Eccentricity detection method and deviation correction method for washing machine

Abstract

The invention relates to the technical field of household appliances, and particularly provides a washing machine eccentricity detection method and a deviation correction method. The eccentricity detection method comprises the following steps: acquiring six-degree-of-freedom changes of two preset sites on a rotary drum of the washing machine in a rotation process; based on the six-degree-of-freedom change, the eccentricity of the two preset sites is obtained; and determining the eccentric state according to the difference between the two eccentricities. The eccentric state of the washing machine is judged according to the position changes of two different points, and control feedback is made according to the eccentric state.

Description

Technical Field

[0001] The invention relates to the technical field of household appliances, and specifically provides a washing machine eccentricity detection method and an eccentricity correction method. Background Art

[0002] During the use of the washing machine, the washing machine may vibrate violently. This is often due to the eccentricity of the washing machine. The harm of the eccentric vibration of the washing machine is related to the following aspects:

[0003] 1) When the washing machine vibrates eccentrically, the inner drum of the washing machine will hit the outer box, causing safety hazards;

[0004] 2) Noise is generated by vibration. Washing machines with greater vibration will produce higher noise.

[0005] 3) Eccentric vibration creates imbalance, causing the washing machine to repeatedly take in water for balance adjustment, resulting in a waste of electricity and water resources.

[0006] Most of the existing technical conditions determine whether eccentricity occurs by the operation of the motor, such as the current and speed changes. However, there are too many factors affecting the state changes of the motor, such as the current and speed, which will cause inaccurate judgment. Therefore, it is necessary to develop a more accurate washing machine eccentricity detection method and correction method. Summary of the invention

[0007] In order to overcome the above defects, the present invention provides a washing machine eccentricity detection method and a correction method, which can timely and accurately determine the eccentricity of the washing machine and correct the deviation.

[0008] In a first aspect, the present invention provides a method for detecting eccentricity of a washing machine, comprising:

[0009] Obtain the six-degree-of-freedom changes of two preset positions on the washing machine drum during rotation;

[0010] Based on the six-degree-of-freedom changes, respectively obtain the eccentricity of the two preset positions;

[0011] The eccentricity state is determined based on the difference between the two eccentricities.

[0012] Furthermore, obtaining the six-degree-of-freedom changes of two preset positions on the washing machine drum during the rotation process includes:

[0013] The six-degree-of-freedom change is obtained by measuring with six-degree-of-freedom sensors arranged at the two preset positions; or

[0014] The six-degree-of-freedom change of one of the two preset locations is measured based on a six-degree-of-freedom sensor disposed at the preset location, and the six-degree-of-freedom change of the other preset location of the two preset locations is calculated based on the six-degree-of-freedom change of the preset location; or

[0015] Based on the six-degree-of-freedom changes of the positions other than the two preset positions measured by the six-degree-of-freedom sensors arranged at the positions other than the two preset positions on the rotating drum, the six-degree-of-freedom changes of the two preset positions are calculated.

[0016] Further, the calculating of the six-degree-of-freedom change of another preset position of the two preset positions includes:

[0017] The product of the angle change vector and the distance vector is calculated and added to the six-degree-of-freedom displacement change vector of the preset position measured by the six-degree-of-freedom sensor.

[0018] Wherein, the angle change vector includes the six-degree-of-freedom angle change vector of the preset position measured by the six-degree-of-freedom sensor;

[0019] The distance vector includes a relative position vector between two preset locations;

[0020] Alternatively, the calculating of the six-degree-of-freedom changes of the two preset positions includes:

[0021] Calculate respectively the product of the angle change vector and the distance vector of each preset position and the sum of the six-degree-of-freedom displacement change vectors of positions other than the two preset positions measured by the six-degree-of-freedom sensor;

[0022] Wherein, the angle change vector includes a six-degree-of-freedom angle change vector of a position other than the two preset positions measured by the six-degree-of-freedom sensor;

[0023] The distance vector includes a relative position vector between the six-degree-of-freedom sensor and a calculated preset location;

[0024] The relative position vector is obtained based on a pre-established geometric model, which pre-stores the three-dimensional coordinates of all preset positions on the washing machine drum.

[0025] Furthermore, any two preset positions on the washing machine drum are:

[0026] Any two preset positions along the rotation axis of the washing machine drum.

