Leveling method of laundry equipment, control device and storage medium

Abstract

The invention relates to a leveling method of laundry equipment, a control device and a storage medium. The method comprises the following steps: acquiring an inclination angle of the equipment; whether leveling is carried out or not is judged based on the inclination angle and a preset inclination threshold value; and if the leveling is judged to be carried out, leveling the bottom feet of the equipment. According to the technical scheme, the inclination angle of the washing machine can be automatically obtained, and then whether leveling needs to be carried out or not is judged based on the obtained inclination angle and the preset inclination threshold value. Only when the inclination angle exceeds the preset threshold value, the technology can start a leveling program to automatically adjust the height of the bottom feet of the washing machine. By means of the mode, the trouble that a user manually adjusts the bottom feet can be avoided, and the problem that leveling is not accurate due to manual operation is solved. According to the technology, vibration and noise generated in the working process of the washing machine are remarkably reduced, the pressure on the machine structure is relieved, the service life of the washing machine is prolonged, and the use experience of a user is improved.

Description

Technical Field

[0001] The invention relates to the field of electrical appliance leveling, and specifically provides a leveling method, a control device and a storage medium for a laundry appliance. Background Art

[0002] In existing washing machine technology, equipment leveling is a common problem. Due to uneven ground and various reasons caused by transportation, the base of the washing machine is likely to be at different heights, resulting in the equipment not being able to achieve a completely balanced state. This unbalanced state will cause a lot of vibration and noise during the operation of the washing machine. At the same time, it will also cause additional stress on the structure of the machine and reduce its service life.

[0003] However, the existing technology requires the user to manually adjust, which is inconvenient to operate and cannot ensure the accuracy of leveling, resulting in an unsatisfactory leveling effect.

[0004] Accordingly, the art needs a new laundry equipment leveling solution to solve the above problems. Summary of the invention

[0005] In order to overcome the above defects, the present invention is proposed to solve or at least partially solve the technical problem of difficulty in leveling the laundry equipment in the prior art.

[0006] In a first aspect, the present invention provides a leveling method for a laundry appliance, the method comprising: obtaining an inclination angle of the appliance; determining whether to perform leveling based on the inclination angle and a preset inclination threshold; and if it is determined that leveling is to be performed, leveling the base of the appliance.

[0007] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, "leveling the base of the device" includes: leveling the base of the device based on the inclination angle; and / or, if it is determined to be leveling, controlling the base of the device to be adjusted to a preset height; after the base of the device is adjusted to the preset height, re-acquiring the inclination angle of the device; and leveling the base of the device based on the re-acquired inclination angle of the device.

[0008] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, a gravity sensor is provided inside the device, and “obtaining the tilt angle of the device” includes: obtaining first data collected by the gravity sensor; and obtaining the tilt angle of the device based on the first data collected by the gravity sensor.

[0009] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, "obtaining the inclination angle of the device based on the first data collected by the gravity sensor" includes: performing data cleaning on the first data to obtain second data; inputting the second data into a preset low-pass filter to obtain third data; and obtaining the inclination angle of the device based on the third data.

[0010] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, "leveling the base of the device based on the tilt angle" includes: obtaining a first theoretical adjustment height of each base based on the tilt angle; and leveling the base of the device based on the first theoretical adjustment height.

[0011] As an alternative or supplement to the above scheme, in a method according to an embodiment of the present invention, "leveling the base of the device based on the first theoretical adjustment height" includes: obtaining the existing support height of each base of the device and the leveling limit of each base; judging whether it is necessary to correct the first theoretical adjustment height of each base based on the leveling limit of the base, the existing support height of the base and the first theoretical adjustment height of the base; if it is determined that the first theoretical adjustment height of each base needs to be corrected, then based on the leveling limit of the base, the existing support height of the base and the first theoretical adjustment height of the base, obtaining the second theoretical adjustment height of each base; and leveling the base of the device based on the second theoretical adjustment height.

[0012] As an alternative or supplement to the above solution, in a method according to an embodiment of the present invention, the leveling method is performed before the washing program of the laundry device is started and / or after the dehydration program is completed.

