time flatness △ is less than or equal to a preset value, it is considered that the water inflow meets the washing needs, and the water inflow is stopped.

[0081] A flatness threshold △2, i.e., a preset value, is provided in the controller and / or the water inlet control module (hereinafter referred to as the controller). During the water inlet process, the distance sensor 3 detects the distance between the load surface and the distance sensor to obtain the load height, and as described above, obtains the variance of the load height of all detection points, i.e., the surface flatness described in the present invention. The obtained real-time flatness △ is compared with the preset value to control the water inlet.

[0082] As mentioned above, in this embodiment, the laser ranging module is provided with an electric cover 6, so this step also includes step S30:

[0083] S30, after receiving the washing instruction, the controller controls the water inlet valve to let water in and at the same time controls the electric cover 6 to open, so that the laser distance measurement module is exposed and the distance detection can be performed.

[0084] Specifically, the water inlet control process includes the following steps:

[0085] S31, the controller controls the water inlet valve to let water in.

[0086] When the actual initial flatness △1 is obtained in step S2, the controller controls the impeller to drive the clothes to rotate at the second rate. After obtaining the actual initial flatness △1, the controller controls the water inlet valve to open and start water intake, and at the same time controls the speed of the impeller to the third rate. During the water intake process, the impeller is controlled to continue to drive the clothes to rotate at the third rate, so that the clothes in the washing tub are wetted relatively evenly.

[0087] The principle for determining the third speed is: during the rotation process, basically no centrifugal force is generated or the centrifugal force generated will not make the clothes rotate centripetally and stick to the inner wall of the washing tub. Furthermore, at the third speed, the impeller drives the clothes to rotate, but does not stir the clothes to continue to flip, so as to avoid changes in the flatness of the top surface of the clothes and affect the measurement results. And the third speed ≤ the first speed, or the third speed ≤ the second speed. To simplify the procedure, the first speed, the second speed, and the third speed can also be equal, or the second speed and the third speed are equal but less than or equal to the first speed.

[0088] The impeller drives the clothes to rotate. As the water intake time continues, the clothes in the washing tub will drop and then rise in different areas (before and after water intake). In order to avoid excessive flatness of the load surface due to the difference in water intake time, that is, excessive variance, in this embodiment, within n seconds of water intake, the impeller only drives the clothes to rotate, so that different positions of the clothes to be washed are respectively soaked, but the distance sensor 3 does not work.

[0089] During the n seconds of water intake, the impeller drives the clothes to rotate at least one circle, and the water drop points form a circle in the washing tub, so that the clothes in the washing tub receive the same amount of water and are evenly soaked. Without considering the different water absorption rates of the materials of the clothes to be washed, in theory, the height change of the load surface in the washing tub should be consistent.

[0090] S32, obtain real-time flatness △:

[0091] In this embodiment, after water enters for n seconds, the controller stops water entry, and the impeller drives the clothes to continue rotating at the third rate. At the same time, the distance sensor 3 operates according to a predetermined program to detect and obtain the load height, and then calculates the variance of the load height, that is, the real-time flatness △. The specific detection and calculation methods are the same as those for obtaining the initial flatness △1, except that the rotation speed of the impeller is different.

[0092] When detecting the real-time flatness △, the controller controls the water inlet valve to stop the water inlet, but controls the impeller to continue to drive the clothes to rotate at the third rate to obtain detection data of multiple load heights, and calculates the obtained data to obtain the real-time flatness △.

[0093] When calculating the real-time flatness △, the impeller is controlled to drive the clothes to rotate at least one time. In this embodiment, the impeller drives the clothes to rotate three times. During the rotation, the distance sensor 3 detects the load height according to a predetermined program. After three rotations, all the obtained data are subjected to variance calculation to obtain the real-time flatness △. Furthermore, the real-time flatness △ can be calculated once after the impeller drives the clothes to rotate one time. After the impeller drives the clothes to rotate three times, the weighted average of the three real-time flatness △ obtained is taken as the final real-time flatness △ calculated this time.

