Washing machine load weighing method and device and storage medium

Abstract

The invention relates to a washing machine load weighing method and device and a storage medium. The method comprises the steps that the current Hall voltage of a Hall element in a washing machine is acquired; and determining the current load weight in the washing machine drum based on the current Hall voltage and the corresponding calibration relationship. According to the invention, the current load weight in the washing machine roller is determined based on the current Hall voltage of the Hall element in the washing machine and the corresponding calibration relation. The load of the washing machine can be accurately measured, and the measurement accuracy is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of washing machines, and in particular to a washing machine load weighing method, device and storage medium. Background Art

[0002] In the related art, a washing machine load weighing solution based on a tray spring and a magnetometer is usually used. However, in the high temperature and high humidity environment of the washing machine, the spring will gradually age, thereby affecting the load weighing result. Load weighing using a magnetometer is easily affected by the external magnetic field, making the final weighing value result inaccurate. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a laundry load weighing method, device and storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for weighing a load of a washing machine is provided, characterized in that the method includes: obtaining a current Hall voltage of a Hall element in the washing machine; and determining a current load weight in the washing machine drum based on a relationship between the current Hall voltage and a corresponding calibration.

[0005] In one embodiment, determining the current load weight in the washing machine drum includes: determining the properties of the load in the washing machine drum; in response to the load property being a non-magnetic load property, determining the non-magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the washing machine drum based on a first calibrated correspondence between the load weight and the non-magnetic static Hall voltage, and the current non-magnetic static Hall voltage; in response to the load property being a magnetic load property, determining the magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the washing machine drum based on a second calibrated correspondence between the load weight and the magnetic static Hall voltage, and the current magnetic static Hall voltage.

[0006] In one embodiment, the first calibrated correspondence between the load weight and the non-magnetic static Hall voltage is determined in the following manner: the washing machine drum is controlled to rotate under a target weight non-magnetic load, and the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum is recorded to obtain a first number of first voltages, where the target weight non-magnetic load is each weight non-magnetic load among a plurality of different weight non-magnetic loads; the average of the first number of first voltages is determined as the target non-magnetic static Hall voltage; a correspondence between the target weight non-magnetic load and the target non-magnetic static Hall voltage is created; for each weight non-magnetic load among a plurality of different weight non-magnetic loads, the correspondence between the target weight non-magnetic load and the non-magnetic static Hall voltage is determined separately in the above manner to obtain the first calibrated correspondence between the load weight and the non-magnetic static Hall voltage.

[0007] In one embodiment, the second calibrated correspondence between the load weight and the magnetic static Hall voltage is determined in the following manner: the washing machine drum is controlled to rotate under a target weight magnetic load, and the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum is recorded to obtain a first number of second voltages, where the target weight magnetic load is each weight magnetic load among a plurality of different weight magnetic loads; the first number of second voltages are arranged in descending order according to the voltage value and evenly divided into N groups, where N is a positive integer greater than 2; the voltage mean of the Nth group of voltages in the N groups is determined as the target magnetic static Hall voltage; a correspondence between the target weight magnetic load and the magnetic static Hall voltage is created; and for each weight magnetic load among a plurality of different weight magnetic loads, the correspondence between the target weight magnetic load and the target magnetic static Hall voltage is determined separately in the above manner to obtain a second calibrated correspondence between the load weight and the magnetic static Hall voltage.

[0008] In one embodiment, determining the properties of the load in the washing machine drum includes: determining a first number of real-time dynamic Hall voltages corresponding to each preset angle interval of one rotation of the washing machine drum, and determining the variance of the first number of real-time dynamic Hall voltages; in response to the variance being less than a threshold, determining that the properties of the load in the washing machine drum are non-magnetic load properties; in response to the variance being greater than or equal to a threshold, determining that the properties of the load in the washing machine drum are magnetic load properties.

[0009] In one embodiment, after determining the current load weight in the washing machine drum, the method further includes: obtaining the real-time dynamic Hall voltage of the Hall element during the rotation of the washing machine drum; and determining the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage.

[0010] In one embodiment, determining the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage includes: determining the current background interference voltage corresponding to the current load weight based on a third calibration correspondence between the current load weight and the background interference voltage; determining the dynamic non-interference Hall voltage based on the real-time dynamic Hall voltage and the current background interference voltage, and determining the current magnetic flux of the Hall element based on the non-interference Hall voltage; and determining the real-time distance between the Hall element and the electromagnet based on the current magnetic flux of the Hall element.

[0011] According to a second aspect of an embodiment of the present disclosure, a washing machine load weighing device is provided, the device comprising: an acquisition unit for acquiring a current Hall voltage of a Hall element in the washing machine; and a processing unit for determining a current load weight in the washing machine drum based on the current Hall voltage and a corresponding calibration relationship.

[0012] In one embodiment, the processing unit determines the current load weight in the washing machine drum in the following manner: determining the properties of the load in the washing machine drum; in response to the load property being a non-magnetic load property, determining the non-magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the washing machine drum based on a first calibrated correspondence between the load weight and the non-magnetic static Hall voltage, and the current non-magnetic static Hall voltage; in response to the load property being a magnetic load property, determining the magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the washing machine drum based on a second calibrated correspondence between the load weight and the magnetic static Hall voltage, and the current magnetic static Hall voltage.

[0013] In one embodiment, the processing unit determines a first calibration correspondence between the load weight and the non-magnetic static Hall voltage in the following manner: controlling the washing machine drum to rotate under a target weight non-magnetic load, recording the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum, and obtaining a first number of first voltages, wherein the target weight non-magnetic load is each weight non-magnetic load among a plurality of different weight non-magnetic loads; determining the average of the first number of first voltages as the target non-magnetic static Hall voltage; creating a correspondence between the target weight non-magnetic load and the target non-magnetic static Hall voltage; determining the correspondence between the target weight non-magnetic load and the non-magnetic static Hall voltage for each weight non-magnetic load among a plurality of different weight non-magnetic loads in the above manner, and obtaining a first calibration correspondence between the load weight and the non-magnetic static Hall voltage.

[0014] In one embodiment, the processing unit determines the second calibration correspondence between the load weight and the magnetic static Hall voltage in the following manner: control the washing machine drum to rotate under the target weight magnetic load, record the Hall voltage corresponding to each preset angle interval of the washing machine drum rotation, and obtain a first number of second voltages, wherein the target weight magnetic load is each weight magnetic load among multiple different weight magnetic loads; arrange the first number of second voltages in order from large to small according to the voltage value and divide them into N groups on average, wherein N is a positive integer greater than 2; determine the voltage mean of the Nth group of voltages in the N groups as the target magnetic static Hall voltage; create a correspondence between the target weight magnetic load and the magnetic static Hall voltage; determine the correspondence between the target weight magnetic load and the target magnetic static Hall voltage for each weight magnetic load among multiple different weight magnetic loads in the above manner, and obtain the second calibration correspondence between the load weight and the magnetic static Hall voltage.

[0015] In one embodiment, the processing unit determines the properties of the load in the washing machine drum in the following manner: determining a first number of real-time dynamic Hall voltages corresponding to each preset angle interval of one rotation of the washing machine drum, and determining the variance of the first number of real-time dynamic Hall voltages; in response to the variance being less than a threshold, determining that the properties of the load in the washing machine drum are non-magnetic load properties; in response to the variance being greater than or equal to a threshold, determining that the properties of the load in the washing machine drum are magnetic load properties.

[0016] In one embodiment, the processing unit is further used to: obtain a real-time dynamic Hall voltage of a Hall element during rotation of the washing machine drum; and determine a real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage.

[0017] In one embodiment, the processing unit determines the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage in the following manner: based on a third calibration correspondence between the current load weight and the background interference voltage, determining the current background interference voltage corresponding to the current load weight; based on the real-time dynamic Hall voltage and the current background interference voltage, determining the dynamic non-interference Hall voltage, and based on the non-interference Hall voltage, determining the current magnetic flux of the Hall element; based on the current magnetic flux of the Hall element, determining the real-time distance between the Hall element and the electromagnet.

[0018] According to a third aspect of an embodiment of the present disclosure, a washing machine control device is provided, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to: execute the washing machine load weighing method described in the first aspect or any one of the embodiments of the first aspect.

