Washing machine

Abstract

The embodiment of the invention provides a washing machine. The washing machine comprises an inner drum; the motor is used for driving the inner cylinder to rotate; the three-axis sensor is arranged on the inner cylinder and is used for detecting vibration parameters of the inner cylinder in three-axis directions; the three-axis direction comprises a first axis direction corresponding to the front-back direction of the washing machine, a second axis direction corresponding to the left-right direction of the washing machine and a third axis direction corresponding to the up-down direction of the washing machine; the controller is electrically connected with the motor and the three-axis sensor, and the controller is configured to execute the following steps that the motor is controlled to work so as to drive the inner barrel to rotate; vibration parameters of the inner cylinder in the three-axis direction are detected through the three-axis sensor; according to the vibration parameters of the inner cylinder in the three-axis direction, whether data distortion abnormity occurs in the three-axis sensor or not is judged. The washing machine can be prevented from generating high-speed vibration noise.

Description

Technical Field

[0001] This application relates to the field of washing machine technology, specifically to a washing machine. Background Technology

[0002] A washing machine is a cleaning appliance that uses electrical energy to generate mechanical action to wash clothes. During the spin-drying process of a washing machine, the increased rotation speed of the inner drum causes a change in the machine's eccentricity, which can easily lead to high-speed vibration and noise.

[0003] To prevent washing machines from generating vibration and noise during high-speed spin-drying, the common practice is to use a motor to detect the drum's rotation speed and monitor the degree of eccentricity within the washing machine, then adjust the drum's rotation speed accordingly. However, during high-speed spin-drying, the accuracy of the motor's detection of the drum's rotation speed is insufficient, causing the washing machine to still easily generate high-speed vibration and noise.

[0004] Therefore, there is an urgent need for a washing machine that can avoid generating high-speed vibration noise. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems and other issues.

[0006] The purpose of this invention is also to accurately detect the vibration parameters of the inner cylinder in the three-axis direction.

[0007] Another objective of this invention is to accurately detect the vibration acceleration of the inner cylinder in the three-axis direction.

[0008] The present invention also aims to accurately detect the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction.

[0009] The present invention also aims to accurately detect the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0010] The present invention also aims to accurately detect the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0011] The purpose of this invention is also to accurately detect the vibration displacement of the inner cylinder in the three axial directions.

[0012] The purpose of this invention is also to accurately determine whether a triaxial sensor has experienced data distortion or abnormality.

[0013] Another objective of this invention is to accurately determine the first deviation parameter.

[0014] Another objective of this invention is to accurately determine the second deviation parameter.

[0015] Another objective of this invention is to accurately determine the third deviation parameter.

[0016] Another objective of this invention is to accurately determine a preset first deviation rate.

[0017] Another objective of this invention is to accurately determine the preset second deviation rate.

[0018] Another objective of this invention is to accurately determine the preset third deviation rate.

[0019] Another objective of this invention is to prevent the screws used to mount the triaxial sensor from loosening.

[0020] The purpose of this invention is not limited to the purposes mentioned above, and those skilled in the art will clearly understand other purposes not mentioned from the following description.

[0021] This invention relates to a washing machine, the washing machine comprising:

[0022] Inner cylinder;

[0023] An electric motor is used to drive the inner cylinder to rotate;

[0024] A triaxial sensor is disposed on the inner drum and is used to detect the vibration parameters of the inner drum in three axial directions. The three axial directions include a first axial direction corresponding to the front-back direction of the washing machine, a second axial direction corresponding to the left-right direction of the washing machine, and a third axial direction corresponding to the up-down direction of the washing machine.

[0025] The controller, which is electrically connected to both the motor and the triaxial sensor, is configured to perform the following steps:

[0026] The motor is controlled to operate in order to drive the inner cylinder to rotate;

[0027] The vibration parameters of the inner cylinder in the three axial directions are detected by the triaxial sensor.

[0028] Based on the vibration parameters of the inner cylinder in the three-axis directions, it is determined whether the three-axis sensor has data distortion anomalies.

[0029] In some embodiments of this application, the vibration parameters include vibration acceleration and vibration displacement; the controller is also configured to perform the following steps:

[0030] Detect the rotational speed of the inner cylinder;

[0031] If the rotational speed of the inner cylinder is within the resonant rotational speed range, then the triaxial sensor is determined to have data distortion abnormalities based on the vibration displacement of the inner cylinder in the three-axis directions.

[0032] If the rotational speed of the inner cylinder is in the high-speed range, the triaxial sensor is used to determine whether there is data distortion or abnormality based on the vibration acceleration of the inner cylinder in the three-axis direction.

[0033] In some embodiments of this application, the vibration parameters include vibration displacement; the controller is also configured to perform the following steps:

[0034] If the vibration displacement of the inner cylinder in the second axis direction is detected to be below the vibration displacement of the inner cylinder in the first axis direction, it is determined that the triaxial sensor has a data distortion abnormality.

[0035] If the vibration displacement of the inner cylinder in the second axis direction is detected to be below the vibration displacement of the inner cylinder in the third axis direction, then the triaxial sensor is determined to have data distortion abnormality.

[0036] In some embodiments of this application, the vibration parameters include vibration acceleration; the controller is also configured to perform the following steps:

[0037] The corresponding deviation parameters are determined based on the vibration acceleration in any two axial directions;

[0038] Based on the deviation rate corresponding to the deviation parameter and the preset deviation rate, it is determined whether the triaxial sensor has data distortion abnormality. The preset deviation rate is determined based on the preset maximum rotation angle of the inner cylinder in another axial direction.

[0039] In some embodiments of this application, the controller is also configured to perform the following steps:

[0040] The first deviation parameter is determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction.

[0041] If the deviation rate corresponding to the first deviation parameter is detected to be above the preset first deviation rate, it is determined that the triaxial sensor has a data distortion anomaly.

