Fabric treatment apparatus, control method and electronic device

Abstract

The present application relates to the technical field of fabric treatment method, and relates to a fabric treatment device, a control method and an electronic device.The fabric treatment device comprises an outer drum and a plurality of inner drums;a dynamic balance control system comprising a detection module and a balance compensation execution module, wherein the detection module is configured to detect real-time mass parameters of each inner drum and sinking amount parameters of a bottom support structure of the outer drum corresponding to each inner drum; and the dynamic balance control system is configured to trigger the balance compensation execution module to start a balance compensation action when a mass difference between the real-time mass parameters of any two inner drums exceeds a preset mass difference value or a sinking amount difference between the sinking amount parameters of the bottom support structure of the outer drum corresponding to any two inner drums exceeds a preset sinking amount difference value, and adjust a stress state of the outer drum by the compensation execution module to offset a center of gravity deviation of the outer drum caused by the mass difference or the sinking amount difference, thereby significantly reducing a vibration amplitude of the fabric treatment device during operation.

Description

Technical Field

[0001] This invention relates to the field of fabric processing equipment technology, and more particularly to a fabric processing device, control method, and electronic equipment. Background Technology

[0002] In the field of fabric treatment methods, such as mini multi-tub pulsator washing machines, in the structure of multiple tubs operating in parallel, the uneven load distribution and asynchronous operation of each tub can cause the center of gravity of the outer tub to shift, which can easily lead to severe vibrations during operation, affecting the stability and service life of the entire machine. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that in the existing multi-tub pulsator washing machine, due to uneven load distribution and asynchronous operation of the multiple tubs, the center of gravity of the outer tub shifts, which easily causes severe vibration during operation, affecting the stability and service life of the whole machine. To address this, the present invention provides a fabric processing device, a control method, and an electronic device.

[0004] The present invention aims to provide a fabric treatment device, the fabric treatment device comprising:

[0005] outer shell;

[0006] An outer tub is disposed within the outer shell; multiple independently operable inner tubs are installed inside the outer tub;

[0007] The dynamic balance control system includes a detection module and a balance compensation execution module. The detection module is used to dynamically detect the real-time mass parameters of each inner tub and the sinking parameters of the bottom support structure of the corresponding outer tub for each inner tub. The real-time mass parameters of each inner tub include the real-time mass of each inner tub, and the real-time mass of each inner tub includes the sum of the mass of the inner tub and the real-time mass of the load inside the tub.

[0008] The balance compensation execution module is disposed in the interlayer between the outer shell and the outer barrel;

[0009] The dynamic balance control system is configured to trigger the balance compensation execution module to start the balance compensation action when the mass difference between any two inner tubs exceeds a preset mass difference value, or the sinking difference between any two inner tubs corresponding to the sinking parameters of the bottom support structure of the outer tub exceeds a preset sinking difference value.

[0010] The compensation execution module is used to adjust the stress state of the outer barrel to counteract the shift in the center of gravity of the outer barrel caused by mass difference or sinking difference.

[0011] In some embodiments, the balance compensation execution module includes a plurality of capsules, which are distributed circumferentially along the outer wall surface of the outer barrel.

[0012] The capsule is deformable and has a cavity inside. The cavity can be filled with or drained with fluid depending on the offset of the outer barrel's center of gravity.

[0013] In some embodiments, at least one bladder is provided on the front, rear, left, and right sides of the outer barrel.

[0014] In some embodiments, the fluid is water, and at least two pairs of the capsules are arranged radially opposite each other on the outer wall of the outer barrel. Each capsule has an inlet end and an outlet end. The inlet end of the capsule is connected to a water source, and the outlet end of the capsule is connected to the outside of the fabric processing equipment.

[0015] In some embodiments, the dynamic balance control system is configured to: when the difference in the real-time mass parameters of any two inner tubs detected by the detection module exceeds a preset value for the mass difference, trigger the balance compensation execution module to initiate a balance compensation action to inject water into the bladder on the outer wall surface of the outer tub opposite to the tilted side of the outer tub.

[0016] In some embodiments, the dynamic balance control system is configured to determine the amount of water injected into the cavity of the bladder based on the angle θ between the central axis of the outer barrel and the horizontal plane and the mass difference of the inner barrel.

