Unbalance detection method, controller and washing machine

Abstract

The invention relates to an unbalance detection method, a controller and a washing machine, and the method comprises the steps: firstly, controlling a roller of the washing machine to operate so as to enable an unbalance load of the roller to operate to an eccentric position, when the unbalance load of the roller operates to the eccentric position, controlling the roller to be static, and then detecting an eccentric angle and a static holding torque of a motor of the roller; finally, the target unbalance amount of the roller is determined according to the static holding torque and the eccentric angle. According to the unbalance detection method, the roller is controlled to be kept static at the eccentric position, then the static unbalance state of the roller is deduced according to the static holding torque, the corresponding target unbalance amount is obtained, the target unbalance amount only needs to be detected at the eccentric position, the number of detection positions is small, consumed time is short, detection is carried out when the unbalance load is static, and the detection accuracy is high. Noise or vibration generated by unbalanced operation is reduced, and more convenience and safety are achieved.

Description

Technical Field

[0001] The present application relates to the field of eccentricity detection, and in particular to an imbalance detection method, a controller and a washing machine. Background Art

[0002] Imbalance detection is an important function of washing machines. The imbalance indicates the unevenness of the load distribution in the washing machine drum, which is an important indicator of whether the washing machine can run at high speed. The current imbalance detection method generally obtains the torque of the drum motor in the process of accelerated rotation of the drum, and determines the imbalance based on the torque fluctuation, or obtains the speed fluctuation of the drum motor in the process of accelerated rotation of the drum, and determines the imbalance based on the speed fluctuation. However, the detection process takes a long time. During the detection process, the noise and vibration caused by the operation of the unbalanced load are large, and even the drum may collide, which is less safe. Summary of the invention

[0003] The present application solves at least one of the above-mentioned technical problems to a certain extent. To this end, the present application provides an imbalance detection method, a controller and a washing machine, which can detect the imbalance of the drum more quickly and generate less noise and vibration.

[0004] In a first aspect, an embodiment of the present application provides an imbalance detection method, which is applied to a washing machine, and the method includes:

[0005] Controlling the operation of the drum of the washing machine so that the unbalanced load of the drum is operated to an eccentric position, wherein the eccentric position is any position of a detection zone, the detection zone is an area from the 4 o'clock position to the 8 o'clock position of the cross section of the drum except the 6 o'clock position of the cross section of the drum, the cross section of the drum is evenly divided into 12 points, and the 12 points are numbered from the 1 o'clock position to the 12 o'clock position according to the clockwise direction of the clock;

[0006] When the unbalanced load of the drum runs to an eccentric position, the drum is controlled to be stationary, and the eccentric angle and the static holding torque of the motor driving the drum are detected, wherein, if the line connecting the six points of the cross section of the drum and the rotation center of the drum is a first line, and the line connecting the center of gravity of the unbalanced load and the rotation center of the drum is a second line, then the eccentric angle is the angle between the first line and the second line;

[0007] A target unbalance amount of the drum is determined according to the static holding torque and the eccentric angle.

[0008] In some embodiments, the eccentric position includes a first eccentric position, the eccentric angle includes a first eccentric angle, the static holding torque includes a first static holding torque, and determining the target unbalance amount of the drum according to the static holding torque and the eccentric angle includes:

[0009] determining a first unbalance amount of the drum according to the first static holding moment and the first eccentric angle;

[0010] The first unbalance amount is determined as the target unbalance amount.

[0011] In some embodiments, the eccentric position further includes a second eccentric position, and controlling the operation of the drum of the washing machine so that the unbalanced load of the drum operates to the eccentric position includes:

[0012] Controlling the drum of the washing machine to operate so that the unbalanced load operates to the first eccentric position, and controlling the drum to be stationary;

[0013] The washing machine drum is controlled to continue to operate so that the unbalanced load operates to the second eccentric position, and the drum is controlled to be stationary, wherein during the operation from the first eccentric position to the second eccentric position, the relative position of the unbalanced load and the drum remains unchanged.