[0013] In a second aspect, a control device is provided, which includes a processor and a storage device, wherein the storage device is suitable for storing multiple computer programs, and the computer programs are suitable for being loaded and run by the processor to execute the leveling method of the laundry device described in any one of the technical solutions of the above-mentioned leveling method of the laundry device.

[0014] In a third aspect, a computer-readable storage medium is provided, wherein a plurality of computer programs are stored in the computer-readable storage medium, wherein the computer programs are suitable for being loaded and run by a processor to execute the leveling method for a laundry appliance described in any one of the technical solutions of the leveling method for a laundry appliance.

[0015] In a fourth aspect, a laundry appliance is provided, comprising a control device, wherein the control device operates to execute the leveling method for the laundry appliance described in any one of the technical solutions of the leveling method for the laundry appliance.

[0016] The above one or more technical solutions of the present invention have at least one or more of the following Beneficial effects:

[0017] In the technical solution of the present invention, the tilt angle of the washing machine can be automatically obtained, and then whether leveling is required is determined based on the obtained tilt angle and the preset tilt threshold. Only when the tilt angle exceeds the preset threshold will the technology start the leveling program and automatically adjust the height of the washing machine's feet. In this way, the technology not only saves the user the trouble of manually adjusting the feet, but also avoids the problem of inaccurate leveling caused by manual operation. Therefore, while achieving equipment leveling, the technology significantly reduces the vibration and noise generated by the washing machine during operation, reduces the pressure on the machine structure, extends the service life of the washing machine, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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:

[0019] Figure 1 is a schematic flow chart of main steps of a leveling method for a laundry device according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of the secondary steps of a leveling method for a laundry device according to an embodiment of the present invention;

[0021] Figure 3 is a flow chart of the secondary steps of a leveling method for a laundry device according to an embodiment of the present invention;

[0022] Figure 4 is a flow chart of the secondary steps of a leveling method for a laundry device according to an embodiment of the present invention;

[0023] Figure 5 1 is a flow chart of the main steps of a leveling method for a laundry appliance according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] 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 computer programs, 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 computer programs, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. 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.

[0026] Embodiment 1:

[0027] See attached Figure 1 , Figure 1 FIG. 1 is a flow chart showing the main steps of a method for leveling a laundry machine according to an embodiment of the present invention. Figure 1 As shown, the leveling method of the laundry appliance in the embodiment of the present invention mainly includes the following steps S10 to S30.

[0028] Step S10: Obtain the tilt angle of the device.

[0029] In this embodiment, the tilt angle of the device refers to the tilt angle of the device relative to the horizontal plane.

[0030] In one embodiment, it is very important for a household laundry appliance, such as a washing machine, to keep it stable in working condition. The tilt of the appliance may cause various problems, such as movement and vibration of the appliance, reduction of operating performance, and possible damage to the appliance itself. In addition, severe tilt may even affect the laundry effect, such as uneven washing and rinsing caused by vibration. Therefore, it is very important to obtain the tilt angle of the appliance, which will provide necessary information for leveling the appliance.

[0031] Here, the tilt angle refers to the angle between the device and the ground. Ideally, this angle should be 0 degrees, indicating that the device is completely horizontal. If this angle is not 0, then the device is tilted. In actual operation, a tilt threshold is generally set. Only when the tilt angle of the device exceeds this threshold will it be considered that leveling is required.

[0032] In this embodiment, a gravity sensor is provided inside the device, and whether to perform leveling is determined by the provided gravity sensor. Specifically, in this embodiment, the determination is performed through steps S101-S102. Figure 2 As shown, the details are as follows:

[0033] Step S101: Acquire first data collected by a gravity sensor.

[0034] In this embodiment, the gravity sensor is an acceleration sensor.

[0035] In one embodiment, by measuring the change in gravitational acceleration, the spatial position and angle of the device can be accurately obtained.

[0036] In this embodiment, the gravity sensor is composed of a silicon chip and some micro electrodes, which together form a micro capacitor. When the device moves or tilts, the silicon chip will move slightly due to changes in gravity or acceleration, resulting in changes in capacitance. Then, by measuring this change in capacitance, the acceleration information of the device can be obtained.

