Clothes processing equipment control method, electronic equipment and readable storage medium

Abstract

The invention provides a control method of clothes treatment equipment, electronic equipment and a readable storage medium. The control method comprises the steps that load information of the clothes processing equipment is collected, and preset acting force corresponding to the load information is called; the contact pressure between each leveling device and the supporting surface is collected, a plurality of target areas used for representing the initial state position offset of the clothes processing equipment are determined through the preset acting force and the contact pressure, and the target areas correspond to the leveling devices one to one; based on the contact pressure, determining projection positions of the gravity center position of the clothes processing equipment in an initial state on a plane where the plurality of leveling devices are located; and sending a control instruction for adjusting the state of the leveling device corresponding to the target area according to the relationship between the projection position and the target area. According to the method, the gravity center position is determined before the clothes processing equipment runs, and the control instruction for adjusting the state of the leveling device is sent out when the gravity center position is located in the target area, so that the clothes processing equipment can be ensured to have a stable initial state.

Description

Technical Field

[0001] The present invention relates to the technical field of clothing processing equipment, and in particular to a control method of clothing processing equipment, an electronic device and a readable storage medium. Background Art

[0002] Some existing washing machines are equipped with bolt feet on the shell or the bottom of the whole machine. The bolt feet include a screw, a nut washer and a rubber washer. The nut washer can be rotated up and down on the screw, and the screw can also be rotated up and down in the screw hole of the shell bottom plate. The height of the washing machine can be adjusted by the length of the screw of the bolt foot screwed into the threaded hole of the bottom plate. The feet of most washing machines are rotated counterclockwise to increase the height and rotated clockwise to decrease the height. After adjusting the height of the bolt foot, the nut washer to prevent loosening is tightened to keep it stable.

[0003] However, the above adjustment methods mostly rely on the user's experience, and often the machine body is placed unstable due to inappropriate height of the feet, thereby causing the machine body to shake severely during the operation of the washing machine.

[0004] Another part of washing machines has a hydraulic leveling device installed on the shell or the bottom of the whole machine. The leveling device includes multiple feet, and the multiple feet are connected by hydraulic pipes. When the washing machine is centrifuged at high speed, the driving device can control the opening of the control valve of the hydraulic pipe according to different dehydration speeds to achieve hydraulic damping and shock reduction.

[0005] However, the above adjustment method is performed during the operation of the washing machine. If the washing machine is already in an unstable state before operation, this will undoubtedly reduce the leveling effect during operation, increase the load on the adjustment parts, and shorten the life of the entire washing machine.

[0006] In view of this, the present invention is proposed. Summary of the invention

[0007] The technical problem to be solved by the present invention is to at least overcome some of the shortcomings of the prior art and provide a control method for a clothing processing device. The method determines the center of gravity position of the clothing processing device before the clothing processing device is operated, and when the center of gravity position is located in a target area for characterizing the position offset state of the clothing processing device, a control instruction for adjusting the state of a leveling device corresponding to the target area is issued, thereby achieving the purpose of precise leveling. It can also ensure that the clothing processing device has a stable initial state, which is beneficial to reducing vibration during operation.

[0008] In order to solve the above technical problems, a first aspect of the present invention is to provide a control method of a clothes processing device, wherein the clothes processing device includes a plurality of leveling devices;

[0009] The control method comprises:

[0010] collecting load information of the clothes processing equipment and retrieving a preset force corresponding to the load information;

[0011] collecting the contact pressure between each of the leveling devices and the support surface, and determining a plurality of target areas for characterizing the position offset of the initial state of the clothing processing device by using the preset force and the contact pressure, wherein the plurality of target areas correspond one-to-one to the plurality of leveling devices;

[0012] Determining a projection position of the center of gravity of the laundry processing device in an initial state on the plane where the plurality of leveling devices are located based on the contact pressure; and

[0013] A control instruction for adjusting the state of the leveling device corresponding to the target area is issued according to the relationship between the projection position and the target area.

[0014] In some embodiments, the step of determining a plurality of target areas for characterizing the position offset of the initial state of the laundry treatment device using the preset force and the contact pressure comprises:

[0015] determining a stable region based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing device, wherein the stable region is a region where the center of gravity of the laundry processing device is projected when the laundry processing device is in a stable state;

[0016] removing the stable area from the area enclosed by the plurality of leveling devices to form an offset area, wherein the offset area is an area where the center of gravity of the laundry processing device is projected when the laundry processing device is in an unstable state; and

[0017] The offset area is divided into the plurality of target areas according to positions of the plurality of leveling devices.

[0018] In some embodiments, the step of determining the stable area based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing apparatus comprises:

[0019] calculating an initial stable area based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing apparatus; and

[0020] The largest circular portion of the initial stable region is used as the stable region.

[0021] In some embodiments, the step of determining the projection position of the center of gravity of the laundry processing device in the initial state on the plane where the plurality of leveling devices are located based on the contact pressure comprises:

[0022] determining a plurality of virtual rotation axes according to the positions of the plurality of leveling devices;

[0023] According to the principle of moment balance, for each virtual rotation axis, based on the contact pressure and the distance between adjacent leveling devices, the projection positions of multiple virtual center of gravity positions on the planes where the multiple leveling devices are located are calculated; and

[0024] Based on the projection positions of the multiple virtual center-of-gravity positions on the planes where the multiple leveling devices are located, the projection positions of the center-of-gravity positions on the planes where the multiple leveling devices are located are determined according to an averaging algorithm.

