Washing machine

Abstract

The embodiment of the invention provides a washing machine. The washing machine comprises an inner drum; a motor; the three-axis sensor is used for detecting vibration acceleration of the inner drum in three-axis directions, and the three-axis directions comprise a first-axis direction in the front-back direction of the washing machine, a second-axis direction in the left-right direction of the washing machine and a third-axis direction in the up-down direction of the washing machine; 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; the current rotating speed gear of the inner cylinder is determined; the main dewatering stage of the washing machine comprises a plurality of rotating speed gears, different rotating speed gears correspond to different vibration acceleration upshift parameters, and the vibration acceleration upshift parameters are determined according to vibration acceleration of an inner barrel in the three-axis direction; and if it is detected that the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration upshift parameter corresponding to the current rotating speed gear, the motor is controlled, so that the inner cylinder enters the next rotating speed gear. 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, it usually first enters the pre-spin-drying stage, where the rotation speed of the inner drum is increased from zero to a lower speed and stabilized at that lower speed to detect speed fluctuations and obtain the eccentricity of the washing machine at this time. If the detected eccentricity is less than or equal to the eccentricity limit, the speed of the inner drum can be increased to enter the main spin-drying stage.

[0003] However, during the main spin-drying stage, as the inner drum's speed increases, the motor's accuracy in detecting the inner drum's speed becomes insufficient, making the inner drum prone to becoming uncontrollable. Furthermore, increased eccentricity within the inner drum causes significant shaking between the inner and outer drums of the washing machine, resulting in a poor user experience.

[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] Another objective of this invention is to accurately detect the vibration acceleration of the inner cylinder in the first axial direction.

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

[0008] Another objective of this invention is to accurately detect the vibration acceleration of the inner cylinder in the third axis direction.

[0009] Another objective of this invention is to accurately detect the vibration acceleration of the inner cylinder in the three-axis direction.

[0010] The purpose of this invention is also to effectively avoid high-speed vibration noise in the washing machine while raising the inner drum speed.

[0011] The purpose of this invention is also to avoid the washing machine from generating high-speed vibration noise due to the inner drum blindly increasing its speed.

[0012] The purpose of this invention is also to prevent the current speed setting from failing to meet the required spin speed, which would result in poor spin-drying effect of clothes in the inner drum.

[0013] The purpose of this invention is also to make the detected actual vibration acceleration parameters of the inner cylinder more accurate and stable.

[0014] The purpose of this invention is also to enable more precise setting of the different vibration acceleration shift parameters corresponding to different speed gears.

[0015] The purpose of this invention is also to enable more precise setting of the different vibration acceleration downshifting parameters corresponding to different speed gears.

[0016] Another objective of this invention is to accurately determine the weight of the load based on the actual operating power of the motor.

[0017] The purpose of this invention is also to effectively save the time required for the inner cylinder to enter the highest speed setting.

[0018] 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.

[0019] This invention relates to a washing machine, the washing machine comprising:

[0020] Inner cylinder;

[0021] An electric motor is used to drive the inner cylinder to rotate;

[0022] A triaxial sensor is disposed on the inner drum and is used to detect the vibration acceleration 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.

[0023] The controller, which is electrically connected to both the motor and the triaxial sensor, is configured to perform the following steps:

[0024] The motor is controlled to operate in order to drive the inner cylinder to rotate;

[0025] The current speed setting of the inner drum is determined; the main spin-drying stage of the washing machine includes multiple speed settings, and each speed setting corresponds to a different vibration acceleration upshift parameter, which is determined based on the vibration acceleration of the inner drum in the three-axis direction;

[0026] If the actual vibration acceleration parameter of the inner cylinder is detected to be below the vibration acceleration upshift parameter corresponding to the current speed gear, the motor is controlled to make the inner cylinder enter the next speed gear.

[0027] In some embodiments of this application, the controller is also configured to perform the following steps:

[0028] If the actual vibration acceleration parameter of the inner drum is detected to be higher than the vibration acceleration upshift parameter corresponding to the current speed setting, the motor is controlled to maintain the current speed setting of the inner drum until the main spin-drying stage of the washing machine ends.

[0029] In some embodiments of this application, the controller is also configured to perform the following steps:

[0030] Calculate the square values ​​of the vibration acceleration of the inner cylinder in each of the three axial directions;

[0031] The actual vibration acceleration parameters of the inner cylinder are determined based on the square values ​​of the vibration acceleration in the three axial directions.

[0032] In some embodiments of this application, the controller is also configured to perform the following steps:

[0033] When the inner cylinder maintains the current rotation speed for a preset duration or longer, the actual vibration acceleration parameters of the inner cylinder are detected.

[0034] In some embodiments of this application, the controller is also configured to perform the following steps:

[0035] Determine the weight of the load in the inner cylinder;

[0036] Based on the weight of the load, determine the different vibration acceleration parameters corresponding to the different speed gears.

[0037] In some embodiments of this application, the controller is also configured to perform the following steps:

[0038] During the weighing stage of the washing machine, the motor is controlled to keep the inner drum at a fixed speed, and the actual operating power of the motor is detected.

[0039] The weight of the load is determined based on the actual operating power of the motor.

[0040] In some embodiments of this application, the controller is also configured to perform the following steps:

[0041] During the pre-spin-drying stage of the washing machine, the motor is controlled to keep the inner drum at a set speed, and the load eccentricity is detected.

[0042] If the load eccentricity is below the eccentricity threshold, the main spin-drying stage of the washing machine will begin.

[0043] The motor is controlled to bring the inner drum into its highest speed setting and maintain that highest speed setting until the main spin-drying stage of the washing machine is completed.

[0044] In some embodiments of this application, different speed gears also correspond to their respective vibration acceleration downshifting parameters, and the vibration acceleration downshifting parameter corresponding to the same speed gear is greater than the corresponding vibration acceleration upshifting parameter; the controller is also configured to perform the following steps:

[0045] When the current speed setting of the inner cylinder is below the preset speed setting, the actual vibration acceleration parameters of the inner cylinder are detected.

[0046] If the actual vibration acceleration parameter of the inner cylinder reaches or exceeds the vibration acceleration downshift parameter corresponding to the current speed gear, the motor is controlled to decelerate the inner cylinder to zero and shake off the load in the inner cylinder.