[0037] In this embodiment, the gravity sensor starts to work and collects acceleration data of the device, which is called "first data". This data includes the acceleration values ​​of the device in various directions and the angle values ​​of the device in various axial directions. This data will be recorded continuously or intermittently for subsequent processing and analysis.

[0038] In the specific selection of the sensor, some characteristics of the sensor need to be considered, such as sensitivity, measurement range, noise, etc. For example, if the sensitivity of the sensor is too high, a large amount of noise will be contained in the data; conversely, if the sensitivity of the sensor is too low, then the slight tilt of the device may not be detected. Therefore, when selecting and setting the sensor, these factors need to be fully considered to obtain the most accurate data. In this embodiment, since the tilt angle of the washing machine is generally between 0 and 5°, in order to accurately obtain its slight tilt, a gravity sensor with higher sensitivity is selected.

[0039] Preferably, in this embodiment, only one gravity sensor is used.

[0040] Step S102: Obtaining the tilt angle of the device based on the first data pair collected by the gravity sensor.

[0041] In this embodiment, the system calculates the tilt angle of the device according to the first data collected from the gravity sensor.

[0042] In one embodiment, the tilt state of the device in three-dimensional space can be determined by acceleration data in three directions. In this embodiment, the tilt angle is obtained through steps S102-1 to S102-3. Specifically:

[0043] Step S102 - 1 : Clean the first data to obtain second data.

[0044] In this embodiment, data cleaning is an important step in data preprocessing, the purpose of which is to eliminate noise and inaccurate information in the original data through various technical means to improve the accuracy of subsequent calculations and analysis.

[0045] In one embodiment, in the application environment of a laundry machine, the first data collected by the gravity sensor may contain various types of noise and errors. For example, during the washing process of the laundry machine, the mechanical vibration and electromagnetic interference inside the laundry machine may affect the data of the gravity sensor, resulting in temporary or long-term deviation of the data. In addition, environmental factors, such as temperature and humidity changes, may also cause sensor drift or errors.

[0046] For this, the device needs to perform data cleaning to eliminate these noises and errors. In this embodiment, data cleaning is performed in the following manner.

[0047] Outlier detection and elimination: The device will perform statistical analysis on the collected data. For example, if under normal conditions, the data of the gravity sensor fluctuates roughly within a certain range, such as -1 to 1, then data that suddenly appears to be greater than 1 or less than -1 may be an outlier. These outliers may be caused by temporary vibration of the device, electromagnetic interference, and other factors. In order to ensure the accuracy of the data, the device will eliminate these outliers.

[0048] Smoothing: The device then smoothes the data to reduce random noise in the data. For example, the device can use a sliding average method, which replaces each data point with the average of its neighboring data points. This way, the impact of a single abnormal data point on the overall data is reduced, making the data more stable.

[0049] Data calibration: If the sensor is found to have systematic errors or drift, the device can eliminate these errors through data calibration. For example, if the reading of the gravity sensor is found to be biased even without any tilt, then data calibration is required. The device can obtain some standard data during factory testing, and then use this data to calibrate the reading of the gravity sensor.

[0050] After data cleaning is completed, the second data obtained will be more accurate and stable, providing a reliable input for the subsequent calculation of the tilt angle.

[0051] Step S102 - 2 : input the second data into a preset low-pass filter to obtain third data.

[0052] In this embodiment, the low-pass filter is an electronic device or system that can pass low-frequency signals and block high-frequency signals. In signal processing, the low-pass filter can effectively remove unnecessary high-frequency components and only retain useful low-frequency parts.

[0053] In one embodiment, the tilt change of the device is regarded as a low-frequency signal, and the data change caused by factors such as instantaneous vibration and electromagnetic interference is regarded as high-frequency noise. In this embodiment, after the cleaned second data is input into the low-pass filter, the filter will remove signals higher than this frequency according to the set cutoff frequency. For example, if the tilt speed of the device is generally 0, the cutoff frequency can be set to 1Hz, so that all signals higher than 1Hz will be removed by the filter.

[0054] There are many ways to design and implement low-pass filters, including analog filters and digital filters. In analog filters, Butterworth filters, Chebyshev filters, etc. can be used. In digital filters, finite impulse response (FIR) filters and infinite impulse response (IIR) filters can be used. These filters can meet the filtering requirements of tilted data through appropriate design.