[0025] In some embodiments, before the step of determining the projection position of the center of gravity position on the plane where the multiple leveling devices are located according to an average algorithm based on the projection positions of the multiple virtual center of gravity positions on the plane where the multiple leveling devices are located, the control method further includes:

[0026] Determine that the coordinate value of each virtual center of gravity position meets the confidence requirement.

[0027] In some embodiments, the step of determining whether the coordinate value of each virtual center of gravity position meets the confidence requirement includes:

[0028] Performing statistical analysis on the coordinate values ​​of multiple virtual center of gravity positions;

[0029] According to the result of the statistical analysis, it is determined that the coordinate value of each virtual center of gravity position meets the confidence requirement.

[0030] In some embodiments, the leveling device is an electric leveling device;

[0031] The step of issuing a control instruction for adjusting the state of the leveling device corresponding to the target area according to the relationship between the projection position and the target area comprises:

[0032] In response to determining that the center of gravity is located in one of the target areas, a control instruction to increase the height is issued to a leveling device corresponding to the one of the target areas.

[0033] In some embodiments, the leveling device is a manual leveling device;

[0034] The step of issuing a control instruction for adjusting the state of the leveling device corresponding to the target area according to the relationship between the projection position and the target area comprises:

[0035] In response to determining that the center of gravity is located in one of the target areas, a prompt instruction is issued to increase the height of the leveling device corresponding to the one of the target areas.

[0036] A second aspect of the present invention provides an electronic device, comprising:

[0037] Processor; and

[0038] A memory, communicatively connected to the processor;

[0039] The memory stores a program that can be executed by the processor. When the program is executed by the processor, the processor can execute the control method of the clothing processing device according to the above.

[0040] A third aspect of the present invention is to provide a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the control method of the clothing processing device described above is implemented.

[0041] After adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art.

[0042] (1) The present invention achieves the purpose of precise leveling by determining the center of gravity position of the clothing processing device before the clothing processing device is operated, and when the center of gravity position is located in a target area used to characterize the position offset state of the clothing processing device, issuing a control instruction to adjust the state of the leveling device corresponding to the target area, thereby ensuring that the clothing processing device has a stable initial state, which is beneficial to reducing vibration during operation.

[0043] (2) The present invention uses the moment balance principle to determine multiple target areas for characterizing the position offset state of the clothing processing device and the center of gravity position of the initial state of the clothing processing device, and the data reliability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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:

[0045] Figure 1 is a framework suitable for implementing a control method of a laundry treatment apparatus provided according to an exemplary embodiment of the present invention;

[0046] Figure 2 is a flow chart of a control method of a laundry processing apparatus according to an exemplary embodiment of the present invention;

[0047] Figure 3 is a flow chart of step S220 according to an exemplary embodiment of the present invention;

[0048] Figure 4 is a schematic diagram of the distribution of the leveling device of the clothes processing equipment;

[0049] FIG. 5A to FIG. 5D They are respectively a left view structural schematic diagram and a rear view structural schematic diagram of the clothing processing device;

[0050] Figure 6 is a schematic diagram of the distribution of target areas according to an exemplary embodiment of the present invention;

[0051] Figure 7 is a flow chart of step S230 according to an exemplary embodiment of the present invention;

[0052] Figure 8 is a schematic structural diagram of an electronic device provided according to an exemplary embodiment of the present invention;

[0053] In the figure: 100, architecture; 110, control unit; 120, pressure sensor; 130, leveling device; 131, first leveling device; 132, second leveling device; 133, third leveling device; 134, fourth leveling device;

[0054] 500, electronic device; 501, processor; 502, memory; 503, bus; 504, communication interface.

[0055] 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

[0056] 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.

[0057] 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.

[0058] Figure 1 A structure suitable for implementing a control method for a laundry processing device provided according to an exemplary embodiment of the present invention is shown. The laundry processing device may be a washing machine, a washer-dryer, etc.

[0059] like Figure 1 As shown, the architecture 100 includes a control unit 110, a pressure sensor 120 and a leveling device 130. The leveling device 130 is provided with a plurality of leveling devices for adjusting the stable state of the laundry processing device. The leveling device 130 is a manually adjustable leveling device, such as a bolt foot. The leveling device 130 can also be an electrically adjustable leveling device, such as a hydraulic foot.

[0060] The pressure sensor 120 may be disposed at the bottom of the leveling device 130 of the laundry processing apparatus, for example, to detect the contact pressure between the leveling device 130 and the support surface in real time. The support surface may be the ground or the surface of the support frame of the laundry processing apparatus.

[0061] The control unit 110 is configured to receive and send control instructions during the operation of the clothing processing device, and can also use the preset force corresponding to the current load information of the clothing processing device and the contact pressure between the leveling device 130 and the support surface to determine multiple target areas for characterizing the position offset of the initial state of the clothing processing device, and determine the center of gravity position of the initial state of the clothing processing device based on the contact pressure between the leveling device 130 and the support surface. The control unit 110 can be the control system of the clothing processing device itself, or it can be a mobile terminal connected to the clothing processing device for communication, and the present invention is not limited to this.