[0047] If the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration downshift parameter corresponding to the current speed gear, then the motor is controlled so that the inner cylinder enters the preset speed gear.

[0048] In some embodiments of this application, the preset speed gear is below the highest speed gear; the controller is also configured to perform the following steps:

[0049] After the inner cylinder enters the preset speed range, the actual vibration acceleration parameters of the inner cylinder are detected.

[0050] If the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration downshift parameter corresponding to the current speed gear of the inner cylinder, then the motor is controlled to make the inner cylinder enter the next speed gear.

[0051] If the actual vibration acceleration parameter of the inner drum reaches or exceeds the vibration acceleration downshift parameter corresponding to the current speed setting of the inner drum, the motor is controlled to maintain the current speed setting of the inner drum until the main spin-drying stage of the washing machine ends.

[0052] In some embodiments of this application, the controller is also configured to perform the following steps:

[0053] If the next speed setting is the highest speed setting, then the motor is controlled so that the inner drum maintains the highest speed setting until the main spin-drying stage of the washing machine ends.

[0054] The details of other embodiments are included in the detailed description and the accompanying drawings.

[0055] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner cylinder, the vibration acceleration of the inner cylinder in the first axial direction can be accurately detected.

[0056] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner cylinder, the vibration acceleration of the inner cylinder in the second axial direction can be accurately detected.

[0057] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner cylinder, the vibration acceleration of the inner cylinder in the third axis direction can be accurately detected.

[0058] According to at least one embodiment of the present invention, by setting a triaxial sensor on the inner cylinder, the vibration acceleration of the inner cylinder in the triaxial direction can be accurately detected.

[0059] According to at least one embodiment of the present invention, if the actual vibration acceleration parameter of the inner drum is detected to be below the vibration acceleration upshift parameter corresponding to the current speed gear, the motor can be controlled to make the inner drum enter the next speed gear, thereby effectively avoiding high-speed vibration noise of the washing machine while upshifting the inner drum.

[0060] According to at least one embodiment of the present invention, if the actual vibration acceleration parameter of the inner drum is detected to be higher than the vibration acceleration upshift parameter corresponding to the current speed setting, the motor can be controlled to keep the inner drum at the current speed setting until the main spin-drying stage of the washing machine is completed, thereby avoiding the inner drum blindly upshifting and causing the washing machine to generate high-speed vibration noise.

[0061] According to at least one embodiment of the present invention, if it is detected that the speed corresponding to the current speed setting is below the minimum spin speed limit, an alarm can be issued to remind the user to intervene, so as to prevent the speed corresponding to the current speed setting from failing to meet the spin speed requirement, resulting in poor spin-drying effect of clothes in the inner drum.

[0062] According to at least one embodiment of the present invention, the square values ​​of the vibration acceleration of the inner cylinder in the three axial directions can be calculated respectively, and the actual vibration acceleration parameters of the inner cylinder can be accurately determined based on the square values ​​of the vibration acceleration of the inner cylinder in the three axial directions.

[0063] According to at least one embodiment of the present invention, when the inner cylinder maintains the current rotation speed for a preset time or more, the actual vibration acceleration parameter of the inner cylinder is then detected, which can make the detected actual vibration acceleration parameter more accurate and stable.

[0064] According to at least one embodiment of the present invention, different vibration acceleration upshift parameters corresponding to different speed gears are determined based on the weight of the load in the inner cylinder, which enables more precise setting of different vibration acceleration upshift parameters corresponding to different speed gears.

[0065] According to at least one embodiment of the present invention, the vibration acceleration downshifting parameters corresponding to different speed gears are determined based on the weight of the load in the inner cylinder, which enables more accurate setting of the vibration acceleration downshifting parameters corresponding to different speed gears.

[0066] According to at least one embodiment of the present invention, during the weighing stage of the washing machine, the motor can be controlled to keep the inner drum at a fixed speed, and the actual operating power of the motor at this time can be detected, so that the weight of the load can be accurately determined based on the actual operating power of the motor.

[0067] According to at least one embodiment of the present invention, during the pre-spin-drying stage of the washing machine, the motor is controlled to make the inner drum operate at a set speed, and the load eccentricity is detected at this time. If the load eccentricity is detected to be below the eccentricity threshold, the main spin-drying stage of the washing machine can be entered, and the motor is controlled to make the inner drum directly enter the highest speed setting and maintain the highest speed setting until the main spin-drying stage of the washing machine ends, thereby effectively saving the time required for the inner drum to enter the highest speed setting.

[0068] According to at least one embodiment of the present invention, different speed gears also correspond to different vibration acceleration downgrade parameters. When the current speed gear of the inner drum is below the preset speed gear, the actual vibration acceleration parameter of the motor is detected. If the vibration acceleration parameter of the inner drum is detected to be above the vibration acceleration downgrade parameter corresponding to the current speed gear, the motor can be controlled to decelerate the inner drum to zero and shake off the load in the inner drum to effectively avoid the washing machine from generating high-speed vibration noise.

[0069] According to at least one embodiment of the present invention, different speed gears also correspond to different vibration acceleration downshifting parameters. When the current speed gear of the inner cylinder is below the preset speed gear, the actual vibration acceleration parameter of the motor is detected. If the vibration acceleration parameter of the inner cylinder is detected to be below the vibration acceleration downshifting parameter corresponding to the current speed gear, the motor can be controlled so that the inner cylinder quickly enters the preset speed gear, thereby effectively saving the time required for the inner cylinder to enter the highest speed gear.

[0070] According to at least one embodiment of the present invention, after the inner drum enters a preset speed setting, the actual vibration acceleration parameter of the inner drum is detected. If the actual vibration acceleration parameter of the inner drum is detected to be below the vibration acceleration downshift parameter corresponding to the current speed setting of the inner drum, the motor can be controlled to make the inner drum enter the next speed setting, thereby effectively avoiding high-speed vibration noise of the washing machine while upgrading the inner drum.

[0071] According to at least one embodiment of the present invention, after the inner drum enters a preset speed setting, the actual vibration acceleration parameter of the inner drum is detected. If the actual vibration acceleration parameter of the inner drum is detected to be higher than the vibration acceleration downshift parameter corresponding to the current speed setting of the inner drum, the motor can be controlled to keep the inner drum at the current speed setting until the main spin-drying stage of the washing machine is completed, thereby avoiding the inner drum blindly increasing the speed setting, which would cause the washing machine to generate high-speed vibration noise.