[0042] In some embodiments of this application, the first deviation parameter is the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the first axial direction.

[0043] In some embodiments of this application, the controller is also configured to perform the following steps:

[0044] The second deviation parameter is determined based on the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0045] If the deviation rate corresponding to the second deviation parameter is detected to be above the preset second deviation rate, it is determined that the triaxial sensor has a data distortion anomaly.

[0046] In some embodiments of this application, the second deviation parameter is the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0047] In some embodiments of this application, the controller is also configured to perform the following steps:

[0048] The third deviation parameter is determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0049] If the deviation rate corresponding to the third deviation parameter is detected to be above the preset third deviation rate, it is determined that the triaxial sensor has a data distortion anomaly.

[0050] In some embodiments of this application, the third deviation parameter is the ratio between the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0051] The details of other embodiments are included in the detailed description and the accompanying drawings.

[0052] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner drum, the vibration parameters of the inner drum in the triaxial direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0053] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner drum, the vibration acceleration of the inner drum in the triaxial direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0054] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner drum, the vibration acceleration of the inner drum in the first axial direction and the vibration acceleration of the inner drum in the second axial direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0055] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner drum, the vibration acceleration of the inner drum in the second axis direction and the vibration acceleration of the inner drum in the third axis direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0056] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner drum, the vibration acceleration of the inner drum in the first axial direction and the vibration acceleration of the inner drum in the third axial direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0057] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner drum, the vibration displacement of the inner drum in the triaxial direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0058] According to at least one embodiment of the present invention, based on the vibration acceleration of the inner drum in the three-axis direction, it is possible to accurately determine whether the three-axis sensor has data distortion abnormality, thereby effectively avoiding high-speed vibration noise from the washing machine.

[0059] According to at least one embodiment of the present invention, based on the vibration displacement of the inner drum in the three-axis direction, it is possible to accurately determine whether the three-axis sensor has data distortion abnormality, thereby effectively avoiding the high-speed vibration noise generated by the washing machine.

[0060] According to at least one embodiment of the present invention, based on the magnitude relationship between the vibration displacement of the inner drum in the second axial direction and the vibration displacement of the inner drum in the first axial direction, it is possible to accurately determine whether the triaxial sensor has data distortion abnormalities, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0061] According to at least one embodiment of the present invention, based on the magnitude relationship between the vibration displacement of the inner drum in the second axial direction and the vibration displacement of the inner drum in the third axial direction, it is possible to accurately determine whether the three-axis sensor has data distortion abnormalities, thereby effectively avoiding high-speed vibration noise from the washing machine.

[0062] According to at least one embodiment of the present invention, based on the relationship between the first deviation parameter and the preset first deviation rate, it is possible to accurately determine whether the triaxial sensor has data distortion abnormalities, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0063] According to at least one embodiment of the present invention, based on the relationship between the second deviation parameter and the preset second deviation rate, it is possible to accurately determine whether the triaxial sensor has data distortion abnormalities, thereby effectively avoiding high-speed vibration noise generated by the washing machine.

[0064] According to at least one embodiment of the present invention, based on the relationship between the third deviation parameter and the preset third deviation rate, it is possible to accurately determine whether the triaxial sensor has data distortion abnormalities, thereby effectively avoiding high-speed vibration noise from the washing machine.

[0065] According to at least one embodiment of the present invention, the first deviation parameter can be accurately determined by the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the first axial direction.

[0066] According to at least one embodiment of the present invention, the second deviation parameter can be accurately determined by the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0067] According to at least one embodiment of the present invention, the third deviation parameter can be accurately determined by the ratio between the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0068] According to at least one embodiment of the present invention, a preset first deviation rate can be accurately determined based on the preset maximum rotation angle of the inner cylinder in the third axial direction.

[0069] According to at least one embodiment of the present invention, a preset second deviation rate can be accurately determined based on a preset maximum rotation angle of the inner cylinder in the first axial direction.

[0070] According to at least one embodiment of the present invention, a preset third deviation rate can be accurately determined based on a preset maximum rotation angle of the inner cylinder in the second axial direction.

[0071] According to at least one embodiment of the present invention, a preset second deviation rate is less than a preset first deviation rate and less than a preset third deviation rate, so that more attention is paid to the change of the second deviation parameter, effectively preventing the screws for installing the triaxial sensor from loosening, thereby effectively avoiding high-speed vibration noise from the washing machine.

[0072] The effects of this invention are not limited to those mentioned above, and those skilled in the art can clearly understand other effects not mentioned from the description of the claims. Attached Figure Description

[0073] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0074] Figure 1 This is a schematic diagram of the product appearance of a washing machine provided in an exemplary embodiment of this application.

[0075] Figure 2This is a schematic diagram of the product structure of a washing machine provided in an exemplary embodiment of this application.

[0076] Figure 3 This is a schematic diagram of the orientation of three axes provided in an exemplary embodiment of this application.

[0077] Figure 4 This is a schematic diagram of the installation of a triaxial sensor provided in an exemplary embodiment of this application.

[0078] Figure 5 This is a schematic diagram of the vibration acceleration change of a washing machine under eccentric conditions, provided in an exemplary embodiment of this application.

[0079] Figure 6 This is a flowchart illustrating the steps that a controller can execute, provided in an exemplary embodiment of this application.

[0080] Figure 7 This is a flowchart of the steps that the controller can execute, provided in another exemplary embodiment of this application.

[0081] Figure 8 This is a flowchart of the steps that the controller can execute, provided in another exemplary embodiment of this application.

[0082] Figure 9 This is a flowchart of the steps that the controller can execute, provided in another exemplary embodiment of this application.

[0083] Figure 10 This is a flowchart of the steps that the controller can execute, provided in another exemplary embodiment of this application.