[0062] Figure 2 The flowchart of a control method 200 for a clothes treating apparatus according to an exemplary embodiment of the present invention is shown. It should be noted that the control method 200 for the clothes treating apparatus is implemented before a predetermined program is run.

[0063] like Figure 2 As shown, the execution of the control method 200 of the laundry processing device includes the following steps:

[0064] S210, collecting load information of the clothes processing device, and retrieving a preset force corresponding to the load information;

[0065] S220, collecting the contact pressure between each of the leveling devices and the supporting surface, and determining a plurality of target areas for characterizing the position offset of the initial state of the clothing processing device by using the preset force and the contact pressure;

[0066] S230, determining a projection position of the center of gravity of the laundry processing device in an initial state on the plane where the plurality of leveling devices are located based on the contact pressure; and

[0067] S240: issuing a control instruction for adjusting a state of a leveling device corresponding to the target area according to a relationship between the projection position and the target area.

[0068] It should be understood that the steps shown in the control method 200 of the clothing processing device are not exclusive, and the control method 200 of the clothing processing device may also include additional steps not shown and / or may omit the steps shown, and the scope of the present invention is not limited in this respect. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other in the absence of conflict. In addition, unless explicitly limited or inconsistent with the context, the specific steps included in the method described in the present invention are not necessarily limited to the order described, but may be executed in any order or in parallel. Refer to the following Figures 1 to 7 Steps S210 to S240 are described in detail.

[0069] S210

[0070] After the user puts the clothes to be washed into the washing drum of the clothes processing device, the clothes processing device is started, and the control unit of the clothes processing device collects the load information of the washing drum of the clothes processing device at the current moment. The load information includes but is not limited to the load weight, load material, load type, etc.

[0071] In step S210 , after the control unit of the laundry processing device collects the load information, it retrieves a pre-stored preset force corresponding to the load information from the database of the control unit 110 .

[0072] It should be noted that the preset force here refers to the estimated force that may be generated by the laundry processing setting when processing the current laundry to be washed to cause the laundry processing device to deviate. As an example, the preset force may include forces in multiple directions, such as a forward preset force, a backward preset force, a left preset force, and a right preset force.

[0073] The preset forces in the above-mentioned different directions are empirical data obtained by researchers after a large number of experimental studies. The empirical data is stored in the control unit 110 of the clothing processing device corresponding to the load information, or stored in a mobile terminal that is communicatively connected to the clothing processing device for retrieval.

[0074] S220

[0075] In step S220, the control unit 110 uses the pressure sensor 120 disposed at the bottom of the leveling device 130 of the laundry processing equipment to collect the contact pressure between each leveling device 130 and the supporting surface according to a preset sampling frequency.

[0076] It is understandable that after collecting the contact pressure data, the control unit 110 may perform cleaning, denoising and other processing on the collected data.

[0077] In addition, the sampling frequency can affect the accuracy and reliability of the contact pressure. A high sampling frequency can collect more data information, which is conducive to analyzing the contact pressure and avoiding data omissions when the contact pressure changes greatly in a short period of time. However, if the sampling frequency is too high, it will easily collect too much repeated information, causing the control unit 110 to slow down when processing the contact pressure, and even cause the clothing processing equipment to freeze. A low sampling frequency can ensure that the control unit 110 is not affected by data processing and can be used normally. However, if the sampling frequency is too low, a lot of original contact pressure will be missing for analysis, making the analysis result inaccurate. In order to avoid the above situation, in the present invention, the sampling frequency of the pressure sensor 120 is optimized.

[0078] It is understandable that the sampling frequency may be set by a method commonly used in the art, and the present invention does not impose any limitation thereto.

[0079] After the preset force corresponding to the load information is retrieved and the contact pressure between each leveling device 130 and the support surface is collected, the preset force and the contact pressure are further used to determine a plurality of target areas for characterizing the position offset of the initial state of the laundry processing device in step S220. The plurality of target areas correspond to the plurality of leveling devices 130 one by one.

[0080] In some embodiments, Figure 3 As shown, the step of determining a plurality of target areas for characterizing the position offset of the initial state of the laundry processing device by using the preset force and the contact pressure in step S220 includes:

[0081] S221, determining a stable area based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing device;

[0082] S222, removing the stable area from the area enclosed by the multiple leveling devices to form a biased area; and

[0083] S223. Divide the offset area into the multiple target areas according to the positions of the multiple leveling devices.

[0084] Refer to the following Figures 4 to 6 The above steps S221 to S223 are described in detail.

[0085] Figure 4 A distribution diagram of a plurality of leveling devices 130 of a laundry treating apparatus is shown. FIG. 5A to FIG. 5D The left view and rear view of the laundry processing device are shown respectively. Figure 6 A distribution map of the target area is shown.