[0094] S33, compare the obtained real-time flatness △ with the preset value, that is, the flatness threshold △2 pre-stored in the controller. When the real-time flatness △ is less than or equal to the preset value, that is, the real-time flatness is less than or equal to the flatness threshold △2, it is determined that the water intake meets the washing needs, and the water intake is stopped; if the real-time flatness △ is greater than the preset value, it is determined that the water intake does not meet the washing needs, and water intake needs to continue, and steps S311 and S312 are repeated until the real-time flatness meets the requirements.

[0095] It should be noted that as water continues to flow in, the clothes are soaked, the mixture of clothes and water will tend to be flat, the water surface rises, and the variance gradually decreases until the water completely covers the clothes. Without considering the special situation that the clothes are too light and float on the water surface, the horizontal plane is flat, and the distance value of the light reflected back from each point on the horizontal plane is equal, that is, the height of each point detected is basically the same, and the variance (flatness) calculated by the detection data reaches the minimum and approaches zero. However, since the water inflow has an impact on the water surface in the washing tub during the water inflow process, the variance will not be zero. Therefore, based on a large number of experimental results, the data of the load surface flatness after meeting the washing requirements is selected, and the flatness threshold △2 is set. The real-time flatness △ detected in real time is compared with the flatness threshold △2 to determine whether the water inflow meets the washing requirements.

[0096] In this embodiment, the flatness threshold △2=a*△1, a is a control coefficient, a positive number. The control coefficient a can be preset as a fixed value, and can be set within the range of 0.1 to 0.3. For example, a=0.2 can be set, that is, a=1 / 5. When the real-time flatness △2 obtained in step S32 is ≤1 / 5*△1, it is determined that the water inflow can meet the washing needs, and the water inflow is controlled to stop.

[0097] The control coefficient a can also be adjusted according to the weight of the clothes to be washed. The heavier the clothes to be washed, the larger the control coefficient a. A correspondence table between the weight range of the clothes to be washed and the control coefficient a is pre-stored in the controller. After the clothes to be washed are put into the washing tub, the washing tub obtains the weight of the clothes in a conventional manner, thereby determining the control coefficient a required for this washing.

[0098] When the detected real-time flatness △ is less than or equal to the preset flatness threshold △2, the water supply is stopped and the washing program starts.

[0099] In this embodiment, after the controller receives the washing program and the door is closed, the lighting lamp 4 is turned on so that the situation in the washing tub can be observed at any time. During the water intake process, especially during the laser ranging module detecting the flatness, the lighting lamp 4 is controlled to be turned off to prevent the light emitted by the lighting lamp 4 from affecting the data collection of the receiving unit 2, thereby affecting the precise control of the water intake.

[0100] Through experimental tests on light intensity and light reflectivity on the load and test data, it is shown that when the light intensity exceeds 1k Lux, the measurement range of the laser ranging module will be affected. When the light intensity exceeds 5k Lux, the measurement range of the laser ranging module will be greatly affected, and it is impossible to use any of the methods described above to accurately control water inflow. To this end, before and during water inflow, it is necessary to effectively control the working state of the lighting lamp 4 to achieve that when the laser ranging module is in the working state, that is, when detecting the load height (the distance between the load and the laser ranging sensor), the lighting lamp 4 is controlled to be turned off and the lighting is stopped to avoid affecting the data collection of the laser ranging module. Specifically:

[0101] like Figure 4 As shown, in this embodiment, after the washing machine is powered on, the user selects a washing program and starts it, and the controller detects the progress of the program in real time to detect whether it is in the water filling stage. For example, the controller is set to detect whether it is in the water filling stage every predetermined time, such as once every 200ms. The controller 5 controls the working state of the laser ranging module and the lighting lamp 4 according to the received information:

[0102] If it is detected that the current washing process is not in the water inlet stage, the controller 5 controls the lighting lamp 4 to be in a working state to illuminate the washing tub, and the laser ranging module is in a non-working state;

[0103] If it is detected that the current washing process is in the water intake stage, the controller 5 controls the lighting 4 to be turned off, stops lighting, and the laser ranging module enters the working state to prevent the light of the lighting lamp 4 from affecting the ranging accuracy.