[0017] In some embodiments, the amount of water injected into the cavity of the cyst is controlled using the following formula:

[0018] v1=k×cosθ×Δm, where v1 is the water injection volume, k is the compensation coefficient, 0≤k≤1, θ is the angle between the central axis of the outer bucket (1) and the horizontal plane, Δm is the absolute value of the mass difference between any two inner buckets, and × represents the multiplication sign.

[0019] In some embodiments, the dynamic balance control system is configured to: when the difference in the amount of sinking of any two inner tubs corresponding to the bottom support structure of the outer tub exceeds a preset value, the balance compensation execution module is triggered to initiate a balance compensation action to inject water into the bladder on the outer wall surface of the outer tub opposite to the tilted side of the outer tub.

[0020] In some embodiments, the amount of water injected into the cavity of the bladder is controlled by the following formula: v3 = π(r)²Δh, where v3 is the amount of water injected, r is the radius of the inner barrel on the side being injected, and Δh is the absolute value of the difference in the amount of sinking of the bottom support structure of the corresponding outer barrel of any two inner barrels.

[0021] In some embodiments, the capsule material has shape memory properties.

[0022] In some embodiments, the balance compensation execution module includes a plurality of electromagnetic coils and ferromagnetic bodies corresponding to each of the plurality of electromagnetic coils;

[0023] At least two of the ferromagnets are disposed on the outer peripheral wall or bottom wall of the outer barrel, and at least two of the electromagnetic coils are disposed on the inner wall of the outer shell. The electromagnetic coils are configured to generate magnetic forces that attract or repel the ferromagnets by being controlled to pass a directional current according to the offset of the center of gravity of the outer barrel.

[0024] In some embodiments, the dynamic balance control system further includes: a prediction module, which is configured to predict the mass difference between real-time mass parameters of any two inner tubs based on load parameters within the plurality of inner tubs, and to predict the difference in sinking amount between the bottom support structures of any two inner tubs corresponding to the bottom support structures of the outer tubs based on sinking amount parameters of the bottom support structures of the outer tubs corresponding to the plurality of inner tubs.

[0025] The dynamic balance control system is configured to trigger the balance compensation execution module to start the balance compensation action when the mass difference predicted by the preset module exceeds the preset value of the mass difference, or the sinking difference exceeds the preset value of the sinking difference.

[0026] In some embodiments, the dynamic balance control system is configured to: when the mass difference of the real-time mass parameters of any two inner tubs exceeds a preset mass difference value, and the sinking difference of the sinking parameters of the bottom support structure of the outer tub corresponding to any two inner tubs exceeds a preset sinking difference value, the balance compensation execution module adjusts the force state of the outer tub based on the coupling weight of the mass difference and the sinking difference.

[0027] In some embodiments, the coupling weights include a mass difference weight coefficient and a sinking amount difference weight coefficient. The mass difference weight coefficient and the sinking amount difference weight coefficient are dynamically adjusted based on a preset weight allocation rule. The weight allocation rule is positively correlated with the real-time mass and sinking amount of the inner tub.

[0028] In some embodiments, the balance compensation execution module includes multiple independent compensation units, each of which is configured in correspondence with one of the inner tubs. Based on the coupled calculation results of the mass difference and the sinking difference, the balance compensation execution module controls the corresponding compensation unit to output a reverse compensation force. The magnitude of the reverse compensation force is proportional to the coupled calculation results, and its direction is opposite to the direction of the center of gravity offset of the outer tub.

[0029] In some embodiments, the calculation formula for the coupling calculation result is: F compensation = K1×ΔM + K2×Δh, where ΔM is the absolute value of the mass difference between the real-time mass parameters of any two inner tubs, K1 is the mass difference weighting coefficient, Δh is the absolute value of the sinking difference between the sinking parameters of the bottom support structure of the outer tub corresponding to any two inner tubs, and K2 is the sinking difference weighting coefficient.