[0014] In some embodiments, the static holding torque further includes a second static holding torque, the eccentric angle further includes a second eccentric angle, and determining the target unbalance amount of the drum according to the static holding torque and the eccentric angle further includes:

[0015] determining a second unbalance amount of the drum according to the second static holding torque and the second eccentric angle;

[0016] The target unbalance amount is determined according to the first unbalance amount and the second unbalance amount.

[0017] In some embodiments, determining the target imbalance amount according to the first imbalance amount and the second imbalance amount includes:

[0018] An average value of the first unbalance amount and the second unbalance amount is determined as the target balance amount.

[0019] In some embodiments, determining the first unbalance amount according to the first static holding torque and the first eccentric angle includes:

[0020] The first unbalance is obtained by the following formula:

[0021] Fg1=T1 / [(sinθ1)*g];

[0022] Wherein, Fg1 is the first unbalance amount, T1 is the first static holding torque, θ1 is the first eccentric angle, and g is the gravitational acceleration.

[0023] In some embodiments, determining the second unbalance amount of the drum according to the second static holding torque and the second eccentric angle includes:

[0024] The second unbalance is obtained by the following formula:

[0025] Fg2==T2 / [(sinθ2)*g];

[0026] Wherein, Fg2 is the second unbalance amount, T2 is the second static holding torque, θ2 is the second eccentric angle, and g is the gravitational acceleration.

[0027] In some embodiments, the detecting the static holding torque of the motor driving the drum comprises:

[0028] detecting the current of the motor;

[0029] A static holding torque for driving the motor is determined according to the current.

[0030] In a second aspect, an embodiment of the present application provides a controller, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the imbalance detection method as described above.

[0031] In a third aspect, an embodiment of the present application provides a washing machine, comprising the controller as described above.

[0032] Compared with the prior art, the present application has at least the following beneficial effects: in the unbalance detection method of the present application, the drum of the washing machine is first controlled to operate so that the unbalanced load of the drum operates to the eccentric position. When the unbalanced load of the drum operates to the eccentric position, the drum is controlled to be stationary, and then the eccentric angle and the static holding torque of the motor of the drum are detected. Finally, the target unbalance amount of the drum is determined according to the static holding torque and the eccentric angle. The unbalance detection method controls the drum to remain stationary at the eccentric position, and then derives the static unbalanced state of the drum according to the static holding torque to obtain the corresponding target unbalance amount. The method only needs to detect the target unbalance amount at the eccentric position, with fewer detection positions and faster time. Moreover, the detection is performed when the unbalanced load is stationary, which reduces the noise or vibration caused by unbalanced operation and is more convenient and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0034] Figure 1 It is a structural schematic diagram of a washing machine provided in an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of a controller structure provided in an embodiment of the present application;

[0036] Figure 3 It is a flowchart of one of the imbalance detection methods provided in the embodiment of the present application;

[0037] Figure 4 is a schematic diagram of one of the roller structures provided in an embodiment of the present application;

[0038] Figure 5 The embodiment of this application provides Figure 3 Schematic diagram of the process of step S10;

[0039] Figure 6 It is a structural schematic diagram of an eccentricity detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0041] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0042] The washing machine includes a drum assembly (drum, outer drum, door, drive motor), a control unit (main control panel, frequency conversion drive board, function keys, door lock safety switch and controller and other control circuits) and an outer box. These three basic components are assembled and fixed together to form a washing machine.