[0055] After being processed by the low-pass filter, the high-frequency noise in the second data will be removed to obtain the third data. These third data will be more stable and better reflect the actual tilt state of the device, providing a more stable basis for the subsequent calculation of the tilt angle.

[0056] Step S102 - 3 : obtaining the tilt angle of the device based on the third data.

[0057] In one embodiment, in order to understand how to calculate the tilt angle of the device, it is necessary to understand the working principle of the gravity sensor, which is described in detail here. In a stationary state, the reading of the gravity sensor will reflect the effect of gravity on it. If the device is tilted, the component of gravity in the sensor coordinate system will change, and this change can be captured by the sensor and reflected in the data.

[0058] Generally, a gravity sensor provides acceleration readings in three directions (usually called X, Y, and Z axes) in the device coordinate system. The device's tilt angle can be obtained by calculating the components of gravity in these three directions.

[0059] For example, suppose the device is lying flat and the Z axis of the sensor is opposite to the direction of gravity. When there is no tilt, the component of gravity in the Z axis direction is g (gravitational acceleration), and the components in the X and Y axis directions are 0. If the device is tilted along the X axis by an angle θ, then the component of gravity in the X axis is gsin(θ), and the component in the Z axis is gcos(θ). By measuring the components of gravity in the X, Y, and Z axes, the tilt angle of the device can be calculated.

[0060] The specific calculation formula may vary depending on the specific situation and needs of the equipment.

[0061] After this step, the tilt angle of the equipment can be obtained, which can be used for subsequent leveling operations.

[0062] Step S20: determining whether to perform leveling based on the tilt angle and a preset tilt threshold.

[0063] In this embodiment, the preset tilt threshold is a preset set value, which represents the maximum tilt angle that can be tolerated when the device is running.

[0064] In one embodiment, taking a household washing machine as an example, the preset tilt threshold is affected by different models and is between 1-2 degrees. If it exceeds this range, the washing machine may shake when rotating at high speed, affecting the user experience and may even cause damage to the equipment.

[0065] The system compares the acquired device tilt angle with the preset tilt threshold. If the device tilt angle exceeds the preset tilt threshold, the system determines that a leveling operation is required. If the device tilt angle does not exceed the preset tilt threshold, the system determines that a leveling operation is not required and the next operation can be directly performed, such as starting the laundry process.

[0066] Here is a specific Python code to implement step S20, as follows:

[0067] #Assume that "tilt_angle" is the obtained tilt angle of the device, and "threshold" is the preset tilt threshold

[0068] def check_tilt(tilt_angle,threshold):

[0069] if tilt_angle>threshold:

[0070] return True #If the tilt angle exceeds the threshold, return True, indicating that leveling is required

[0071] else:

[0072] return False#If the tilt angle does not exceed the threshold, return False, indicating that the next step can be performed, such as starting the laundry process

[0074] #Example

[0075] tilt_angle=3.0# Example tilt angle

[0076] threshold=2.0#Example threshold

[0077] need_leveling=check_tilt(tilt_angle,threshold)

[0078] if need_leveling:

[0079] print("Need to perform leveling operation")

[0080] else:

[0081] print("No leveling operation is required, you can proceed directly to the next step")

[0082] In this code, a function check_tilt is first defined to execute the judgment logic. This function receives two parameters, one is the tilt angle of the device, and the other is the preset tilt threshold. If the tilt angle exceeds the threshold, the function returns True, indicating that leveling operation is required. If the tilt angle does not exceed the threshold, the function returns False, indicating that the next step can be performed.

[0083] Then, some sample values ​​are set for the tilt angle and threshold, and the check_tilt function is called to check whether a leveling operation is needed. Depending on the return value of the function, a corresponding message can be printed out.

[0084] The purpose of this step is to ensure that the equipment can operate in a suitable state while minimizing unnecessary leveling operations, thereby ensuring the performance of the equipment and extending the life of the equipment.

[0085] Step S30: If it is determined to be leveling, the base of the equipment is leveled.

[0086] In this embodiment, the base of the device is leveled based on the tilt angle. In this embodiment, the base of the device is leveled by a motor-driven mechanical device or a hydraulic device.