[0019] According to a fourth aspect of an embodiment of the present disclosure, a washing machine is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to: execute the washing machine load weighing method described in the first aspect or any one of the embodiments of the first aspect.

[0020] According to a fifth aspect of an embodiment of the present disclosure, a storage medium is provided, in which instructions are stored. When the instructions in the storage medium are executed by a processor of a washing machine, the washing machine can execute the washing machine load weighing method described in the first aspect or any one of the embodiments of the first aspect.

[0021] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: based on the current Hall voltage of the Hall element in the washing machine and the corresponding calibration relationship, the current load weight in the drum of the washing machine is determined, which can achieve accurate measurement of the load of the washing machine and improve the accuracy of the measurement.

[0022] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] Figure 1 The figure is a flow chart showing a method for weighing a load of a washing machine according to an exemplary embodiment.

[0025] Figure 2 The present invention is a flow chart showing a method for determining a current load in a drum of a washing machine according to an exemplary embodiment.

[0026] Figure 3 The invention is a flow chart showing a method for determining the current load property in a drum of a washing machine according to an exemplary embodiment.

[0027] Figure 4 is a flowchart of a method for determining a first calibration correspondence relationship according to an exemplary embodiment.

[0028] Figure 5 is a flowchart of a second calibration correspondence determination method according to an exemplary embodiment.

[0029] Figure 6 The figure is a flow chart of a method for weighing a load in a drum of a washing machine according to an exemplary embodiment.

[0030] Figure 7The present invention is a flow chart of a method for determining a real-time distance between a Hall element and an electromagnet under a magnetic load according to an exemplary embodiment.

[0031] Figure 8 is a flow chart of a third calibration relationship determination method according to an exemplary embodiment.

[0032] Fig. 9 is a schematic diagram of a load weighing structure according to an exemplary embodiment.

[0033] Fig.10 The figure is a flow chart showing a method for determining a background interference voltage according to an exemplary embodiment.

[0034] Fig.11 is a schematic diagram of magnetic induction intensity of Hall disk voltage under different non-magnetic load conditions according to an exemplary embodiment.

[0035] Fig.12 The diagram is a schematic diagram showing magnetic induction intensity interference of a Hall disk voltage under a magnetic load condition according to an exemplary embodiment.

[0036] Fig.13 It is a schematic diagram showing the corresponding relationship between the Hall voltage value and the rotation angle of the washing machine under the magnetic load condition according to an exemplary embodiment.

[0037] Fig.14 It is a schematic diagram showing the derivation calculation relationship between the Hall voltage value and the rotation angle of the washing machine according to an exemplary embodiment.

[0038] Fig.15 The figure is a flow chart of a bubble sorting method according to an exemplary embodiment.

[0039] Fig.16 The figure is a block diagram of a load weighing device for a washing machine according to an exemplary embodiment.

[0040] Fig.17 It is a block diagram of a device for weighing a load of a washing machine according to an exemplary embodiment.

[0041] Fig.18 It is a block diagram of a device for weighing a load of a washing machine according to an exemplary embodiment. DETAILED DESCRIPTION

[0042] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure.

[0043] In the related art, washing machine weighing is achieved through electronic components such as tension sensors, hydraulic bearings, and magnetometers. Among them, the weighing scheme based on the hydraulic bearing tray is to calibrate the corresponding load weight through spring deformation using the calculation formula F=KX of spring deformation and tension. However, in the high temperature and high humidity environment of the washing machine, the spring will gradually age, and it is easy to experience aging, cracks, metal fatigue, etc., which will affect the result of load weighing and is not conducive to the long-term use of the washing machine. Among them, the weighing scheme based on the magnetometer is to calibrate, calculate, and deduce the corresponding load weight through the different electromagnetic induction intensities of thin film capacitors or electromagnets under objects of different weights, but it is easily affected by the external magnetic field, which interferes with the final weighing numerical result.

[0044] In the related art, washing machine weighing can also obtain the load weight in the washing machine based on the feedback voltage waveform and amplitude value of the permanent magnet synchronous motor during the rotation of the drum. However, there is also a problem that the data obtained is not accurate, resulting in the problem that the final load weight is not accurate enough.

[0045] In view of this, the present disclosure provides a washing machine control method, which determines the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage detected during the rotation of the washing machine drum, and compares the real-time eccentric distance with the eccentric distance threshold to control the washing machine. The safety of the washing machine operation process can be ensured, and abnormal operation such as collision between the inner drum and the outer wall of the washing machine can be effectively avoided, thereby improving the durability of the washing machine.

[0046] Figure 1 is a flow chart showing a method for weighing a washing machine load according to an exemplary embodiment. Figure 1 As shown, the following steps are included:

[0047] In step S11, the current Hall voltage of the Hall element in the washing machine is obtained.

[0048] In step S12, the current load weight in the washing machine drum is determined based on the current Hall voltage and the corresponding calibration relationship.

[0049] The current Hall voltage of the Hall element in the washing machine is used to determine the current load weight in the washing machine drum based on the corresponding calibration relationship. This can achieve accurate measurement of the washing machine load and improve the accuracy of the measurement.

[0050] In some embodiments, when the washing machine is stationary or the drum speed is lower than a preset speed threshold, the current Hall voltage can be acquired, and the current load weight can be determined based on the acquired Hall voltage and the calibration relationship.

[0051] Figure 2FIG. 1 is a flow chart showing a method for determining a current load in a drum of a washing machine according to an exemplary embodiment. Figure 2 As shown, the method includes the following steps.

[0052] In step S21 , the properties of the load in the washing machine drum are determined.

[0053] In the disclosed embodiment, the method for determining the load weight includes: a method for determining the magnetic load weight and a method for determining the non-magnetic load weight. The method to be used depends on the properties of the load in the current washing machine drum. If the property of the load in the current washing machine drum is a magnetic load property, the method for determining the magnetic load weight is selected. If the property of the load in the current washing machine drum is a non-magnetic load property, the method for determining the non-magnetic load weight is selected.

[0054] In step S22, in response to the load attribute being a non-magnetic load attribute, the non-magnetic static Hall voltage currently corresponding to the Hall element is determined, and based on the first calibrated correspondence between the load weight and the non-magnetic static Hall voltage, and the current non-magnetic static Hall voltage, the current load weight in the washing machine drum is determined.

[0055] In the disclosed embodiment, if the attribute of the load in the current washing machine drum is a non-magnetic load attribute, a method for determining the non-magnetic load weight is selected, wherein the second calibration correspondence relationship represents the one-to-one correspondence between the non-magnetic load weight and the non-magnetic static Hall voltage, and the second calibration correspondence relationship can be predetermined, and based on the second calibration relationship, the non-magnetic load weight corresponding to the current non-magnetic static Hall voltage is obtained.

[0056] In step S23, in response to the load attribute being a magnetic load attribute, the magnetic static Hall voltage currently corresponding to the Hall element is determined, and based on the second calibrated correspondence between the load weight and the magnetic static Hall voltage, and the current magnetic static Hall voltage, the current load weight in the washing machine drum is determined.

[0057] In the disclosed embodiment, if the attribute of the load in the current washing machine drum is a magnetic load attribute, a method for determining the magnetic load weight is selected, wherein a third calibration correspondence relationship represents a one-to-one correspondence between the magnetic load weight and the magnetic static Hall voltage, and the third calibration correspondence relationship can be predetermined, and based on the third calibration relationship, the magnetic load weight corresponding to the current magnetic static Hall voltage is obtained.

[0058] In the disclosed embodiment, different load weighing methods are selected based on the current load attributes, so that weighing results with high accuracy for loads with different attributes can be obtained, thereby improving the production and inspection efficiency of washing machines and improving the production efficiency of washing machines.

[0059] Figure 3FIG. 1 is a flow chart showing a method for determining the current load attribute in a washing machine drum according to an exemplary embodiment. Figure 3 As shown, the method includes the following steps.

[0060] In step S31, a first number of real-time dynamic Hall voltages corresponding to each preset angle interval during one rotation of the washing machine drum is determined, and a variance of the first number of real-time dynamic Hall voltages is determined.

