Washing machine

Abstract

The present invention provides a washing machine, comprising: an outer tub having a water storage chamber; the inner cylinder is arranged in the water storage cavity; the motor drives the inner drum to rotate relative to the outer drum. The washing machine at least comprises a washing process and a dewatering process; before the current washing program of the washing machine is finished and dehydration is started, controlling a motor to drive an inner drum to rotate and detecting the rotating speed of the inner drum; when the rotating speed reaches a first preset rotating speed, detecting a first current of the motor in the current mechanical period; when the first current reaches the first preset current, it is judged that the inner barrel will collide at the moment, and the motor is controlled to stop running so as to intercept the barrel collision action; wherein the first preset current is a current measurement value of the motor when the set weight is placed in the inner cylinder, the rotating speed of the inner cylinder is the first preset rotating speed, and the inner cylinder is about to collide with the barrel; the first current is the average current in the current mechanical period. The state of the clothes in the barrel is judged through the two parameters of the rotating speed and the current, the barrel collision action is intercepted, and the user experience is improved.

Description

Technical Field

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

[0002] Washing machines can be divided into drum washing machines and pulsator washing machines. Among them, for drum washing machines, the drum washing machine includes a box body, an outer drum and an inner drum, the outer drum is arranged in the box body, one side end of the outer drum is provided with an outer drum opening, the inner drum is arranged in the outer drum through the outer drum opening, and the inner drum rolls to wash. For pulsator washing machines, the pulsator washing machine also includes a box body, an outer drum and an inner drum, the outer drum is arranged in the box body, the top of the outer drum is arranged at the outer drum opening, the inner drum is arranged in the outer drum through the outer drum opening, and the inner drum rotates to wash.

[0003] During the washing process, due to the inconsistency of the water absorption capacity and material of the laundry, the problem of uneven distribution of the laundry is easy to occur. Uneven distribution of the laundry will cause the rotating axis of the washing machine to deviate from the center position. When the washing machine runs in an eccentric state, the outer drum will hit the box or the control rod, causing vibration or noise. If the eccentricity is serious, the washing machine may even move, jump or be damaged.

[0004] In the related art, eccentricity detection is performed by detecting the acceleration, tilt angle, rotation speed or displacement of the inner drum. However, due to the change of the state of the clothes during washing, for example, the clothes are tangled into a ball shape, which is similar to a rolling ball and hits the drum wall from time to time, causing the detected inner drum related parameter values ​​to deviate from the actual values, resulting in the inability to intercept the eccentricity phenomenon, which still causes the drum to hit, affecting the user experience.

[0005] Therefore, this application is filed. Summary of the invention

[0006] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end,

[0007] According to an embodiment of the present application, a washing machine is provided, comprising:

[0008] Box;

[0009] The outer cylinder is arranged in the box body and includes an outer cylinder opening arranged on the side or top thereof, and a water storage cavity is formed in the outer cylinder and communicated with the outer cylinder opening;

[0010] An inner cylinder is arranged in the water storage cavity and comprises an inner cylinder opening adapted to be arranged with the outer cylinder opening;

[0011] A motor is arranged at the bottom of the inner drum away from the inner drum opening, and the motor drives the inner drum to rotate relative to the outer drum to at least perform washing and dehydration processes;

[0012] The controller is configured to control the motor to drive the inner drum to rotate and detect a first rotation speed of the inner drum before the washing machine starts dehydration after the washing program ends;

[0013] When the first rotation speed reaches a first preset rotation speed, detecting a first current of the motor in a current mechanical cycle;

[0014] When the first current reaches the first preset current, it is determined that the inner drum will collide with the barrel, and the motor is controlled to stop running to intercept the barrel collision action;

[0015] The first preset current is a current measurement value of the motor when a set weight is placed in the inner drum, the speed of the inner drum is the first preset speed, and the inner drum is about to hit the barrel;

[0016] The first current is an average current in the current mechanical cycle.

[0017] By improving the software control of the motor before dehydration, controlling the rotation speed of the inner drum and detecting the current value of the motor, the state changes of the clothes in the inner drum can be timely reflected, and it can be predicted whether a barrel collision will occur, so as to facilitate timely response and processing. This solves the protection detection control beyond normal eccentricity detection and weighing detection, and greatly improves the user experience.

[0018] According to an embodiment of the present application, the controller is further configured to:

[0019] When the rotation speed of the inner drum reaches the first preset rotation speed, but the first current does not reach the first preset current, the rotation speed of the motor is controlled to reach the second preset rotation speed, and the second current of the motor in the current mechanical cycle is detected;

[0020] When the second current reaches the second preset current, it is determined that the inner drum will collide with the barrel, and the motor is controlled to stop running to intercept the barrel collision action;

[0021] The second preset speed is greater than the first preset speed, and the second preset current is greater than the first preset current.

[0022] According to an embodiment of the present application, the controller is also configured to determine that no barrel collision action will occur when the rotation speed of the inner drum reaches a second rotation speed but the second current does not reach a second preset current, and the controller continues to execute other programs.

[0023] According to an embodiment of the present application, the first current of the motor of the washing machine in the current mechanical cycle is detected, including that the mechanical cycle includes multiple unit mechanical cycles, and the current value of each unit mechanical cycle is obtained according to the maximum current and minimum current of the motor in each unit mechanical cycle, and the average current value of the unit mechanical cycle is taken as the first current in the mechanical cycle.

[0024] According to an embodiment of the present application, a PWM interrupt function is provided in the controller, and control of the motor is triggered after each cycle of the PWM interrupt function ends.

[0025] According to an embodiment of the present application, the controller is configured to obtain the three-phase output current by sampling using the FOC algorithm, and obtain the maximum current value or the minimum current value of each unit mechanical cycle after performing first-order filtering on the three-phase output current.