[0087] In one embodiment, the height and direction of the feet to be adjusted are determined according to the tilt angle of the device. For example, if the device is tilted along the X-axis, the feet on one side need to be raised or the feet on the other side need to be lowered to restore the device to a horizontal state. If the device is tilted along both the X-axis and the Y-axis, the heights of all four feet need to be adjusted to restore the device to a horizontal state.

[0088] The execution of this step can make the equipment more stable, reduce the noise generated during operation, reduce the wear and tear of the machine due to unstable operation, and extend the service life of the equipment. In addition, when the washing machine is running in a horizontal state, the washing effect is better, the washing process is smoother, and the clothes are prevented from being damaged during the washing process.

[0089] In this embodiment, the leveling of the equipment base is performed through steps S301-S302, such as Figure 3 As shown, the details are as follows:

[0090] Step S301: obtaining a first theoretical adjustment height of each foot based on the tilt angle.

[0091] In this embodiment, the first theoretical adjustment height is the height that each foot needs to be adjusted, and when the corresponding foot is adjusted to its corresponding first theoretical adjustment height, the device returns to a horizontal state.

[0092] In one embodiment, the first theoretical adjustment height of each foot is calculated based on the tilt angle of the device. According to physical principles, there is a direct mathematical relationship between the tilt angle of the device and the adjustment height of the foot. This relationship can be accurately described by trigonometric functions.

[0093] First, if the device is tilted along a single axis (such as the X-axis), the relationship between the tilt angle and the adjusted height of the base can be obtained by solving the triangle rule. Specifically, assuming that the distance between the two bases of the device along the X-axis is D, and the tilt angle of the device along the X-axis is θ, then according to the tangent function, the required adjusted base height H can be expressed as: H = D × tan (θ).

[0094] However, if the device is tilted along two axes (such as the X-axis and the Y-axis) at the same time, the calculation of the adjustment height of the base will be correspondingly complicated. In this case, the adjustment height needs to be calculated for each base separately. The specific calculation method can be determined based on factors such as the geometry of the device and the location of the base.

[0095] Assume that there are four pins on the bottom of the device, and the four pins are arranged in a rectangular form, which are recorded as A, B, C and D. A and D are located on one side of the device in the X-axis direction, and B and C are located on the other side of the device. Similarly, A and B are located at one end of the device in the Y-axis direction, and C and D are located at the other end of the device.

[0096] When the device is tilted along the X-axis and the Y-axis simultaneously, the tilt angle of the device can be obtained by the gravity sensor and calculated through the previous steps, which are recorded as θ (tilt angle in the X-axis direction) and α (tilt angle in the Y-axis direction).

[0097] Now, we need to calculate the first theoretical adjustment height of each of the four feet based on θ and α.

[0098] For the A base, assuming that the X-axis direction (for example, length) of the device is L and the Y-axis direction (for example, width) is W, then the height HA that the A base needs to be adjusted can be calculated by the following formula: HA = L×tan(θ)+W×tan(α).

[0099] For foot B, since it is opposite to foot A in the X-axis direction but on the same side as foot A in the Y-axis direction, the height HB that needs to be adjusted can be calculated as: HB = L×tan(θ)-W×tan(α).

[0100] For the C foot, since it is on the same side as the A foot in the X-axis direction but opposite to the A foot in the Y-axis direction, the height HC that needs to be adjusted can be calculated as: HC = -L×tan(θ)+W×tan(α).

[0101] For the D foot, since it is opposite to the A foot in the directions of the X-axis and the Y-axis, the height HD that needs to be adjusted can be calculated as: HD = -L×tan(θ)-W×tan(α).

[0102] In this way, a theoretical adjustment height can be calculated for each of the four feet of the device.

[0103] In this embodiment, accurate calculations can provide a theoretical basis for leveling the equipment feet, thereby achieving efficient and accurate leveling.

[0104] Step S302: Leveling the base of the device based on the first theoretical height adjustment.

[0105] In this embodiment, the base can be adjusted based on the first theoretical adjustment height by corresponding mechanical or hydraulic devices, thereby achieving leveling of the equipment.