[0086] like Figure 4 As shown, the laundry processing device is provided with four leveling devices 130, and the present invention numbers the four leveling devices 130 as a first leveling device 131, a second leveling device 132, a third leveling device 133 and a fourth leveling device 134. The specific positions of the four leveling devices 130 are: Figure 4 The lower left corner shown in FIG. 1 is a first leveling device 131, the lower right corner is a second leveling device 132, the upper right corner is a third leveling device 133, and the upper left corner is a fourth leveling device 134. The four leveling devices 130 are composed as follows: Figure 4 The length and width of the rectangular area are L1 and L2 respectively. In other words, the distance between the first leveling device 131 and the second leveling device 132, the distance between the third leveling device 133 and the fourth leveling device 134 is L1, the distance between the second leveling device 132 and the third leveling device 133, and the distance between the first leveling device 131 and the fourth leveling device 134 is L2. The present invention takes the position of the first leveling device 131 as the coordinate origin to establish the following Figure 4 The contact pressures between the first leveling device 131, the second leveling device 132, the third leveling device 133 and the fourth leveling device 134 and the support surface are represented by F1, F2, F3 and F4 respectively.

[0087] like FIG. 5A to FIG. 5D As shown, the height of the body of the laundry processing device is H. After the laundry processing device is manufactured, its body height is a determined value. The value is stored in the control unit 110 of the laundry processing device, or stored in a mobile terminal connected to the laundry processing device for retrieval.

[0088] In some implementations, step S221 includes:

[0089] S2211, calculating an initial stable area based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing device; and

[0090] S2212: Use the largest circular portion of the initial stable region as the stable region.

[0091] Refer again Figure 5A , assuming that a preset forward force F5 acts on a position on the top of the fuselage corresponding to the positions of the first leveling device 131 and the fourth leveling device 134 .

[0092] When the rigidity of the clothes processing device is sufficient, the straight line where the first leveling device 131 and the fourth leveling device 134 are located is used as the rotation axis. According to the principle of moment balance, the condition for the clothes processing device to maintain stability under the action of the forward preset force F5 should satisfy the formula shown in the following formula ①:

[0093] (F1+F2+F3+F4)*x>F5*H ①

[0094] Right now

[0095]

[0096] Among them, x represents the horizontal coordinate of the estimated projection of the center of gravity position on the bottom surface of the body during the operation of the clothing processing equipment, F1, F2, F3 and F4 distribution represent the contact pressure between the first leveling device 131, the second leveling device 132, the third leveling device 133 and the fourth leveling device 134 and the supporting surface, F5 represents the estimated forward preset force that may be generated by the clothing processing setting when processing the current clothes to be washed, causing the clothing processing equipment to shift forward, and H represents the body height of the clothing processing equipment.

[0097] Refer again Figure 5B , assuming that a preset backward force F6 acts on a position on the top of the fuselage corresponding to the positions of the second leveling device 132 and the third leveling device 133 .

[0098] Assuming that the rigidity of the body of the clothes processing device is sufficient, taking the straight line where the second leveling device 132 and the third leveling device 133 are located as the rotation axis, according to the principle of moment balance, the condition for the body of the clothes processing device to remain stable under the action of the preset backward force F6 should satisfy the formula shown in the following formula ②:

[0099] (F1+F2+F3+F4)*(L1-x)>F6*H ②

[0100] Right now

[0101]

[0102] Among them, x represents the horizontal coordinate of the estimated projection of the center of gravity position on the bottom surface of the body during the operation of the clothing processing equipment, L1 represents the distance between the first leveling device 131 and the second leveling device 132, and between the third leveling device 133 and the fourth leveling device 134, F1, F2, F3 and F4 distribution represent the contact pressure between the first leveling device 131, the second leveling device 132, the third leveling device 133 and the fourth leveling device 134 and the supporting surface, F6 represents the estimated backward preset force that may be generated by the clothing processing setting when processing the current clothes to be washed, causing the clothing processing equipment to shift backward, and H represents the body height of the clothing processing equipment.

[0103] Refer again Figure 5C , assuming that a preset leftward force F7 acts on a position on the top of the fuselage corresponding to the positions of the first leveling device 131 and the second leveling device 132 .

[0104] Assuming that the rigidity of the body of the clothes processing device is sufficient, the straight line where the first leveling device 131 and the second leveling device 132 are located is used as the rotation axis. According to the principle of moment balance, the condition for the body of the clothes processing device to remain stable under the action of the left preset force F7 should satisfy the formula shown in the following formula ③:

[0105] (F1+F2+F3+F4)*y>F7*H ③

[0106] Right now

[0107]

[0108] Among them, y represents the estimated vertical coordinate of the projection of the center of gravity position on the bottom surface of the body during the operation of the clothing processing equipment, F1, F2, F3 and F4 distribution represent the contact pressure between the first leveling device 131, the second leveling device 132, the third leveling device 133 and the fourth leveling device 134 and the supporting surface, F7 represents the estimated left preset force that may be generated by the clothing processing setting when processing the current clothes to be washed, causing the clothing processing equipment to shift to the left, and H represents the body height of the clothing processing equipment.

[0109] Refer again Figure 5D , assuming that a preset rightward force F8 acts on a position on the top of the fuselage corresponding to the positions of the third leveling device 133 and the fourth leveling device 134 .