[0026] According to an embodiment of the present application, the motor of the washing machine is accelerated to a first preset speed and a second preset speed according to a preset first acceleration value.

[0027] According to an embodiment of the present application, a washing machine is also provided.

[0028] Box;

[0029] The outer cylinder is arranged in the box body and includes an outer cylinder opening arranged on the side or top thereof, and a water storage cavity is formed in the outer cylinder and communicated with the outer cylinder opening;

[0030] An inner cylinder is arranged in the water storage cavity and comprises an inner cylinder opening adapted to be arranged with the outer cylinder opening;

[0031] A motor is arranged at the bottom of the inner drum away from the inner drum opening, and the motor drives the inner drum to rotate relative to the outer drum to at least perform washing and dehydration processes;

[0032] The controller is configured to control the motor to drive the inner drum to rotate and detect a first rotation speed of the inner drum before the washing machine washes;

[0033] When the first rotation speed reaches a first preset rotation speed, detecting a first current of the motor in a current mechanical cycle;

[0034] When the first current reaches the first preset current, it is determined that the inner drum will collide with the barrel, and the motor is controlled to stop running to intercept the barrel collision action;

[0035] The first preset current is the current measurement value of the motor when a set weight is placed in the inner drum, the inner drum has a first preset speed, and the inner drum is about to hit the barrel;

[0036] The first current is an average current in the current mechanical cycle.

[0037] By improving the software control of the motor before washing, controlling the rotation speed of the inner drum and detecting the current value of the motor, the state changes of the clothes in the inner drum can be timely reflected, and it can be predicted whether a barrel collision will occur, so as to facilitate timely response and processing. This solves the protection detection control beyond normal eccentricity detection and weighing detection, and greatly improves the user experience.

[0038] According to an embodiment of the present application, the controller is further configured to:

[0039] When the rotation speed of the inner drum reaches the first preset rotation speed, but the first current does not reach the first preset current, the rotation speed of the motor is controlled to reach the second preset rotation speed, and the second current of the motor in the current mechanical cycle is detected;

[0040] When the second current reaches the second preset current, it is determined that the inner drum will collide with the barrel, and the motor is controlled to stop running to intercept the barrel collision action;

[0041] The second preset speed is greater than the first preset speed, and the second preset current is greater than the first preset current.

[0042] According to an embodiment of the present application, the controller is also configured to determine that no barrel collision action will occur when the rotation speed of the inner drum reaches a second rotation speed but the second current does not reach a second preset current, and the controller continues to execute other programs. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a perspective view of a washing machine according to an embodiment of the present disclosure;

[0045] Figure 2 is a partial structural perspective view of a washing machine according to an embodiment of the present disclosure;

[0046] Figure 3 is a cross-sectional view of a washing machine according to an embodiment of the present disclosure;

[0047] Figure 4 is a partial structural perspective view of a washing machine according to an embodiment of the present disclosure;

[0048] Figure 5 is a front view of a partial structure of a washing machine according to an embodiment of the present disclosure;

[0049] Figure 6 is a partial structural cross-sectional view of the washing machine from another perspective according to an embodiment of the present disclosure;

[0050] Figure 7 is a hardware configuration diagram of a controller according to an embodiment of the present disclosure;

[0051] Figure 8 is the control logic of eccentricity detection of a washing machine according to an embodiment of the present disclosure;

[0052] Fig. 9 is another control logic for eccentricity detection of a washing machine according to an embodiment of the present disclosure;

[0053] Fig.10 is the control logic of the washing machine according to the embodiment of the present disclosure;

[0054] Fig.11 is another control logic for eccentricity detection of a washing machine according to an embodiment of the present disclosure;

[0055] In the above figures:

[0056] Washing machine 100; housing 1; first side plate 111 of the housing; second side plate 112 of the housing;

[0057] The third side plate 113 of the box; the fourth side plate 114 of the box; the top plate 115 of the box; the bottom plate 116 of the box;

[0058] Inlet 11; placement space 12; outer cylinder 2; outer cylinder opening 21; water storage chamber 22;

[0059] Outer drum side wall 23; Outer drum bottom wall 24; Inner drum 3; Inner drum opening 31; Washing space 32;

[0060] Inner cylinder side peripheral wall 33; door assembly 42; door seal 41; controller 71; processor 83;

[0061] Memory 82; communication interface 84; bus 81; drive device 7. DETAILED DESCRIPTION

[0062] The present invention is described in detail below by way of exemplary embodiments. However, it should be understood that elements, structures, and features in one embodiment may also be beneficially combined in other embodiments without further description.

[0063] The present invention provides a washing machine 100 , which may include a drum washing machine 100 and a pulsator washing machine 100 .

[0064] Among them, both the drum washing machine and the pulsator washing machine include a box, an outer drum and an inner drum. The outer drum is arranged in the box. For the drum washing machine, one side end of the outer drum is provided with an outer drum opening, and the inner drum is arranged in the outer drum through the outer drum opening, and the inner drum rolls to wash. For the pulsator washing machine, the top of the outer drum is arranged at the outer drum opening, and the inner drum is arranged in the outer drum through the outer drum opening, and the inner drum rotates to wash.

[0065] The eccentricity detection in this application is applicable to drum washing machines and pulsator washing machines.

[0066] refer to Figure 1-Figure 3 The drum washing machine 100 includes a housing 1, an outer drum 2 and an inner drum 3.

[0067] The outer cylinder 2 is arranged in the box body 1 .

[0068] The box body 1 includes an inlet 11 arranged on a side thereof. A placement space 12 is formed in the box body 1 , wherein the placement space 12 is communicated with the inlet 11 , and the outer cylinder 2 is arranged in the placement space 12 .