[0104] It should be noted that the laser ranging module will only enter the working state when the washing machine is in the water filling stage, so as to judge the reasonable water filling amount in the water filling stage, and control the lighting lamp 4 to stop lighting during the operation of the laser ranging module. The lighting lamp 4 will only be turned on during the working interval of the laser ranging module; to avoid frequent opening and closing of the lighting lamp 4, during the water filling process, the lighting lamp 4 can be controlled to be turned on once every predetermined time, and turned on during the interval between two adjacent laser ranging measurements. For example, after the laser ranging module works n times, the lighting lamp 4 is turned on once during the nth and n+1th working times of the laser ranging module, and this cycle is repeated. After the laser ranging module works n times, the lighting lamp 4 is turned on once during the working interval so that the user can observe the water filling status.

[0105] The transmitting unit 1 of the laser ranging module emits laser at a certain interval. The laser emission interval 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. Furthermore, 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, the water surface is dynamic due to the rotation of the impeller and / or the washing tub during the water intake process. The reflection of the laser on the dynamic water surface cannot guarantee complete mirror reflection and reflection angle. The diffusely reflected laser may be reflected onto the washing tub and reflected again or multiple times by the washing tub 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 regarded as invalid signals.

[0106] Embodiment 2:

[0107] The control method provided in this embodiment is basically the same as that in the first embodiment, except that the initial flatness △ is not obtained in step S. Specifically:

[0108] S1, the controller receives an instruction to determine a washing program.

[0109] 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 this embodiment, the washing program includes but is not limited to the entire washing process, any washing link in the washing and rinsing process that requires controlling the water intake, and the washing program is started by a predetermined program or by pressing a start button.

[0110] The controller has a pre-stored automatic water inlet control program. There is no need to select the amount of water according to the weight of the clothes. Instead, the water inlet is automatically controlled. During the water inlet process, the water inlet process and the final water inlet amount are controlled according to the flatness of the load surface detected during the water inlet process.

[0111] As mentioned above, in this embodiment, the laser ranging module is provided with an electric cover 6, so this step also includes step S11:

[0112] S11, after receiving the washing instruction, the controller controls the water inlet valve to let water in and at the same time controls the electric cover 6 to open, so that the laser distance measurement module is exposed and the distance detection can be performed.

[0113] S2, after the electric cover 6 is opened or while the electric cover 6 is opened, the controller controls the water inlet valve to let water into the washing chamber.

[0114] In this embodiment, this step includes:

[0115] S21, adjusting the flatness of the surface of the laundry to be cleaned:

[0116] After the washing program is selected and started, the controller controls the pulsator and the washing tub to move relative to each other, wherein the rotation speeds of the pulsator and the washing tub are both at a first rate, or the pulsator rotates at the first rate and the washing tub rotates at a rate less than the first rate; or only the pulsator is controlled to rotate at the first rate and the washing tub does not move. Through this rotation method, the clothes in the washing tub are stirred to turn over slightly.

[0117] During the process of the impeller stirring the clothes to turn over, the impeller is controlled to rotate at a first rate, which is less than the rotation rate of the impeller or the washing tub during the spin drying process. Furthermore, the first rate is determined according to the principle that in the process of driving the clothes to rotate, basically no centrifugal force is generated or the centrifugal force generated is relatively small, and the clothes will not move toward the wall of the washing tub under the action of centrifugal force and thus stick to the wall of the washing tub, resulting in a low height of the clothes in the center or even no clothes, and the clothes stick to or pile up on the wall of the washing tub; but at the first rate, the impeller can stir the clothes to turn over slightly, spread out as much as possible at the bottom of the washing tub, and the top surface of the piled clothes is relatively flat, so as to avoid the clothes from being piled up and supported on each other after being thrown in at random, and the clothes being high in some places when the clothes are thicker and harder, which affects the determination of the initial distance between the clothes and the laser ranging module when no water enters, thereby affecting the subsequent precise control of water inflow.