[0027] Further, the eccentricity of the two preset positions is obtained based on the six-degree-of-freedom change, respectively, including:

[0028] Based on the six-degree-of-freedom changes, the eccentricity of the two preset positions perpendicular to the direction of the rotating drum axis is respectively obtained.

[0029] Further, determining the eccentric state according to the difference between the two eccentric amounts includes:

[0030] Determine whether the ratio of the two eccentricities is greater than a preset first threshold or less than a preset second threshold;

[0031] If the ratio is greater than a preset first threshold or less than a preset second threshold, it is determined to be eccentric.

[0032] In a second aspect, the present invention provides a washing machine deviation correction method, comprising:

[0033] Determining the eccentricity state of the washing machine according to the washing machine eccentricity detection method;

[0034] If the washing machine is eccentric, correction control is performed.

[0035] In a third aspect, a control device is provided, which includes a processor and a storage device, wherein the storage device is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the washing machine eccentricity detection method described in any one of the technical solutions of the above-mentioned washing machine eccentricity detection method or the washing machine correction method described in any one of the technical solutions of the above-mentioned washing machine correction method.

[0036] In a fourth aspect, a washing machine eccentricity detection system is provided, comprising:

[0037] A six-degree-of-freedom sensor for acquiring a six-degree-of-freedom change of at least one preset position of a washing machine drum;

[0038] According to the control device.

[0039] In a fifth aspect, a computer-readable storage medium is provided, which stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the washing machine eccentricity detection method described in any one of the technical solutions of the above-mentioned washing machine eccentricity detection method or to execute the washing machine eccentricity correction method described in any one of the technical solutions of the above-mentioned washing machine eccentricity correction method.

[0040] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0041] The present invention adopts a six-degree-of-freedom sensor to provide real-time feedback on the six-degree-of-freedom changes of the sensor, and can also determine the position change of any point on the rotating drum based on vector calculation. The eccentric state of the washing machine can be determined by the position change of two different points, and control feedback can be made according to the eccentric state.

[0042] Since the preset positions can be selected arbitrarily, the present invention can obtain the position status of various locations of the drum, so that the eccentricity state of the washing machine can be effectively and accurately determined, and timely feedback control can be made, thereby effectively improving the performance and experience of the washing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:

[0044] Figure 1 is a schematic diagram of the main steps according to an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of a drum washing machine when being balanced according to an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of a drum washing machine according to an embodiment of the present invention when the rear is eccentric;

[0047] Figure 4 is a schematic diagram of a drum washing machine when the front is eccentric according to an embodiment of the present invention;

[0048] Figure 5 is a schematic diagram of a pulsator washing machine when it is balanced according to an embodiment of the present invention;

[0049] Figure 6 2 is a schematic diagram of a pulsator washing machine when it is eccentric according to an embodiment of the present invention.

[0050] Figure 7 Schematic diagram of a washing machine eccentricity detection system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0052] In the description of the present invention, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as program codes, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-temporary computer-readable storage media include any suitable medium that can store program codes, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B", and may include only A, only B, or A and B. The singular terms "one" and "the" may also include plural forms.

[0053] Reference Figure 1 The present invention provides a method for detecting eccentricity of a washing machine, comprising:

[0054] S1, obtaining the six-degree-of-freedom changes of two preset positions on the washing machine drum, denoted as A and B, during the rotation process;

[0055] A geometric model of the washing machine drum is pre-established, wherein the geometric model pre-stores the three-dimensional coordinates of all preset positions on the washing machine drum.

[0056] S2, respectively obtaining the eccentricity of the two preset positions based on the six-degree-of-freedom changes.

[0057] S3, determining the eccentricity state according to the difference between the two eccentricities.

[0058] In one embodiment, the six-degree-of-freedom change is measured by a six-degree-of-freedom sensor disposed at the two preset locations.

[0059] An object has six degrees of freedom in space, namely the freedom of movement along the three rectangular coordinate axes x, y, and z and the freedom of rotation around these three coordinate axes. The six degrees of freedom are commonly recorded as x, y, z, α, β, and γ.

[0060] The six-degree-of-freedom sensor can acquire the six degrees of freedom of an object, including three degrees of freedom of rotation or three degrees of freedom of translation.