[0084] Explanation of reference numerals in the attached figures:

[0085] 1: Shell;

[0086] 2: Door body;

[0087] 3: Control Panel;

[0088] 4: Inner cylinder;

[0089] 5: Motor;

[0090] 6: Triaxial sensor;

[0091] 10: Washing machine. Detailed Implementation

[0092] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0093] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the actual situation. It should also be noted that "multiple" as mentioned in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0094] The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0095] When a structural element is mentioned as being "connected" or "in contact" with another structural element, it may mean that it is directly connected to or in contact with the other structural element, but it can also be understood as meaning that there are other structural elements between them. Conversely, when a structural element is mentioned as being "directly connected" or "directly in contact" with another structural element, it should be understood as meaning that there are no other structural elements between them.

[0096] Unless the context clearly indicates a different meaning, the singular form includes the plural form.

[0097] A washing machine is a cleaning appliance that uses electrical energy to generate mechanical action to wash clothes. During the spin-drying process of a washing machine, the increased rotation speed of the inner drum causes a change in the machine's eccentricity, which can easily lead to high-speed vibration and noise.

[0098] To prevent washing machines from generating vibration and noise during high-speed spin-drying, the common practice is to use a motor to detect the drum's rotation speed and monitor the degree of eccentricity within the washing machine, then adjust the drum's rotation speed accordingly. However, during high-speed spin-drying, the accuracy of the motor's detection of the drum's rotation speed is insufficient, causing the washing machine to still easily generate high-speed vibration and noise.

[0099] Therefore, there is an urgent need for a washing machine that can avoid generating high-speed vibration noise.

[0100] To solve the above-mentioned technical problems, this application proposes a washing machine 10.

[0101] Please see Figure 1 , Figure 1 This is a schematic diagram of the product appearance of a washing machine provided in an exemplary embodiment of this application.

[0102] like Figure 1 As shown, the washing machine 10 may include a housing 1. The housing 1 is the external structure of the washing machine 10 and can be used to fix and protect the internal components. The housing 1 can also provide robust structural support for the internal components.

[0103] The housing 1 can be made of metal or plastic.

[0104] In some embodiments of this application, the housing 1 may be made of ABS material, which makes the housing 1 more durable.

[0105] The housing 1 can protect the mechanical and electronic components inside the washing machine 10 from external impacts, water and dust.

[0106] In some embodiments of this application, a door 2 may be provided on the housing 1. The door 2 may be designed with a locking mechanism to ensure that it is tightly closed and to prevent water leakage from the roller.

[0107] The door 2 can be made of transparent glass or plastic so that users can observe the clothing cleaning process.

[0108] In some embodiments of this application, a control panel 3 may also be provided on the housing 1. The control panel 3 may be located on the top or front of the washing machine 10 so that the user can control the washing machine 10 through the control panel 3.

[0109] Control panel 3 can consist of button components. Control panel 3 can consist of touch screen components. Control panel 3 can consist of a combination of button components and touch screen components.

[0110] Users can select the washing program via control panel 3. Users can set the washing duration via control panel 3. Users can set the spin-drying duration via control panel 3.

[0111] Please see Figure 2 , Figure 2 This is a schematic diagram of the product structure of a washing machine provided in an exemplary embodiment of this application.

[0112] In some embodiments of this application, the washing machine 10 may include an inner drum 4. The inner drum 4 is the core component responsible for performing the clothes cleaning function.

[0113] The inner cylinder 4 can be made of ceramic, stainless steel, plastic and carbon fiber, and has a certain degree of durability and corrosion resistance.

[0114] The inner drum 4 can be used to hold clothes and provide an environment for washing clothes.

[0115] The inner tub 4 may have a cleaning groove inside. The inner tub 4 may also have ribs inside. Having a cleaning groove and / or ribs inside the inner tub 4 helps to improve the cleaning effect on clothes.

[0116] The inner drum 4 can rotate to tumble the clothes. For example, the operating speed of the inner drum 4 can be set between 0 and 400 rpm.

[0117] In some embodiments of this application, in order to ensure that the detergent and water can fully contact the clothes in the inner drum 4, the inner drum 4 can be rotated in both directions by a motor.

[0118] For example, the inner cylinder 4 can be controlled to rotate clockwise for 2 seconds and then counterclockwise for 2 seconds. Alternatively, the inner cylinder 4 can be controlled to rotate clockwise for 3 seconds and then counterclockwise for 3 seconds.

[0119] In some embodiments of this application, in order to reduce the working time of the inner cylinder 4, the inner cylinder 4 can also be controlled by a motor to rotate intermittently in both directions.

[0120] For example, control the inner cylinder 4 to rotate clockwise for 2 seconds, pause for 3 seconds, and then control the inner cylinder 4 to rotate counterclockwise for 2 seconds, pause for 3 seconds.

[0121] In some embodiments of this application, the washing machine 10 may include a motor 5. The motor 5 is responsible for providing power to the inner drum 4 to drive the inner drum 4 to rotate.

[0122] The housing of motor 5 can be made of metal. For example, the housing of motor 5 can be made of cast iron or aluminum alloy to ensure the sturdiness and durability of the motor 5 structure.

[0123] The coil of motor 5 can be made of copper wire, which generates a magnetic field when energized to drive motor 5 to rotate.

[0124] In some embodiments of this application, the motor 5 may be selected from brushless DC motors, brushed DC motors, variable frequency motors, stepper motors, etc.

[0125] The washing machine 10 may include a transmission system. The transmission system may be connected to the motor 5 and is responsible for transmitting the rotational power of the motor 5 to the inner drum 4.

[0126] In some embodiments of this application, the transmission system can transmit rotational power via belts, gears, or direct drive.

[0127] In some embodiments of this application, the operating power of motor 5 can be detected.

[0128] If the operating power of motor 5 exceeds the preset power limit, the rotation speed of inner drum 4 can be reduced to control the vibration and noise of washing machine 10. If the operating power of motor 5 exceeds the preset power limit, the current rotation speed of inner drum 4 can be maintained to control the vibration and noise of washing machine 10.