[0110] Assuming that the rigidity of the clothes processing device is sufficient, the straight line where the third leveling device 133 and the fourth leveling device 134 are located is used as the rotation axis. According to the principle of moment balance, the condition for the clothes processing device to maintain stability under the action of the preset rightward force F8 should satisfy the formula shown in the following formula ④:

[0111] (F1+F2+F3+F4)*(L2-y)>F8*H ④

[0112] Right now

[0113]

[0114] Among them, y represents the estimated longitudinal coordinate of the projection of the center of gravity position on the bottom surface of the body during the operation of the clothing processing equipment, L2 represents the distance between the first leveling device 131 and the fourth leveling device 134, and between the second leveling device 132 and the third leveling device 133, F1, F2, F3 and F4 distribution represent the contact pressure between the first leveling device 131, the second leveling device 132, the third leveling device 133 and the fourth leveling device 134 and the supporting surface, F8 represents the estimated backward preset force that may be generated by the clothing processing setting when processing the current clothes to be washed, causing the clothing processing equipment to shift to the right, and H represents the body height of the clothing processing equipment.

[0115] In step S2211, the range of the horizontal coordinate and the vertical coordinate of the projection of the center of gravity position on the bottom surface of the machine body during the operation of the laundry processing device can be determined by the above formulas ① to ④. The range of the horizontal coordinate and the vertical coordinate forms the initial stable area S1. Figure 6 The dotted rectangular area is shown in .

[0116] Considering the critical instability, the present invention removes a part of the critical position, and selects the largest circular area that can be formed in the dotted rectangular area as the stable area S2 in step S2212. In other words, the stable area is a circle with a radius R. Figure 6 The dotted circular area is shown in FIG.

[0117] In step S222, the stable area is removed from the area enclosed by the plurality of leveling devices 130 to form an offset area, where the offset area is an area of ​​projection of the center of gravity of the laundry processing apparatus when the laundry processing apparatus is in an unstable state.

[0118] Specifically, refer to Figure 6 As shown, four leveling devices 130 enclose a larger rectangular area S, and the rectangular area S is removed from the stable area S2 determined in step S221, so that an offset area of ​​the clothes processing device is formed.

[0119] In step S223, the offset area can be divided into four target areas S3-1, S3-2, S3-3, and S3-4 according to the positional relationship of the four leveling devices 130, corresponding to the first leveling device 131, the second leveling device 132, the third leveling device 133, and the fourth leveling device 134 respectively.

[0120] S230

[0121] In step S230, a projection position of the center of gravity of the laundry processing apparatus in the initial state on the plane where the plurality of leveling devices 130 are located is determined based on the contact pressure.

[0122] In some embodiments, Figure 7 As shown, step S230 includes:

[0123] S231, determining a plurality of virtual rotation axes according to the positions of the plurality of leveling devices;

[0124] S232, according to the principle of moment balance, for each virtual rotation axis, based on the contact pressure and the distance between adjacent leveling devices, calculating the projection positions of multiple virtual center of gravity positions on the planes where the multiple leveling devices are located; and

[0125] S233: Based on the projection positions of the multiple virtual center-of-gravity positions on the planes where the multiple leveling devices are located, determine the projection position of the center-of-gravity position on the planes where the multiple leveling devices are located according to an averaging algorithm.

[0126] Specifically, in step S231, refer again to Figure 4 Taking setting four leveling devices 130 as an example, the straight line where the first leveling device 131 and the fourth leveling device 134 are located, the straight line where the second leveling device 132 and the third leveling device 133 are located, the straight line where the first leveling device 131 and the second leveling device 132 are located, and the straight line where the third leveling device 133 and the fourth leveling device 134 are located are determined as four virtual rotation axes.

[0127] In step S232, refer to Figure 4 Assuming that the body rigidity of the clothes processing device is sufficient, the virtual rotation axis formed by the first leveling device 131 and the fourth leveling device 134 and the virtual rotation axis formed by the first leveling device 131 and the second leveling device 132 are used as the rotation axis. According to the principle of moment balance, the coordinates of the projection position of the first virtual center of gravity position of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located are obtained, as shown in the following formulas ⑤ and ⑥:

[0128]

[0129]

[0130] Among them, x1 represents the horizontal coordinate of the projection position of the first virtual center of gravity of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located, and y1 represents the vertical coordinate of the projection position of the first virtual center of gravity of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located. The meanings of other parameters are the same as those described above, and the present invention will not be repeated here.

[0131] Taking the virtual rotation axis formed by the second leveling device 132 and the third leveling device 133 and the virtual rotation axis formed by the third leveling device 133 and the fourth leveling device 134 as the rotation axis, according to the principle of moment balance, the coordinates of the projection position of the second virtual center of gravity position of the clothing processing device in the initial state on the plane where the multiple leveling devices 130 are located are obtained, as shown in the following equations ⑦ and ⑧:

[0132]

[0133]

[0134] Among them, x2 represents the horizontal coordinate of the projection position of the second virtual center of gravity of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located, and y2 represents the vertical coordinate of the projection position of the second virtual center of gravity of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located. The meanings of other parameters are the same as those described above, and the present invention will not be repeated here.