[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 2 This 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 9This 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] Figure 11 This is a timing diagram of different stages of washing machine operation provided in an exemplary embodiment of this application.

[0085] Explanation of reference numerals in the attached figures:

[0086] 1: Shell;

[0087] 2: Door body;

[0088] 3: Control Panel;

[0089] 4: Inner cylinder;

[0090] 5: Motor;

[0091] 6: Triaxial sensor;

[0092] 10: Washing machine. Detailed Implementation

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] Unless the context clearly indicates a different meaning, the singular form includes the plural form.

[0098] 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, it usually first enters the pre-spin-drying stage, where the rotation speed of the inner drum is increased from zero to a lower speed and stabilized at that lower speed to detect speed fluctuations and obtain the eccentricity of the washing machine at this time. If the detected eccentricity is less than or equal to the eccentricity limit, the speed of the inner drum can be increased to enter the main spin-drying stage.

[0099] However, during the main spin-drying stage, as the inner drum's speed increases, the motor's accuracy in detecting the inner drum's speed becomes insufficient, making the inner drum prone to becoming uncontrollable. Furthermore, increased eccentricity within the inner drum causes significant shaking between the inner and outer drums of the washing machine, resulting in a poor user experience.

[0100] Therefore, there is an urgent need for a washing machine that can avoid generating high-speed vibration noise.

[0101] To solve the above-mentioned technical problems, this application proposes a washing machine 10.

[0102] 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.

[0103] 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.

[0104] The housing 1 can be made of metal or plastic.

[0105] In some embodiments of this application, the housing 1 may be made of ABS material, which makes the housing 1 more durable.

[0106] The housing 1 can protect the mechanical and electronic components inside the washing machine 10 from external impacts, water and dust.

[0107] 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.

[0108] The door 2 can be made of transparent glass or plastic so that users can observe the clothing cleaning process.

[0109] 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.

[0110] 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.

[0111] Users can select the dehydration program via control panel 3. Users can select the pre-dehydration program via control panel 3. Users can select the main dehydration program via control panel 3. Users can set the dehydration time via control panel 3.

[0112] 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.

[0113] 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 spin-drying function of clothes.

[0114] 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.

[0115] The inner drum 4 can be used to hold clothes and provide an environment for washing and dehydrating them.

[0116] 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.

[0117] 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.

[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. The coil of motor 5 can also be made of aluminum wire.

[0124] 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.

[0125] In some embodiments of this application, the transmission system can transmit rotational power via belts, gears, or direct drive.

[0126] In some embodiments of this application, the motor 5 may be a variable frequency motor.

[0127] When a variable frequency motor is selected for motor 5, during the weighing stage of the washing machine 10, motor 5 can be controlled to keep the inner drum 4 at a fixed speed, and the actual operating power of motor 5 can be detected. After detecting the actual operating power of motor 5, the weight of the load can be accurately determined based on the actual operating power of motor 5.

[0128] In some embodiments of this application, the motor 5 can be controlled to keep the inner cylinder 4 at 93 rpm. The motor 5 can also be controlled to keep the inner cylinder 4 at 100 rpm. In practical applications, the motor 5 can also be controlled to keep the inner cylinder 4 at other fixed speeds; this application does not impose any limitations on this.

[0129] In some other embodiments of this application, the motor 5 may be a series-wound motor.

[0130] In some embodiments of this application, when the motor 5 is a series-wound motor, during the weighing stage of the washing machine 10, the time t1 consumed by the inner drum 4 to freely descend within the preset speed reduction range can be recorded, so as to accurately determine the weight of the load based on the time t1 consumed by the inner drum 4 to freely descend within the preset speed reduction range.

[0131] In some embodiments of this application, the time consumed by the inner cylinder to freely decelerate under different load weights within the preset speed reduction range can be determined in advance through experiments.

[0132] In some embodiments of this application, a curve showing the relationship between the weight of the load and the time t consumed by the free fall of the inner cylinder 4 can be plotted to determine the weight of the load in a timely and accurate manner based on the time consumed by the free fall of the inner cylinder 4.

[0133] In some embodiments of this application, a relationship model between the weight of the load and the time t consumed by the free fall of the inner cylinder 4 can be established, so as to determine the weight of the load in a timely and accurate manner based on the time consumed by the free fall of the inner cylinder 4.

[0134] In some embodiments of this application, when the motor 5 is a series-wound motor, during the weighing stage of the washing machine 10, the time consumed by the inner drum 4 to freely descend within the preset speed reduction range can be recorded multiple times, and the average of the recorded free descent times can be taken to determine the weight of the load based on the average time, thereby reducing the influence of randomness and error and accurately determining the weight of the load.

[0135] In some embodiments of this application, the time t2 consumed by the inner cylinder 4 during the first free deceleration within the preset speed reduction range can be recorded, and the time t3 consumed by the inner cylinder 4 during the second free deceleration within the preset speed reduction range can be recorded. The average value of t2 and t3 can be calculated, and the weight of the load can be accurately determined based on the average time t4.

[0136] In some embodiments of this application, the average time consumed by the inner cylinder 4 to freely decelerate under different load weights within the preset speed reduction range can be determined in advance through experiments.

[0137] In some embodiments of this application, a curve showing the relationship between the weight of the load and the average time consumed by the free fall of the inner cylinder 4 can be plotted to determine the weight of the load in a timely and accurate manner based on the average time consumed by the free fall of the inner cylinder 4.

[0138] In some embodiments of this application, a relationship model between the weight of the load and the average time consumed by the free fall of the inner cylinder 4 can be established, so as to determine the weight of the load in a timely and accurate manner based on the average time consumed by the free fall of the inner cylinder 4.

[0139] In some embodiments of this application, the preset speed reduction range can be 145 rpm - 105 rpm. The preset speed reduction range can be 140 rpm - 100 rpm. The preset speed range can also be 150 rpm - 110 rpm. In practical applications, the preset speed reduction range can be other speed ranges, which are not limited herein.

[0140] In some embodiments of this application, the washing machine 10 may include a triaxial sensor 6.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] The right side of the washing machine is the opposite direction from the left side of the washing machine.

[0147] 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.

[0148] 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.

[0149] In some embodiments of this application, the triaxial sensor 6 can be mounted as follows: Figure 4 As shown. Positioning holes and screws are provided on the left and right sides of the triaxial sensor 6.