[0061] In this embodiment, each six-degree-of-freedom sensor is used to measure the six-degree-of-freedom changes of the corresponding preset positions, and the six-degree-of-freedom changes include the changes in the movement degrees of freedom in the directions of the three rectangular coordinate axes x, y, and z and the changes in the rotation degrees of freedom around these three coordinate axes.

[0062] The six-degree-of-freedom sensor can display the six degrees of freedom of its preset location in real time, and the corresponding six-degree-of-freedom values ​​can be obtained through the six-degree-of-freedom sensor indications.

[0063] By obtaining different six-degree-of-freedom measurement values ​​of the six-degree-of-freedom sensor during the rotation of the drum, the change of the six-degree-of-freedom can be known.

[0064] This embodiment requires pre-installation of two six-degree-of-freedom sensors on the washing machine drum, one six-degree-of-freedom sensor at preset position A and one six-degree-of-freedom sensor at preset position B. Based on the principle of convenient installation, preferably, the six-degree-of-freedom sensors are installed on the surface directly above the drum.

[0065] In one embodiment, because adding a six-degree-of-freedom sensor will increase the difficulty of installation and also require adding additional connection interfaces, which will increase costs, only one six-degree-of-freedom sensor may be installed to obtain the six-degree-of-freedom changes of other preset locations through calculation.

[0066] The washing machine drum can be approximated as a rigid body. Any point on the washing machine drum has six degrees of freedom, three displacement degrees of freedom Dx, Dy, Dz, and three angular displacement degrees of freedom φ YY ,φ XX ,φ ZZ , then any distance on it is a six-degree-of-freedom sensor The degree of freedom of a point Dvp can be changed by the formula Therefore, this formula can obtain the position changes of each key point on the outer cylinder. In the formula, A six-degree-of-freedom sensor disposed at one of the two preset locations measures and obtains a six-degree-of-freedom displacement change vector of the preset location; is an angle change vector, that is, a six-degree-of-freedom angle change vector of the preset position measured by the six-degree-of-freedom sensor; is the relative position vector between the six-degree-of-freedom sensor and the other preset location, that is, the relative position vector between two preset locations.

[0067] The six-degree-of-freedom change of the preset site is measured based on the six-degree-of-freedom sensor set at one of the two preset sites, and the six-degree-of-freedom change of the other preset site of the two preset sites is calculated based on the six-degree-of-freedom change of the preset site. In one embodiment, a six-degree-of-freedom sensor can be installed at preset site A to measure the six-degree-of-freedom change of preset site A, and the six-degree-of-freedom change of preset site B is calculated based on the six-degree-of-freedom change of preset site A. In another embodiment, a six-degree-of-freedom sensor can be installed at preset site B to measure the six-degree-of-freedom change of preset site B, and the six-degree-of-freedom change of preset site A is calculated based on the six-degree-of-freedom change of preset site B.

[0068] The six-degree-of-freedom sensor is disposed at one of the two preset locations and is used to measure the six-degree-of-freedom changes of the preset location.

[0069] The six-degree-of-freedom change of another preset location is the sum of two vectors, where the two vectors are: (1) the product of the angle change vector and the distance vector; (2) the six-degree-of-freedom displacement change vector of the preset location measured by a six-degree-of-freedom sensor set at one of the two preset locations. As long as the sum of (1) and (2) can be calculated, the six-degree-of-freedom change of another preset location can be obtained.

[0070] (1) In:

[0071] The angle change vector includes a six-degree-of-freedom angle change vector of the preset position measured by a six-degree-of-freedom sensor.

[0072] The distance vector includes a relative position vector between the six-degree-of-freedom sensor and the other preset location, that is, a relative position vector between two preset locations.

[0073] The relative position vector is obtained based on a pre-established geometric model, which pre-stores the three-dimensional coordinates of all preset positions on the washing machine drum.

[0074] In one embodiment, based on the six-degree-of-freedom changes of a site outside the two preset sites (denoted as preset site A and preset site B) measured by a six-degree-of-freedom sensor set at a site (denoted as site C) outside the two preset sites on the rotating drum, the six-degree-of-freedom changes of the two preset sites are calculated.