[0135] Taking the virtual rotation axis formed by the first leveling device 131 and the fourth leveling device 134 and the virtual rotation axis formed by the third leveling device 133 and the fourth leveling device 134 as the rotation axis, according to the principle of moment balance, the coordinates of the projection position of the third virtual center of gravity position of the initial state of the clothing processing device on the plane where the multiple leveling devices 130 are located are obtained, as shown in the following formula ⑨ and formula ①0:

[0136]

[0137]

[0138] Among them, x3 represents the horizontal coordinate of the projection position of the third virtual center of gravity of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located, and y3 represents the vertical coordinate of the projection position of the third virtual center of gravity of the clothes processing device in the initial state on the plane where the multiple leveling devices 130 are located. The meanings of other parameters are the same as those described above, and the present invention will not be repeated here.

[0139] Taking the virtual rotation axis formed by the second leveling device 132 and the third leveling device 133 and the virtual rotation axis formed by the first leveling device 131 and the second leveling device 132 as the rotation axis, according to the principle of moment balance, the coordinates of the projection position of the fourth virtual center of gravity position of the initial state of the clothing processing device on the plane where the multiple leveling devices 130 are located are obtained, as shown in the following formula Japanese style As shown:

[0140]

[0141]

[0142] Among them, x4 represents the horizontal coordinate of the projection position of the fourth virtual center of gravity of the initial state of the clothes processing device on the plane where the multiple leveling devices 130 are located, and y4 represents the vertical coordinate of the projection position of the fourth virtual center of gravity of the initial state of the clothes processing device on the plane where the multiple leveling devices 130 are located. The meanings of other parameters are the same as those described above, and the present invention will not be repeated here.

[0143] Theoretically, in the case of no measurement error, the coordinates of the projection positions of the first virtual center of gravity position, the second virtual center of gravity position, the third virtual center of gravity position and the fourth virtual center of gravity position on the plane where the multiple leveling devices 130 are located should be consistent. However, due to the existence of measurement errors, the center of gravity projection positions calculated by the four sets of data may have deviations.

[0144] Therefore, in order to ensure the accuracy of the calculated data, before the step of determining the projection position of the center of gravity position on the plane where the multiple leveling devices 130 are located based on the projection positions of the multiple virtual center of gravity positions on the plane where the multiple leveling devices 130 are located, the present invention should also determine that the coordinate value of each virtual center of gravity position meets the confidence requirement.

[0145] In some embodiments, the step of determining whether the coordinate value of each virtual center of gravity position meets the confidence requirement includes: performing statistical analysis on the coordinate values ​​of multiple virtual center of gravity positions; and determining whether the coordinate value of each virtual center of gravity position meets the confidence requirement based on the result of the statistical analysis.

[0146] As an example, the mean square error is used to characterize the degree of dispersion of the data. If the degree of dispersion is less than a threshold, it means that the data confidence is high. Otherwise, the confidence is low and the data needs to be remeasured.

[0147] If the four sets of data satisfy the following formula Japanese style The conditions shown indicate high confidence in the data:

[0148]

[0149]

[0150] Among them, k1 and k2 are constants used to measure the discreteness of the data, x i represents the horizontal coordinate of the projection position of the first virtual center of gravity position to the fourth virtual center of gravity position on the plane where the plurality of leveling devices 130 are located, y i represents the ordinate of the projection position of the first virtual center of gravity position to the fourth virtual center of gravity position on the plane where the plurality of leveling devices 130 are located, represents the average value of the horizontal coordinates of the projection positions of the first virtual center of gravity position to the fourth virtual center of gravity position on the plane where the plurality of leveling devices 130 are located, The average value of the vertical coordinates of the projection positions of the first virtual center of gravity position to the fourth virtual center of gravity position on the plane where the plurality of leveling devices 130 are located is represented. Through the following formula Japanese style The formula shown yields:

[0151]

[0152]

[0153] It can be understood that L1, L2, k1, k2 are all pre-stored in the database of the control unit 110 of the clothing processing device, or stored in the database of the mobile terminal that is communicatively connected to the clothing processing device, for retrieval.

[0154] If the result of the statistical analysis satisfies the above inequality, the coordinates of the projection position can be obtained in step S233 as If the result of the statistical analysis does not satisfy the above inequality, it is necessary to continue to collect the contact pressure between the leveling device 130 and the supporting surface, and recalculate the projection position of the center of gravity of the initial state of the clothing processing equipment on the plane where the multiple leveling devices 130 are located.

[0155] S240

[0156] In step S240, a control instruction is issued to adjust the state of the leveling device 130 corresponding to the target area according to the relationship between the projection position and the target area, so that the clothing processing equipment has a stable initial state, which is beneficial to reduce vibration during operation.

[0157] The present invention provides two implementation methods for not performing S240, and the two implementation methods are described in detail below.

[0158] Method 1

[0159] In this embodiment, the leveling device 130 is an electric leveling device.

[0160] Based on this, the step of issuing a control instruction to adjust the state of the leveling device 130 corresponding to the target area according to the relationship between the projection position and the target area includes: in response to determining that the center of gravity position is located in one of the multiple target areas, issuing a control instruction to increase the height to the leveling device 130 corresponding to one of the target areas.

[0161] Reference Figure 6 , when the calculated projection position of the center of gravity position on the plane where the leveling device 130 is located falls in the stable area S2, it means that the body of the current clothing processing equipment is relatively stable. When the calculated projection position of the center of gravity position on the plane where the leveling device 130 is located falls outside the stable area S2 and is located in the target area S3-1 in the offset area, it means that the clothing processing equipment is tilted in the direction where the first leveling device 131 is located. At this time, a control instruction to increase the height can be issued to the first leveling device 131. After receiving the control instruction, the first leveling device 131 increases the corresponding height according to the established adjustment method. The method commonly used in the field can be used for the leveling device 130 to increase the corresponding height according to the established adjustment method, and the present invention will not be repeated here.