[0150] 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.

[0151] 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.

[0152] The triaxial sensor 6 can be fixedly installed on the inner cylinder 4 by the cooperation between the positioning hole and the screw.

[0153] In some embodiments of this application, the triaxial sensor 6 can be used to detect the vibration acceleration of the inner cylinder 4 in the triaxial direction.

[0154] By setting a triaxial sensor 6 on the inner drum 4, the vibration acceleration 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] In some embodiments of this application, the washing machine 10 may include a controller. The controller may be electrically connected to the motor 5 and the triaxial sensor 6, respectively.

[0160] Please see Figure 6 , Figure 6 This is a flowchart illustrating the steps that a controller can execute, provided in an exemplary embodiment of this application. In some embodiments of this application, the controller can be configured to perform the following steps S110-S140:

[0161] S110 controls the motor to operate and drive the inner cylinder to rotate.

[0162] 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.

[0163] S120, determine the current speed setting of the inner drum; the main spin-drying stage of the washing machine includes multiple speed settings, and each speed setting corresponds to a different vibration acceleration upshift parameter, which is determined based on the vibration acceleration of the inner drum in the three-axis direction.

[0164] In S120, the main spin-drying stage of the washing machine can include multiple spin speed settings. Different spin speed settings can each correspond to different vibration acceleration upshift parameters.

[0165] In some embodiments of this application, the main spin-drying stage of the washing machine may include five spin speed settings, each corresponding to a different vibration acceleration upshift parameter, as shown in Table 1 below:

[0166]

[0167]

[0168] Table 1

[0169] As shown in Table 1 above, when the inner drum is in the first speed setting, the corresponding speed is 400 rpm, and the vibration acceleration upgrade parameter is 3.5. When the inner drum is in the second speed setting, the corresponding speed is 600 rpm, and the vibration acceleration upgrade parameter is 4. When the inner drum is in the third speed setting, the corresponding speed is 800 rpm, and the vibration acceleration upgrade parameter is 4.5. When the inner drum is in the fourth speed setting, the corresponding speed is 1000 rpm, and the vibration acceleration upgrade parameter is 5. When the inner drum is in the fifth speed setting, which is the highest speed setting, the corresponding speed is 1200 rpm, and the vibration acceleration upgrade parameter is 6.

[0170] It should be noted that the main spin-drying stage of the washing machine may include five or more spin speed settings. This application does not limit the number of spin speed settings in the main spin-drying stage of the washing machine.

[0171] In some embodiments of this application, the current rotational speed of the inner cylinder can be detected by the frequency converter board, and the current rotational speed gear of the inner cylinder can be determined based on the current rotational speed of the inner cylinder.

[0172] In some embodiments of this application, the weight of the load in the inner cylinder can be determined, and based on the weight of the load, different vibration acceleration shift parameters corresponding to different speed gears can be determined.

[0173] A standard load weight can be preset, and under this standard load weight, the corresponding standard vibration acceleration shift parameters for different speed gears can be determined.

[0174] If the weight of the load in the inner cylinder exceeds the standard weight, the vibration acceleration shift parameters corresponding to different speed gears will be greater than the corresponding standard vibration acceleration shift parameters.

[0175] If the weight of the load in the inner cylinder is below the standard weight, the vibration acceleration shift parameters corresponding to different speed gears will be less than the corresponding standard vibration acceleration shift parameters.

[0176] In some embodiments of this application, if the preset standard load weight is 5 kg, the determined first speed setting is 400 rpm, and the corresponding standard vibration acceleration increment parameter is 3.5. If the load weight in the inner cylinder is greater than 5 kg, and the determined first speed setting is 400 rpm, then the corresponding vibration acceleration increment parameter can be 4. If the load weight in the inner cylinder is less than 5 kg, and the determined first speed setting is 400 rpm, then the corresponding vibration acceleration increment parameter can be 3.

[0177] S130: If the actual vibration acceleration parameter of the inner cylinder is detected to be below the vibration acceleration upshift parameter corresponding to the current speed gear, the motor is controlled to make the inner cylinder enter the next speed gear.

[0178] In S130, in some embodiments of this application, the controller may also be configured to perform the following steps:

[0179] Calculate the square values ​​of the vibration acceleration of the inner cylinder in each of the three axes;

[0180] The actual vibration acceleration parameters of the inner cylinder are determined based on the square values ​​of the vibration acceleration in the three axial directions.

[0181] Furthermore, a first coefficient can be pre-configured for the square value of the vibration acceleration of the inner cylinder in the first axial direction, a second coefficient can be configured for the square value of the vibration acceleration of the inner cylinder in the second axial direction, and a third coefficient can be configured for the square value of the vibration acceleration of the inner cylinder in the third axial direction.

[0182] First, the vibration acceleration of the inner cylinder in the first axis direction, the second axis direction, and the third axis direction can be obtained separately using a triaxial sensor. Then, the square values ​​of the vibration acceleration of the inner cylinder in the first axis direction, the second axis direction, and the third axis direction can be calculated respectively.

[0183] In some embodiments of this application, a first vibration parameter can be obtained by multiplying the square of the vibration acceleration of the inner cylinder in the first axial direction by a first coefficient. A second vibration parameter can be obtained by multiplying the square of the vibration acceleration of the inner cylinder in the second axial direction by a second coefficient. A third vibration parameter can be obtained by multiplying the square of the vibration acceleration of the inner cylinder in the third axial direction by a third coefficient.

[0184] In some embodiments of this application, the actual vibration acceleration parameters of the inner cylinder can be determined based on the first vibration parameter, the second vibration parameter, and the third vibration parameter.

[0185] In some other embodiments of this application, the actual vibration acceleration parameters of the inner cylinder can be determined based on the sum of the first vibration parameter, the second vibration parameter, and the third vibration parameter.

[0186] In some other embodiments of this application, the sum of the first vibration parameter, the second vibration parameter, and the third vibration parameter can be square rooted, and the actual vibration acceleration parameter of the inner cylinder can be determined based on the arithmetic square root value obtained by square rooting.

[0187] In some embodiments of this application, the actual vibration acceleration parameter S of the inner cylinder can be calculated according to the following formula:

[0188] S=sqrt(b1*X_a*X_a+b2*Y_a*Y_a+b3*Z_a*Z_a)

[0189] In the above formula, b1 can be represented as the first coefficient, X_a can be represented as the vibration acceleration of the inner cylinder in the first axial direction, X_a*X_a can be represented as the square value of the vibration acceleration of the inner cylinder in the first axial direction, and b1*X_a*X_a can be represented as the first vibration parameter.