[0075] The present invention can measure the six-degree-of-freedom change of any preset position on the rotating drum by a six-degree-of-freedom sensor. The six-degree-of-freedom change of the two preset positions obtained by calculation includes:

[0076] (1) calculating the product of the angle change vector of the preset position A and the distance vector and the sum of the six-degree-of-freedom displacement change vector of the position C measured by the six-degree-of-freedom sensor;

[0077] Wherein, the angle change vector includes the six-degree-of-freedom angle change vector of the C position measured by the six-degree-of-freedom sensor;

[0078] The distance vector includes a relative position vector between the C site and the A preset site;

[0079] The relative position vector is obtained based on a pre-established geometric model, in which the three-dimensional coordinates of all preset positions on the washing machine drum are pre-stored. The three-dimensional coordinates of AC are pre-stored in the geometric model.

[0080] The washing machine drum can be approximated as a rigid body. Any point on the washing machine drum has six degrees of freedom, three displacement degrees of freedom Dx, Dy, Dz, and three angular displacement degrees of freedom φ YY ,φ XX ,φ ZZ , then any distance on it is a six-degree-of-freedom sensor The degree of freedom of a point Dvp can be changed by the formula Therefore, this formula can obtain the position changes of each key point on the outer cylinder. In the formula, is a six-degree-of-freedom displacement change vector of a point C other than the two preset points measured by the six-degree-of-freedom sensor; is an angle change vector, that is, a six-degree-of-freedom angle change vector of a point C other than the two preset points measured by the six-degree-of-freedom sensor; The relative position vector of the six-degree-of-freedom sensor C and the preset position A.

[0081] (2) calculating the product of the angle change vector of the preset position B and the distance vector and the sum of the six-degree-of-freedom displacement change vector of the position C measured by the six-degree-of-freedom sensor, wherein the angle change vector includes the six-degree-of-freedom angle change vector of the position C measured by the six-degree-of-freedom sensor;

[0082] The distance vector includes a relative position vector between the C site and the B preset site;

[0083] The washing machine drum can be approximated as a rigid body. Any point on the washing machine drum has six degrees of freedom, three displacement degrees of freedom Dx, Dy, Dz, and three angular displacement degrees of freedom φ YY ,φ XX ,φ ZZ , then any distance on it is a six-degree-of-freedom sensor The degree of freedom of a point Dvp can be changed by the formula Therefore, this formula can obtain the position changes of each key point on the outer cylinder. In the formula, is a six-degree-of-freedom displacement change vector of a point C other than the two preset points measured by the six-degree-of-freedom sensor; is an angle change vector, that is, a six-degree-of-freedom angle change vector of a point C other than the two preset points measured by the six-degree-of-freedom sensor; The relative position vector of the C position and the B preset position of the six-degree-of-freedom sensor.

[0084] The relative position vector is obtained based on a pre-established geometric model, which pre-stores the three-dimensional coordinates of all preset positions on the washing machine drum.

[0085] In summary, the three-dimensional coordinates of ABC are pre-stored in the geometric model.

[0086] In one embodiment, any two preset positions on the washing machine drum are:

[0087] Any two preset positions along the rotation axis of the washing machine drum.

[0088] In one embodiment, for a drum washing machine, two preset positions are set in the horizontal direction along the horizontal rotation axis, and are respectively denoted as VP1 and VP3.

[0089] In one embodiment, for a pulsator washing machine, two preset positions are set in the vertical direction along the vertical rotation axis, and are respectively denoted as VP1 and VP3.

[0090] In one embodiment, obtaining the eccentricity of the two preset positions based on the six-degree-of-freedom change includes:

[0091] Based on the six-degree-of-freedom changes, the eccentricity of the two preset positions perpendicular to the direction of the rotating drum axis is respectively obtained.

[0092] In one embodiment, for a drum washing machine, the displacements of the two preset positions in the z direction are respectively obtained based on the six-degree-of-freedom changes.

[0093] In one embodiment, for a pulsator washing machine, the displacements of the two preset positions in the x direction or y direction are respectively obtained based on the six-degree-of-freedom changes.