[0030] In some embodiments, a control method for the above-described fabric processing equipment is provided, comprising:

[0031] After the fabric handling equipment receives the start command, before the inner tub operates, and / or during the operation of the inner tub;

[0032] The mass difference between any two inner tubs in the multiple inner tubs of the fabric treatment is obtained in real time, as well as the difference in the amount of sinking of the bottom support structure of the corresponding outer tub between any two inner tubs;

[0033] If the mass difference detected by the detection module exceeds the preset value, or the sinking difference exceeds the preset value, the balance compensation execution module is controlled to execute the balance compensation program.

[0034] In some embodiments, the balancing compensation procedure includes a first balancing compensation procedure, which includes:

[0035] If the difference in the real-time mass parameters of any two inner tubs exceeds a preset mass difference value, it is determined whether to execute the first balance compensation program. If the mass difference exceeds the preset mass difference value, the first balance compensation program is executed, and the balance compensation execution module is controlled to start the balance compensation action to inject water into the bladder on the outer wall surface of the outer tub opposite to the tilt side of the outer tub.

[0036] If the quality difference does not exceed the preset value of the quality difference, the first balance compensation procedure will not be executed.

[0037] In some embodiments, the balancing compensation procedure further includes a second balancing compensation procedure, wherein if the mass difference does not exceed the preset value of the mass difference, the second balancing compensation procedure is initiated.

[0038] The second balance compensation procedure includes: determining whether to execute the second balance compensation procedure based on whether the difference in the amount of sinking of the bottom support structure of any two inner tubs corresponding to the outer tub exceeds a preset value for the difference in sinking.

[0039] If the difference in the amount of sinking of the bottom support structure of any two inner tubs detected by the detection module exceeds the preset value of the difference in sinking, the second balance compensation program is executed, and the balance compensation execution module is controlled to start the balance compensation action to inject water into the bladder on the outer wall surface of the outer tub opposite to the tilt side of the outer tub.

[0040] If the difference in the amount of sinking of the bottom support structure of the corresponding outer tub of any two inner tubs detected by the detection module does not exceed the preset value of the difference in sinking, then the second balance compensation procedure will not be executed.

[0041] In some embodiments, the control method further includes a prediction program that is executed after the fabric processing equipment receives an activation command and before the inner tub is operated.

[0042] The prediction program includes: predicting the mass difference between any two inner tubs based on the real-time mass parameters within the plurality of inner tubs, and predicting the difference in sinking of the bottom support structure of any two inner tubs corresponding to the bottom support structure of the outer tub based on the sinking parameters of the bottom support structure of the outer tub corresponding to the plurality of inner tubs; if the predicted mass difference exceeds a preset value, or the sinking difference exceeds the preset value, controlling the balance compensation execution module to initiate a balance compensation action; or, acquiring the load parameters within the plurality of inner tubs, predicting the tilt angle of the outer tub based on the load parameters within the plurality of inner tubs, and if the predicted tilt angle is greater than a tilt angle threshold, controlling the balance compensation execution module to initiate a balance compensation action.

[0043] The tilt angle is the angle between the central axis of the outer barrel and the horizontal plane.

[0044] In some embodiments, the real-time mass parameters of multiple inner tubs, the sinking parameters of the bottom support structure of the outer tubs corresponding to the multiple inner tubs, and the load parameters of multiple inner tubs are input into the parameter recognition model to obtain the mass difference, the sinking difference, and the tilt angle predicted by the parameter recognition model.

[0045] The parameter recognition model is trained in the following manner:

[0046] Obtain target parameter information with pre-set training labels, and use the target parameter information as model input data;

[0047] Using the model input data as input, the mass difference, sinking difference, and tilt angle output by the training label and the parameter recognition model are compared, and the parameter recognition model is trained based on the differences between the mass difference, sinking difference, and tilt angle and the training label.

[0048] In some embodiments, an electronic device is provided, comprising:

[0049] Memory stores computer instructions;

[0050] A processor is used to invoke and execute the computer instructions to implement the above control method.