[0069] The inner cylinder 3 is rotatably disposed in the outer cylinder 2 .

[0070] refer to Figure 4 The outer cylinder 2 includes an outer cylinder opening 21 disposed on its side, and a water storage cavity 22 is formed in the outer cylinder 2, wherein the water storage cavity 22 is communicated with the outer cylinder opening 21. The inner cylinder 3 is disposed in the water storage cavity 22, and the inner cylinder 3 can rotate relative to the outer cylinder 2.

[0071] refer to Figure 5 and Figure 6 The inner drum 3 includes an inner drum opening 31 arranged on its side, and a washing space 32 is formed in the inner drum 3, wherein the washing space 32 is communicated with the inner drum opening 31, and the inner drum 3 also includes an inner drum side circumferential wall 33, and the inner drum side circumferential wall is provided with a water permeable hole (not shown) penetrating the inner drum side circumferential wall, and water can enter and exit the washing space through the water permeable hole.

[0072] The user can place the laundry through the input port into the inner drum 3 for washing.

[0073] refer to Figure 3 The outer tube 2 includes an outer tube side peripheral wall 23.

[0074] The outer cylinder 2 further includes an outer cylinder bottom wall 24 disposed on a side thereof and opposite to the outer cylinder opening 21 .

[0075] The outer cylinder side peripheral wall 23 forms an outer cylinder opening, wherein one end of the outer cylinder side peripheral wall 23 is connected to the outer cylinder bottom wall, and the other end of the outer cylinder side peripheral wall 23 forms the outer cylinder opening.

[0076] The drum washing machine 100 further includes a driving device 7 , which is connected to the inner drum 3 and is disposed at the bottom away from the inner drum opening 31 . The driving device 7 can drive the inner drum 3 to roll.

[0077] Exemplarily, the driving device 7 may be configured as a motor, specifically, a DC motor.

[0078] refer to Figure 1-Figure 3 The box body 1 includes a first side plate 111, a second side plate 112, a third side plate 113 and a fourth side plate 114 arranged on the side of the box body, wherein the first side plate and the second side plate are arranged opposite to each other, and the third side plate and the fourth side plate are arranged opposite to each other, and the box body also includes a top plate 115 arranged on the top of the box body and a bottom plate 116 arranged on the bottom of the box body.

[0079] It should be noted that the side where the first side panel of the housing is located is the side of the washing machine 100 facing the user.

[0080] refer to Figure 1-Figure 3 The input port 11 can be arranged on the first side plate of the box body.

[0081] A door assembly 42 for opening and closing the input port 11 is also provided at the input port 11, and the door assembly 42 can rotate relative to the first side plate of the box body to open and close the input port 11. When the door assembly 42 rotates in a direction away from the first side plate of the box body, the input port 11 is opened, and laundry can be put in through the input port. When the door assembly 42 rotates in a direction close to the first side plate of the box body, the input port is closed.

[0082] The drum washing machine 100 also includes a door seal 41, which is connected to the inlet 11 and the outer drum opening 21. The door seal 41 closes the gap between the inlet 11 and the outer drum opening 21 to prevent the washing water in the outer drum 2 from flowing out of the outer drum 2 and into the case through the gap between the case and the outer drum 2.

[0083] The drum washing machine 100 further includes a shock absorber for supporting the outer tub 2 and absorbing the shock of the outer tub 2. The shock absorber has two oppositely disposed ends, one end of the shock absorber is connected to the outer tub 2, and the other end is connected to the housing.

[0084] In the embodiment shown in the present application, the controller 71 refers to a device that can generate an operation control signal according to the instruction operation code and the timing signal to instruct the washing machine 100 to execute the control instruction. For example, in response to the washing, dehydration or eccentricity detection instruction received from the user, the controller 71 can respectively execute the operation related to the object selected by the washing, dehydration and eccentricity detection instructions.

[0085] The present application also provides a hardware structure diagram of a controller 71, such as Figure 7 As shown, the controller 71 includes a processor 213, and optionally, also includes a memory 212 and a communication interface 214 connected to the processor 213. The processor 213, the memory 212 and the communication interface 214 are connected via a bus 211.

[0086] The processor 213 may be a central processing unit 213 (CPU), a general processor 213, a network processor 213 (NP), a digital signal processor 213 (DSP), a microprocessor 213, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 213 may also be any other device having a processing function, such as a circuit, a device, or a software module. The processor 213 may also include multiple CPUs, and the processor 213 may be a single-CPU processor 213 or a multi-CPU processor 213. The processor 213 here may refer to one or more devices, circuits, or processing cores for processing data (such as computer program instructions).

[0087] The memory 212 may be a read-only memory 212 (ROM) or other types of static storage devices that can store static information and instructions, a random access memory 212 (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory 212 (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, and the embodiments of the present application do not impose any restrictions on this. The memory 212 may exist independently or be integrated with the processor 213. Among them, the memory 212 may contain computer program code. The processor 213 is used to execute the computer program code stored in the memory 212, so as to implement the control method of the multi-split washing machine 100 system provided in the embodiment of the present application.

[0088] The communication interface 214 can be used to communicate with other devices or communication networks (such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc. The communication interface 214 can be a module, a circuit, a transceiver or any device that can achieve communication.

[0089] The bus 211 may be a peripheral component interconnect (PCI) bus 211 or an extended industry standard architecture (EISA) bus 211. The bus 211 may be divided into an address bus 211, a data bus 211, a control bus 211, etc. For ease of representation, Figure 3 Although only one thick line is used in the figure, it does not mean that there is only one bus 211 or only one type of bus 211.