[0061] In the disclosed embodiment, the current washing machine drum load attribute is unknown, which may be a magnetic load or a non-magnetic load. Assuming the preset angle is 10°, one cycle can be 360°, and the washing machine drum moves in one cycle, the real-time dynamic Hall voltage detected by 36 Hall disks can be recorded, and the 36 real-time dynamic Hall voltages form a real-time dynamic Hall voltage matrix:

[0062] U 实时动态霍尔 =[U 实时动态霍尔-10° U 实时动态霍尔-20° ...U 实时动态霍尔-350° U 实时动态霍尔-360° ]

[0063] The washing machine main control board uses the following formula to calculate the variance of 36 real-time dynamic Hall voltages to obtain the real-time dynamic Hall voltage variance value:

[0064]

[0065] In step S32, in response to the variance being less than a threshold, it is determined that the attribute of the load in the drum of the washing machine is a non-magnetic load attribute.

[0066] In the disclosed embodiment, the variance threshold is a pre-set value. The washing machine main control board calls the pre-stored variance threshold and compares the calculated real-time dynamic Hall voltage variance value with the variance threshold. If the real-time dynamic Hall voltage variance value is less than the variance threshold, it is determined that the load attribute in the washing machine at this time is a non-magnetic load attribute.

[0067] In step S33, in response to the variance being greater than or equal to the threshold, it is determined that the property of the load in the drum of the washing machine is a magnetic load property.

[0068] In the disclosed embodiment, if the real-time dynamic Hall voltage variance value is greater than the variance threshold or the real-time dynamic Hall voltage variance value is equal to the variance threshold, it is determined that the load attribute in the washing machine at this time is a magnetic load attribute.

[0069] In the disclosed embodiment, variance calculation is performed based on multiple voltage values ​​recorded during one rotation of the washing machine drum. The obtained variance value is compared with a threshold value, and the current load attribute of the washing machine drum can be determined. A more matching load weighing method can be selected according to the current load attribute to control the washing machine, and switching to magnetic load and non-instant load weighing methods can be achieved.

[0070] Figure 4 is a flow chart of a method for determining a first calibration correspondence relationship according to an exemplary embodiment. Figure 4 As shown, the method includes the following steps.

[0071] In step S41, the washing machine drum is controlled to rotate under a target weight non-magnetic load, and the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum is recorded to obtain a first quantity of first voltages, where the target weight non-magnetic load is each weight non-magnetic load among a plurality of different weight non-magnetic loads.

[0072] In the disclosed embodiment, the target non-magnetic load weight can be multiple values, for example: the target non-magnetic load weight is 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, 10kg, the washing machine drum rotates one circle for 360°, and the preset angle is 10°. The 36 Hall voltages recorded when the washing machine drum rotates one circle under the non-magnetic load weight of 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg, respectively. It can be understood that the 36 Hall voltages recorded are the first voltages.

[0073] In step S42, an average value of the first number of first voltages is determined as a target non-magnetic static Hall voltage.

[0074] In the embodiment of the present disclosure, 36 Hall voltages are recorded when the washing machine drum rotates one circle under load weights of 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg. The average values ​​of the 36 Hall voltages obtained under different load weights are calculated to obtain the average values ​​of the 36 first voltages under different load weights, and the average value of the first voltage corresponding to each load weight is used as the target non-magnetic static Hall voltage corresponding to the current load weight.

[0075] In step S43, a correspondence relationship between the target weight non-magnetic load and the target non-magnetic static Hall voltage is created.

[0076] In the disclosed embodiment, the target non-magnetic static Hall voltage corresponding to the current load weight is obtained based on the average value of the first voltage corresponding to the current non-magnetic load weight, so a one-to-one correspondence between the current target weight non-magnetic load and the current target non-magnetic static Hall voltage can be created.

[0077] In step S44, for each non-magnetic load of multiple different weights, the corresponding relationship between the target weight non-magnetic load and the non-magnetic static Hall voltage is determined in the above manner to obtain a first calibrated corresponding relationship between the load weight and the non-magnetic static Hall voltage.

[0078] In the disclosed embodiment, the average values ​​of the first voltages corresponding to the load weights under different non-magnetic load weights are respectively obtained to obtain the target non-magnetic static Hall voltage corresponding to the current non-magnetic load weight, and based on the one-to-one correspondence between the target weight non-magnetic load and the target non-magnetic static Hall voltage, a first calibrated correspondence between the non-magnetic load weight and the non-magnetic static Hall voltage is obtained.

[0079] In the disclosed embodiment, a first calibration correspondence is obtained based on the target non-magnetic static Hall voltage corresponding to the current load weight. By determining the voltage value currently collected by the Hall disk and the first calibration correspondence, the current non-magnetic load weight can be obtained, thereby achieving weighing of the non-magnetic load. Figure 5 is a flow chart of a method for determining a second calibration correspondence relationship according to an exemplary embodiment. Figure 5 As shown, the method includes the following steps.

[0080] In step S51, the washing machine drum is controlled to rotate under a target weight magnetic load, and the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum is recorded to obtain a first quantity of second voltages, where the target weight magnetic load is each weight magnetic load among a plurality of different weight magnetic loads.

[0081] In the disclosed embodiment, the target non-magnetic load weight can be multiple values, for example: the target magnetic load weight is 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, 10kg, the washing machine drum rotates one circle for 360°, and the preset angle is 10°, and 36 Hall voltages are recorded when the washing machine drum rotates one circle under the magnetic load weight of 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg. It can be understood that the 36 Hall voltages are the second voltage.

[0082] In step S52, the first number of second voltages are arranged in descending order according to voltage values ​​and evenly divided into N groups, where N is a positive integer greater than 2.

[0083] In the disclosed embodiment, 36 Hall voltages are recorded when the washing machine drum rotates one circle under load weights of 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg. The 36 Hall voltages obtained under different load weights are divided into N groups on average. If N=3, the 36 third voltages under each load weight can be sorted from large to small based on the bubble sort algorithm and divided into three groups on average, each of which contains 12 second voltages. The first group contains the 12 largest voltages, and the third group contains the 12 smallest voltages.

[0084] In step S53, the voltage average of the Nth group of voltages in the N groups is determined as the target magnetic static Hall voltage.

[0085] In the disclosed embodiment, it is assumed that N=3, the average value of the 12 voltage values ​​in the third group is calculated, and the average value calculated from the voltage values ​​in the third group is used as the target magnetic static Hall voltage.

[0086] In step S54, a corresponding relationship between the target weight magnetic load and the magnetic static Hall voltage is created.

[0087] In the disclosed embodiment, the magnetic static Hall voltage corresponding to the current magnetic load weight is obtained based on the average value of the third group of voltages in the second voltage corresponding to the current magnetic load weight, so a one-to-one correspondence between the current target weight magnetic load and the current magnetic static Hall voltage can be created.

[0088] In step S55, for each magnetic load of multiple different weights, the corresponding relationship between the target weight magnetic load and the target magnetic static Hall voltage is determined in the above manner to obtain a second calibrated corresponding relationship between the load weight and the magnetic static Hall voltage.

[0089] In the disclosed embodiment, the average values ​​of the third group of voltages in the second voltage corresponding to the load weight under different magnetic load weights are respectively obtained to obtain the magnetic static Hall voltage corresponding to the current load weight, and based on the one-to-one correspondence between the current target weight magnetic load and the current magnetic static Hall voltage, a second calibrated correspondence between the magnetic load weight and the magnetic static Hall voltage is obtained.

[0090] In the disclosed embodiment, a second calibration correspondence is obtained based on the magnetic static Hall voltage corresponding to the current load weight. By determining the voltage value currently collected by the Hall disk and the second calibration correspondence, the current magnetic load weight can be obtained, thereby achieving weighing of the magnetic load.

[0091] Figure 6is a flow chart of a method for weighing a load in a washing machine drum according to an exemplary embodiment. Figure 6 As shown, the method includes the following steps.

[0092] In step S61, the real-time dynamic Hall voltage of the Hall element during the rotation of the washing machine drum is obtained.

[0093] In the disclosed embodiment, a Hall element is built into the washing machine, and the Hall element is used to monitor the current voltage value in real time during the rotation of the washing machine drum.