[0094] In one embodiment, determining the eccentric state according to the difference between the two eccentric amounts comprises:

[0095] Determine whether the ratio of the two eccentricities is greater than a preset first threshold or less than a preset second threshold;

[0096] If the ratio is greater than a preset first threshold or less than a preset second threshold, it is determined to be eccentric.

[0097] In one embodiment, referring to Figure 2 , Figure 2 This is a schematic diagram of a drum washing machine when it is balanced. Figure 2 The left side is the direction of the drum door opening. Figure 2 The right side is the drum flange direction, and the oval in the figure is a schematic diagram of the washing load of the washing machine. The eccentricity of the preset position A is VP1 and the eccentricity of the preset position B is VP3. It can be seen from the figure that the displacements of VP1 and VP3 in the z direction are basically the same, and the ratio of the two eccentricities is not greater than the preset first threshold or less than the preset second threshold, so there is no eccentricity.

[0098] Reference Figure 3 , Figure 3 This is a schematic diagram of the drum washing machine when it is eccentric at the rear. It can be seen from the figure that the Z-direction displacement value of VP3 is much larger than that of VP1.

[0099] Reference Figure 4 , Figure 4 This is a schematic diagram of the drum washing machine when it is front eccentric. It can be seen from the figure that the Z-direction displacement value of VP1 is much larger than that of VP3.

[0100] By comparing the values ​​of ZVP3 / ZVP1, the eccentric position is determined. When ZVP3 / ZVP1> set value T1, the eccentric position can be determined to be at the rear, and when ZVP3 / ZVP1< set value T2, the eccentric position can be determined to be at the front. T1 and T2 are empirical values ​​obtained through a large number of experiments.

[0101] For a drum washing machine, the eccentricity can be determined as being close to the mouth side or close to the rear flange side. Figure 5 , Figure 5 The schematic diagram of the pulsator washing machine when it is balanced is shown in FIG. The eccentricity of the preset position A is VP1 and the eccentricity of the preset position B is VP3. As can be seen from the figure, the displacements of VP1 and VP3 in the z direction are basically the same, and the condition that the ratio of the two eccentricities is greater than the preset first threshold or less than the preset second threshold is not satisfied, so there is no eccentricity.

[0102] Reference Figure 6 , Figure 6 This is a schematic diagram of a pulsator washing machine when it is eccentric. There will be a relatively obvious difference in the Y direction, which can be determined by comparing the Y values ​​of VP1 and VP3. The eccentric position can be determined by the range of Y. The larger the Y value, the farther away from the center axis. If the ratio of the two eccentric amounts is greater than the preset first threshold, it is eccentric. The specific first threshold also needs to be obtained in advance through test data.

[0103] Because the pulsator washing machine has a fixed rotating shaft at the lower end, there is usually only one case of eccentricity.

[0104] You can also compare the x values, just one of them, since x and y are on the same rotation plane.

[0105] The present invention also provides a washing machine deviation correction method, comprising:

[0106] Determine the eccentricity of the washing machine, the determination method is based on the washing machine eccentricity detection method;

[0107] If the washing machine is eccentric, correction control is performed.

[0108] In one implementation, when eccentricity is detected at high speed, the speed is reduced in time, and the load is redistributed to correct the eccentricity by increasing the rotation-stop ratio, that is, distributing the load by forward and reverse rotation and suddenly stopping the rotation, eliminating the eccentricity, and other measures.

[0109] It is understood by those skilled in the art that the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0110] Furthermore, the present invention also provides a control device. In one embodiment of the control device according to the present invention, the control device includes a processor and a storage device, the storage device can be configured to store a program for executing the washing machine eccentricity detection method or deviation correction method of the above method embodiment, and the processor can be configured to execute the program in the storage device, which includes but is not limited to the program for executing the washing machine eccentricity detection method or deviation correction method of the above method embodiment. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The control device can be a control device device formed by various electronic devices.

[0111] The present invention also provides a washing machine eccentricity detection system, referring to Figure 7 ,include:

[0112] A six-degree-of-freedom sensor for acquiring a six-degree-of-freedom change of at least one preset position of a washing machine drum;

[0113] According to the control device.

[0114] Furthermore, the present invention also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present invention, the computer-readable storage medium can be configured to store a program for executing the washing machine eccentricity detection method or deviation correction method of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned washing machine eccentricity detection method or deviation correction method. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present invention is a non-temporary computer-readable storage medium.