[0118] After the pulsator rotates or the pulsator and the washing tub rotate relative to each other for a predetermined time, it is considered that the situation where the accumulated clothes are locally too high has been eliminated and the top surface of the clothes has become basically flat.

[0119] S22, after the top surface of the clothes is basically flat, the controller controls the water inlet valve to open and prepare to let water into the washing tub.

[0120] S3, detecting the real-time flatness △ of the load surface during water inflow. When the detected real-time flatness △ is less than or equal to a preset value, it is considered that the water inflow meets the washing needs, and the water inflow is stopped.

[0121] The laser ranging module is arranged on the bottom surface of the door body. Preferably, the laser beam emitted by the laser ranging module is projected at 1 / 3 to 2 / 3 of any radius of the bottom of the washing tub, corresponding to the point where the water inlet device fills the washing tub with water, so that the surface of the soaked clothes can be directly detected when the real-time flatness is subsequently detected, making the detection result more real and accurate. Or the laser ranging module includes a plurality of transmitting units 1 and receiving units 2, which are evenly distributed on the bottom surface of the door body, and the laser beam emitted by each transmitting unit 1 is projected on the bottom of the washing tub, thereby detecting the height of the load.

[0122] Furthermore, the laser ranging module may include multiple groups of transmitting units 1 and receiving units 2, each group of transmitting units 1 and receiving units 2 are evenly arranged on the door body, and the laser light beams emitted by each group of transmitting units 1 can be connected into a radius of the washing tub at the bottom of the washing tub, or can be connected into multiple parallel straight lines, and the distances between each detection point and the center point of the washing tub are different, or can be connected into multiple non-overlapping radii, and the distances between each detection point and the center point of the washing tub are different.

[0123] The controller and / or the water inlet control module is provided with a flatness threshold △2, i.e., a preset value. During the water inlet process, the distance sensor 3 detects the distance between the load surface and the distance sensor, thereby obtaining the load height, and as described above, obtains the variance of the load height at all detection points, i.e., the surface flatness described in the present invention. Specifically, the following steps are included:

[0124] S31, the controller controls the water inlet valve to let water in.

[0125] The specific control method is the same as that in the first embodiment and will not be described in detail.

[0126] S32, obtain real-time flatness △:

[0127] The specific control method is the same as that in the first embodiment and will not be described in detail.

[0128] S33, compare the obtained real-time flatness △ with the preset value, that is, the flatness threshold △2 pre-stored in the controller. When the real-time flatness △ is less than or equal to the preset value, that is, the real-time flatness is less than or equal to the flatness threshold △2, it is determined that the water intake meets the washing needs, and the water intake is stopped; if the real-time flatness △ is greater than the preset value, it is determined that the water intake does not meet the washing needs, and water intake needs to continue, and steps S311 and S312 are repeated until the real-time flatness meets the requirements.

[0129] Similarly, the working states of the laser distance measuring module and the lighting lamp 4 during the water inflow process are opposite. When the laser distance measuring module is working, the lighting lamp 4 does not illuminate.

[0130] It should be noted that as water continues to flow in, the clothes are soaked, the mixture of clothes and water will tend to be flat, the water surface rises, and the variance gradually decreases until the water completely covers the clothes. Without considering the special situation that the clothes are too light and float on the water surface, the horizontal plane is flat, and the distance value of the light reflected back from each point on the horizontal plane is equal, that is, the height of each point detected is basically the same, and the variance (flatness) calculated by the detection data reaches the minimum and approaches zero. However, since the water inflow has an impact on the water surface in the washing tub during the water inflow process, the variance will not be zero. Therefore, based on a large number of experimental results, the data of the load surface flatness after meeting the washing requirements is selected, and the flatness threshold △2 is set. The real-time flatness △ detected in real time is compared with the flatness threshold △2 to determine whether the water inflow meets the washing requirements.