[0051] The solution provided by this invention has the following advantages compared with the prior art:

[0052] Through the coordinated action of the detection module and the balance compensation execution module in the dynamic balance control system, the fabric processing equipment can comprehensively and in real-time acquire the real-time mass parameters of each inner tub and the sinking parameters of the bottom support structure of the corresponding outer tub. The mass difference of the real-time mass parameters and the sinking difference of the corresponding outer tub bottom support structure can reflect the balance influence of the inner tub on the outer tub. When the above difference exceeds the corresponding preset value, it can accurately reflect the influence of multiple inner tubs on the overall balance state of the outer tub. Based on the detected parameters, the balance compensation execution module makes timely and precise dynamic adjustments to the tilt angle of the outer tub, thereby reducing the risk of the outer tub's center of gravity shifting due to uneven load distribution and asynchronous operation programs when multiple inner tubs are running simultaneously. This significantly reduces the vibration amplitude of the fabric processing equipment during operation, improves the stability of the whole machine, and extends the service life of the fabric processing equipment. Attached Figure Description

[0053] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0054] Figure 1 This is a top view of the fabric processing equipment shown in an embodiment of the present invention;

[0055] Figure 2 This is one of the control method flowcharts shown in the embodiments of the present invention;

[0056] Figure 3 This is the second flowchart of the control method shown in the embodiment of the present invention;

[0057] Figure 4 This is the third flowchart of the control method shown in the embodiment of the present invention.

[0058] In the diagram: 1-outer barrel, 201-first inner barrel, 202-second inner barrel, 3-capsule body, 4-outer shell body.

[0059] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0060] In the description of this invention, it should be noted that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "contact," and "communication" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0062] Mini multi-tub pulsator washing machines, due to uneven load distribution and asynchronous operation of multiple tubs in their structure, tend to experience severe vibrations during operation, which can affect the overall stability and lifespan of the machine.

[0063] Based on this, the following embodiments are proposed.

[0064] Example 1:

[0065] like Figure 1 As shown, this embodiment provides a fabric treatment device, which includes:

[0066] The outer casing; an outer tub, disposed within the outer casing; multiple independently operable inner tubs installed within the outer tub 1; a dynamic balance control system, including a detection module and a balance compensation execution module, wherein the detection module is used to dynamically detect the real-time mass parameters of each inner tub and the sinking parameters of the corresponding bottom support structure of the outer tub; the real-time mass parameters of each inner tub include the real-time mass of each inner tub, and the real-time mass of each inner tub includes the sum of the mass of the inner tub and the real-time mass of the load inside the tub;

[0067] The balance compensation execution module is located in the interlayer between the outer shell 4 and the outer barrel 1;

[0068] The dynamic balance control system is configured to trigger the balance compensation execution module to start the balance compensation action when the mass difference between any two inner tubs exceeds a preset mass difference value, or the sinking difference between any two inner tubs corresponding to the sinking parameters of the bottom support structure of the outer tub exceeds a preset sinking difference value.

[0069] The compensation execution module is used to adjust the force state of the outer barrel 1 to counteract the shift of the center of gravity of the outer barrel 1 caused by mass difference or sinking difference.