[0190] b2 can be represented as the second coefficient, Y_a can be represented as the vibration acceleration of the inner cylinder in the second axial direction, Y_a*Y_a can be represented as the square value of the vibration acceleration of the inner cylinder in the second axial direction, and b2*Y_a*Y_a can be represented as the second vibration parameter.

[0191] b3 can be represented as the third coefficient, Z_a can be represented as the vibration acceleration of the inner cylinder in the third axis direction, Z_a*Z_a can be represented as the square value of the vibration acceleration of the inner cylinder in the third axis direction, and b3*Z_a*Z_a can be represented as the third vibration parameter.

[0192] b1*X_a*X_a+b2*Y_a*Y_a+b3*Z_a*Z_a can be represented as the sum of the first vibration parameter, the second vibration parameter, and the third vibration parameter. S can be represented as the arithmetic square root value.

[0193] In some embodiments of this application, the actual vibration acceleration parameters of the inner cylinder can be detected only after the inner cylinder has maintained the current rotation speed for a preset time or longer, thereby making the detected actual vibration acceleration parameters more accurate and stable.

[0194] In some embodiments of this application, the preset duration can be 30 seconds. The preset duration can be 20 seconds. The preset duration can be 25 seconds. This application does not limit the specific value of the preset duration.

[0195] If the actual vibration acceleration parameter of the inner drum is detected to be below the vibration acceleration upgrade parameter corresponding to the current speed setting, the motor can be controlled to make the inner drum enter the next speed setting, thereby effectively avoiding high-speed vibration noise from the washing machine while upgrading the inner drum.

[0196] In some embodiments of this application, if the current speed setting of the inner drum is the first speed setting, and the actual vibration acceleration parameter of the inner drum is detected as 3, while the vibration acceleration upgrade parameter is 3.5, the motor can be controlled to make the inner drum enter the second speed setting, thereby effectively avoiding high-speed vibration noise from the washing machine while upgrading the inner drum.

[0197] In some embodiments of this application, if the current speed setting of the inner drum is the fourth speed setting, and the actual vibration acceleration parameter of the inner drum is detected as 4.5, while the vibration acceleration upgrade parameter is 5, the motor can be controlled to make the inner drum enter the fifth speed setting, thereby effectively avoiding high-speed vibration noise from the washing machine while upgrading the inner drum.

[0198] In some embodiments of this application, if the inner drum enters the next speed setting, and the next speed setting is the highest speed setting, the motor can be controlled to keep the inner drum at the highest speed setting until the main spin-drying stage of the washing machine ends.

[0199] In some embodiments of this application, S130 can be divided into the following S131-S133:

[0200] S131, detects the actual vibration acceleration parameters of the inner cylinder.

[0201] S132, determine whether the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration upshift parameter corresponding to the current speed gear.

[0202] S133, if the judgment is yes, then control the motor to make the inner cylinder enter the next speed gear.

[0203] S140: If the actual vibration acceleration parameter of the inner drum is detected to be higher than the vibration acceleration upshift parameter corresponding to the current speed setting, the motor is controlled to keep the inner drum at the current speed setting until the main spin-drying stage of the washing machine ends.

[0204] In S140, if the actual vibration acceleration parameter of the inner drum is detected to be higher than the vibration acceleration upshift parameter corresponding to the current speed setting, the motor can be controlled to keep the inner drum at the current speed setting until the main spin-drying stage of the washing machine ends, thereby avoiding the inner drum blindly upshifting and causing the washing machine to generate high-speed vibration noise.

[0205] In some embodiments of this application, if the current speed setting of the inner drum is the third speed setting, and the actual vibration acceleration parameter of the inner drum is detected as 5, while the vibration acceleration upgrade parameter is 4.5, the motor can be controlled to keep the inner drum at the current third speed setting until the main spin-drying stage of the washing machine ends, thereby avoiding the inner drum blindly upgrading and causing the washing machine to generate high-speed vibration noise.

[0206] In some embodiments of this application, if the current speed setting of the inner drum is the fourth speed setting, and the actual vibration acceleration parameter of the inner drum is detected as 5.5, while the vibration acceleration upsetting parameter is 5, the motor can be controlled to keep the inner drum at the current fourth speed setting until the main spin-drying stage of the washing machine ends, thereby avoiding the inner drum blindly upsetting and causing the washing machine to generate high-speed vibration noise.

[0207] Please see Figure 7 , Figure 7 This is a flowchart illustrating the steps that a controller can execute, provided in another exemplary embodiment of this application. The controller can be configured to perform S210-S230 as described below:

[0208] S210, detects the rotational speed corresponding to the current rotational speed setting of the inner cylinder.

[0209] S220 determines whether the speed corresponding to the current gear is below the minimum dehydration speed limit.

[0210] S230: If the machine speed corresponding to the current setting is detected to be below the minimum spin speed limit, the washing machine will be controlled to issue an alarm.

[0211] Furthermore, if the current spin speed setting is below the minimum spin speed limit, an alarm can be triggered to remind the user to intervene and prevent the washing machine from failing to reach the required spin speed, resulting in poor dehydration of the clothes in the drum. If the current spin speed setting reaches or exceeds the minimum spin speed limit, the washing machine will operate normally.

[0212] In some embodiments of this application, S140 can be divided into S132 and S141 as follows:

[0213] S132, determine whether the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration upshift parameter corresponding to the current speed gear.

[0214] S141, if the determination is negative, then control the motor to maintain the current speed setting of the inner drum until the main spin-drying stage of the washing machine is completed.

[0215] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S110-S140 above.

[0216] Please see Figure 8 , Figure 8 This is a flowchart illustrating controllable steps provided in another exemplary embodiment of this application. In some embodiments of this application, the controller can be configured to perform the following steps S310-S330:

[0217] S310 controls the motor to keep the inner drum at a set speed during the pre-spin-drying stage of the washing machine, and detects the eccentricity of the load.

[0218] In S310, the pre-spin-dry stage is a spin-drying stage that precedes the main spin-drying stage. During the pre-spin-drying stage, the inner drum rotates at a lower speed. The duration of the pre-spin-drying stage is shorter than the duration of the main spin-drying stage.