[0090] During the washing process of the washing machine 100, due to the inconsistency of the water absorption capacity and material of the laundry items, the problem of uneven distribution of the laundry items is easy to occur. When the laundry items are unevenly distributed, the rotating axis of the washing machine 100 will deviate from the center position. When the washing machine 100 operates in an eccentric state, the inner drum 3 will hit the outer drum 2 or the control rod, generating vibration or noise. When the eccentricity is serious, it will also cause the washing machine 100 to move, jump and be damaged.

[0091] In some embodiments, the eccentricity detection method is as follows: the motor of the washing machine 100 drives the inner drum 3 to operate at a certain speed, and the eccentricity of the inner drum 3 is measured by real-time monitoring of the motor speed or torque fluctuations in steady state, so as to prevent the drum collision problem by controlling the motor speed or torque fluctuations.

[0092] However, during the washing process, the laundry will become tangled and tangled into a ball, which is similar to a rolling ball and hits the drum wall from time to time, causing the speed or torque fluctuation of the detection motor to deviate from the actual value, making it impossible to correctly intercept the drum collision action.

[0093] In some implementations of the present embodiment, before the washing program of the washing machine 100 ends and the dehydration starts, the motor is controlled to drive the inner drum 3 to rotate, and the rotation speed of the inner drum 3 is detected. When the rotation speed reaches a first preset rotation speed, the first current of the motor in the current mechanical cycle is detected. When the first current reaches the first preset current, it is determined that the inner drum 3 will hit the barrel at this time, and the motor is controlled to stop running to intercept the hitting action.

[0094] The first preset current is a current measurement value of the motor when a set weight is placed in the inner drum 3, the rotation speed of the inner drum 3 reaches the first preset rotation speed, and the inner drum 3 is about to hit the barrel.

[0095] In some embodiments, the current measurement value may be an average value of multiple test measurements, and current limit values ​​within different weights and speed ranges may be selected to adapt to barrel collision detection in different scenarios.

[0096] Through the above steps, the motor is controlled by software, the current of the motor is detected, and it is determined whether the current meets the preset threshold value, so as to timely determine the change in the state of the clothes in the inner drum 3. Compared with the related art that uses the phenomenon parameters (exemplary, torque and speed) of the inner drum 3 for eccentricity detection, the eccentricity detection in this application starts from the source, uses the current of the motor to determine the working state of the inner drum 3, and promptly finds the risk of hitting the drum so as to handle it in time.

[0097] The above-mentioned barrel collision detection program is executed before the washing is completed and the dehydration is completed. Since the dehydration needs to run at a high speed and the weight of the clothes in the inner drum 3 increases due to water absorption, the barrel collision problem is more likely to occur at this time. Therefore, the barrel collision detection is first performed before dehydration to determine in advance whether there is a risk of barrel collision during the dehydration process.

[0098] When there is no risk of hitting the barrel, the dehydration process can be carried out normally according to the program settings. When there is a risk of hitting the barrel, the rotation speed can be reduced in the early stage of the dehydration stage to reduce the risk of hitting the barrel or avoid the risk of hitting the barrel, and in the later stage of the dehydration stage, when the weight in the inner drum 3 is reduced and the risk of hitting the barrel is reduced, the rotation speed can be increased to improve the efficiency of dehydration.

[0099] It should be noted that in the later stage of the dehydration stage, the speed is increased based on the speed of the inner drum 3 in the early stage. The specific value of the increased speed can be adjusted according to the weight change to improve the dehydration efficiency while preventing the barrel from hitting.

[0100] In some embodiments, the rotation speed in the inner drum 3 can be detected by a speed sensor, or can be calculated according to the rotation speed of the motor.

[0101] Reference Figure 8 , illustrating the control logic of eccentricity detection of the washing machine 100 according to an embodiment of the present application.

[0102] Determine whether the washing process is finished (step S801);

[0103] In step S801, if the washing process has ended, step S802 is executed to determine whether a dehydration process is to be performed subsequently;

[0104] In step S802, if the subsequent execution step is a dehydration procedure, then step S803 is executed, the dehydration procedure is not executed, and the eccentricity detection procedure is executed;

[0105] Control the motor to drive the inner drum 3 to rotate (step S805);

[0106] Detecting the rotation speed of the inner drum 3 (step S806);

[0107] Determine whether the rotation speed reaches a first preset rotation speed (step S807);

[0108] In step S807, if the rotation speed reaches the first preset rotation speed, step S808 is executed to detect the first current of the motor in the current mechanical cycle;

[0109] Determine whether the first current reaches a first preset current (step S809);

[0110] In step S809, if the first current reaches the first preset current, it is determined that the inner drum 3 will collide with the drum, and then step S810 is executed to control the motor to stop running;

[0111] In step S809 , if the first current does not reach the first preset current, step S811 is executed to perform subsequent determination.

[0112] In step S807, if the rotation speed does not reach the first preset rotation speed, step S805 is executed;

[0113] In step S802, if the subsequent execution step is not a dehydration procedure, step S804 is executed to continue to execute the setting procedure;

[0114] In step S801, if the washing process is not finished, then continue to execute step S801.

[0115] When the motor is running, the current of the motor is detected to obtain the first current and the second current. In the embodiment of the present application, the current of the motor can be the phase current of the motor or the DC bus current of the motor, which is not limited in the present application.

[0116] In some implementations of this embodiment, the controller 71 is configured to obtain the three-phase output current by sampling using the FOC algorithm, and obtain the current value of each unit mechanical cycle after performing a first-order filtering process on the three-phase output current.

[0117] It is known that FOC (field-oriented control) is a technology that uses a variable frequency drive (VFD) to control a three-phase motor. It controls the output of the motor by adjusting the output frequency, output voltage and angle of the variable frequency drive. Since the three-phase output current and voltage are represented by vectors during processing, it is called vector control.