[0043] Specifically, the washing machine may include a drum, which can perform tasks such as washing and dehydrating. The washing machine drum may be provided with a plurality of lifting ribs and a plurality of drainage holes. Figure 1 As shown, the washing machine may also include a motor 10 and a controller 20. When the washing machine is dehydrating, the controller 20 controls the motor 10 so that the motor 10 drives the drum to accelerate to a speed exceeding a critical speed. During this process, the clothes in the drum continue to tumble as the lifting ribs rotate, and finally adhere to the barrel wall of the drum under the action of centripetal force, and rotate synchronously with the drum, and no relative motion occurs. Then the motor 10 drives the drum to maintain a constant speed and continue to rotate for a set time. Within the set time, the water on the clothes in the drum can be discharged through the drainage holes of the drum, thereby achieving dehydration of the clothes.

[0044] In addition, the normal dehydration of the washing machine includes two processes, the first process is the pre-dehydration process, and the second process is the high-speed dehydration process. The washing machine generally performs an imbalance detection before high-speed dehydration to detect the imbalance of the drum. The imbalance of the drum refers to the degree of uneven distribution of clothes in the drum. Uneven distribution of clothes in the drum will cause the center of gravity to deviate from the center of rotation of the drum. The unevenly distributed clothes can be called an unbalanced load, and its weight is the imbalance. The size of the imbalance represents the degree to which the center of gravity of the unbalanced load deviates from the center of rotation of the drum. The larger the imbalance, the higher the degree to which the center of gravity of the unbalanced load deviates from the center of rotation of the drum, or the higher the degree of eccentricity caused by the unbalanced load. If the imbalance is too large, it will generate a lot of noise, and will cause the drum to vibrate violently, and even cause a drum collision accident.

[0045] Therefore, the detected imbalance is transmitted to the controller 20, which processes and analyzes it. When the detected imbalance exceeds the preset range, the washing machine will correct the imbalance, for example, by shaking out the clothes so that the clothes are evenly distributed in the washing machine drum, reducing the current imbalance. When the detected imbalance is within the set range, the controller 20 can control the washing machine to enter the high-speed dehydration process, which can effectively protect the washing machine from being damaged due to excessive imbalance load during high-speed dehydration.

[0046] In the current unbalance detection method, generally, during the accelerated rotation of the drum, the torque of the drum motor is obtained, and the unbalance amount is determined based on the torque fluctuation, or during the accelerated rotation of the drum, the speed fluctuation of the drum motor is obtained, and the unbalance amount is determined based on the speed fluctuation. However, the detection process takes a long time, and during the detection process, the noise and vibration caused by the operation of the unbalanced load are large, and even the drum may collide, which is less safe.

[0047] Based on the above reasons, an embodiment of the present application provides an imbalance detection method, which is applied to a washing machine. The method includes first controlling the operation of the washing machine drum so that the unbalanced load of the drum operates to an eccentric position. When the unbalanced load of the drum operates to the eccentric position, the drum is controlled to be stationary, and then the eccentric angle and the static holding torque of the drum motor are detected. Finally, the target imbalance amount of the drum is determined based on the static holding torque and the eccentric angle.

[0048] This imbalance detection method controls the drum to remain stationary at the eccentric position, and then derives the static imbalance state of the drum according to the static holding torque to obtain the corresponding target imbalance. This method only needs to detect the target imbalance at the eccentric position, with fewer detection positions and faster time, thus reducing the noise or vibration caused by unbalanced operation and being more convenient and safer.

[0049] Please also read Figure 2 , Figure 2 2 is a schematic diagram of the hardware structure of a controller provided in an embodiment of the present application. The controller 20 includes at least one processor 201 ( Figure 2 The controller 20 may be in the form of a chip.

[0050] Among them, the memory 202 stores instructions that can be executed by the at least one processor 201, and the instructions are executed by the at least one processor 201. The processor 201 is used to provide computing and control capabilities to execute relevant commands, for example, to control the imbalance detection device to perform any one of the imbalance detection methods provided in the following embodiments of the present application.

[0051] The memory 202, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the unbalanced detection method provided in the following embodiments of the present application. The processor 201 can implement the unbalanced detection method in any of the following method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 202. Specifically, the memory 202 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 202 may also include a memory remotely arranged relative to the processor 201, and these remote memories may be connected to the processor 201 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0052] In some embodiments, the controller 20 can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. In addition, the controller 20 can also be any conventional processor, controller, microcontroller or state machine. The controller 20 can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP, and / or any other such configuration.