[0219] The purpose of the pre-spin-drying stage is to initially remove most of the water from the clothes, reducing friction and vibration during high-speed rotation. By running the pre-spin-drying stage, the washing machine can prevent the clothes from being too wet and thus avoid the phenomenon of spinning with water still attached, which would otherwise occur due to insufficient drainage. This also effectively avoids high power consumption.

[0220] During the pre-spin-drying stage of the washing machine, the motor can be controlled to keep the inner drum at a set speed. When the inner drum is at the set speed, the eccentricity of the load in the inner drum is detected.

[0221] In some embodiments of this application, the set rotational speed can be 93 rpm. The set rotational speed can also be 100 rpm. This application does not limit the specific value of the set rotational speed.

[0222] In some embodiments of this application, the eccentricity of the load in the inner cylinder can be detected only after the inner cylinder has maintained a set rotation speed for a preset time or longer, thereby making the detected eccentricity more accurate and stable.

[0223] S320, if the load eccentricity is below the eccentricity threshold, the main spin-drying stage of the washing machine will begin.

[0224] In S320, the eccentricity threshold can be used to indicate whether the inner cylinder can directly enter the highest speed gear.

[0225] If the detected load eccentricity is below the eccentricity threshold, it indicates that the noise generated by the washing machine is controllable, and therefore the machine can directly enter the main spin-drying stage.

[0226] S330 controls the motor to put the inner drum into the highest speed setting and maintain the highest speed setting until the main spin-drying stage of the washing machine ends.

[0227] In the S330, after entering the main spin-drying stage of the washing machine, the motor is controlled so that the inner drum directly enters the highest speed setting and maintains the highest speed setting until the main spin-drying stage of the washing machine ends, thus effectively saving the time required for the inner drum to enter the highest speed setting.

[0228] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S310-S330 above.

[0229] In some embodiments of this application, different speed gears also correspond to their own vibration acceleration downshifting parameters, and the vibration acceleration downshifting parameter corresponding to the same speed gear is greater than the corresponding vibration acceleration upshifting parameter.

[0230] In some embodiments of this application, the main spin-drying stage of the washing machine may include five spin speed settings, each corresponding to a different vibration acceleration downshift parameter. The vibration acceleration downshift parameter corresponding to the same spin speed setting is greater than the corresponding vibration acceleration upshift parameter, as shown in Table 2 below:

[0231]

[0232] Table 2

[0233] As shown in Table 2 above, the vibration acceleration upshift parameter for the first speed gear can be 3.5, and the vibration acceleration downshift parameter for the first speed gear can be 5. The vibration acceleration upshift parameter for the second speed gear can be 5, and the vibration acceleration downshift parameter for the second speed gear can be 5. The vibration acceleration upshift parameter for the third speed gear can be 4.5, and the vibration acceleration downshift parameter for the third speed gear can be 5. The vibration acceleration upshift parameter for the fourth speed gear can be 5, and the vibration acceleration downshift parameter for the fourth speed gear can be 6. The vibration acceleration upshift parameter for the fifth speed gear can be 6, and the vibration acceleration downshift parameter for the fifth speed gear can be 6.5.

[0234] The vibration acceleration downshift parameters corresponding to different speed gears can be the same.

[0235] Please see Figure 9 , Figure 9 This is a flowchart illustrating controllable steps provided in another exemplary embodiment of this application. The controller can be configured to perform the following steps S410-S430:

[0236] S410: When the current speed setting of the inner cylinder is below the preset speed setting, the actual vibration acceleration parameters of the inner cylinder are detected.

[0237] In S410, in some embodiments of this application, the preset speed gear can be the third speed gear as shown in Table 2 above.

[0238] If the current speed setting of the inner cylinder is the first speed setting as shown in Table 2 above, the actual vibration acceleration parameters of the inner cylinder can be detected.

[0239] If the current rotation speed setting of the inner cylinder is the second rotation speed setting as shown in Table 2 above, the actual vibration acceleration parameters of the inner cylinder can be detected.

[0240] S420: If the actual vibration acceleration parameter of the inner cylinder reaches or exceeds the vibration acceleration downshift parameter corresponding to the current speed gear, the motor is controlled to decelerate the inner cylinder to zero and shake off the load in the inner cylinder.

[0241] In S420, in some embodiments of this application, if the current speed setting of the inner cylinder is the first speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner cylinder is detected to be 5.2, the motor can be controlled to decelerate the inner cylinder to zero and shake off the load in the inner cylinder.

[0242] In some other embodiments of this application, if the current speed setting of the inner drum is the second speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner drum is detected to be 5.3, the motor can be controlled to decelerate the inner drum to zero and shake off the load in the inner drum.

[0243] In some embodiments of this application, after the load in the inner cylinder is shaken out, the main dehydration stage can be attempted again to upgrade the inner cylinder.

[0244] In some embodiments of this application, S420 can be divided into S421-S422 as follows:

[0245] S421, determine whether the actual vibration acceleration parameter of the inner cylinder reaches or exceeds the vibration acceleration downshift parameter corresponding to the current speed gear.

[0246] S422, if the judgment is yes, then control the motor to reduce the speed of the inner cylinder to zero and shake off the load in the inner cylinder.

[0247] S430: If the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration downshift parameter corresponding to the current speed gear, the motor is controlled to make the inner cylinder enter the preset speed gear.

[0248] In S430, in some embodiments of this application, if the current speed setting of the inner cylinder is the first speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner cylinder is detected to be 4, the motor can be controlled so that the inner cylinder directly enters the third speed setting, thereby effectively saving the time required for the inner cylinder to enter the highest speed setting.

[0249] In some embodiments of this application, if the current speed setting of the inner cylinder is the second speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner cylinder is detected to be 4.2, the motor can be controlled to make the inner cylinder enter the third speed setting.

[0250] In some embodiments of this application, S430 can be divided into S421 and S431 as follows:

[0251] S421, determine whether the actual vibration acceleration parameter of the inner cylinder reaches or exceeds the vibration acceleration downshift parameter corresponding to the current speed gear.

[0252] S431 If the determination is negative, the motor is controlled to make the inner cylinder enter the preset speed range.

[0253] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S410-S430 above.