[0070] In this embodiment, the example of setting a first inner tub 201 and a second inner tub 202 inside the outer tub 1 is used for illustration. The dynamic balance control system includes a detection module and a balance compensation execution module. The balance compensation execution module can be installed outside the outer tub 1 and can dynamically adjust the posture of the outer tub 1 according to the actual situation. The detection module is used to detect the real-time mass parameters of each inner tub and the sinking amount parameters of the bottom support structure of the outer tub corresponding to each inner tub. Through the main board of the fabric processing equipment, i.e., the controller, the mass difference of the real-time mass parameters of any two inner tubs, or the sinking amount difference of the sinking amount parameters of the bottom support structure of the outer tub corresponding to any two inner tubs, can intuitively reflect the difference in the operating state between the two inner tubs. It should also be noted that the detection module can also directly detect the tub body parameters of the outer tub 1 as a fourth tub body parameter, which directly reflects the operating state of the outer tub itself. When the mass difference between any two inner tubs exceeds a preset mass difference value, or the difference in the sinking amount of the corresponding bottom support structure of the outer tub exceeds a preset sinking amount difference value, the balance compensation execution module is triggered to initiate a balance compensation action. The compensation execution module is used to adjust the force state of the outer tub to counteract the shift in the center of gravity of the outer tub caused by the mass difference or sinking amount difference. For example, during or before the operation of the inner tubs, the detection module collects the real-time mass parameters of the first inner tub 201 and the sinking amount parameters of the corresponding bottom support structure of the outer tub 1, and collects the real-time mass parameters of the second inner tub 202 and the sinking amount parameters of the corresponding bottom support structure of the outer tub 1. The mass difference between the real-time mass parameters of the first inner tub 201 and the second inner tub 202 is calculated by the main board. If the mass difference exceeds the preset value, or if the difference in the sinking amount of the sinking amount parameters of the bottom support structure of the outer bucket corresponding to the first inner bucket 201 and the second inner bucket 202 exceeds the preset value, it means that the difference between the first inner bucket 201 and the second inner bucket 202 will interfere with the outer bucket 1 or the operating posture of the outer bucket 1, causing the center of the outer bucket 1 to shift. Alternatively, if the main board determines that the fourth bucket parameter exceeds the preset bucket parameter value, it can also indicate that the outer bucket 1 is in a position of shifted center of gravity, which is not conducive to the operation of the inner bucket. The balance compensation execution module will receive the control signal sent by the main control board and then adjust the tilt angle of the outer bucket 1 so that the angle between the central axis of the outer bucket and the horizontal plane gradually approaches 90°, thereby ensuring that the outer bucket is in a relatively stable state and offsetting the shift of the center of gravity of the outer bucket 1 caused by the mass difference or sinking amount difference.

[0071] Through the coordinated action of the detection module and the balance compensation execution module, the fabric processing equipment can comprehensively and in real-time acquire the real-time mass parameters of each inner tub and the sinking parameters of the bottom support structure of the corresponding outer tub. The mass difference of the real-time mass parameters and the sinking difference of the corresponding outer tub bottom support structure can reflect the balance influence of the inner tub on the outer tub. When the above difference exceeds the corresponding preset value, it can accurately reflect the influence of multiple inner tubs on the overall balance state of the outer tub. Based on the detected parameters, the balance compensation execution module makes timely and precise dynamic adjustments to the tilt angle of the outer tub, thereby reducing the risk of the outer tub's center of gravity shifting due to uneven load distribution and asynchronous operation programs when multiple inner tubs are running simultaneously. This significantly reduces the vibration amplitude of the fabric processing equipment during operation, improves the stability of the whole machine, and extends the service life of the fabric processing equipment.

[0072] Optionally, such as Figure 1 As shown, in one implementation of this embodiment, the balance compensation execution module includes a plurality of capsules 3, which are distributed along the circumference of the outer barrel 1 on the outer wall surface of the outer barrel 1.

[0073] The capsule 3 has the ability to deform, and a cavity is formed inside the capsule 3. The cavity can be filled with or drained with fluid according to the offset of the center of gravity of the outer barrel 1.

[0074] In this embodiment, preferably, at least one bladder 3 is provided on the front, rear, left, and right sides of the outer tub 1. Multiple bladders 3 are respectively arranged on the four sides of the outer tub 1's outer peripheral wall, meaning that at least four bladders 3 are provided on the outer tub 1 in this embodiment. This increases the accuracy of the fabric processing equipment in adjusting the center of gravity of the outer tub 1.

[0075] When the outer tub 1 tilts forward, it indicates that the weight on the front is relatively light or the weight on the back is relatively heavy. At this time, the controller can control the rear bladder 3 to drain water, reducing the weight on the back, or control the front bladder 3 to fill with water, increasing the weight on the front, or perform both operations simultaneously. By adjusting the water distribution in the front and rear bladders 3, an opposing torque is generated, gradually restoring the tilt angle of the outer tub 1 towards 90 degrees. Similarly, when the outer tub 1 tilts to the left or right, the controller can achieve balance by adjusting the water volume in the left and right bladders 3 in real time.

[0076] Between each of the four positive directions (front, back, left, and right), there are four oblique directions. When the center of gravity of the outer barrel 1 shifts to any oblique direction, the balance compensation execution module injects water into the bladders 3 located in the other two adjacent positive directions to pull the center of gravity of the outer barrel 1 back.