[0131] In this embodiment, the flatness threshold △2 is a fixed value, and this fixed value is related to the weight of the clothes. Different weights of clothes have different flatness thresholds △2. A corresponding table of clothing weight intervals and flatness thresholds △2 is preset in the controller. After the clothes to be washed are put into the washing tub, the washing tub obtains the weight of the clothes in a conventional manner, thereby determining the flatness threshold △2 required for this washing.

[0132] When the detected real-time flatness △ is less than or equal to the preset flatness threshold △2, the water supply is stopped and the washing program starts.

[0133] Embodiment 3

[0134] The control method of embodiment 1 or embodiment 2 is adopted, with the difference that a sprayer is provided at the end of the water inlet valve to evenly spray washing water into the washing tub. In step S31, when water is introduced into the washing tub, there is no need to control the impeller to drive the clothes to rotate at the third speed to achieve uniform water absorption and comprehensive immersion of the clothes. This method can reduce power consumption and increase the life of the motor.

[0135] After n seconds of water intake, stop water intake, as described in Example 1 or Example 2, enter step S32, control the impeller to drive the clothes to rotate at a third rate, and calculate the load height and real-time flatness △, and finally enter step S33 to achieve precise control of water intake.

[0136] In the present invention, a pulsator washing machine is taken as an example to introduce the control method provided by the present invention. It should be noted that the control method provided by the present invention is also applicable to other types of washing machines. According to the type of washing machine and the difference from the pulsator washing machine, the setting position of the distance sensor 3 is changed so that the distance sensor 3 can detect the load height inside the washing tub as described above. The above description should not be regarded as a limitation to the present invention.

[0137] The present invention further provides a washing machine, including but not limited to the pulsator washing machine described above, adopting the control method of the washing machine described above, including a distance sensor 3. As described above, the detection point of the distance sensor 3 on the washing tub is located at 1 / 3 to 2 / 3 of any radius of the bottom of the washing tub, or the distance sensor 3 forms multiple detection points at the bottom of the washing tub, and the multiple detection points are on the same straight line, such as on a radius of the washing tub, or the lines connecting the multiple detection points form multiple parallel straight lines.

[0138] Specifically, the distance measuring sensor 3 can be a laser distance measuring module, which can include multiple groups of transmitting units 1 and receiving units 2. Each group of transmitting units 1 and receiving units 2 are evenly arranged on the door body. The laser light beams emitted by each group of transmitting units 1 can be connected into a radius of the washing tub at the bottom of the washing tub, or can be connected into multiple parallel straight lines, and the distances between each detection point and the center point of the washing tub are different, or can be connected into multiple non-overlapping radii, and the distances between each detection point and the center point of the washing tub are different.

[0139] An electric cover 6 is provided at the laser ranging module. The electric cover 6 is directly assembled and connected to the door body or assembled and connected to the door body through a protective frame. The specific connection and assembly method is as described above.

[0140] A lighting lamp 4 is provided on the side of the electric cover 6 facing the washing tub.

[0141] In summary, the control method and washing machine provided by the present invention have the following beneficial effects compared with the prior art:

[0142] 1. No changes are needed to the existing products. The control method of the present invention can be completed by adding a distance measuring sensor and changing the control program in the controller.

[0143] 2. Stirring the clothes before water intake can make the top of the clothes as flat as possible and distribute the clothes as evenly as possible to avoid the situation where some clothes are locally high, which will affect the variance calculation results in the later stage and thus affect the water intake control;

[0144] 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;

[0145] 4. When the calculated variance is small, it means that the surface variance of the load (clothing, water surface) is small. When the water intake reaches the washing requirement, the water surface usually overflows the clothing and is relatively stable. In this way, the water intake can be effectively controlled.