[0094] In step S62, the real-time distance between the Hall element and the electromagnet is determined based on the real-time dynamic Hall voltage.

[0095] In the disclosed embodiment, based on the real-time dynamic Hall voltage of the Hall disk, a calculation can be performed to obtain the real-time distance between the current Hall element and the electromagnet, wherein the real-time distance changes continuously with the rotation of the washing machine drum during the rotation of the washing machine drum.

[0096] Figure 7 is a flow chart of a method for determining the real-time distance between a Hall element and an electromagnet under a magnetic load according to an exemplary embodiment. Figure 7 As shown, the method includes the following steps.

[0097] In step S71, based on a third calibration correspondence between the current load weight and the background interference voltage, a current background interference voltage corresponding to the current load weight is determined.

[0098] In the embodiment of the present disclosure, the first calibration correspondence relationship may be predetermined and used to characterize the correspondence between the load weight and the background interference voltage, wherein the load weight and the background interference voltage correspond one to one.

[0099] In step S72, a dynamic interference-free Hall voltage is determined based on the real-time dynamic Hall voltage and the current background interference voltage, and a current magnetic flux of the Hall element is determined based on the interference-free Hall voltage.

[0100] In the disclosed embodiment, assuming that the preset angle is 10°, one cycle can be 360°, and the washing machine drum moves in one cycle, the real-time dynamic Hall voltage detected by 36 Hall disks can be recorded. The bubbling method can be used to divide the 36 real-time dynamic Hall voltages from large to small into 3 groups, and the largest group of data is taken to calculate the average value, and the average value of the largest group of data is used as the current dynamic Hall interference voltage.

[0101] In step S73 , the real-time distance between the Hall element and the electromagnet is determined based on the current magnetic flux of the Hall element.

[0102] In some embodiments, the real-time distance between the Hall element and the electromagnet is determined based on the current magnetic flux of the Hall element, including: determining the real-time distance between the Hall element and the magnet in the washing machine based on the real-time magnetic flux of the Hall element, the constant equivalent magnetic potential of the electromagnet, and the relative magnetic permeability between the Hall element and the electromagnet.

[0103] In the disclosed embodiment, the current dynamic Hall interference voltage is subtracted from the current background interference voltage to obtain a dynamic Hall voltage, wherein the dynamic Hall voltage is the voltage after the interference is eliminated.

[0104] In the embodiment of the present disclosure, during the assembly stage of the washing machine, the constant equivalent magnetic potential of the permanent magnet and the relative magnetic permeability between the permanent magnet and the Hall disk are measured in advance, and the current real-time distance is obtained based on the product of the constant equivalent magnetic potential and the relative magnetic permeability divided by the real-time magnetic flux. Assume that the constant equivalent magnetic potential of the permanent magnet is represented by (IW)m, and the relative magnetic permeability between the permanent magnet and the Hall disk is represented by μ 0 , the real-time magnetic flux is expressed as B X , the real-time distance is represented as X, and the real-time distance calculation formula is as follows:

[0105]

[0106] In the disclosed embodiments, the real-time distance between the Hall element and the magnet in the washing machine is determined based on the real-time magnetic flux, the constant equivalent magnetic potential, and the relative magnetic permeability, wherein the real-time magnetic flux is calculated based on the voltage value after eliminating the background magnetic interference, so that a highly accurate real-time distance can be obtained, and real-time distance data with a high degree of fit to the actual eccentricity can be obtained, thereby achieving efficient control of the washing machine and improving the efficiency of washing machine production testing.

[0107] Figure 8 is a flow chart of a third calibration relationship determination method according to an exemplary embodiment. Figure 8 As shown, the method includes the following steps.

[0108] In step S81, the washing machine drum is controlled to rotate under a target weight magnetic load, and the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum is recorded to obtain a first quantity of third voltages, where the target weight magnetic load is each weight magnetic load among a plurality of different weight magnetic loads.

[0109] In the disclosed embodiment, the target weight can be multiple values, for example: the target weight is 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg, the washing machine drum rotates 360°, and the preset angle is 10°. The 36 Hall voltages recorded when the washing machine drum rotates one circle under a load weight of 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg respectively.

[0110] In step S82, the first number of third voltages are arranged in descending order according to voltage values ​​and evenly divided into N groups, where N is a positive integer greater than 2.

[0111] In the disclosed embodiment, the 36 Hall voltages recorded when the washing machine drum rotates one circle under load weights of 1kg, 2kg, 3kg, 4kg, 5kg, 6kg, 7kg, 8kg, 9kg, and 10kg, assuming N=3, can be sorted from large to small based on the bubble sort algorithm for each load weight, and evenly divided into three groups, each group containing 12 Hall voltages. The first group contains the 12 largest Hall voltages (the 12 Hall voltage data most affected by magnetic interference), and the third group contains the 12 smallest Hall voltages (the 12 Hall voltage data that are almost not affected by magnetic interference). It can be understood that the 12 Hall voltages are the third voltages.

[0112] In step S83, a voltage mean value of a first group of voltages in the N groups is determined, and a voltage mean value of an Nth group of voltages in the N groups is determined.

[0113] In the embodiment of the present disclosure, assuming that N=3, the average values ​​of the first group of 12 largest Hall voltages and the average values ​​of the third group of 12 smallest Hall voltages are calculated respectively.

[0114] In step S84, the difference between the voltage mean of the first group of voltages and the voltage mean of the Nth group of voltages is determined as the target background interference voltage.

[0115] In the embodiment of the present disclosure, the difference between the voltage mean of the first group of voltages under the current load weight and the voltage mean of the Nth group of voltages is used as the target background interference voltage under the current load weight.

[0116] In step S85, a correspondence between the target weight magnetic load and the target background interference voltage is created.

[0117] In the disclosed embodiment, the target background interference voltage is calculated under the current magnetic load weight, and a one-to-one correspondence between the target weight magnetic load and the target background interference voltage can be established.

[0118] In step S86, for each magnetic load of a plurality of different weights, the corresponding relationship between the target weight magnetic load and the target background interference voltage is determined in the above manner to obtain a third calibrated corresponding relationship between the load weight and the background interference voltage.

[0119] In the disclosed embodiment, the difference between the voltage mean of the first group of voltages under different load weights and the voltage mean of the Nth group of voltages is used as the target background interference voltage under the current load weight, and based on the one-to-one correspondence between the target weight magnetic load and the target background interference voltage and the target background interference voltage under different load weights, a third calibration correspondence characterizing the correspondence between the load weight and the background interference voltage is obtained.

[0120] In the disclosed embodiment, the maximum average value of a group of data and the minimum average value of a group of data after averaging and grouping multiple voltage values ​​recorded during one rotation of the washing machine drum under different load weights are determined as the target background interference voltage. A first calibration correspondence is obtained based on the target interference voltage, and the background interference voltage under the current load weight can be obtained. When performing real-time distance calculation, it is used to make a difference with the current real-time Hall dynamic voltage to remove the influence of background magnetic interference on the real-time distance calculation process, obtain a real-time distance value with high accuracy, and realize accurate detection and early warning of the distance between the Hall element and the permanent magnet of the washing machine.

[0121] It can be understood that the electromagnet in the embodiments of the present disclosure can be abstracted into a permanent magnet. Fig. 9 is a schematic diagram of a load weighing structure according to an exemplary embodiment. Fig. 9 As shown, including:

[0122] The load weighing implementation structure is "abstractly simplified" by removing the coil part of the "electromagnet" and retaining only the middle "core", i.e., the "permanent magnet". The "x" in the figure can be understood as the real-time distance measured in the embodiment of the present disclosure. Fig.10 is a flow chart showing a method for determining background interference voltage according to an exemplary embodiment. Fig. 9 As shown, the following steps are included:

[0123] In step S91, a first number of real-time dynamic Hall voltages are arranged in descending order according to voltage values ​​and evenly divided into N groups, where N is a positive integer greater than 2.