[0162] It should be noted that the value of the height increase of the first leveling device 131 is related to the specific part of S3-1 where the projection position of the center of gravity on the plane where the leveling device 130 is located falls. For example, when the projection position of the center of gravity on the plane where the leveling device 130 is located falls on the specific part of S3-1, the closer it is to the first leveling device 131, the higher the degree of inclination of the clothing processing device is. At this time, the first leveling device 131 can be controlled to increase a greater height to keep the clothing processing device in a balanced state.

[0163] Similarly, when the calculated projection position of the center of gravity on the plane where the leveling device 130 is located falls outside the stable area S2 and is located in the target area S3-2 in the offset area, it means that the clothing processing device is tilted in the direction where the second leveling device 132 is located. At this time, a control instruction to increase the height can be issued to the second leveling device 132. After receiving the control instruction, the second leveling device 132 increases the corresponding height according to the established adjustment method.

[0164] By analogy, when the calculated projection position of the center of gravity position on the plane where the leveling device 130 is located falls outside the stable area S2 and is located in the target area S3-3, S3-4 within the offset area, a control instruction to increase the height can be issued to the third leveling device 133 and the fourth leveling device 134.

[0165] It can be understood that when the calculated projection position of the center of gravity position on the plane where the leveling device 130 is located falls outside the stable area S2 and is located on the boundary line of two adjacent target areas in the offset area, a control instruction to increase the height can be simultaneously issued to the leveling devices 130 corresponding to the two target areas until the projection position of the center of gravity position on the plane where the leveling device 130 is located falls in the stable area S2.

[0166] When the control unit 110 of the laundry processing apparatus determines that the projection position of the center of gravity on the plane where the leveling device 130 is located falls within the stable area S2, the predetermined program of the laundry processing apparatus can be controlled to start to achieve the purpose of washing the laundry.

[0167] Method 2

[0168] In this embodiment, the leveling device 130 is a manual leveling device 130 .

[0169] Based on this, the step of issuing a control instruction to adjust the state of the leveling device 130 corresponding to the target area according to the relationship between the projection position and the target area includes: in response to determining that the center of gravity position is located in one of the multiple target areas, issuing a reminder instruction to increase the height of the leveling device 130 corresponding to one of the target areas.

[0170] Reference Figure 6 , when the calculated center of gravity position on the plane where the leveling device 130 is located falls within the stable area S2, it means that the body of the current clothing processing device is relatively stable. When the calculated center of gravity position on the plane where the leveling device 130 is located falls outside the stable area S2 and is located in the target area S3-1 in the offset area, it means that the clothing processing device is tilted in the direction where the first leveling device 131 is located. At this time, the control unit 110 can issue a reminder instruction to increase the height of the first leveling device 131 so that the user can manually adjust the height of the first leveling device 131. Alternatively, the user is notified to adjust the height of the first leveling device 131 through an application installed in a mobile terminal that is connected to the clothing processing device.

[0171] It should be noted that the value of the height increase of the first leveling device 131 is related to the specific part of S3-1 where the projection position of the center of gravity on the plane where the leveling device 130 is located falls. For example, when the projection position of the center of gravity on the plane where the leveling device 130 is located falls on the specific part of S3-1, the closer it is to the first leveling device 131, the higher the degree of inclination of the clothing processing device is. At this time, the first leveling device 131 can be controlled to increase a greater height to keep the clothing processing device in a balanced state.

[0172] As an example, the display screen of the clothes processing device or the display interface of the application program may be used to present to the user which leveling device 130 needs to be adjusted and the method of adjusting the height, such as rotating it to the left twice.

[0173] Similarly, when the calculated projection position of the center of gravity position on the plane where the leveling device 130 is located falls outside the stable area S2 and is located in the target area S3-2 within the offset area, it means that the clothing processing equipment is now tilted in the direction where the second leveling device 132 is located. At this time, the control unit 110 can issue a reminder instruction to increase the height of the second leveling device 132 so that the user can manually adjust the height of the second leveling device 132.

[0174] By analogy, when the calculated projection position of the center of gravity position on the plane where the leveling device 130 is located falls outside the stable area S2 and is located in the target area S3-3, S3-4 within the offset area, the control unit 110 can issue a reminder instruction to increase the height of the third leveling device 133 and the fourth leveling device 134, so that the user can manually adjust the height of the third leveling device 133 and the fourth leveling device 134.

[0175] When the control unit 110 of the clothes treating apparatus determines that the projection position of the center of gravity on the plane where the leveling device 130 is located falls within the stable area S2, the control unit 110 may issue a reminder instruction that the clothes treating apparatus is in a balanced state.

[0176] An exemplary embodiment of the present invention also provides an electronic device. Figure 8 The structure of the electronic device is shown. Figure 8 As shown, the electronic device 500 includes a processor 501, a memory 502, a bus 503 and a communication interface 504, and the processor 501, the communication interface 504 and the memory 502 are connected via the bus 503. The electronic device is, for example, a control unit 110 of a laundry processing device.