[0053] This application embodiment provides an imbalance detection method, see Figure 3 , Figure 3 This is a flow chart of an imbalance detection method provided in an embodiment of the present application. The method S100 includes but is not limited to the following steps:

[0054] S10: Controlling the operation of the drum of the washing machine so that the unbalanced load of the drum operates to an eccentric position, wherein the eccentric position is any position of a detection zone, and the detection zone is an area from the 4 o'clock position to the 8 o'clock position of the cross section of the drum except the 6 o'clock position of the cross section of the drum, and the cross section of the drum is evenly divided into 12 points, and the 12 points are numbered from the 1 o'clock position to the 12 o'clock position according to the clockwise direction of the clock;

[0055] Washing machine drum structure Figure 4As shown in the figure, the direction of the arrow is the rotation direction of the drum, and the position on the cross section of the drum is evenly divided into 12 points, and the 12 points are numbered from 1 o'clock to 12 o'clock in clockwise order in a clockwise manner, wherein the 3 o'clock position corresponds to the 9 o'clock position, both of which are located on the horizontal axis of the cross section of the drum, and the 6 o'clock position corresponds to the 12 o'clock position, both of which are located on the vertical axis of the cross section of the drum, wherein the horizontal axis and the vertical axis intersect perpendicularly at the rotation center O of the drum.

[0056] Except for the 6 o'clock position of the cross section of the drum, the 4 o'clock position to the 8 o'clock position of the cross section of the drum is the detection zone, wherein the 6 o'clock position of the cross section of the drum is the position rotated 180 degrees clockwise from the 12 o'clock position, the 4 o'clock position of the cross section of the drum is the position rotated 120 degrees clockwise from the 12 o'clock position, and the 8 o'clock position of the cross section of the drum is the position rotated 240 degrees clockwise from the 12 o'clock position. Any position in the detection zone is an eccentric position. For example, the 4 o'clock position of the cross section of the drum can be an eccentric position, the 5 o'clock position of the cross section of the drum can also be an eccentric position, and the 7 o'clock position or the 8 o'clock position of the cross section of the drum can both be eccentric positions.

[0057] The eccentric position refers to a position at which the imbalance can be detected. The present application obtains the imbalance through the relationship between friction, static holding torque and the weight of the unbalanced load. When the drum is stationary, there is no friction at the 6 o'clock position of the unbalanced load on the cross section of the drum. The unbalanced load cannot remain stably stationary at the 4 o'clock position to the 8 o'clock position of the cross section of the drum. Therefore, in an embodiment of the present application, the 4 o'clock position to the 8 o'clock position of the cross section of the drum and the 6 o'clock position of the cross section of the drum are eliminated, and the remaining positions form a detection area, and the imbalance is detected at any position in the detection area.

[0058] The unbalanced load is the equivalent load that causes the unbalance. It is not all the loads in the drum. Even in the early stage of the drum operation, the unbalanced load may be located at different positions of the drum. However, after several rotations, all the unbalanced loads will be rotated together and located at the same position of the drum. Therefore, the unbalanced load is used. Figure 4 The grey mass in the figure is equivalent to all unbalanced loads that end up in the same location.

[0059] The controller controls the motor of the drum to control the operation of the washing machine drum, and the unbalanced load follows the operation of the drum. In the later stage of operation, there is no relative movement between the unbalanced load and the drum. Therefore, the unbalanced load can be operated to an eccentric position by controlling the operation of the motor.