[0118] In this embodiment, the three-phase output current output during the execution of the existing FOC algorithm is used. By directly calling the existing algorithm, there is no need to add an additional detection program, thereby improving the overall operation efficiency of the controller 71 and reducing the calculation pressure of the controller 71.

[0119] By performing first-order filtering on the detected electrical signal, noise in the received electrical signal can be filtered out, thereby improving the reliability of the signal.

[0120] In some implementations, the current signal is converted into a 32-bit numerical value for representation, and a corresponding first-order filtering process is performed.

[0121] In some implementations, the output current may also be improved in sensitivity as required, and a mathematical formula or the like may be used to amplify the value. For example, the detection value may be squared to increase the detection judgment value to improve the sensitivity.

[0122] In some embodiments, detecting the first current of the motor of the washing machine 100 in the current mechanical cycle includes, where the mechanical cycle includes a plurality of unit mechanical cycles, and based on the current value of the motor in each unit mechanical cycle, taking the average current value of the unit mechanical cycle as the first current in the mechanical cycle.

[0123] Specifically, one mechanical cycle refers to one rotation of the inner drum 3. For example, when the unit mechanical cycle of the current cycle is N, the current value I in N unit mechanical cycles is measured, and then the average value of the current value of the unit mechanical cycle is used as the required current value in the current cycle.

[0124] In this embodiment, the number of unit mechanical cycles can be determined according to actual needs. For example, if higher accuracy is required, the value of N can be larger. If the eccentricity detection time needs to be as short as possible, the value of N can be smaller.

[0125] It should be noted that the number of unit mechanical cycles can be determined according to actual needs.

[0126] Exemplarily, N can be 4, that is, the current value I of the motor current in the unit mechanical cycle of the four motors is detected, and then the average current value in the unit mechanical cycle of the four motors is calculated.

[0127] When N is 4, within the first speed range, the time for eccentricity detection and the accuracy of eccentricity detection can be better considered.

[0128] Of course, multiple current values ​​I per unit mechanical cycle may be obtained and averaged.

[0129] In order to improve the accuracy of the current value, the detected current value may be subjected to noise reduction processing.

[0130] In some implementations of this embodiment, the controller 71 is further configured to, when the rotation speed of the inner drum 3 reaches the first preset rotation speed, but the first current does not reach the first preset current, determine that the inner drum 3 will not hit the barrel when running at the first preset rotation speed, and control the rotation speed of the motor to continue to increase, and when the rotation speed of the motor reaches the second preset rotation speed, detect the second current of the motor in the current mechanical cycle;

[0131] When the second current reaches the second preset current, it is determined that the inner drum 3 will hit the barrel, and the motor is controlled to stop running to intercept the hitting barrel.

[0132] In the above, the second preset speed is greater than the first preset speed, and the second preset current is greater than the first preset current.

[0133] In some implementations of this embodiment, the controller 71 is also configured to, when the rotation speed of the inner drum 3 reaches the second preset rotation speed but the second current has not yet reached the second preset current, determine that no barrel collision action will occur at this time, and the controller 71 can control the various components of the washing machine 100 to execute other programs.

[0134] Reference Fig. 9 , illustrating another control logic of eccentricity detection of the washing machine 100 according to an embodiment of the present application.

[0135] Determine whether the washing process is finished (step S901);

[0136] In step S901, if the washing process has ended, step S902 is executed to determine whether a dehydration process is to be performed subsequently;

[0137] In step S902, if the subsequent execution step is a dehydration procedure, then step S903 is executed, the dehydration procedure is not executed, and the eccentricity detection procedure is executed;

[0138] Control the motor to drive the inner drum 3 to rotate (step S905);

[0139] Detecting the rotation speed of the inner drum 3 (step S906);

[0140] Determine whether the rotation speed reaches a first preset rotation speed (step S907);

[0141] In step S907, if the rotation speed reaches the first preset rotation speed, step S908 is executed to detect the first current of the motor in the current mechanical cycle;

[0142] Determine whether the first current reaches a first preset current (step S909);

[0143] In step S909, if the first current reaches the first preset current, it is determined that the inner drum 3 will collide with the drum, and then step S910 is executed to control the motor to stop running;

[0144] In step S909, if the first current does not reach the first preset current, step S911 is executed, and the motor drives the inner drum 3 to rotate to increase the rotation speed;

[0145] Determine whether the rotation speed of the inner drum 3 reaches a second preset rotation speed (step S912);

[0146] In step S912, if the rotation speed reaches the second preset rotation speed, step S913 is executed to detect the second current of the motor in the current mechanical cycle;

[0147] Determine whether the second current reaches the second preset current (step S914);

[0148] In step S914, if the second current reaches the second preset current, step S910 is executed;

[0149] In step S914, if the second current does not reach the second preset current, step S915 is executed to continue executing other procedures;

[0150] In step S912, if the rotation speed does not reach the second preset rotation speed, step S911 is executed;

[0151] In step S907, if the rotation speed does not reach the first preset rotation speed, step S905 is executed;

[0152] In step S902, if the subsequent execution step is not a dehydration procedure, step S904 is executed to continue to execute the setting procedure;

[0153] In step S901, if the washing process is not finished, then continue to execute step S901.

[0154] In one embodiment, the motor of the washing machine 100 is accelerated to the first preset speed and the second preset speed according to the preset first acceleration value, so that the motor can be stably accelerated during the acceleration process without generating excessive vibration and reducing the customer experience. In another embodiment, it is also possible not to accelerate to the first speed range according to the fixed first acceleration value, but to accelerate to the first preset speed and the second preset speed more quickly by using a variable acceleration method.

[0155] It can be known that the first preset speed can refer to a certain value or a certain range; similarly, the second preset speed can refer to a certain value or a certain range.