[0129] In some embodiments of this application, the washing machine 10 may include a triaxial sensor 6.

[0130] The triaxial sensor 6 can be installed on the inner cylinder 4. The triaxial sensor 6 can reflect the motion state of the inner cylinder 4 during the working process.

[0131] In some embodiments of this application, the three-axis direction includes a first axis direction corresponding to the front-back direction of the washing machine, a second axis direction corresponding to the left-right direction of the washing machine, and a third axis direction corresponding to the up-down direction of the washing machine.

[0132] The front of the washing machine is its main area for user interaction. A control panel and a display can be located at the front of the washing machine.

[0133] The back of the washing machine is the opposite direction from the front. Pipes, such as the water inlet pipe, drain pipe, and power cord, can be connected to the back of the washing machine.

[0134] The left side of the washing machine is determined by the user's left-hand side when the washing machine is facing the user. The detergent dispenser can be located on the left side of the washing machine for the user's convenience in adding detergent.

[0135] The right side of the washing machine is the opposite direction from the left side of the washing machine.

[0136] In some embodiments of this application, the orientation diagram of the three axes can be as follows: Figure 3 As shown in the diagram. The X-axis represents the front-to-back direction of the washing machine, the Y-axis represents the left-to-right direction, and the Z-axis represents the up-to-down direction.

[0137] In some embodiments of this application, the front of the washing machine can be used as the X-axis, the right side of the washing machine as the Y-axis, and the top of the washing machine as the Z-axis.

[0138] In some embodiments of this application, the triaxial sensor 6 can be mounted as follows: Figure 4As shown. Positioning holes and screws are provided on the left and right sides of the triaxial sensor 6.

[0139] In some embodiments of this application, two positioning holes may be provided on the left side of the triaxial sensor 6, and a screw may be provided between the two positioning holes on the left side.

[0140] In some embodiments of this application, two positioning holes may be provided on the right side of the triaxial sensor 6, and a screw may be provided between the two positioning holes on the right side.

[0141] The triaxial sensor 6 can be fixedly installed on the inner cylinder 4 by the cooperation between the positioning hole and the screw.

[0142] In some embodiments of this application, the triaxial sensor 6 can be used to detect the vibration parameters of the inner cylinder 4 in the triaxial directions.

[0143] By setting a triaxial sensor 6 on the inner drum 4, the vibration parameters of the inner drum in the three-axis direction can be accurately detected, thereby effectively avoiding high-speed vibration noise generated by the washing machine 10.

[0144] When the washing machine 10 is inspected on the production line, the triaxial sensor 6 may also be detected to have abnormal data distortion.

[0145] If the triaxial sensor 6 malfunctions and its data becomes distorted, the detected vibration parameters may deviate. If the detected vibration parameters are too high, the inner drum 4 may not reach its ideal rotation speed, resulting in poor spin-drying performance. If the detected vibration parameters are too low, the inner drum 4 may rotate too high, causing the washing machine 10 to generate high-speed vibration noise.

[0146] In some embodiments of this application, the triaxial sensor 6 can detect the vibration acceleration of the inner cylinder 4 in three axial directions. The triaxial sensor 6 can detect the vibration acceleration of the inner cylinder 4 in a first axial direction. The triaxial sensor 6 can detect the vibration acceleration of the inner cylinder 4 in a second axial direction. The triaxial sensor 6 can detect the vibration acceleration of the inner cylinder 4 in a third axial direction.

[0147] Please see Figure 5 , Figure 5 This is a schematic diagram of the vibration acceleration change of a washing machine under eccentric conditions, provided in an exemplary embodiment of this application.

[0148] exist Figure 5 In the above, ① can be represented as the vibration acceleration curve of the inner cylinder 4 in the first axial direction, ② can be represented as the vibration acceleration curve of the inner cylinder 4 in the second axial direction, ③ can be represented as the vibration acceleration curve of the inner cylinder 4 in the third axial direction, and ④ can be represented as the rotational speed of the inner cylinder 4.

[0149] exist Figure 5 In the diagram, the horizontal axis represents time, the left vertical axis represents the magnitude of acceleration, and the right vertical axis represents the rotational speed of the inner cylinder 4.

[0150] from Figure 5 It can be seen that as the rotational speed of the inner cylinder 4 increases, the vibration acceleration of the inner cylinder 4 in the first axis direction also increases. As the rotational speed of the inner cylinder 4 increases, the vibration acceleration of the inner cylinder 4 in the second axis direction also increases. As the rotational speed of the inner cylinder 4 increases, the vibration acceleration of the inner cylinder 4 in the third axis direction also increases.

[0151] In some embodiments of this application, the triaxial sensor 6 can detect the vibration displacement of the inner cylinder 4 in three axial directions. The triaxial sensor 6 can detect the vibration displacement of the inner cylinder 4 in the first axial direction. The triaxial sensor 6 can detect the vibration displacement of the inner cylinder 4 in the second axial direction. The triaxial sensor 6 can detect the vibration displacement of the inner cylinder 4 in the third axial direction.

[0152] In some embodiments of this application, the washing machine 10 may include a controller.

[0153] The controller can be electrically connected to motor 5 and triaxial sensor 6 respectively.

[0154] In some embodiments of this application, the controller may be configured to perform the following steps S110-S130:

[0155] S110 controls the motor to operate and drive the inner cylinder to rotate.

[0156] In S110, the motor can be connected to the inner cylinder through a transmission system. When the motor is working, the rotational power of the motor can be transmitted to the inner cylinder through the transmission system to drive the inner cylinder to rotate.

[0157] S120 uses a triaxial sensor to detect the vibration parameters of the inner cylinder in three axial directions.