[0060] The controller can also stop the unbalanced load at the 4 o'clock position of the cross section of the drum, or stop the unbalanced load at the 5 o'clock position of the cross section of the drum, that is, the motor continuously outputs power to make the unbalanced load run at a low speed at the 4 o'clock position of the cross section of the drum or the position before the 5 o'clock position of the cross section of the drum, until it stops at the 4 o'clock position of the cross section of the drum or the 5 o'clock position of the cross section of the drum, and remains stationary at the 4 o'clock position of the cross section of the drum or the 5 o'clock position of the cross section of the drum. Generally, the directional control method is used to control the speed of the motor. In the control loop, the position (angle loop) is added to accurately control the unbalanced load to stop at the 4 o'clock position of the cross section of the drum or the 5 o'clock position of the cross section of the drum.

[0061] S20: When the unbalanced load of the drum runs to an eccentric position, the drum is controlled to be stationary, and the eccentric angle and the static holding torque of the motor driving the drum are detected, wherein, if the line connecting the six points of the cross section of the drum and the rotation center of the drum is a first line, and the line connecting the center of gravity of the unbalanced load and the rotation center of the drum is a second line, then the eccentric angle is the angle between the first line and the second line;

[0062] If the line connecting the six points of the cross section of the drum and the rotation center of the drum is the first line, and the line connecting the center of gravity of the unbalanced load and the rotation center of the drum is the second line, then the angle between the first line and the second line is the eccentric angle. Figure 4 , when the unbalanced load is running to the 4 o'clock position and the drum is stationary, the first connecting line is L1, the second connecting line is L2, and the eccentric angle is Figure 4 As shown by the angle θ in the figure, the size of the eccentric angle can be measured by an acceleration sensor.

[0063] When the unbalanced load remains stationary, in order to prevent the unbalanced load from moving, the motor needs to provide torque to convert into the friction force of the unbalanced load to overcome the gravity of the unbalanced load. The torque provided by the motor is the static holding torque, also known as the holding torque. The magnitude of the static holding torque is equal to the magnitude of the friction force of the unbalanced load.

[0064] In some embodiments, the current of the motor can be detected by a torque sensor, and the static holding torque of the motor can be determined based on the current. The static holding torque of the motor is also the maximum torque that the motor can generate when it is not rotating, and this torque can keep the motor stationary. The torque of the motor is proportional to the current of the motor. The torque of the motor is the product of the torque constant of the motor and the current of the motor. Therefore, the current of the motor can be measured when the motor is stationary, and the static holding torque of the drive motor can be determined by the current.

[0065] S30: Determine a target unbalance amount of the drum according to the static holding torque and the eccentric angle.

[0066] In the embodiment of the present application, the imbalance amount is the center of gravity offset or the amount of weight required to achieve balance at a certain radius, and the imbalance amount E=mg*r, wherein mg is the mass of the unbalanced load, and r is the distance from the center of gravity of the unbalanced load to the rotation center.

[0067] Please continue reading Figure 4 If the unbalanced load is stationary at 4 points on the cross section of the drum, the unbalanced load is Figure 4 According to the force analysis shown, the friction force on the unbalanced load and the weight of the unbalanced load conform to the following relationship:

[0068] Ff'=Ff=Fg*sinθ (1)

[0069] Where Ff' is the friction force, Fg is the weight of the unbalanced load, Ff is the thrust, and θ is the eccentricity angle.

[0070] Since the torque Tm=F*r that pushes the unbalanced load, if the motor transmission ratio is 1, the static holding torque T=Tm=F*r.

[0071] Therefore, the static holding moment T and the weight of the unbalanced load meet the following relationship:

[0072] T=Ff'*r=Fg*sinθ*r (2)

[0073] The weight of the unbalanced load can be derived from formula (2):

[0074] Fg=T / (sinθ*r) (3)

[0075] Since the weight of the unbalanced load is Fg=mg*g, where g is the acceleration due to gravity, substituting Fg into formula (3) yields:

[0076] mg=T / (sinθ*r*g) (4)

[0077] Therefore, the unbalance amount E=mg*r=T / (sinθ*g).