[0146] 5. An electric cover 6 is provided at the laser ranging module to prevent the foam during washing from adhering to the laser ranging module, especially adhering to or clogging the transmitting hole, which may affect the accuracy of the ranging data;

[0147] 6. When testing flatness, turn off the lighting to avoid the influence of the lighting on the distance measurement and improve the accuracy of the distance measurement data.

[0148] 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 a washing machine, characterized in that: A distance sensor and an electric cover are arranged at the door of the washing machine; The controller controls the water inlet valve to open the electric cover before or while water is flowing into the washing chamber according to the washing program, so that the distance measuring sensor is exposed; The distance measuring sensor detects the real-time flatness △ of the load surface during the water intake process. When the detected real-time flatness △ is less than or equal to the preset value, it is considered that the water intake meets the washing needs, and the water intake is controlled to stop.

2. A method for controlling a washing machine as claimed in claim 1, characterized in that: Before water intake, the pulsator is controlled to rotate at a first speed or the washing tub and the pulsator are controlled to rotate relative to each other to agitate the clothes, and water intake begins after a predetermined time.

3. A method for controlling a washing machine according to claim 1, characterized in that: There are multiple distance measuring sensors, which respectively detect the load heights at different positions in the washing tub, or the distance measuring sensors can simultaneously detect the heights of different positions of the load, and the surface flatness is the variance obtained by calculating multiple detection data.

4. A method for controlling a washing machine according to any one of claims 1 to 3, characterized in that: Before water intake, the impeller is controlled to rotate at a first rate or the washing tub and the impeller are controlled to rotate relative to each other to agitate the clothes. After agitating the clothes for a predetermined time, the washing tub and / or the impeller are controlled to rotate at a second rate to drive the clothes to rotate while detecting and obtaining the initial flatness △1 of the surface of the clothes. Then, the controller controls the water inlet valve to start water intake.

5. A method for controlling a washing machine as claimed in claim 4, characterized in that: When detecting the initial flatness △1, the washing tub and / or the pulsator drives the clothes to rotate at least one circle.

6. A method for controlling a washing machine as claimed in claim 4, characterized in that: During the water intake process, the water intake is stopped after every n seconds, the washing tub and / or the pulsator drives the clothes to rotate at a third rate, and the real-time flatness △ of the load surface is detected at the same time, and the process of water intake and detecting the real-time flatness △ after stopping the water intake is repeated until the detected real-time flatness is less than or equal to the preset value, and the water intake and the detection of the real-time flatness △ are stopped; or during the water intake process, the washing tub and / or the pulsator drives the clothes to rotate at a third rate, and the water intake is stopped after n seconds, the washing tub and / or the pulsator continues to drive the clothes to rotate at the third rate, and the real-time flatness △ of the load surface is detected at the same time, and the process of water intake and detection of the real-time flatness △ is repeated until the detected flatness is less than or equal to the preset value, and the water intake and the detection of the real-time flatness △ are stopped.

7. A method for controlling a washing machine as claimed in claim 6, characterized in that: When the real-time flatness △ is less than or equal to a*△1 or the real flatness △ is less than or equal to the flatness threshold △2 or the real-time flatness △ is less than or equal to a*△1 and the real flatness △ is less than or equal to the flatness threshold △2, the control stops water intake, and a is the control coefficient, a positive number.

8. A method for controlling a washing machine as claimed in claim 4, characterized in that: When detecting the initial flatness △1 of the surface of the clothes, the washing tub and / or the pulsator drives the clothes to rotate at least one revolution at a first speed.

9. A method for controlling a washing machine according to any one of claims 1 to 8, characterized in that: The washing machine further comprises a lighting lamp, which is turned on once during the interval between two adjacent distance measurements at a predetermined interval during the water intake process.

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

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