[0077] By setting at least four bladders 3 on the outer peripheral walls of the outer tub 1 at the front, rear, left, and right sides respectively, the fabric processing equipment can dynamically adjust the center of gravity of the outer tub 1 from multiple directions. This allows the balance compensation execution module to cope with various complex imbalances. No matter which direction the outer tub 1 tilts, it can be precisely and effectively adjusted through the corresponding bladders 3, thereby ensuring that the outer tub 1 can quickly return to a stable state and further improving the adjustment accuracy of the center of gravity of the outer tub 1 by the fabric processing equipment.

[0078] Optionally, such as Figure 1 As shown, in one implementation of this embodiment, the fluid is water, and at least two pairs of the capsules 3 are arranged radially opposite each other on the outer wall of the outer barrel 1. The capsule 3 has a liquid inlet end and a liquid outlet end. The liquid inlet end of the capsule 3 is connected to the water source, and the liquid outlet end of the capsule 3 is connected to the outside of the fabric processing equipment.

[0079] In this embodiment, when the fabric processing equipment starts running or before it starts running, the detection module collects the real-time mass parameters of the first inner tub 201 and the sinking parameters of the bottom support structure of the outer tub 1 corresponding to the first inner tub 201, and collects the real-time mass parameters of the second inner tub 202 and the sinking parameters of the bottom support structure of the outer tub 1 corresponding to the second inner tub 202. The main board calculates that if the mass difference between the real-time mass parameters of the first inner tub 201 and the second inner tub 202 exceeds a preset mass difference value, or if the sinking difference between the sinking parameters of the bottom support structure of the outer tub corresponding to the first inner tub 201 and the second inner tub 202 exceeds a preset sinking difference value, the controller will determine the tilt posture of the outer tub 1 based on the difference between the two inner tubs and determine the required tilt position. To adjust the water volume of the bladder 3, the bladder to be adjusted is located on the side opposite to the tilt direction of the outer barrel. Since the bladder is installed on the outer peripheral wall of the outer barrel, the controller can control the opening of the inlet end of the corresponding bladder 3, allowing water to be injected into the bladder, increasing the weight on the side opposite to the tilt direction of the outer barrel, thereby adjusting the force state of the outer barrel and counteracting the shift of the outer barrel's center of gravity caused by mass difference or sinking difference. Alternatively, if the bladder to be adjusted is located on the same side as the tilt direction of the outer barrel, the controller can control the opening of the outlet end to drain some of the water from the bladder, thereby reducing the weight of the bladder 3 and the weight on the side with the same tilt direction as the outer barrel, thus adjusting the force state of the outer barrel and counteracting the shift of the outer barrel's center of gravity caused by mass difference or sinking difference.

[0080] When the tilt direction and tilt angle of the outer tub change, the controller will perform a matching water injection or drainage operation on the corresponding bladder 3 based on the real-time mass parameters of the inner tub or the sinking parameters of the bottom support structure of the inner tub corresponding to the outer tub. The change in the weight of the corresponding bladder 3 will generate a corresponding force, thereby ensuring that the force is always applied to the side of the outer tub opposite to or the same as its tilt direction, and restore the center of gravity of the outer tub to near its initial position, so that the outer tub always maintains a near-vertical posture, so as to achieve the balanced and stable operation of the fabric processing equipment.

[0081] By injecting and releasing water into the bladders 3 at different locations, the direction and magnitude of the force applied to the outer barrel 1 can be adjusted. This allows for a simple and direct way to quickly and accurately adjust the tilt angle of the outer barrel 1. It can effectively compensate for the shift in the center of gravity of the outer barrel caused by the imbalance of multiple inner barrels, significantly improve the dynamic balance capability of the equipment, ensure the stable operation of the equipment under complex working conditions, reduce vibration and noise, and extend the service life of the equipment.

[0082] Optionally, in one implementation of this embodiment, the capsule 3 is constructed as a water bladder, and the water bladder material has shape memory properties.