[0124] In the disclosed embodiment, assuming that one rolling rotation is 360°, the preset angle is 10°, and N=3, during the current rotation of the washing machine drum, 36 real-time dynamic Hall voltages can be recorded. The bubbling method can be used to divide the 36 real-time dynamic Hall voltages from large to small into 3 groups, where the first group contains the largest 12 Hall voltages and the third group contains the smallest 12 Hall voltages.

[0125] In step S92, the voltage average of the first group of voltages in the N groups is determined as the current dynamic Hall interference voltage.

[0126] In the disclosed embodiment, the average value of the largest 12 Hall voltages included in the first group is calculated and used as the current dynamic Hall interference voltage.

[0127] In the disclosed embodiment, under magnetic load conditions, during one rotation of the washing machine drum, multiple voltage values ​​recorded are grouped and averaged, and the average value is calculated based on the largest group of voltage values ​​to obtain the current dynamic Hall interference voltage, which is then used to subtract the background magnetic interference Hall voltage to obtain the current Hall dynamic voltage. This can provide a current Hall with high accuracy, and then obtain a real-time distance with high accuracy, thereby improving the control effect on the washing machine.

[0128] In some embodiments, the terms "dynamic Hall interference voltage", "background Hall interference voltage", "interference voltage" and the like can be used interchangeably.

[0129] In the disclosed embodiment, the implementation process of the washing machine control method is further described.

[0130] (i) In some scenarios, at least one of the following data is obtained: For example, in the assembly stage of a washing machine.

[0131] (1) Using proprietary instruments, the "constant equivalent magnetic potential" (IW) of the permanent magnet is measured. m .

[0132] (2) The relative magnetic permeability μ between the permanent magnet and the Hall plate can be measured using a proprietary instrument. 0 .

[0133] (3) The distance X between the electromagnet and the Hall plate can be obtained by calipers, distance meters, etc. 0 .

[0134] (4) The sensitivity K of the Hall plate element is measured by a proprietary instrument.

[0135] (5) Determine the Hall coefficient (composition material) R of the Hall disk element by looking up the product manual H .

[0136] (6) Use a ruler to measure the thickness d of the Hall plate.

[0137] (II) Relationship between the Hall voltage of the Hall disk element in the washing machine and the magnetic flux of the Hall disk

[0138] Under different load conditions, the Hall voltage of the Hall disk element in the washing machine changes with the magnetic flux of the Hall disk. If the magnetic flux passing through the Hall disk decreases, the Hall voltage of the Hall disk element also decreases.

[0139] Fig.11 is a schematic diagram of magnetic induction intensity of Hall disk voltage under different non-magnetic load conditions according to an exemplary embodiment. Fig.11 As shown:

[0140] When the load weight is 1 kg, only three effective magnetic flux lines pass through the Hall disk element, and the remaining four ineffective magnetic flux lines do not pass through the Hall disk. At this time, the voltage calculation formula of the Hall disk is as follows:

[0141] Among them I c The working current I of the Hall plate is obtained by the washing machine mainboard controller through the pulse width modulation (PWM) pulse wave equivalent c , θ is the angle between the Hall disk element and the magnet pole (usually 90°).

[0142] like Fig.11 As shown in the figure, when the load weight is 5Kg, there are five effective magnetic flux lines passing through the Hall disk element, and two invalid magnetic flux lines not passing through the Hall disk. As the load weight in the washing machine drum becomes heavier than that of 1Kg, the Hall disk element will be pressed down accordingly, and the distance between the Hall disk element and the "permanent magnet" below will also change from X to 1. 1 Change to X 5 , where X 5 Less than X 1 When the load weight is 5 kg, the distance between the Hall plate and the permanent magnet becomes smaller than that of the load weight of 1 kg, and the magnetic flux passing through the Hall plate becomes larger. X1 Change to B X5 , where B X5 Greater than B X1 Similarly, under the premise that the rest of the weight is non-magnetic load, a series of expressions can be obtained:

[0143]

[0144] As the non-magnetic weight load changes, the washing machine drum will be pressed down accordingly, the distance between the Hall disk and the "permanent magnet" will change, and the effective magnetic induction intensity of the Hall disk will also change accordingly, which will cause the voltage on the Hall disk to change, and the voltage on the Hall disk will be detected by the main control board.

[0145] (III) Selection of non-magnetic load weighing method and magnetic load weighing method

[0146] Under the current load condition, the drum of the washing machine rotates one circle. Assuming that the rotation interval is 10°, after 36 rotations, the drum of the washing machine returns to the origin. In this process, 36 Hall detection voltage values ​​can be recorded, and these 36 Hall detection voltage values ​​can form a real-time dynamic Hall voltage matrix.

[0147] U 实时动态霍尔 =[U 实时动态霍尔-10° U 实时动态霍尔-20° ...U 实时动态霍尔-350° U 实时动态霍尔-360° ]

[0148] The variance of the 36 Hall detection voltage values ​​obtained is calculated through the washing machine main control board. The variance calculation formula is as follows:

[0149]

[0150] It is determined whether the calculated real-time dynamic Hall variance value is less than the variance threshold. If the real-time dynamic Hall variance value is less than the variance threshold, the weighing method of the non-magnetic load is selected; if the real-time dynamic Hall variance value is greater than or equal to the variance threshold, the weighing method of the magnetic load is selected.

[0151] (IV) Non-magnetic load weighing and washing machine control

[0152] Weighing non-magnetic loads:

[0153] (1) When the washing machine rotates from an empty drum state to a maximum load state (e.g., empty drum, 1 kg, 2 kg, 3 kg, ..., 8 kg, 9 kg, ..., MAX / kg), under different non-magnetic load weights, the rotation interval is set to 10°. During one rotation of the washing machine drum, the corresponding voltage value matrix can be obtained, for example:

[0154] In the empty bucket state, we get:

[0155] U 霍尔-空桶 =[U 霍尔-空桶-10° U 霍尔-空桶-20° ...U 霍尔-空桶-350° U 霍尔-空桶-360° ]

[0156] When the non-magnetic load weight is 1Kg, we get:

[0157] U 霍尔-1kg =[U 霍尔-1kg-10° U 霍尔-1kg-20° ...U 霍尔-1kg-350° U 霍尔-1kg-360° ]

[0158] At different non-magnetic load weights, the corresponding voltage matrix is ​​obtained, and finally U 霍尔-空桶 , U 霍尔-1kg , U 霍尔-2kg , U 霍尔-3kg ,……,U 霍尔-8kg , U 霍尔-9kg ,……,U 霍尔-max kg .

[0159] (2) The voltage matrices corresponding to different non-magnetic load weights are averaged to obtain the average value of the Hall plate induced voltage under different load conditions. The average value of the Hall plate induced voltage is used as the standard reference value for the structure of this type of washing machine, which is a set of constants. Taking the empty barrel state as an example, the formula for calculating the average value of the Hall plate induced voltage is explained:

[0160]

[0161] (3) The standard reference values ​​obtained under different non-magnetic load weights are used to form a standard static Hall voltage matrix under non-magnetic load conditions.

[0162] U 霍尔-非磁性 / 静态 =[U 霍尔-空桶 U 霍尔-1kg U 霍尔-2kg …U 霍尔-9kg U 霍尔-10kg …U 霍尔-maxkg ]

[0163] Based on the voltage detected by the current Hall disk and the standard static Hall voltage matrix, the current non-magnetic load weight corresponding to the current voltage can be obtained to achieve non-magnetic load weighing.

[0164] Non-magnetic load washing machine control:

[0165] (4) Based on the sensitivity K of the Hall plate element measured during the washing machine assembly phase and the working current I of the Hall plate obtained by the washing machine mainboard controller through the PWM pulse wave equivalent c以及 The angle θ between the Hall plate element and the magnet poles can determine the overall coefficient The value of the overall coefficient and the real-time measurement of U 霍尔, the Hall flux at different times can be obtained in real time. The real-time Hall flux calculation formula under non-magnetic load is as follows:

[0166]

[0167] (5) Based on the real-time Hall magnetic flux and the "constant equivalent magnetic potential" (IW) of the permanent magnet m And the relative magnetic permeability μ between the permanent magnet and the Hall tray 0 , the real-time distance between the Hall tray at the bottom of the washing machine and the bottom magnet can be calculated. The real-time distance calculation formula is as follows:

[0168]

[0169] (6) Based on the obtained real-time distance, the washing machine is detected for eccentricity and the motor speed is adjusted based on the eccentricity detection result to control the washing machine. Based on the current load weight, the threshold corresponding to the current load weight is obtained, and the real-time distance is compared with the current distance threshold. If the real-time distance is less than or equal to the current distance threshold, it indicates that the dehydration process is within the safe range of the eccentricity distance performance of the washing machine and can continue. If the real-time distance is greater than the current distance threshold, it indicates that the safety range is exceeded. The output efficiency of the space vector pulse width modulation (SVPWM) of the main control board can be reduced to reduce the motor speed and control the washing machine to ensure the structural safety of the washing machine.