[0078] It should be noted that if the static holding torque detected during the detection process is zero, it indicates that the friction force is zero and the unbalance amount is zero, that is, there is no unbalanced load and the load distribution in the drum is uniform.

[0079] In some embodiments, the eccentric position includes a first eccentric position, the eccentric angle includes a first eccentric angle, and the static holding torque includes a first static holding torque. The first imbalance of the drum is determined based on the first static holding torque and the first eccentric angle, and the first imbalance is determined as the target imbalance.

[0080] Specifically, the first unbalance amount is obtained by the following formula:

[0081] E1=T1 / (sinθ1*g) (5)

[0082] Wherein, E1 is the first unbalance amount, T1 is the first static holding torque, θ1 is the first eccentric angle, and g is the gravitational acceleration.

[0083] In the embodiment of the present application, the first unbalance amount Fg1 is determined as the target unbalance amount.

[0084] In some embodiments, in order to improve the accuracy of unbalance detection, the unbalance may be detected at multiple locations, and the target unbalance is determined based on the unbalance detected at the multiple locations.

[0085] Specifically, the eccentric position also includes a second eccentric position. Figure 5 As shown, step S10 includes:

[0086] S101: controlling the drum of the washing machine to operate so that the unbalanced load operates to the first eccentric position, and controlling the drum to be stationary;

[0087] S102: Control the washing machine drum to continue to operate so that the unbalanced load operates to the second eccentric position, and control the drum to be stationary, wherein during the operation from the first eccentric position to the second eccentric position, the relative position of the unbalanced load and the drum remains unchanged.

[0088] Taking the example that the first eccentric position is the 4 o'clock position of the cross section of the drum and the second eccentric position is the 5 o'clock position of the cross section of the drum, during the detection process, the washing machine drum is first controlled to operate, the unbalanced load is operated to the 4 o'clock position of the cross section of the drum, and the drum is controlled to be stationary, and the first static holding torque and the first eccentric angle at the 4 o'clock position of the cross section of the drum are detected, and then the washing machine drum is controlled to continue to operate, the unbalanced load is operated to the 5 o'clock position of the cross section of the drum, and the drum is controlled to be stationary, and the second static holding torque and the second eccentric angle at the 5 o'clock position of the cross section of the drum are detected.

[0089] During the process of running from the 4 o'clock position of the cross section of the drum to the 5 o'clock position of the cross section of the drum, the relative position of the unbalanced load and the drum remains unchanged, that is, there is no relative movement between the unbalanced load and the drum.

[0090] After the first static holding torque and the first eccentric angle, and the second static holding torque and the second eccentric angle are detected and obtained, the target unbalance amount is determined according to the first static holding torque and the first eccentric angle, and the second static holding torque and the second eccentric angle.

[0091] Specifically, the first unbalance of the drum is first determined according to the first static holding torque and the first eccentric angle, the second unbalance of the drum is then determined according to the second static holding torque and the second eccentric angle, and finally the target unbalance is determined according to the first unbalance and the second unbalance.

[0092] The determination of the second unbalance is similar to the determination of the first unbalance, and the second unbalance is obtained by the following formula:

[0093] E2=T2 / (sinθ2*g) (6)

[0094] Wherein, E2 is the second unbalance amount, T2 is the second static holding torque, θ2 is the second eccentric angle, and g is the gravitational acceleration.

[0095] Then the average value of the first unbalance amount and the second unbalance amount is determined as the target unbalance amount, that is, E=(E1+E2) / 2.

[0096] In some embodiments, the unbalanced load can also be operated to multiple eccentric positions, such as the third eccentric position or the fourth eccentric position, so that the static holding torque and each eccentric angle at each eccentric position can be obtained, and the unbalance amount corresponding to each eccentric position can be determined according to each static holding torque and each eccentric angle, and finally the average value of the unbalance amount at each eccentric position is determined as the target unbalance amount. Therefore, the more eccentric positions there are, the more unbalance amounts there are, and the higher the accuracy of the target unbalance amount.