[0177] The memory 502 may include a high-speed random access memory (RAM), and may also include a non-volatile memory 502 (Non-Volatile Memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 504 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 503 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus 503 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus 503 or only one type of bus 503 .

[0178] The processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 501 or the instruction in the form of software. The above processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor 501 can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and completes the steps of the method of the above embodiment in combination with its hardware.

[0179] An exemplary embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is called and executed by the processor 501, the computer executable instructions prompt the processor 501 to implement the control method 200 of the above-mentioned clothing processing device. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0180] The control method 200 of the clothing processing device and the computer program product of the electronic device 500 provided in the embodiments of the present invention include a computer-readable storage medium storing program codes. The instructions included in the program codes can be used to execute the methods in the previous method embodiments. For specific implementations, please refer to the method embodiments and will not be repeated here.

[0181] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and / or eccentricity control device can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0182] The above 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, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A control method for a clothes processing device, characterized in that: The laundry treatment apparatus comprises a plurality of leveling devices; The control method comprises: collecting load information of the clothes processing equipment and retrieving a preset force corresponding to the load information; collecting the contact pressure between each of the leveling devices and the support surface, and determining a plurality of target areas for characterizing the position offset of the initial state of the laundry processing device by using the preset force and the contact pressure, wherein the plurality of target areas correspond one-to-one to the plurality of leveling devices; Determining a projection position of the center of gravity of the laundry processing device in an initial state on the plane where the plurality of leveling devices are located based on the contact pressure; and A control instruction for adjusting the state of the leveling device corresponding to the target area is issued according to the relationship between the projection position and the target area.

2. The control method of the clothes processing device according to claim 1, characterized in that: The step of determining a plurality of target areas for characterizing the position offset of the initial state of the laundry processing device by using the preset force and the contact pressure comprises: determining a stable region based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing device, wherein the stable region is a region where the center of gravity of the laundry processing device is projected when the laundry processing device is in a stable state; removing the stable area from the area enclosed by the plurality of leveling devices to form an offset area, wherein the offset area is an area where the center of gravity of the laundry processing device is projected when the laundry processing device is in an unstable state; and The offset area is divided into the plurality of target areas according to positions of the plurality of leveling devices.

3. The control method of the clothes processing device according to claim 2, characterized in that: The step of determining a stable area based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing device comprises: calculating an initial stable area based on the preset force, the contact pressure, the distance between adjacent leveling devices, and the height of the body of the laundry processing apparatus; and The largest circular portion of the initial stable region is used as the stable region.

4. The control method of the clothes processing device according to claim 1, characterized in that: The step of determining the projection position of the center of gravity of the laundry processing device in the initial state on the plane where the plurality of leveling devices are located based on the contact pressure comprises: determining a plurality of virtual rotation axes according to the positions of the plurality of leveling devices; According to the principle of moment balance, for each virtual rotation axis, based on the contact pressure and the distance between adjacent leveling devices, the projection positions of multiple virtual center of gravity positions on the planes where the multiple leveling devices are located are calculated; and Based on the projection positions of the multiple virtual center-of-gravity positions on the planes where the multiple leveling devices are located, the projection positions of the center-of-gravity positions on the planes where the multiple leveling devices are located are determined according to an averaging algorithm.

5. The control method of the clothes processing device according to claim 4, characterized in that: Before the step of determining the projection position of the center of gravity position on the plane where the multiple leveling devices are located according to an average algorithm based on the projection positions of the multiple virtual center of gravity positions on the plane where the multiple leveling devices are located, the control method further includes: Determine that the coordinate value of each virtual center of gravity position meets the confidence requirement.

6. The control method of the clothes processing device according to claim 5, characterized in that: The steps of determining that the coordinate value of each virtual center of gravity position meets the confidence requirement include: Performing statistical analysis on the coordinate values ​​of multiple virtual center of gravity positions; According to the result of the statistical analysis, it is determined that the coordinate value of each virtual center of gravity position meets the confidence requirement.

7. The control method of a clothes processing device according to any one of claims 1 to 6, characterized in that: The leveling device is an electric leveling device; The step of issuing a control instruction for adjusting the state of the leveling device corresponding to the target area according to the relationship between the projection position and the target area comprises: In response to determining that the center of gravity is located in one of the target areas, a control instruction to increase the height is issued to a leveling device corresponding to the one of the target areas.

8. The control method of a clothes processing device according to any one of claims 1 to 6, characterized in that: The leveling device is a manual leveling device; The step of issuing a control instruction for adjusting the state of the leveling device corresponding to the target area according to the relationship between the projection position and the target area comprises: In response to determining that the center of gravity is located in one of the target areas, a prompt instruction is issued to increase the height of the leveling device corresponding to the one of the target areas.

9. An electronic device, characterized in that: include: processor; as well as A memory, communicatively connected to the processor; The memory stores a program executable by the processor, and when the program is executed by the processor, the processor can execute the control method of the clothing processing device according to any one of claims 1 to 8.

10. A readable storage medium, characterized in that: A computer program is stored on the readable storage medium, and when the computer program is executed by the processor, the control method of the clothing processing device according to any one of claims 1 to 8 is implemented.

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