[0170] (V) Impact of different magnetic load positions on weighing results:

[0171] Fig.12 is a schematic diagram showing magnetic induction intensity interference of a Hall plate voltage under a magnetic load condition according to an exemplary embodiment. Fig.12 As shown:

[0172] When the washing machine load is a magnetic load, there will be abnormal weighing because the magnetic field B of the magnetic load (soft magnet) itself 1 The magnetic field B of the permanent magnet below 2 , which can jointly affect the magnetic flux of the Hall disk, and this influence will change with the rotation of the drum, which will cause the voltage collection result of the Hall disk to change accordingly, resulting in inaccurate weighing results.

[0173] Magnetic load in Fig.12 In the first position shown, the magnetic field generated by the magnetic load will have a strong interference on the load weighing result. Fig.12 In the second position shown, the magnetic field generated by the magnetic load will have a weaker interference on the load weighing result. Fig.12 In the third position shown in the figure, the magnetic field generated by the magnetic load will not interfere with the load weighing result. It can be seen that the magnetic load is in different positions and its own magnetic field B 1 The size of the load varies, and the impact on the load weighing results is also different.

[0174] (VI) Total magnetic flux passing through the Hall plate

[0175] The total magnetic flux through the Hall disk can be expressed in detail as:

[0176]

[0177] Among them, B 1 The direction description is about the permanent magnet and the Hall disk element. This direction is always perpendicular to the Hall disk. Therefore, the above can successfully calibrate the relationship with the actual load weight without other interference.

[0178] However, B 2 The direction of changes as the drum rotates, and it is very difficult to find a specific value and remove it from the total magnetic flux. Based on the idea of ​​derivative gradient, this data can be removed to obtain a more accurate magnetic flux value.

[0179] Fig.13 is a schematic diagram showing the corresponding relationship between the Hall voltage value and the rotation angle of the washing machine under the magnetic load condition according to an exemplary embodiment, Fig.14 FIG. 1 is a schematic diagram showing a derivation calculation relationship between a Hall voltage value and a rotation angle of a washing machine according to an exemplary embodiment. Fig.13 and Fig.14 As shown:

[0180] When the soft magnetic load of the washing machine is attached to the drum inside the washing machine, the voltage detection value of the Hall plate will change accordingly. When the magnetic load is closer to the Hall plate at the bottom of the washing machine, the value of the Hall voltage will increase, and the derivative gradient will change more dramatically. When the soft magnetic load is far away from the Hall plate at the bottom of the washing machine, the value of the Hall voltage will decrease (almost equal to the true value), and the derivative gradient will change basically smoothly.

[0181] (VII) Magnetic load weighing and washing machine control

[0182] Fig.15 is a flow chart of a bubble sorting method according to an exemplary embodiment. Fig.14 As shown, including:

[0183] Start the process, from left to right, compare adjacent elements. Each time you compare, you will find the largest or smallest one in the sequence. Select element i, currently i=N, and determine whether i is greater than 1. If i is greater than 1, then j=1 at this time. If i is less than or equal to 1, then end the bubble sort process. If j=1, further determine whether j is less than i. If j is greater than or equal to i, then set i=i-1, and then determine whether i is greater than 1. If j is less than i, then further determine whether arr[j] is less than arr[j+1]. If arr[j] is greater than or equal to arr[j+1], then set j=j+1, and then compare with i. If arr[j] is less than arr[j+1], then swap the positions of arr[j] and arr[j+1]. This achieves sorting from large to small.

[0184] Magnetic load weighing:

[0185] (1) Assuming the rotation interval is 10°, under different magnetic load weights, during one rotation of the washing machine drum, 36 Hall voltage values ​​are recorded and sorted from large to small using the bubble sort algorithm, and divided into three groups, each of which contains 12 voltage data. The first group contains the 12 largest voltage values ​​(the 12 data with the largest magnetic interference), and the third group contains the 12 smallest voltage values ​​(the 12 data with almost no magnetic interference). The average value of the first group of 12 data calculated by the design is U 霍尔-磁干扰 The calculated average value of the third group of 12 data is U 霍尔-无磁性干扰 , the difference between the average Hall voltage of the first group and the third group is ΔU 霍尔-背景磁干扰 The average value of the third group corresponding to different magnetic load weight conditions is used as the non-magnetic interference voltage under each load state, and constitutes the static Hall voltage matrix of the magnetic load:

[0186] U 霍尔-磁性 / 静态 =[U 霍尔-空桶-无干扰 U 霍尔-1kg-无干扰 ...U 霍尔-maxkg-无干扰 ]

[0187] (2) The difference between the average Hall voltages of the first group and the third group under each magnetic load weight is calculated to form the Hall voltage matrix of the background magnetic interference. It can be obtained that when the washing machine drum is at a low speed, the weight of the magnetic load and the static Hall voltage of the magnetic interference under the corresponding weight condition have been obtained:

[0188] U 霍尔-磁性 / 静态 =[ΔU 霍尔-1kg-磁干扰 ΔU 霍尔-2kg-磁干扰 ……ΔU 霍尔-maxkg-磁干扰 ]

[0189] (3) The magnetic load weight corresponding to the current magnetic load voltage can be obtained based on the current magnetic load voltage, the static Hall voltage matrix of the magnetic load, and the corresponding relationship between the static Hall voltage and the magnetic load weight, thereby realizing magnetic load weighing.

[0190] Magnetic load controls the washing machine:

[0191] (4) When the washing machine drum carries a magnetic load and rotates at high speed for one circle, the rotation interval is 10°. The 36 voltage data collected are recorded and divided into 3 groups from large to small by the bubble method. The largest group of data is taken to obtain the average value, which is recorded as U 霍尔-磁干扰-动态 , and lower the current load weight to U 霍尔-磁干扰-动态 With ΔU 霍尔-背景磁干扰 The real-time Hall dynamic voltage is obtained by difference, and the real-time magnetic flux is calculated. The formula for calculating the magnetic flux is as follows:

[0192]

[0193] (5) Based on the real-time Hall magnetic flux and the "constant equivalent magnetic potential" (IW) of the permanent magnet m And the relative magnetic permeability μ between the permanent magnet and the Hall tray 0 , the real-time distance between the Hall tray at the bottom of the washing machine and the bottom magnet can be calculated. The real-time distance calculation formula is as follows:

[0194]

[0195] (6) Based on the obtained real-time distance, the washing machine is detected for eccentricity and the motor speed is adjusted based on the eccentricity detection result to control the washing machine. Based on the current magnetic load weight, the threshold corresponding to the current magnetic load weight is obtained, and the real-time distance is compared with the current distance threshold. If the real-time distance is less than or equal to the current distance threshold, it indicates that the dehydration process is within the safe range of the eccentric distance performance of the washing machine and can continue. If the real-time distance is greater than the current distance threshold, it indicates that the safety range is exceeded. The output efficiency of the main control board SVPWM can be reduced to reduce the motor speed, so as to control the washing machine under the magnetic load condition and ensure the structural safety of the washing machine.

[0196] In the disclosed embodiment, the dehydration eccentricity of a drum washing machine is taken as an example. Since the structural frames of washing machines of the same type are different, the installation method of the Hall tray\permanent magnet will change, but the load weighing and eccentricity detection methods are still applicable.

[0197] In the disclosed embodiment, due to defects in the washing machine assembly process, the data under static conditions should be the average value of the calibration results of the same batch of washing machines.

[0198] In the disclosed embodiment, the magnetic flux calculation method adopted has certain environmental characteristic requirements and does not include the extremely weak effects caused by general household WIFI, Bluetooth, and microwaves.