[0158] In S120, vibration parameters may include vibration acceleration. Vibration parameters may include vibration displacement. Vibration parameters may include vibration frequency. Vibration parameters may include vibration phase. Vibration parameters may include vibration deviation angle.

[0159] S130: Based on the vibration parameters of the inner cylinder in the three-axis direction, determine whether the triaxial sensor has data distortion or abnormality.

[0160] In S130, the following can be used to determine whether the triaxial sensor is experiencing data distortion: The vibration acceleration of the inner cylinder in the three axes; the vibration displacement of the inner cylinder in the three axes; the vibration frequency of the inner cylinder in the three axes; the vibration phase of the inner cylinder in the three axes; the vibration deviation angle of the inner cylinder in the three axes; and the vibration displacement and acceleration of the inner cylinder in the three axes.

[0161] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S110-S130 above.

[0162] In some embodiments of this application, the step of determining whether the triaxial sensor has a data distortion anomaly may include, for example: Figure 6 S210-S230 shown:

[0163] S210, detects the rotational speed of the inner cylinder.

[0164] In S210, the rotational speed of the inner cylinder can be detected through the frequency converter board.

[0165] S220, if the rotational speed of the inner cylinder is within the resonant rotational speed range, then determine whether the vibration displacement of the inner cylinder in the second axial direction is below the vibration displacement of the inner cylinder in the first axial direction.

[0166] In the S220, the resonant speed range can be determined based on the washing machine model. Different washing machine models often have different corresponding resonant speed ranges.

[0167] Washing machines can be categorized into front-loading washing machines, top-loading washing machines, agitator washing machines, and jet-type washing machines.

[0168] In some embodiments of this application, the resonant speed range can be 180 rpm to 350 rpm. The resonant speed range can be 180 rpm to 250 rpm. The resonant speed range can be 200 rpm to 300 rpm. The resonant speed range can be 250 rpm to 350 rpm.

[0169] If the rotational speed of the inner cylinder is detected to be within the resonant rotational speed range, then it is determined whether the vibration displacement of the inner cylinder in the second axial direction is below the vibration displacement of the inner cylinder in the first axial direction.

[0170] S230, if the judgment is yes, then it is determined that the triaxial sensor has a data distortion abnormality.

[0171] In S230, if it is determined that the vibration displacement of the inner cylinder in the second axis direction is below the vibration displacement of the inner cylinder in the first axis direction, it can be determined that the triaxial sensor has data distortion abnormality, indicating that the triaxial sensor is not installed properly and an alarm needs to be triggered in time to remind relevant personnel to carry out maintenance.

[0172] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S210-S230 above.

[0173] In some embodiments of this application, the step of determining whether the triaxial sensor has a data distortion anomaly may include, for example: Figure 7 S310-S330 shown:

[0174] S310, detects the rotational speed of the inner cylinder.

[0175] In the S310, the rotational speed of the inner cylinder can be detected by a triaxial sensor.

[0176] In one embodiment of this application, a speed sensor may be provided specifically to detect the rotational speed of the inner cylinder.

[0177] S320, if the rotational speed of the inner cylinder is within the resonant rotational speed range, then determine whether the vibration displacement of the inner cylinder in the second axis direction is below the vibration displacement of the inner cylinder in the third axis direction.

[0178] In the S320, the resonant speed range can be determined based on the washing machine model. Different washing machine models often have different corresponding resonant speed ranges.

[0179] Washing machines can be categorized into front-loading washing machines, top-loading washing machines, agitator washing machines, and jet-type washing machines.

[0180] In some embodiments of this application, the resonant speed range can be 180 rpm to 350 rpm. The resonant speed range can be 180 rpm to 250 rpm. The resonant speed range can be 200 rpm to 300 rpm. The resonant speed range can be 250 rpm to 350 rpm.

[0181] If the rotational speed of the inner cylinder is detected to be within the resonant rotational speed range, then it is determined whether the vibration displacement of the inner cylinder in the second axis direction is below the vibration displacement of the inner cylinder in the third axis direction.

[0182] S330, if the judgment is yes, then it is determined that the triaxial sensor has a data distortion abnormality.

[0183] In S330, if it is determined that the vibration displacement of the inner cylinder in the third axis direction is below the vibration displacement of the inner cylinder in the first axis direction, it is determined that the triaxial sensor has data distortion abnormality, indicating that the triaxial sensor is not installed properly and an alarm needs to be triggered in time to remind relevant personnel to carry out maintenance.

[0184] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S130-S330 above.

[0185] In some embodiments of this application, if the rotational speed of the inner cylinder is in the high-speed range, the triaxial sensor can be used to determine whether there is data distortion or abnormality based on the vibration acceleration of the inner cylinder in the triaxial direction.

[0186] The high spin speed range can be determined based on the washing machine model. Different washing machine models often have different high spin speed ranges.

[0187] Washing machines can be categorized into front-loading washing machines, top-loading washing machines, agitator washing machines, and jet-type washing machines.

[0188] In some embodiments of this application, the high-speed range can be 600 rpm to 1400 rpm. The high-speed range can be 350 rpm to 600 rpm. The high-speed range can be 500 rpm to 1400 rpm. The high-speed range can be 350 rpm to 1400 rpm.

[0189] In some embodiments of this application, the triaxial sensor may be initially determined to have data distortion based on the vibration displacement of the inner cylinder in the triaxial direction. When the data detected by the triaxial sensor is determined to be normal, the triaxial sensor may be further determined to have data distortion based on the vibration acceleration of the inner cylinder in the triaxial direction.

[0190] If the triaxial sensor is again found to be distorted, then it is clear that a data distortion anomaly has occurred, and an alarm should be triggered promptly to alert relevant personnel for inspection. If the triaxial sensor is found to be detecting normal data again, then it is clear that the triaxial sensor is detecting normal data.