[0097] Therefore, in the embodiment of the present application, it is only necessary to detect the imbalance at each eccentric position. The detection time is short, and the detection is performed when the unbalanced load is stationary. There is no need to accelerate the rotation of the drum, which reduces the noise and vibration generated by the unbalanced load due to rotation, reduces the drum collision accidents caused by the unbalanced load, and is safer.

[0098] In summary, the imbalance detection method controls the drum to remain stationary at the eccentric position, and then deduces the static imbalance state of the drum according to the static holding torque to obtain the corresponding target imbalance. This method only needs to detect the target imbalance at the eccentric position, with fewer detection positions and faster time. Moreover, the detection is performed when the unbalanced load is stationary, which reduces the noise or vibration caused by unbalanced operation and is more convenient and safer.

[0099] It should be noted that in each of the above embodiments, there is not necessarily a certain order between the above steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0100] As another aspect of the embodiment of the present application, the embodiment of the present application provides an eccentricity detection device. The eccentricity detection device can be a software module, and the software module includes a number of instructions, which are stored in a memory in the electronic controller. The processor can access the memory and call the instructions for execution to complete the imbalance detection method described in the above embodiments.

[0101] In some embodiments, the eccentricity detection device can also be constructed by hardware devices, for example, the eccentricity detection device can be constructed by one or more chips, and the chips can work in coordination with each other to complete the imbalance detection methods described in the above embodiments. For another example, the eccentricity detection device can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of these components.

[0102] See also Figure 6 , Figure 6 An embodiment of the present application provides an eccentricity detection device, and the eccentricity detection device 200 includes a first control module 201, a second control module 202 and a determination module 203.

[0103] The first control module 201 is used to control the operation of the drum of the washing machine so that the unbalanced load of the drum is operated to an eccentric position, wherein the eccentric position is any position of a detection zone, and the detection zone is an area from the four o'clock position to the eight o'clock position of the cross section of the drum except the six o'clock position of the cross section of the drum, and the cross section of the drum is evenly divided into twelve points, and the twelve points are numbered from the one o'clock position to the twelve o'clock position according to the clockwise direction of the clock;

[0104] The second control module 202 is used to control the drum to be stationary when the unbalanced load of the drum runs to an eccentric position, and detect the eccentric angle and the static holding torque of the motor driving the drum, wherein if the line connecting the six points of the cross section of the drum and the rotation center of the drum is a first line, and the line connecting the center of gravity of the unbalanced load and the rotation center of the drum is a second line, then the eccentric angle is the angle between the first line and the second line;

[0105] The determination module 203 is used to determine the target unbalance amount of the drum according to the static holding torque and the eccentric angle.

[0106] Therefore, the eccentricity detection device controls the drum to remain stationary at the eccentric position, and then derives the static unbalanced state of the drum according to the static holding torque to obtain the corresponding target unbalance amount. This method only needs to detect the target unbalance amount at the eccentric position, with fewer detection positions and faster time. Moreover, the detection is performed when the unbalanced load is stationary, which reduces the noise or vibration caused by unbalanced operation and is more convenient and safe.

[0107] It should be noted that, since the eccentricity detection device 200 and the imbalance detection method in the above embodiment are based on the same application concept, the corresponding contents in the above method embodiment are also applicable to the device embodiment and will not be described in detail here.

[0108] The present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example Figure 2 A processor 201 in the embodiment may enable the one or more processors to execute the imbalance detection method in any of the above method embodiments.

[0109] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a controller, the controller executes any one of the imbalance detection methods.

[0110] In summary, the imbalance detection method controls the drum to remain stationary at the eccentric position, and then deduce the static imbalance state of the drum according to the static holding torque to obtain the corresponding target imbalance. This method only needs to detect the target imbalance at the eccentric position, with fewer detection positions and faster time. Moreover, the detection is performed when the unbalanced load is stationary, which reduces the noise or vibration caused by unbalanced operation and is more convenient and safer.