[0106] However, in actual settings, the base feet all have leveling limits, that is, when the first theoretical adjustment height exceeds the leveling limit of the base feet or exceeds the leveling capacity of the base feet in the existing position, the first theoretical adjustment height cannot be used directly. Therefore, preferably, step S302 is implemented through steps S302-1 to S302-4, such as Figure 4 As shown, the details are as follows:

[0107] Step S302-1: Obtain the current support height of each foot of the equipment and the leveling limit of each foot.

[0108] In this embodiment, the existing support height refers to the current height of the base. The leveling limit refers to the maximum range within which the base can be adjusted, and this parameter is usually determined when the equipment is manufactured.

[0109] The purpose of obtaining this information is to ensure that the calculated first theoretical adjustment height is within the actual adjustable range.

[0110] In one embodiment, the current support height of each foot is obtained by reading data from a position sensor. During the leveling operation, if the calculated first theoretical adjustment height exceeds the actual adjustable range of the foot, then the adjustment height is unachievable and needs to be corrected accordingly.

[0111] Step S302-2: Based on the leveling limit of the foot, the existing support height of the foot and the first theoretical adjustment height of the foot, determine whether the first theoretical adjustment height of each foot needs to be corrected.

[0112] In one embodiment, for each foot, the system checks whether the first theoretical adjustment height exceeds the actual adjustable range of the foot. The actual adjustable range is calculated based on the existing support height of the foot and the leveling limit. If the first theoretical adjustment height plus the existing support height exceeds the leveling limit, the first theoretical adjustment height needs to be corrected.

[0113] For example, if the existing support height of a foot is 5cm and the leveling limit is 10cm, then the actual adjustable range of this foot is 5cm. If the first theoretical adjustment height calculated based on the tilt angle is 6cm, then this height exceeds the actual adjustable range of the foot, so the first theoretical adjustment height of each foot needs to be corrected.

[0114] Step S302-3: If it is determined that the first theoretical adjustment height of each foot needs to be corrected, the second theoretical adjustment height of each foot is obtained based on the leveling limit of the foot, the existing support height of the foot and the first theoretical adjustment height of the foot.

[0115] In one embodiment, when the first theoretical adjustment height of one of the feet cannot be directly achieved, it is necessary to adjust the adjustment heights of all the feet.

[0116] In this embodiment, the foot that exceeds the leveling range the most is found, and the value of the excess is used as a unified reduction value. Then, the first theoretical adjustment height of all the feet is subtracted from this unified value to obtain the respective second theoretical adjustment heights.

[0117] In this embodiment, all the feet are adjusted synchronously under the same conditions. Even if the first theoretical adjustment height of one of the feet exceeds the leveling limit, all the feet need to be corrected uniformly to ensure that the device can eventually remain level.

[0118] Step S302-4: Level the base of the equipment based on the second theoretical adjustment height, and add or subtract the first theoretical adjustment heights of all bases according to a unified standard to meet the adjustment capacity range of each base.

[0119] In this embodiment, the leveling method is performed before the washing program of the laundry device is started and / or after the dehydration program is completed.

[0120] Embodiment 2:

[0121] Most of the techniques in this embodiment are the same as those in Embodiment 1, except for step S30 in this embodiment. Other techniques are the same as those in Embodiment 1, and will not be described in detail herein.

[0122] Preferably, step S30 includes steps S303-S305, and steps S303-S305 are set to prevent exceeding the leveling range. Figure 5 shown.

[0123] Step S303: If it is determined to be leveling, the base of the control device is adjusted to a preset height.

[0124] In this embodiment, the preset height is a target height for the equipment to perform a leveling operation.

[0125] In one embodiment, once it is determined that the device needs to be leveled, the system will start an adjustment procedure, first adjusting all the feet to a preset height. This preset height is not the final target height of the device, but an intermediate step to leave room for subsequent fine adjustments. By first adjusting all the feet to this preset height, there is enough margin for subsequent adjustment steps to achieve more accurate leveling.

[0126] The preset height is usually a default value set by the equipment manufacturer based on the equipment's design parameters and usage environment. This value takes into account the equipment's stability and the adjustment range of the base.