[0199] In the disclosed embodiment, the eccentric displacement ranging scheme adopted is the extreme value elimination method, but the difference elimination method or the segment average method may also be used.

[0200] In the disclosed embodiment, a weighing structure including a Hall disk element and a permanent magnet is used, which has higher accuracy and durability than the traditional washing machine weighing solution. Using a detection solution including background magnetic flux detection, interference magnetic flux rejection, and magnetic flux load weight correspondence can simultaneously solve the inspection and weighing requirements of non-magnetic / conventional loads and magnetic / eccentric loads in the verification and calibration stage of the washing machine, thereby improving the production efficiency of the washing machine. Based on Faraday's law of electromagnetic induction, load weighing and eccentricity detection can be achieved under non-magnetic or magnetic static-low speed conditions, and eccentric displacement monitoring of washing machines under magnetic high-speed-dynamic conditions can also be achieved, which can improve the dynamic control performance of the washing machine.

[0201] Based on the same concept, an embodiment of the present disclosure also provides a washing machine control device.

[0202] It is understandable that the washing machine control device provided in the embodiment of the present disclosure includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiment of the present disclosure, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present disclosure.

[0203] Fig.16 FIG. 1 is a block diagram of a washing machine load weighing device according to an exemplary embodiment. Fig.16 The device 100 includes an acquisition unit 101 and a processing unit 102.

[0204] The acquisition unit 101 is used to acquire the current Hall voltage of the Hall element in the washing machine.

[0205] The processing unit 102 is used to determine the current load weight in the drum of the washing machine based on the current Hall voltage and the corresponding calibration relationship.

[0206] In one embodiment, the processing unit 102 determines the current load weight in the washing machine drum in the following manner: determining the properties of the load in the washing machine drum; in response to the load property being a non-magnetic load property, determining the non-magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the washing machine drum based on a first calibrated correspondence between the load weight and the non-magnetic static Hall voltage, and the current non-magnetic static Hall voltage; in response to the load property being a magnetic load property, determining the magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the washing machine drum based on a second calibrated correspondence between the load weight and the magnetic static Hall voltage, and the current magnetic static Hall voltage.

[0207] In one embodiment, the processing unit 102 determines a first calibration correspondence between the load weight and the non-magnetic static Hall voltage in the following manner: control the washing machine drum to rotate under a target weight non-magnetic load, record the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum, and obtain a first number of first voltages, where the target weight non-magnetic load is each weight non-magnetic load in a plurality of different weight non-magnetic loads; determine the average of the first number of first voltages as the target non-magnetic static Hall voltage; create a correspondence between the target weight non-magnetic load and the target non-magnetic static Hall voltage; determine the correspondence between the target weight non-magnetic load and the non-magnetic static Hall voltage for each weight non-magnetic load in a plurality of different weight non-magnetic loads in the above manner, and obtain a first calibration correspondence between the load weight and the non-magnetic static Hall voltage.

[0208] In one embodiment, the processing unit 102 determines the second calibration correspondence between the load weight and the magnetic static Hall voltage in the following manner: control the washing machine drum to rotate under the target weight magnetic load, record the Hall voltage corresponding to each preset angle interval of the washing machine drum rotation, and obtain a first number of second voltages, where the target weight magnetic load is each weight magnetic load in a plurality of different weight magnetic loads; arrange the first number of second voltages in descending order according to the voltage value and divide them into N groups on average, where N is a positive integer greater than 2; determine the voltage mean of the Nth group of voltages in the N groups as the target magnetic static Hall voltage; create a correspondence between the target weight magnetic load and the magnetic static Hall voltage; determine the correspondence between the target weight magnetic load and the target magnetic static Hall voltage for each weight magnetic load in the plurality of different weight magnetic loads in the above manner, and obtain the second calibration correspondence between the load weight and the magnetic static Hall voltage.

[0209] In one embodiment, the processing unit 102 determines the attribute of the load in the washing machine drum in the following manner: determining a first number of real-time dynamic Hall voltages corresponding to each preset angle interval of one rotation of the washing machine drum, and determining the variance of the first number of real-time dynamic Hall voltages; in response to the variance being less than a threshold, determining that the attribute of the load in the washing machine drum is a non-magnetic load attribute; in response to the variance being greater than or equal to the threshold, determining that the attribute of the load in the washing machine drum is a magnetic load attribute. .

[0210] In one embodiment, the processing unit 102 is further configured to: obtain a real-time dynamic Hall voltage of a Hall element during rotation of the washing machine drum; and determine a real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage.

[0211] In one embodiment, the processing unit 102 determines the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage in the following manner: based on a third calibration correspondence between the current load weight and the background interference voltage, determine the current background interference voltage corresponding to the current load weight; based on the real-time dynamic Hall voltage and the current background interference voltage, determine the dynamic non-interference Hall voltage, and based on the non-interference Hall voltage, determine the current magnetic flux of the Hall element; based on the current magnetic flux of the Hall element, determine the real-time distance between the Hall element and the electromagnet.

[0212] Fig.17 2 is a block diagram of a device 200 for weighing a load of a washing machine according to an exemplary embodiment. For example, the device 200 may be a washing machine or other washing equipment.

[0213] Reference Fig.17 , the device 200 may include one or more of the following components: a processing component 202 , a memory 204 , a power component 206 , a multimedia component 208 , an audio component 210 , an input / output (I / O) interface 212 , a sensor component 214 , and a communication component 216 .

[0214] The processing component 202 generally controls the overall operation of the device 200, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 202 may include one or more processors 220 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 202 may include one or more modules to facilitate interaction between the processing component 202 and other components. For example, the processing component 202 may include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.

[0215] The memory 204 is configured to store various types of data to support operations on the device 200. Examples of such data include instructions for any application or method operating on the device 200, contact data, phone book data, messages, pictures, videos, etc. The memory 204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0216] The power component 206 provides power to the various components of the device 200. The power component 206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 200.

[0217] The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front camera and / or a rear camera. When the device 200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0218] The audio component 210 is configured to output and / or input audio signals. For example, the audio component 210 includes a microphone (MIC), and when the device 200 is in an operation mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 204 or sent via the communication component 216. In some embodiments, the audio component 210 also includes a speaker for outputting audio signals.

[0219] I / O interface 212 provides an interface between processing component 202 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0220] The sensor assembly 214 includes one or more sensors for providing various aspects of the status assessment of the device 200. For example, the sensor assembly 214 can detect the open / closed state of the device 200, the relative positioning of components, such as the display and keypad of the device 200, the sensor assembly 214 can also detect the position change of the device 200 or a component of the device 200, the presence or absence of user contact with the device 200, the orientation or acceleration / deceleration of the device 200 and the temperature change of the device 200. The sensor assembly 214 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 214 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 can also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

[0221] The communication component 216 is configured to facilitate wired or wireless communication between the device 200 and other devices. The device 200 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0222] In an exemplary embodiment, the apparatus 200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0223] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 204 including instructions, and the instructions can be executed by the processor 220 of the device 200 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0224] Fig.18 is a block diagram of a device 300 for weighing a load of a washing machine according to an exemplary embodiment. For example, the device 300 may be provided as a washing machine. Fig.18, the apparatus 300 includes a processing component 322, which further includes one or more processors, and a memory resource represented by a memory 332 for storing instructions, such as an application, that can be executed by the processing component 322. The application stored in the memory 332 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 322 is configured to execute the instructions to perform the above method.

[0225] The device 300 may also include a power supply component 326 configured to perform power management of the device 300, a wired or wireless network interface 350 configured to connect the device 300 to a network, and an input / output (I / O) interface 358. The device 300 may operate based on an operating system stored in the memory 332, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or the like.

[0226] It is to be understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include plural forms, unless the context clearly indicates other meanings.

[0227] It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0228] It is further understood that, although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0229] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modifications, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure.

[0230] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A method for weighing a washing machine load, It is characterized in that The method comprises: Get the current Hall voltage of the Hall element in the washing machine; Based on the current Hall voltage and the corresponding calibration relationship, the current load weight in the washing machine drum is determined.