[0115] Further, it should be understood that since the setting of each module is only for illustrating the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of each module in the figure is only schematic.

[0116] Those skilled in the art will appreciate that the modules in the device can be adaptively split or merged. Such splitting or merging of specific modules will not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solutions after splitting or merging will fall within the protection scope of the present invention.

[0117] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for detecting eccentricity of a washing machine, characterized in that: include: Obtain the six-degree-of-freedom changes of two preset positions on the washing machine drum during rotation; Based on the six-degree-of-freedom changes, respectively obtain the eccentricity of the two preset positions; The eccentricity state is determined based on the difference between the two eccentricities.

2. A method for detecting eccentricity of a washing machine according to claim 1, characterized in that: Obtaining the six-degree-of-freedom changes of two preset positions on the washing machine drum during rotation includes: The six-degree-of-freedom change is obtained by measuring with six-degree-of-freedom sensors arranged at the two preset positions; or The six-degree-of-freedom change of one of the two preset locations is measured based on a six-degree-of-freedom sensor disposed at the preset location, and the six-degree-of-freedom change of the other preset location of the two preset locations is calculated based on the six-degree-of-freedom change of the preset location; or Based on the six-degree-of-freedom changes of the positions other than the two preset positions measured by the six-degree-of-freedom sensors arranged at the positions other than the two preset positions on the rotating drum, the six-degree-of-freedom changes of the two preset positions are calculated.

3. A method for detecting eccentricity of a washing machine according to claim 2, characterized in that: The calculating of the six-degree-of-freedom change of another preset position of the two preset positions includes: The product of the angle change vector and the distance vector is calculated and added to the six-degree-of-freedom displacement change vector of the preset position measured by the six-degree-of-freedom sensor. Wherein, the angle change vector includes the six-degree-of-freedom angle change vector of the preset position measured by the six-degree-of-freedom sensor; The distance vector includes a relative position vector between two preset locations; or, The calculation of the six-degree-of-freedom changes of the two preset positions includes: Calculate respectively the product of the angle change vector and the distance vector of each preset position and the sum of the six-degree-of-freedom displacement change vectors of positions other than the two preset positions measured by the six-degree-of-freedom sensor; Wherein, the angle change vector includes a six-degree-of-freedom angle change vector of a position other than the two preset positions measured by the six-degree-of-freedom sensor; The distance vector includes a relative position vector between the six-degree-of-freedom sensor and a calculated preset location; The relative position vector is obtained based on a pre-established geometric model, and the geometric model pre-stores the three-dimensional coordinates of all preset positions on the washing machine drum.

4. A method for detecting eccentricity of a washing machine according to claim 1, characterized in that: Any two preset positions on the washing machine drum are: Any two preset positions along the rotation axis of the washing machine drum.

5. A method for detecting eccentricity of a washing machine according to claim 1 or 4, characterized in that: The eccentricity of the two preset positions is obtained based on the six-degree-of-freedom change, respectively, including: Based on the six-degree-of-freedom changes, the eccentricity of the two preset positions perpendicular to the direction of the rotating drum axis is respectively obtained.

6. A method for detecting eccentricity of a washing machine according to claim 1, characterized in that: Determining the eccentric state according to the difference between the two eccentric amounts comprises: Determine whether the ratio of the two eccentricities is greater than a preset first threshold or less than a preset second threshold; If the ratio is greater than a preset first threshold or less than a preset second threshold, it is determined to be eccentric.

7. A method for correcting the deviation of a washing machine, characterized in that: include: Determine the eccentricity state of the washing machine according to the washing machine eccentricity detection method according to any one of claims 1 to 6; If the washing machine is eccentric, correction control is performed.

8. A control device, comprising a processor and a storage device, wherein the storage device is suitable for storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by the processor to execute the washing machine eccentricity detection method according to any one of claims 1 to 6 or the deviation correction method according to claim 7.

9. A washing machine eccentricity detection system, characterized in that: include: A six-degree-of-freedom sensor for acquiring a six-degree-of-freedom change of at least one preset position of a washing machine drum; A control device according to claim 8.

10. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the washing machine eccentricity detection method according to any one of claims 1 to 6 or the deviation correction method according to claim 7.

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