[0127] In addition, the setting of this step also takes into account the long-term stability and durability of the equipment. By adjusting all the feet to the preset height first, it can be ensured that the height of the feet after the final leveling is relatively low, thereby reducing the force and wear of the feet, enhancing the stability of the equipment, and reducing the risk of damage caused by the feet being too high.

[0128] Step S304: After the device feet are adjusted to a preset height, the tilt angle of the device is re-acquired.

[0129] In this embodiment, this step is similar to step S10 and will not be described again here.

[0130] Step S305: Leveling the base of the device based on the re-acquired tilt angle of the device.

[0131] In this embodiment, this step is similar to step S30 in Embodiment 1 and will not be described again here.

[0132] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present invention.

[0133] 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 each of the above method embodiments when executed by the processor. Among them, the computer program includes a computer program, and the computer program 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. 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.

[0134] Furthermore, the present invention also provides a control device. In an embodiment of a 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 leveling method of the laundry device 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 leveling method of the laundry device 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.

[0135] 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 leveling method of the laundry device of the above method embodiment, and the program can be loaded and run by the processor to implement the leveling method of the above laundry device. 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.

[0136] Furthermore, the present invention also provides a laundry appliance, comprising a control device, wherein the control device operates to execute the leveling method for the laundry appliance described in any one of the technical solutions of the leveling method for the laundry appliance.

[0137] 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.

[0138] 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.

[0139] 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 leveling method for a laundry appliance, characterized in that: The method comprises: Obtaining a tilt angle of the device; Determining whether to perform leveling based on the tilt angle and a preset tilt threshold; If it is determined to be leveled, the base of the device is leveled.

2. The leveling method of the laundry equipment according to claim 1, characterized in that: "Leveling the footing of said equipment", including: leveling the feet of the device based on the tilt angle; and / or, if it is determined that leveling is to be performed, controlling the base of the device to be adjusted to a preset height; After the base of the device is adjusted to a preset height, re-obtaining the tilt angle of the device; The feet of the device are leveled based on the retrieved tilt angle of the device.

3. The leveling method of the laundry equipment according to claim 1, characterized in that: The device is provided with a gravity sensor inside, and “obtaining the tilt angle of the device” includes: Acquire first data collected by the gravity sensor; The tilt angle of the device is obtained based on a first data pair collected by the gravity sensor.

4. The leveling method of the laundry equipment according to claim 2, characterized in that: “Obtaining the tilt angle of the device based on the first data pair collected by the gravity sensor” includes: Performing data cleaning on the first data to obtain second data; Inputting the second data into a preset low-pass filter to obtain third data; The tilt angle of the device is obtained based on the third data.

5. The leveling method of the laundry equipment according to claim 2, characterized in that: "Leveling the base of the device based on the tilt angle" includes: Obtaining a first theoretical adjustment height of each foot based on the tilt angle; The feet of the device are leveled based on the first theoretical adjusted height.

6. The leveling method of the laundry equipment according to claim 5, characterized in that: "Leveling the feet of the device based on the first theoretical height adjustment", comprising: Obtaining the existing support height of each foot of the device and the leveling limit of each foot; Determining whether the first theoretical adjustment height of each foot needs to be corrected based on the leveling limit of the foot, the existing support height of the foot, and the first theoretical adjustment height of the foot; If it is determined that the first theoretical adjustment height of each foot needs to be corrected, then based on the leveling limit of the foot, the existing support height of the foot and the first theoretical adjustment height of the foot, a second theoretical adjustment height of each foot is obtained; The feet of the device are leveled based on the second theoretical adjusted height.

7. The leveling method for a laundry machine according to any one of claims 1 to 3, characterized in that: The leveling method is performed before the laundry program of the laundry device is started and / or after the dehydration program is completed.

8. A control device, comprising a processor and a storage device, wherein the storage device is suitable for storing a plurality of computer programs, characterized in that: The computer program is suitable for being loaded and run by the processor to perform the leveling method of the laundry appliance according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a plurality of computer programs, characterized in that: The computer program is suitable for being loaded and run by a processor to execute the leveling method of the laundry appliance according to any one of claims 1 to 7.

10. A laundry device, comprising a control device, characterized in that: The control device operates to execute the leveling method of the laundry appliance according to any one of claims 1 to 7.

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