[0156] For example, the first preset speed is set to 75 rpm, and the second preset speed is set to 100 rpm. It can be known that different speeds can be selected according to different product requirements. Generally speaking, the eccentricity of the washing machine 100 is detected within the speed range of 75 rpm to 145 rpm.

[0157] In some implementations of this embodiment, a PWM interrupt function is provided in the controller 71 , and control of the motor is triggered after each cycle of the PWM interrupt function ends.

[0158] Reference Fig.10 , illustrating the control logic of the washing machine 100 in this application.

[0159] The controller 71 executes the PWM interrupt function (step S1001);

[0160] Motor operation subroutine (step S1002);

[0161] Execute FOC algorithm to control the motor (step S1003);

[0162] Sampling to obtain three-phase output current (step S1004);

[0163] Perform corresponding first-order filtering on the three-phase output current (step S1005);

[0164] Execute a 1 ms timing function (step S1006);

[0165] Execute the eccentricity detection procedure (step S1007);

[0166] Determine whether the current rotation speed of the inner drum 3 reaches the first preset rotation speed (step S1008);

[0167] In step S1008, if the current speed reaches the first preset speed, step S1009 is executed to obtain the average value AuBallDate1 of the three-phase output current within one barrel cycle; and it is determined whether the average value reaches the first preset current (step S1010);

[0168] In step S1010, if the average value reaches the first preset current, step S1011 is executed to stop the motor and wait for new instructions;

[0169] In step S1010, if the average value does not reach the first preset current, step S1012 is executed to continue running the above program; it is determined whether the speed reaches the second preset speed (step S1013);

[0170] In step S1013, if the speed reaches the second preset speed, step S1014 is executed to obtain the average value AuBallDate2 of the three-phase output current within one barrel cycle, AuBallDate1=0;

[0171] Determine whether the average value AuBallDate2 is greater than the second preset current (step S1015);

[0172] In step S1015, if AuBallDate2 is greater than the second preset current, then execute step S1011;

[0173] In step S1015, if AuBallDate2 is not greater than the second preset current, then step S1016 is executed to set AuBallDate2=0, AuBallDate1=0;

[0174] Continue to operate according to the instruction received by the controller 71 (step S1017);

[0175] In step S1013, if the rotation speed does not reach the second preset rotation speed, step S1013 is executed;

[0176] In step S1008 , if the current rotation speed does not reach the first preset rotation speed, step S1008 is executed.

[0177] In the above, the execution cycle of the FOC algorithm is a unit mechanical cycle, and the cycle of one revolution of the inner drum 3 is a mechanical cycle. It can be known that the execution cycle of the FOC algorithm is less than the cycle of one revolution of the inner drum 3.

[0178] In this embodiment, a 5Kg iron ball can be used to simulate the knotting and winding of clothes into a ball shape, and the iron ball can be used for detection and control to limit and intercept when the motor is at different speeds. By using the FOC algorithm to filter the three-phase output current as detection data during the PWM interrupt function cycle to judge the state of the clothes in the barrel, timely limit and interception can be performed to improve user experience.

[0179] Of course, iron balls of different weights can also be used for detection and control to obtain eccentricity detection data in different scenarios.

[0180] Through software control of the DC motor, the state change of the clothes in the inner drum 3 can be reflected in time, that is, the current can be used to react in time and process the technology.

[0181] Specifically, the motor operation sub-function runs in the PWM interrupt function, and uses the motor control part of the FOC algorithm to sample the numerical value (32 bits) of the three-phase output current value (Is value), and performs corresponding first-order filtering.

[0182] The AuBall detection program is being executed in the 1ms timing function;

[0183] First, determine whether the current speed is the first preset speed S1;

[0184] If it is S1, start to average the Is value for one barrel cycle;

[0185] Determine whether the average value AuBallDate1 is greater than the first preset current S1LimitDate. If so, the motor stops running and waits for new instructions.

[0186] If the average value AuBallDate1 is less than S1LimitDate at the stage where the speed is S1, proceed to the next step and determine whether the current speed is the second preset speed S2;

[0187] If S2 is reached, AuBallDate1 is cleared, and the Is value is averaged for one cylinder cycle. Whether the average value AuBallDate2 is greater than the second preset current S2LimitDate,

[0188] If AuBallDate2>S2LimitDate, the motor stops running and waits for new instructions;

[0189] If the average value AuBallDate2 is less than S2LimitDate when the speed is S2, proceed to the next step, and clear AuBallDate1 and AuBallDate2, and continue to run according to the instructions of the host computer.

[0190] This embodiment proposes a washing machine 100, comprising: an outer drum 2 with a water storage cavity; an inner drum 3 arranged in the water storage cavity; a motor driving the inner drum 3 to rotate relative to the outer drum 2, and the washing machine 100 includes at least washing and dehydration processes; before the washing machine 100 ends the washing program and starts dehydration, the motor is controlled to drive the inner drum 3 to rotate, and the rotation speed of the inner drum 3 is detected; when the rotation speed reaches the first preset rotation speed, the first current of the motor in the current mechanical cycle is detected; when the first current reaches the first preset current, it is determined that the inner drum 3 will hit the barrel at this time, and the motor is controlled to stop running to intercept the barrel collision action; wherein the first preset current is the current measurement value of the motor when a set weight is placed in the inner drum 3, the rotation speed of the inner drum 3 is the first preset rotation speed, and the inner drum 3 is about to hit the barrel; the first current is the average current in the current mechanical cycle. By using the two parameters of rotation speed and current to determine the state of the clothes in the barrel, the barrel collision action is intercepted, and the user experience is improved.