[0254] Please see Figure 10 , Figure 10 This is a flowchart illustrating controllable steps provided in another exemplary embodiment of this application. In some embodiments of this application, the preset speed gear is below the highest speed gear. The controller can be configured to perform the following steps S510-S530:

[0255] S510 detects the actual vibration acceleration parameters of the inner cylinder after the inner cylinder enters the preset speed range.

[0256] In S510, in some embodiments of this application, the preset speed setting can be the third speed setting as shown in Table 2 above. After the inner cylinder enters the third speed setting, the actual vibration acceleration parameters of the inner cylinder are detected.

[0257] S520: If the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration downshift parameter corresponding to the current speed gear of the inner cylinder, the motor is controlled to make the inner cylinder enter the next speed gear.

[0258] In S520, in some embodiments of this application, if the current speed setting of the inner cylinder is the third speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner cylinder is 4.5, the motor can be controlled to make the inner cylinder enter the fourth speed setting.

[0259] In some embodiments of this application, if the current speed setting of the inner cylinder is the fourth speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner cylinder is 5.5, the motor can be controlled to make the inner cylinder enter the fifth speed setting.

[0260] In some embodiments of this application, S520 can be divided into S521-S522 as follows:

[0261] S521, determine whether the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration downshift parameter corresponding to the current speed gear.

[0262] S522, if the judgment is yes, then control the motor to make the inner cylinder enter the next speed gear.

[0263] S530: If the actual vibration acceleration parameter of the inner drum reaches or exceeds the vibration acceleration downshift parameter corresponding to the current speed setting of the inner drum, the motor is controlled to maintain the current speed setting of the inner drum until the main spin-drying stage of the washing machine ends.

[0264] In S530, in some embodiments of this application, if the current speed setting of the inner drum is the third speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner drum is 5.2, the motor can be controlled to keep the inner drum at the third speed setting until the main spin-drying stage of the washing machine ends.

[0265] In some embodiments of this application, if the current speed setting of the inner drum is the fourth speed setting as shown in Table 2 above, and the actual vibration acceleration parameter of the inner drum is 6.5, the motor can be controlled to keep the inner drum at the fourth speed setting until the main spin-drying stage of the washing machine is completed.

[0266] In some embodiments of this application, S530 can be divided into S521-S531 as follows:

[0267] S521, determine whether the actual vibration acceleration parameter of the inner cylinder is below the vibration acceleration downshift parameter corresponding to the current speed gear.

[0268] S531 If the determination is yes, then control the motor to keep the inner drum at the current speed setting until the main spin-drying stage of the washing machine is completed.

[0269] In other embodiments of this application, the controller may also be configured to perform one or more of the steps S510-S530 above.

[0270] In some embodiments of this application, please refer to Figure 11 , Figure 11 A timing diagram of different stages of washing machine operation provided in an exemplary embodiment of this application is shown.

[0271] The operation of a washing machine may include a weighing phase. During the weighing phase, the load inside the drum can be weighed.

[0272] The operation of a washing machine can include a pre-spin-drying stage. During the pre-spin-drying stage, the motor can be controlled to rotate the inner drum at a lower speed to remove most of the water from the load.

[0273] The operation of a washing machine can include a main spin-drying stage. During the main spin-drying stage, the motor can be controlled to make the inner drum rotate at a higher speed, more effectively removing water from the load.

[0274] In some embodiments of this application, the washing machine may first run a weighing program, then a pre-spinning program, and finally a main spin-drying program. t1 is the interval between the end of the weighing program and the start of the pre-spinning program. t2 is the interval between the end of the pre-spinning program and the start of the main spin-drying program.

[0275] In some embodiments of this application, the spin speed levels included in the main spin-drying stage of the washing machine, the vibration acceleration up-shift parameters corresponding to each spin speed level, and the vibration acceleration down-shift parameters can be as shown in Table 2. The controller can also be configured to perform the following steps:

[0276] If the inner drum is currently at the first speed setting, the motor is controlled to maintain the inner drum at the first speed setting for 30 seconds, after which the actual vibration acceleration parameter of the inner drum is detected. If the actual vibration acceleration parameter of the inner drum reaches 3.5 or higher, the motor is controlled to maintain the inner drum at the first speed setting until the main spin-drying stage of the washing machine ends. If the actual vibration acceleration parameter of the inner drum is below 3.5, the motor is controlled to move the inner drum to the second speed setting.

[0277] When the inner drum enters the second speed setting, the motor is controlled to maintain the inner drum at this speed for 30 seconds, after which the actual vibration acceleration parameter of the inner drum is detected. If the actual vibration acceleration parameter of the inner drum reaches 4 or higher, the motor is controlled to maintain the inner drum at the second speed setting until the main spin-drying stage of the washing machine ends. If the actual vibration acceleration parameter of the inner drum is below 4, the motor is controlled to move the inner drum to the third speed setting.

[0278] When the inner drum enters the third speed setting, the motor is controlled to maintain the inner drum at this speed for 30 seconds, after which the actual vibration acceleration parameter of the inner drum is detected. If the actual vibration acceleration parameter of the inner drum reaches 4.5 or higher, the motor is controlled to maintain the inner drum at the third speed setting until the main spin-drying stage of the washing machine ends. If the actual vibration acceleration parameter of the inner drum is below 4.5, the motor is controlled to move the inner drum to the fourth speed setting.

[0279] When the inner drum enters the fourth speed setting, the motor is controlled to maintain the inner drum at the fourth speed setting for 30 seconds, after which the actual vibration acceleration parameter of the inner drum is detected. If the actual vibration acceleration parameter of the inner drum reaches 5 or higher, the motor is controlled to maintain the inner drum at the fourth speed setting until the main spin-drying stage of the washing machine ends. If the actual vibration acceleration parameter of the inner drum is below 5, the motor is controlled to move the inner drum to the fifth speed setting.

[0280] In some embodiments of this application, the preset speed gear can be the third speed gear.

[0281] If the inner cylinder is currently at the first speed setting, the actual vibration acceleration parameter of the inner cylinder can be detected. If the actual vibration acceleration parameter of the inner cylinder reaches 5 or higher, the motor can be controlled to decelerate the inner cylinder to zero and dissipate the load within the inner cylinder. If the actual vibration acceleration parameter of the inner cylinder is below 5, the motor can be controlled to directly switch the inner cylinder to the third speed setting.