[0111] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the imbalance detection method described in each embodiment or some parts of the embodiment.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting imbalance, characterized in that: Applied to a washing machine, the method comprises: Controlling the operation of the drum of the washing machine so that the unbalanced load of the drum is operated to an eccentric position, wherein the eccentric position is any position of a detection zone, the detection zone is an area from the 4 o'clock position to the 8 o'clock position of the cross section of the drum except the 6 o'clock position of the cross section of the drum, the cross section of the drum is evenly divided into 12 points, and the 12 points are numbered from the 1 o'clock position to the 12 o'clock position according to the clockwise direction of the clock; When the unbalanced load of the drum runs to an eccentric position, the drum is controlled to be stationary, and the eccentric angle and the static holding torque of the motor driving the drum are detected, wherein, if the line connecting the six points of the cross section of the drum and the rotation center of the drum is a first line, and the line connecting the center of gravity of the unbalanced load and the rotation center of the drum is a second line, then the eccentric angle is the angle between the first line and the second line; A target unbalance amount of the drum is determined according to the static holding torque and the eccentric angle.

2. The method according to claim 1, characterized in that: The eccentric position includes a first eccentric position, the eccentric angle includes a first eccentric angle, the static holding moment includes a first static holding moment, and determining the target unbalance amount of the drum according to the static holding moment and the eccentric angle includes: determining a first unbalance amount of the drum according to the first static holding moment and the first eccentric angle; The first unbalance amount is determined as the target unbalance amount.

3. The method according to claim 2, characterized in that The eccentric position further includes a second eccentric position, and the step of controlling the drum of the washing machine to operate so that the unbalanced load of the drum operates to the eccentric position includes: Controlling the drum of the washing machine to operate so that the unbalanced load operates to the first eccentric position, and controlling the drum to be stationary; The washing machine drum is controlled to continue to operate so that the unbalanced load operates to the second eccentric position, and the drum is controlled to be stationary, wherein during the operation from the first eccentric position to the second eccentric position, the relative position of the unbalanced load and the drum remains unchanged.

4. The method according to claim 2, characterized in that: The static holding moment further includes a second static holding moment, the eccentric angle further includes a second eccentric angle, and determining the target unbalance amount of the drum according to the static holding moment and the eccentric angle further includes: determining a second unbalance amount of the drum according to the second static holding torque and the second eccentric angle; The target unbalance amount is determined according to the first unbalance amount and the second unbalance amount.

5. The method according to claim 4, characterized in that The step of determining the target imbalance amount according to the first imbalance amount and the second imbalance amount includes: An average value of the first unbalance amount and the second unbalance amount is determined as the target balance amount.

6. The method according to claim 2, characterized in that The determining of the first unbalance amount according to the first static holding torque and the first eccentric angle comprises: The first unbalance is obtained by the following formula: Fg1=T1 / [(sinθ1)*g]; Wherein, Fg1 is the first unbalance amount, T1 is the first static holding torque, θ1 is the first eccentric angle, and g is the gravitational acceleration.

7. The method according to claim 4, characterized in that The step of determining the second unbalance amount of the drum according to the second static holding torque and the second eccentric angle comprises: The second unbalance is obtained by the following formula: Fg2==T2 / [(sinθ2)*g]; Wherein, Fg2 is the second unbalance amount, T2 is the second static holding torque, θ2 is the second eccentric angle, and g is the gravitational acceleration.

8. The method according to any one of claims 1 to 7, characterized in that: The detecting of the static holding torque of the motor driving the drum comprises: detecting the current of the motor; A static holding torque for driving the motor is determined according to the current.

9. A controller, characterized in that: The controller comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the imbalance detection method as described in any one of claims 1-8.

10. A washing machine, characterized in that: Comprising a controller as claimed in claim 9.

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