[0191] In some embodiments of the present application, a washing machine 100 is also proposed, which includes a housing, an outer drum 2 arranged inside the housing, an inner drum 3 arranged inside the outer drum 2, and a motor arranged at the bottom of the inner drum 3. The outer drum 2 includes an outer drum opening arranged on its side or top, a water storage cavity connected to the outer drum opening is formed in the outer drum 2, the inner drum 3 is installed in the water storage barrel and includes an inner drum opening adapted to match the outer drum opening, and the motor can drive the inner drum 3 to rotate relative to the outer drum 2 to perform at least washing and dehydration processes.

[0192] In some embodiments, the controller 71 is configured to perform an eccentricity detection before the washing machine 100 washes, control the motor to drive the inner drum 3 to rotate, detect the rotation speed of the inner drum 3, and when the rotation speed reaches a first preset rotation speed, detect the first current of the motor in the current mechanical cycle. When the first current reaches the first preset current, it is determined that the inner drum 3 will hit the barrel at this time, and the motor is controlled to stop running to intercept the hitting action.

[0193] The first preset current is a current measurement value of the motor when a set weight is placed in the inner drum 3, the rotation speed of the inner drum 3 reaches the first preset rotation speed, and the inner drum 3 is about to hit the barrel.

[0194] In some embodiments, the current measurement value may be an average value of multiple test measurements, and current limit values ​​within different weights and speed ranges may be selected to adapt to barrel collision detection in different scenarios.

[0195] Through the above steps, the motor is controlled by software, the current of the motor is detected, and it is determined whether the current meets the preset threshold value, so as to timely determine the change in the state of the clothes in the inner drum 3. Compared with the related art that uses the phenomenon parameters (exemplary, torque and speed) of the inner drum 3 for eccentricity detection, the eccentricity detection in this application starts from the source, uses the current of the motor to determine the working state of the inner drum 3, and promptly finds the risk of hitting the drum so as to handle it in time.

[0196] The drum collision detection program is executed before washing to avoid affecting the weight of clothes after adding water, which may affect the parameters in the subsequent washing process.

[0197] It should be noted that the mechanical structures of the various embodiments of the present application are substantially the same and will not be described in detail here.

[0198] In some implementations of this embodiment, the controller 71 is further configured to, when the rotation speed of the inner drum 3 reaches the first preset rotation speed, but the first current does not reach the first preset current, determine that the inner drum 3 will not hit the barrel when running at the first preset rotation speed, and control the rotation speed of the motor to continue to increase, and when the rotation speed of the motor reaches the second preset rotation speed, detect the second current of the motor in the current mechanical cycle;

[0199] When the second current reaches the second preset current, it is determined that the inner drum 3 will hit the barrel, and the motor is controlled to stop running to intercept the hitting barrel.

[0200] In the above, the second preset speed is greater than the first preset speed, and the second preset current is greater than the first preset current.

[0201] In some implementations of this embodiment, the controller 71 is also configured to, when the rotation speed of the inner drum 3 reaches the second preset rotation speed but the second current has not yet reached the second preset current, determine that no barrel collision action will occur at this time, and the controller 71 can control the various components of the washing machine 100 to execute other programs.

[0202] Reference Fig.11 , illustrating another control logic of eccentricity detection of the washing machine 100 according to an embodiment of the present application.

[0203] Execute the eccentricity detection procedure before releasing water (step S1103);

[0204] Control the motor to drive the inner drum 3 to rotate (step S1105);

[0205] Detecting the rotation speed of the inner drum 3 (step S1106);

[0206] Determine whether the rotation speed reaches a first preset rotation speed (step S1107);

[0207] In step S1107, if the rotation speed reaches the first preset rotation speed, step S1108 is executed to detect the first current of the motor in the current mechanical cycle;

[0208] Determine whether the first current reaches a first preset current (step S1109);

[0209] In step S1109, if the first current reaches the first preset current, it is determined that the inner drum 3 will collide with the drum, and then step S1110 is executed to control the motor to stop running;

[0210] In step S1109, if the first current does not reach the first preset current, step S1111 is executed, and the motor drives the inner drum 3 to rotate to increase the rotation speed;

[0211] Determine whether the rotation speed of the inner drum 3 reaches a second preset rotation speed (step S1112);

[0212] In step S1112, if the rotation speed reaches the second preset rotation speed, step S1113 is executed to detect the second current of the motor in the current mechanical cycle;

[0213] Determine whether the second current reaches the second preset current (step S1114);

[0214] In step S1114, if the second current reaches the second preset current, step S1110 is executed;

[0215] In step S1114, if the second current does not reach the second preset current, step S1115 is executed to continue executing other procedures;

[0216] In step S1112, if the rotation speed does not reach the second preset rotation speed, step S1111 is executed;

[0217] In step S1107, if the rotation speed does not reach the first preset rotation speed, step S1105 is executed;

[0218] In step S1102, if the subsequent execution step is not a dehydration procedure, step S1104 is executed to continue to execute the setting procedure;

[0219] In step S1101, if the washing process is not finished, continue to execute step S1101.

[0220] In one embodiment, the motor of the drum washing machine 100 is accelerated to the first preset speed and the second preset speed according to the preset first acceleration value, so as to ensure that the motor can accelerate stably during the acceleration process without generating excessive vibration and reducing the customer experience. In another embodiment, it is also possible not to accelerate to the first speed range according to the fixed first acceleration value, but to accelerate to the first preset speed and the second preset speed more quickly by using a variable acceleration method.

[0221] It can be known that the first preset speed can refer to a certain value or a certain range; similarly, the second preset speed can refer to a certain value or a certain range.

[0222] For example, the first preset speed is set to 75 rpm, and the second preset speed is set to 100 rpm. It can be known that different speeds can be selected according to different product requirements. Generally speaking, the eccentricity of the washing machine 100 is detected within the speed range of 75 rpm to 145 rpm.