[0282] If the inner cylinder is currently at the second speed setting, the actual vibration acceleration parameter of the inner cylinder can be detected. If the actual vibration acceleration parameter of the inner cylinder reaches 5 or higher, the motor can be controlled to decelerate the inner cylinder to zero and dissipate the load within the inner cylinder. If the actual vibration acceleration parameter of the inner cylinder is below 5, the motor can be controlled to move the inner cylinder to the third speed setting.

[0283] When the inner drum enters the third speed setting, the actual vibration acceleration parameter of the inner drum can be detected. If the actual vibration acceleration parameter of the inner drum reaches 5 or higher, the motor can be controlled to maintain the inner drum at the third speed setting until the main spin-drying stage of the washing machine ends. If the actual vibration acceleration parameter of the inner drum is below 5, the motor can be controlled to move the inner drum to the fourth speed setting.

[0284] When the inner drum enters the fourth speed setting, the actual vibration acceleration parameter of the inner drum can be detected. If the actual vibration acceleration parameter of the inner drum reaches 6 or higher, the motor can be controlled to maintain the fourth speed setting until the main spin-drying stage of the washing machine ends. If the actual vibration acceleration parameter of the inner drum is below 6, the motor can be controlled to move the inner drum to the fifth speed setting.

[0285] When the inner drum enters the fifth speed setting, which is the highest speed setting, the motor can be controlled to keep the inner drum at the fifth speed setting until the main spin-drying stage of the washing machine is completed.

[0286] 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.

[0287] 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.

[0288] 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.

[0289] 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.

[0290] 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 laundry machine characterized by, The washing machine comprises: an inner drum; a motor for driving the inner drum to rotate; a three-axis sensor arranged on the inner drum for detecting vibration acceleration of the inner drum in three-axis directions, the three-axis directions comprising a first-axis direction corresponding to a front-rear direction of the washing machine, a second-axis direction corresponding to a left-right direction of the washing machine, and a third-axis direction corresponding to an up-down direction of the washing machine; a controller electrically connected with the motor and the three-axis sensor respectively, the controller being configured to perform the following steps: controlling the motor to work to drive the inner drum to rotate; determining a current rotating speed gear of the inner drum; the main dehydration stage of the washing machine comprises a plurality of rotating speed gears, and different rotating speed gears correspond to different vibration acceleration upshift parameters respectively, the vibration acceleration upshift parameters being determined according to vibration acceleration of the inner drum in the three-axis directions; if it is detected that an actual vibration acceleration parameter of the inner drum is below the vibration acceleration upshift parameter corresponding to the current rotating speed gear, the motor is controlled so that the inner drum enters a next rotating speed gear.

2. A laundry washing machine according to Claim 1, characterized in that The controller is further configured to perform the following steps: if it is detected that the actual vibration acceleration parameter of the inner drum is above the vibration acceleration upshift parameter corresponding to the current rotating speed gear, the motor is controlled so that the inner drum maintains the current rotating speed gear until the main dehydration stage of the washing machine ends.

3. A laundry washing machine according to Claim 1, characterized in that The controller is further configured to perform the following steps: vibration acceleration square values of the inner drum in the three-axis directions are calculated respectively; the actual vibration acceleration parameter of the inner drum is determined according to the vibration acceleration square values of the inner drum in the three-axis directions.

4. A laundry machine according to claim 1, characterized in that, The controller is further configured to perform the following steps: when the inner drum maintains the current rotating speed gear for more than a preset time length, the actual vibration acceleration parameter of the inner drum is detected.

5. The laundry machine according to claim 1, characterized in that, The controller is further configured to perform the following steps: a weight of a load in the inner drum is determined; different vibration acceleration parameters corresponding to different rotating speed gears are determined according to the weight of the load.

6. A laundry washing machine according to Claim 5, characterized in that The controller is further configured to perform the following steps: in a weighing stage of the washing machine, the motor is controlled to make the inner drum rotate at a fixed rotating speed, and an actual running power of the motor is detected; the weight of the load is determined according to the actual running power of the motor.

7. A laundry washing machine according to Claim 1, characterized in that The controller is further configured to perform the following steps: in a pre-dehydration stage of the washing machine, the motor is controlled to make the inner drum rotate at a set rotating speed, and an eccentricity of the load is detected; if the eccentricity of the load is below an eccentricity threshold, the main dehydration stage of the washing machine is entered; the motor is controlled so that the inner drum enters a highest rotating speed gear and maintains the highest rotating speed gear until the main dehydration stage of the washing machine ends.

8. A laundry washing machine according to Claim 1, characterized in that Different rotating speed gears also correspond to vibration acceleration downshift parameters respectively, and a vibration acceleration downshift parameter corresponding to a same rotating speed gear is greater than a vibration acceleration upshift parameter corresponding to the same rotating speed gear; the controller is further configured to perform the following steps: detecting an actual vibration acceleration parameter of the inner drum when a current rotating speed gear of the inner drum is below a preset rotating speed gear; if the actual vibration acceleration parameter of the inner drum is above a vibration acceleration gear-down parameter corresponding to the current rotating speed gear of the inner drum, controlling the motor so that the inner drum is decelerated to zero and a load in the inner drum is shaken and scattered; if the actual vibration acceleration parameter of the inner drum is below the vibration acceleration gear-down parameter corresponding to the current rotating speed gear, controlling the motor so that the inner drum enters the preset rotating speed gear.

9. A laundry washing machine according to Claim 8, characterized in that the preset rotating speed gear is below a highest rotating speed gear; and the controller is further configured to perform the following steps: detecting an actual vibration acceleration parameter of the inner drum after the inner drum enters the preset rotating speed gear; if the actual vibration acceleration parameter of the inner drum is below a vibration acceleration gear-down parameter corresponding to a current rotating speed gear of the inner drum, controlling the motor so that the inner drum enters a next rotating speed gear; if the actual vibration acceleration parameter of the inner drum is above the vibration acceleration gear-down parameter corresponding to the current rotating speed gear of the inner drum, controlling the motor so that the inner drum maintains the current rotating speed gear until a main dehydration stage of the washing machine ends.

10. A laundry washing machine according to Claim 1, characterized in that the controller is further configured to perform the following steps: if the next rotating speed gear is the highest rotating speed gear, controlling the motor so that the inner drum maintains the highest rotating speed gear until the main dehydration stage of the washing machine ends.

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