[0191] In some embodiments of this application, the triaxial sensor may be determined to have data distortion or abnormality based on the vibration displacement and acceleration of the inner cylinder in the triaxial direction.

[0192] When a common determination is made that the triaxial sensor is experiencing data distortion, the abnormality can be precisely identified, requiring timely alarm processing to remind relevant personnel to carry out maintenance.

[0193] In some embodiments of this application, the vibration parameters include vibration acceleration, and the controller can be configured to perform the following steps S410-S420:

[0194] S410 determines the corresponding deviation parameters based on the vibration acceleration in any two axial directions.

[0195] The corresponding deviation parameters can be determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction.

[0196] The corresponding deviation parameters can be determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0197] The corresponding deviation parameters can be determined based on the vibration acceleration of the inner cylinder in the second axis direction and the vibration acceleration of the inner cylinder in the third axis direction.

[0198] S420 determines whether the triaxial sensor has data distortion abnormalities based on the deviation rate corresponding to the deviation parameter and the preset deviation rate. The preset deviation rate is determined based on the preset maximum rotation angle of the inner cylinder in another axis direction.

[0199] By comparing the deviation rate corresponding to the deviation parameter with the preset deviation rate, it can be determined whether the triaxial sensor has data distortion anomalies.

[0200] If the corresponding deviation parameters are determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction, then the preset deviation rate can be determined based on the preset maximum rotation angle of the inner cylinder in the third axial direction.

[0201] If the corresponding deviation parameters are determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction, then the preset deviation rate can be determined based on the preset maximum rotation angle of the inner cylinder in the second axial direction.

[0202] If the corresponding deviation parameters are determined based on the vibration acceleration of the inner cylinder in the second axis direction and the vibration acceleration of the inner cylinder in the third axis direction, then the preset deviation rate can be determined based on the preset maximum rotation angle of the inner cylinder in the first axis direction.

[0203] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S410-S420 above.

[0204] In some embodiments of this application, the step of determining whether the triaxial sensor has a data distortion anomaly may include, for example: Figure 8 S510-S530 shown:

[0205] S510, determine the first deviation parameter based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction.

[0206] In S510, in some embodiments of this application, the first deviation parameter can be the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the first axial direction.

[0207] In some embodiments of this application, the first deviation parameter can be the ratio between the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction.

[0208] S520, determine whether the deviation rate corresponding to the first deviation parameter is above the preset first deviation rate.

[0209] In S520, in some embodiments of this application, the preset first deviation rate can be determined based on the preset maximum rotation angle of the inner cylinder in the third axis direction.

[0210] In some embodiments of this application, the preset first deviation rate can be proportional to the preset maximum rotation angle of the inner cylinder in the third axis direction. The larger the preset maximum rotation angle of the inner cylinder in the third axis direction, the larger the preset first deviation rate. The smaller the preset maximum rotation angle of the inner cylinder in the third axis direction, the smaller the preset first deviation rate.

[0211] In some embodiments of this application, the data obtained from the relevant experiments can be shown in Table 1 below:

[0212]

[0213] Table 1

[0214] In Table 1 above, X can be represented as the vibration acceleration of the inner cylinder in the first axial direction, Y can be represented as the vibration acceleration of the inner cylinder in the second axial direction, Y÷X can be represented as the first deviation parameter, and A can be represented as the deviation rate corresponding to the first deviation parameter.

[0215] It should be noted that eccentricity refers to both fixed eccentricity and fixed position.

[0216] In some embodiments of this application, the eccentricity can be 500g, and the eccentricity can be placed on the front side of the inner cylinder.

[0217] In some embodiments of this application, the eccentricity can be 400g, and the eccentricity can be placed on the front side of the inner cylinder.

[0218] In some embodiments of this application, the eccentricity can be 200g, and the eccentricity can be placed on the front side of the inner cylinder.

[0219] In some embodiments of this application, the eccentricity can be 1.2 kg, and the eccentricity can be placed on the front side of the inner cylinder.

[0220] When the amount of eccentricity changes or the position of the eccentricity changes, the deviation rate obtained from the experimental data will also change.

[0221] As can be seen from Table 1, the larger the preset maximum rotation angle of the inner cylinder in the third axis direction, the smaller the first deviation parameter. Conversely, the larger the preset maximum rotation angle of the inner cylinder in the third axis direction, the larger the deviation rate corresponding to the first deviation parameter.

[0222] If the preset maximum rotation angle of the inner cylinder in the third axis direction is set to 5 degrees, Table 1 shows that the preset first deviation rate is 11%.

[0223] If the preset maximum rotation angle of the inner cylinder in the third axis direction is set to 6 degrees, Table 1 shows that the preset first deviation rate is 15%.

[0224] In some embodiments of this application, the preset first deviation rate may be greater than the preset third deviation rate.

[0225] In some embodiments of this application, the preset first deviation rate may be greater than the preset second deviation rate.

[0226] In some embodiments of this application, the preset first deviation rate may be greater than the preset second deviation rate and greater than the preset third deviation rate.

[0227] S530, if the judgment is yes, then it is determined that the triaxial sensor has a data distortion abnormality.

[0228] In S530, if the deviation rate corresponding to the first deviation parameter is above the preset first deviation rate, it can be determined that the triaxial sensor has a data distortion abnormality.

[0229] In some embodiments of this application, the first deviation rate is preset to 11%. If it is determined that the deviation rate corresponding to the first deviation parameter is above 11%, it can be determined that the triaxial sensor has data distortion abnormality.

[0230] In some embodiments of this application, the first deviation rate is preset to 15%. If it is determined that the deviation rate corresponding to the first deviation parameter is above 15%, it can be determined that the triaxial sensor has data distortion abnormality.

[0231] In some embodiments of this application, if the triaxial sensor is found to have abnormal data distortion, it indicates that the triaxial sensor is not installed properly, and an alarm should be triggered in a timely manner to remind relevant personnel to carry out maintenance.