2. The method according to claim 1, It is characterized in that Determining the current load weight in the drum of the washing machine includes: Determine the properties of the load in the washing machine drum; In response to the attribute of the load being a non-magnetic load attribute, determining the non-magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the drum of the washing machine based on a first calibrated correspondence between the load weight and the non-magnetic static Hall voltage and the current non-magnetic static Hall voltage; In response to the attribute of the load being a magnetic load attribute, the magnetic static Hall voltage currently corresponding to the Hall element is determined, and based on a second calibrated correspondence between the load weight and the magnetic static Hall voltage, and the current magnetic static Hall voltage, the current load weight in the washing machine drum is determined.

3. The method according to claim 2, It is characterized in that The first calibration correspondence between the load weight and the non-magnetic static Hall voltage is determined in the following manner: Controlling the washing machine drum to rotate under a target weight non-magnetic load, recording the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum, and obtaining a first number of first voltages, wherein the target weight non-magnetic load is each weight non-magnetic load of a plurality of different weight non-magnetic loads; determining an average value of the first number of first voltages as a target non-magnetic static Hall voltage; Creating a corresponding relationship between the target weight non-magnetic load and the target non-magnetic static Hall voltage; For each non-magnetic load of multiple different weights, the corresponding relationship between the target weight non-magnetic load and the non-magnetic static Hall voltage is determined in the above manner to obtain a first calibrated corresponding relationship between the load weight and the non-magnetic static Hall voltage.

4. According to the method of claim 2, the second calibration correspondence between the load weight and the magnetic static Hall voltage is determined in the following manner: Controlling the washing machine drum to rotate under a target weight magnetic load, recording the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum, and obtaining a first number of second voltages, wherein the target weight magnetic load is each weight magnetic load of a plurality of different weight magnetic loads; Arrange the first number of second voltages in descending order according to voltage value and divide them into N groups on average, where N is a positive integer greater than 2; Determine the voltage average of the Nth group of voltages in the N groups as the target magnetic static Hall voltage; Creating a corresponding relationship between the target weight magnetic load and the magnetic static Hall voltage; For each magnetic load of a plurality of different weights, the corresponding relationship between the target weight magnetic load and the target magnetic static Hall voltage is determined in the above manner to obtain a second calibrated corresponding relationship between the load weight and the magnetic static Hall voltage.

5. The method according to claim 2, It is characterized in that Determining the property of the load in the drum of the washing machine includes: Determine a first number of real-time dynamic Hall voltages corresponding to each preset angle interval of one rotation of the washing machine drum, and determine the variance of the first number of real-time dynamic Hall voltages; In response to the variance being less than a threshold, determining that the attribute of the load in the drum of the washing machine is a non-magnetic load attribute; In response to the variance being greater than or equal to a threshold, determining that the property of the load in the washing machine drum is a magnetic load property.

6. The method according to claim 1, It is characterized in that After determining the current load weight in the drum of the washing machine, the method further includes: Obtain the real-time dynamic Hall voltage of the Hall element during the rotation of the washing machine drum; Based on the real-time dynamic Hall voltage, a real-time distance between the Hall element and the electromagnet is determined.

7. The method according to claim 6, It is characterized in that The determining the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage comprises: Determining a current background interference voltage corresponding to the current load weight based on a third calibrated corresponding relationship between the current load weight and the background interference voltage; Determine a dynamic interference-free Hall voltage based on the real-time dynamic Hall voltage and the current background interference voltage, and determine a current magnetic flux of the Hall element based on the interference-free Hall voltage; A real-time distance between the Hall element and the electromagnet is determined based on the current magnetic flux of the Hall element.

8. A washing machine load weighing device, It is characterized in that The device comprises: An acquisition unit, used for acquiring a current Hall voltage of a Hall element in the washing machine; A processing unit is used to determine the current load weight in the drum of the washing machine based on the current Hall voltage and the corresponding calibration relationship.

9. The washing machine load weighing device according to claim 8, It is characterized in that The processing unit determines the current load weight in the drum of the washing machine in the following manner: Determine the properties of the load in the washing machine drum; In response to the attribute of the load being a non-magnetic load attribute, determining the non-magnetic static Hall voltage currently corresponding to the Hall element, and determining the current load weight in the drum of the washing machine based on a first calibrated correspondence between the load weight and the non-magnetic static Hall voltage and the current non-magnetic static Hall voltage; In response to the attribute of the load being a magnetic load attribute, the magnetic static Hall voltage currently corresponding to the Hall element is determined, and based on a second calibrated correspondence between the load weight and the magnetic static Hall voltage, and the current magnetic static Hall voltage, the current load weight in the washing machine drum is determined.

10. The washing machine load weighing device according to claim 9, It is characterized in that The processing unit determines the first calibration correspondence between the load weight and the non-magnetic static Hall voltage in the following manner: Controlling the washing machine drum to rotate under a target weight non-magnetic load, recording the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum, and obtaining a first number of first voltages, wherein the target weight non-magnetic load is each weight non-magnetic load of a plurality of different weight non-magnetic loads; determining an average value of the first number of first voltages as a target non-magnetic static Hall voltage; Creating a corresponding relationship between the target weight non-magnetic load and the target non-magnetic static Hall voltage; For each non-magnetic load of multiple different weights, the corresponding relationship between the target weight non-magnetic load and the non-magnetic static Hall voltage is determined in the above manner to obtain a first calibrated corresponding relationship between the load weight and the non-magnetic static Hall voltage.

11. The device according to claim 9, wherein the processing unit determines the second calibration correspondence between the load weight and the magnetic static Hall voltage in the following manner: Controlling the washing machine drum to rotate under a target weight magnetic load, recording the Hall voltage corresponding to each preset angle interval of one rotation of the washing machine drum, and obtaining a first number of second voltages, wherein the target weight magnetic load is each weight magnetic load of a plurality of different weight magnetic loads; Arrange the first number of second voltages in descending order according to voltage value and divide them into N groups on average, where N is a positive integer greater than 2; Determine the voltage average of the Nth group of voltages in the N groups as the target magnetic static Hall voltage; Creating a corresponding relationship between the target weight magnetic load and the magnetic static Hall voltage; For each magnetic load of a plurality of different weights, the corresponding relationship between the target weight magnetic load and the target magnetic static Hall voltage is determined in the above manner to obtain a second calibrated corresponding relationship between the load weight and the magnetic static Hall voltage.

12. The device according to claim 9, It is characterized in that The processing unit determines the properties of the load in the drum of the washing machine in the following manner: Determine a first number of real-time dynamic Hall voltages corresponding to each preset angle interval of one rotation of the washing machine drum, and determine the variance of the first number of real-time dynamic Hall voltages; In response to the variance being less than a threshold, determining that the attribute of the load in the drum of the washing machine is a non-magnetic load attribute; In response to the variance being greater than or equal to a threshold, determining that the property of the load in the washing machine drum is a magnetic load property.

13. The device according to claim 8, It is characterized in that The processing unit is further configured to include: Obtain the real-time dynamic Hall voltage of the Hall element during the rotation of the washing machine drum; Based on the real-time dynamic Hall voltage, a real-time distance between the Hall element and the electromagnet is determined.

14. The device according to claim 13, It is characterized in that The processing unit determines the real-time distance between the Hall element and the electromagnet based on the real-time dynamic Hall voltage in the following manner: Determining a current background interference voltage corresponding to the current load weight based on a third calibrated corresponding relationship between the current load weight and the background interference voltage; Determine a dynamic interference-free Hall voltage based on the real-time dynamic Hall voltage and the current background interference voltage, and determine a current magnetic flux of the Hall element based on the interference-free Hall voltage; A real-time distance between the Hall element and the electromagnet is determined based on the current magnetic flux of the Hall element.

15. A washing machine load weighing device, It is characterized in that include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Execute the washing machine load weighing method as described in any one of claims 1-7.

16. A washing machine, It is characterized in that include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Execute the washing machine load weighing method as described in any one of claims 1-7.

17. A storage medium, It is characterized in that The storage medium stores instructions. When the instructions in the storage medium are executed by a processor of the washing machine, the washing machine can execute the washing machine load weighing method according to any one of claims 1 to 7.

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