[0223] This embodiment also proposes a washing machine 100, which includes: an outer drum 2 with a water storage cavity; an inner drum 3 arranged in the water storage cavity; a motor that drives the inner drum 3 to rotate relative to the outer drum 2, and the washing machine 100 includes at least washing and dehydration processes; before the washing machine 100 starts washing, an eccentricity detection is performed, the motor is controlled to drive the inner drum 3 to rotate, and the rotation speed of the inner drum 3 is detected; when the rotation speed reaches the first preset rotation speed, the first current of the motor in the current mechanical cycle is detected; when the first current reaches the first preset current, it is determined that the inner drum 3 will hit the barrel at this time, and the motor is controlled to stop running to intercept the barrel collision action; wherein the first preset current is the current measurement value of the motor when a set weight is placed in the inner drum 3, the rotation speed of the inner drum 3 is the first preset rotation speed, and the inner drum 3 is about to hit the barrel; the first current is the average current in the current mechanical cycle. By using the two parameters of rotation speed and current to determine the state of the clothes in the barrel, the barrel collision action is intercepted, and the user experience is improved.

[0224] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0225] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0226] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0227] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A washing machine, characterized in that: include: Box; An outer cylinder is disposed in the box body and includes an outer cylinder opening disposed on the side or top thereof, wherein a water storage cavity is formed in the outer cylinder and communicated with the outer cylinder opening; An inner cylinder, disposed in the water storage cavity and comprising an inner cylinder opening adapted to be arranged with the outer cylinder opening; A motor is arranged at the bottom of the inner drum away from the inner drum opening, and the motor drives the inner drum to rotate relative to the outer drum to perform at least washing and dehydration processes; The controller is configured to control the motor to drive the inner drum to rotate and detect the rotation speed of the inner drum before the washing machine starts dehydration after the washing program ends; When the rotation speed reaches a first preset rotation speed, detecting a first current of the motor in a current mechanical cycle; When the first current reaches a first preset current, it is determined that the inner drum will collide with the barrel at this time, and the motor is controlled to stop running to intercept the collide with the barrel; The first preset current is a current measurement value of the motor when a set weight is placed in the inner drum, the rotation speed of the inner drum reaches a first preset rotation speed, and the inner drum is about to hit the barrel; The first current is an average current in the current mechanical cycle.

2. The washing machine according to claim 1, characterized in that: The controller is also configured to: When the rotation speed of the inner drum reaches a first preset rotation speed, but the first current does not reach the first preset current, controlling the rotation speed of the motor to reach a second preset rotation speed, and detecting a second current of the motor in a current mechanical cycle; When the second current reaches a second preset current, it is determined that the inner drum will collide with the barrel, and the motor is controlled to stop running to prevent the collide with the barrel; Wherein, the second preset speed is greater than the first preset speed, and the second preset current is greater than the first preset current.

3. The washing machine according to claim 2, characterized in that: The controller is also configured to determine that no barrel collision action will occur when the rotation speed of the inner drum reaches a second preset rotation speed but the second current does not reach the second preset current, and the controller continues to execute other programs.

4. The washing machine according to any one of claims 1 to 3, characterized in that: Detecting the first current of the motor of the washing machine in the current mechanical cycle, including, the mechanical cycle includes a plurality of unit mechanical cycles, and according to the current value of the motor in each unit mechanical cycle, taking the average value of the current value of the unit mechanical cycle as the first current in the mechanical cycle.

5. The washing machine according to any one of claims 1 to 3, characterized in that: The controller is provided with a PWM interrupt function, which triggers the control of the motor after each cycle of the PWM interrupt function ends.

6. The washing machine according to claim 4, characterized in that: The controller is configured to obtain a three-phase output current by sampling using a FOC algorithm, and obtain a current value of each unit mechanical cycle after performing a first-order filtering process on the three-phase output current.

7. The washing machine according to claim 1, characterized in that: The motor of the washing machine is accelerated to a first preset rotation speed and a second preset rotation speed according to a preset first acceleration value.

8. A washing machine, characterized in that: include: Box; An outer cylinder is disposed in the box body and includes an outer cylinder opening disposed on the side or top thereof, wherein a water storage cavity is formed in the outer cylinder and communicated with the outer cylinder opening; An inner cylinder, disposed in the water storage cavity and comprising an inner cylinder opening adapted to be arranged with the outer cylinder opening; A motor is arranged at the bottom of the inner drum away from the inner drum opening, and the motor drives the inner drum to rotate relative to the outer drum to perform at least washing and dehydration processes; The controller is configured to control the motor to drive the inner drum to rotate and detect a first rotation speed of the inner drum before the washing machine washes; When the first rotational speed reaches a first preset rotational speed, detecting a first current of the motor in a current mechanical cycle; When the first current reaches a first preset current, it is determined that the inner drum will collide with the barrel at this time, and the motor is controlled to stop running to intercept the collide with the barrel; The first preset current is a current measurement value of the motor when a set weight is placed in the inner drum, the inner drum has a first preset speed, and the inner drum is about to hit the barrel; The first current is an average current in the current mechanical cycle.

9. The washing machine according to claim 8, characterized in that: The controller is also configured to: When the rotation speed of the inner drum reaches a first preset rotation speed, but the first current does not reach the first preset current, controlling the rotation speed of the motor to reach a second preset rotation speed, and detecting a second current of the motor in a current mechanical cycle; When the second current reaches a second preset current, it is determined that the inner drum will collide with the barrel, and the motor is controlled to stop running to prevent the collide with the barrel; Wherein, the second preset speed is greater than the first preset speed, and the second preset current is greater than the first preset current.

10. The washing machine according to claim 9, characterized in that: The controller is also configured to determine that no barrel collision action will occur when the rotation speed of the inner drum reaches a second rotation speed but the second current does not reach a second preset current, and the controller continues to execute other programs.

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