[0232] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S510-S530 above.

[0233] In some embodiments of this application, the step of determining whether the triaxial sensor has a data distortion anomaly may include, for example: Figure 9 S610-S630 shown:

[0234] S610, determine the second deviation parameter based on the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0235] In S610, in some embodiments of this application, the second deviation parameter can be the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0236] In some embodiments of this application, the second deviation parameter can be the ratio between the vibration acceleration of the inner cylinder in the third axial direction and the vibration acceleration of the inner cylinder in the second axial direction.

[0237] S620, determine whether the deviation rate corresponding to the second deviation parameter is above the preset second deviation rate.

[0238] In S620, in some embodiments of this application, the preset second deviation rate can be determined based on the preset maximum rotation angle of the inner cylinder in the first axial direction.

[0239] In some embodiments of this application, the preset second deviation rate can be proportional to the preset maximum rotation angle of the inner cylinder in the first axial direction. The larger the preset maximum rotation angle of the inner cylinder in the first axial direction, the larger the preset second deviation rate. The smaller the preset maximum rotation angle of the inner cylinder in the first axial direction, the smaller the preset second deviation rate.

[0240] In some embodiments of this application, the data obtained from the relevant experiments can be shown in Table 2 below:

[0241]

[0242] Table 2

[0243] In Table 2 above, Y can be represented as the vibration acceleration of the inner cylinder in the second axis direction, Z can be represented as the vibration acceleration of the inner cylinder in the third axis direction, Y÷Z can be represented as the second deviation parameter, and B can be represented as the deviation rate corresponding to the second deviation parameter.

[0244] As can be seen from Table 2, the larger the preset maximum rotation angle of the inner cylinder in the first axial direction, the smaller the second deviation parameter. Conversely, the larger the preset maximum rotation angle of the inner cylinder in the first axial direction, the larger the deviation rate corresponding to the second deviation parameter.

[0245] If the preset maximum rotation angle of the inner cylinder in the first axial direction is set to 5 degrees, the preset first deviation rate can be clearly seen from Table 2 as 7%.

[0246] If the preset maximum rotation angle of the inner cylinder in the first axial direction is set to 6 degrees, Table 2 shows that the preset first deviation rate is 10%.

[0247] In some embodiments of this application, the preset second deviation rate may be less than the preset first deviation rate.

[0248] In some embodiments of this application, the preset second deviation rate may be less than the preset third deviation rate.

[0249] In some embodiments of this application, the preset second deviation rate may be less than the preset first deviation rate and less than the preset third deviation rate.

[0250] S630, if the judgment is yes, then it is determined that the triaxial sensor has a data distortion abnormality.

[0251] In S630, if the deviation rate corresponding to the second deviation parameter is determined to be above the preset second deviation rate, it can be determined that the triaxial sensor has a data distortion abnormality.

[0252] In some embodiments of this application, the second deviation rate is preset to 7%. If it is determined that the deviation rate corresponding to the second deviation parameter is above 7%, it can be determined that the triaxial sensor has data distortion abnormality.

[0253] In some embodiments of this application, the second deviation rate is preset to 10%. If it is determined that the deviation rate corresponding to the second deviation parameter is above 10%, it can be determined that the triaxial sensor has data distortion abnormality.

[0254] In some embodiments of this application, if the triaxial sensor is found to have abnormal data distortion, it indicates that the triaxial sensor is not installed properly, and an alarm should be triggered in a timely manner to remind relevant personnel to carry out maintenance.

[0255] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S610-S630 above.

[0256] In some embodiments of this application, the step of determining whether the triaxial sensor has a data distortion anomaly may include, for example: Figure 10 S710-S730 shown:

[0257] S710, the third deviation parameter is determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0258] In S710, in some embodiments of this application, the third deviation parameter can be the ratio between the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

[0259] In some embodiments of this application, the third deviation parameter can be the ratio between the vibration acceleration of the inner cylinder in the third axial direction and the vibration acceleration of the inner cylinder in the first axial direction.

[0260] S720, determine whether the deviation rate corresponding to the third deviation parameter is above the preset third deviation rate.

[0261] In S720, in some embodiments of this application, the preset third deviation rate can be determined based on the preset maximum rotation angle of the inner cylinder in the second axial direction.

[0262] In some embodiments of this application, the preset third deviation rate can be proportional to the preset maximum rotation angle of the inner cylinder in the second axial direction. The larger the preset maximum rotation angle of the inner cylinder in the second axial direction, the larger the preset third deviation rate. The smaller the preset maximum rotation angle of the inner cylinder in the second axial direction, the smaller the preset third deviation rate.

[0263] In some embodiments of this application, the data obtained from the relevant experiments can be shown in Table 3 below:

[0264]

[0265] Table 3

[0266] In Table 3 above, X can be represented as the vibration acceleration of the inner cylinder in the first axial direction, Z can be represented as the vibration acceleration of the inner cylinder in the third axial direction, X÷Z can be represented as the third deviation parameter, and C can be represented as the deviation rate corresponding to the third deviation parameter.

[0267] As can be seen from Table 3, the larger the preset maximum rotation angle of the inner cylinder in the second axial direction, the larger the third deviation parameter. The larger the preset maximum rotation angle of the inner cylinder in the second axial direction, the larger the deviation rate corresponding to the third deviation parameter.

[0268] If the preset maximum rotation angle of the inner cylinder in the third axis direction is set to 5 degrees, Table 1 shows that the preset first deviation rate is 10%.

[0269] If the preset maximum rotation angle of the inner cylinder in the third axis direction is set to 6 degrees, Table 1 shows that the preset first deviation rate is 16%.

[0270] In some embodiments of this application, the preset third deviation rate may be greater than the preset second deviation rate.

[0271] In some embodiments of this application, the preset third deviation rate may be less than the preset first deviation rate.

[0272] In some embodiments of this application, the preset third deviation rate may be greater than the preset second deviation rate and less than the preset first deviation rate.

[0273] S730, if the judgment is yes, then it is determined that the triaxial sensor has a data distortion abnormality.

[0274] In S730, if the deviation rate corresponding to the third deviation parameter is above the preset third deviation rate, it can be determined that the triaxial sensor has data distortion abnormality.

[0275] In some embodiments of this application, the preset third deviation rate is 10%. If it is determined that the deviation rate corresponding to the third deviation parameter is above 10%, it can be determined that the triaxial sensor has data distortion abnormality.

[0276] In some embodiments of this application, the preset third deviation rate is 16%. If the deviation rate corresponding to the third deviation parameter is determined to be above 16%, it can be determined that the triaxial sensor has data distortion abnormality.

[0277] In some embodiments of this application, if the triaxial sensor is found to have abnormal data distortion, it indicates that the triaxial sensor is not installed properly, and an alarm should be triggered in a timely manner to remind relevant personnel to carry out maintenance.

[0278] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S710-S730 above.

[0279] The preferred embodiments of the present invention have been illustrated and described above. However, the present invention is not limited to the specific embodiments described above. Of course, those skilled in the art can make various modifications without departing from the spirit of the invention as claimed in the claims. These modifications should not be understood separately from the technical concept or prospect of the present invention.

[0280] This invention can be implemented in various forms, and its scope of claim is not limited to the embodiments described above. Therefore, any modified embodiment that includes the constituent elements within the scope of the claims of this invention should be considered to fall within the scope of the claims of this invention.

[0281] The embodiments of the present invention described above, or other embodiments thereof, are not mutually exclusive or distinct. The embodiments of the present invention described above, or other embodiments thereof, can be used in combination or in combination of their respective configurations or functions.

[0282] For example, it indicates that configuration A described in a particular embodiment and / or figure and configuration B described in another embodiment and / or figure can be combined. That is, even if no combination between the configurations is directly described, it indicates that they can be combined, except where cases where combination is impossible are explained.

[0283] The detailed description above should not be construed as limiting in all respects, but should be considered exemplary. The scope of the invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention are included within the scope of the invention.

Claims

1. A washing machine, characterized in that, The washing machine includes: Inner cylinder; An electric motor is used to drive the inner cylinder to rotate; A triaxial sensor is disposed on the inner drum and is used to detect the vibration parameters of the inner drum in three axial directions. The three axial directions include a first axial direction corresponding to the front-back direction of the washing machine, a second axial direction corresponding to the left-right direction of the washing machine, and a third axial direction corresponding to the up-down direction of the washing machine. The controller, which is electrically connected to both the motor and the triaxial sensor, is configured to perform the following steps: The motor is controlled to operate in order to drive the inner cylinder to rotate; The vibration parameters of the inner cylinder in the three axial directions are detected by the triaxial sensor. Based on the vibration parameters of the inner cylinder in the three-axis directions, it is determined whether the three-axis sensor has data distortion anomalies.

2. The washing machine according to claim 1, characterized in that, The vibration parameters include vibration acceleration and vibration displacement; the controller is also configured to perform the following steps: Detect the rotational speed of the inner cylinder; If the rotational speed of the inner cylinder is within the resonant rotational speed range, then the triaxial sensor is determined to have data distortion abnormalities based on the vibration displacement of the inner cylinder in the three-axis directions. If the rotational speed of the inner cylinder is in the high-speed range, the triaxial sensor is used to determine whether there is data distortion or abnormality based on the vibration acceleration of the inner cylinder in the three-axis direction.

3. The washing machine according to claim 1, characterized in that, The vibration parameters include vibration displacement; the controller is also configured to perform the following steps: If the vibration displacement of the inner cylinder in the second axis direction is detected to be below the vibration displacement of the inner cylinder in the first axis direction, it is determined that the triaxial sensor has a data distortion abnormality. If the vibration displacement of the inner cylinder in the second axis direction is detected to be below the vibration displacement of the inner cylinder in the third axis direction, then the triaxial sensor is determined to have data distortion abnormality.

4. The washing machine according to claim 1, characterized in that, The vibration parameters include vibration acceleration; the controller is also configured to perform the following steps: The corresponding deviation parameters are determined based on the vibration acceleration in any two axial directions; Based on the deviation rate corresponding to the deviation parameter and the preset deviation rate, it is determined whether the triaxial sensor has data distortion abnormality. The preset deviation rate is determined based on the preset maximum rotation angle of the inner cylinder in another axial direction.

5. The washing machine according to claim 4, characterized in that, The controller is also configured to perform the following steps: The first deviation parameter is determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the second axial direction. If the deviation rate corresponding to the first deviation parameter is detected to be above the preset first deviation rate, it is determined that the triaxial sensor has a data distortion anomaly.

6. The washing machine according to claim 5, characterized in that, The first deviation parameter is the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the first axial direction.

7. The washing machine according to claim 4, characterized in that, The controller is also configured to perform the following steps: The second deviation parameter is determined based on the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction. If the deviation rate corresponding to the second deviation parameter is detected to be above the preset second deviation rate, it is determined that the triaxial sensor has a data distortion anomaly.

8. The washing machine according to claim 7, characterized in that, The second deviation parameter is the ratio between the vibration acceleration of the inner cylinder in the second axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

9. The washing machine according to claim 4, characterized in that, The controller is also configured to perform the following steps: The third deviation parameter is determined based on the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction. If the deviation rate corresponding to the third deviation parameter is detected to be above the preset third deviation rate, it is determined that the triaxial sensor has a data distortion anomaly.

10. The washing machine according to claim 9, characterized in that, The third deviation parameter is the ratio between the vibration acceleration of the inner cylinder in the first axial direction and the vibration acceleration of the inner cylinder in the third axial direction.

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