[0083] In this embodiment, the water bladder is made of shape memory material, such as shape memory polymer SMP or nickel-titanium alloy. Water bladders made of shape memory material have a unique shape memory effect, maintaining a preset shape under normal conditions. When the controller detects abnormalities in the tank parameters, it determines the water bladder that needs adjustment based on the specific parameter differences. The specific working principle is as follows:

[0084] When the difference in mass of any two inner tubs exceeds a preset value, or when the difference in the amount of sinking of any two inner tubs corresponding to the bottom support structure of the outer tub exceeds a preset value, the balance compensation execution module is triggered to start the balance compensation action. Based on the real-time mass parameters and sinking of each inner tub, the controller will analyze the tilt direction and tilt angle of the outer tub 1 to determine the water bladder that needs to be adjusted. For one or more capsules 3 that need to increase weight, the controller opens the control valve at their inlet end, allowing water to flow into the capsule 3. Under water pressure, the capsule 3 expands. Due to the properties of the shape memory polymer material, the capsule expands according to a preset shape and direction, increasing the weight on that side and creating a force on the opposite side of the outer barrel 1, pulling it back to a vertical position. For capsules 3 that need to decrease weight, the controller opens the control valve at their outlet end, draining the water. The capsule 3 contracts back to its initial shape under the shape memory effect of the polymer material, reducing the weight on that side and decreasing the force on that side of the outer barrel 1, helping it return to a vertical position. By changing the weight distribution of capsules 3 at different positions on the outer barrel 1, a corresponding torque is generated, causing the outer barrel to rotate around its bottom support point, thereby adjusting the tilt angle of the outer barrel 1. This gradually brings the angle between the central axis of the outer barrel 1 and the horizontal plane closer to 90°, achieving balanced and stable operation of the fabric processing equipment.

[0085] In this embodiment, the capsule 3 is initially flat before water is injected. When water is injected into the capsule 3, the capsule 3 quickly expands into a preset sphere or other shape. When water is discharged from the capsule, the capsule begins to contract until the water is drained, and then the capsule returns to its initial flat shape.

[0086] The shape memory material's properties enable the capsule 3 to maintain a stable shape and adjustment effect when the water volume changes, ensuring high adjustment accuracy. Simultaneously, the capsule 3's structural design provides excellent sealing and flexibility, allowing it to adapt to vibrations and deformations of the outer tub. This improves the reliability and lifespan of the balance compensation actuator, enabling the fabric processing equipment to adjust the tilt angle of the outer tub 1 more precisely and stably, further enhancing the equipment's operational stability.

[0087] Optionally, in one implementation of this embodiment, the dynamic balance control system is configured to: when the difference in the real-time mass parameters of any two inner tubs detected by the detection module exceeds a preset value for the mass difference, trigger the balance compensation execution module to initiate a balance compensation action to inject water into the bladder 3 on the outer wall surface of the outer tub 1 opposite to the tilted side of the outer tub 1.

[0088] In this embodiment, taking the plurality of inner tubs including a first inner tub 201 and a second inner tub 202 as an example, assuming that the detection mechanism detects that the sum of the real-time mass of the first inner tub 201 and the load inside the tub is m1, and the sum of the real-time mass of the second inner tub 202 and the load inside the tub is m2, the controller first calculates Δm, Δm=|m1-m2|, that is, Δm is the absolute value of the difference between the load mass inside the first inner tub 201 and the load mass inside the second inner tub 202, so as to avoid the occurrence of positive and negative values, which would cause the preset value of mass difference to need to be taken in two ways. Then, Δm is compared with the preset value threshold of mass difference. If Δm exceeds the preset value threshold of mass difference, it indicates that the load imbalance between the first inner tub and the second inner tub is relatively serious, thereby triggering the balance compensation execution module to start the balance compensation action. At this time, the controller obtains the current tilt angle θ of the outer tub through the tilt sensor. If m1 is greater than m2, it means the first inner tub is under a heavier load, and the outer tub is tilted towards the first inner tub. In this case, the controller will control the water source to inject water into the bladder 3 closer to the second inner tub, increasing the weight on one side of the second inner tub to generate a reverse torque, reducing the tilt angle of the outer tub and gradually bringing it closer to 90 degrees. The adjusted tilt angle θ' of the outer tub satisfies the relationship θ < θ' ≤ 90°. Conversely, if m1 is less than m2, it means the second inner tub is under a heavier load, and the outer tub is tilted towards the second inner tub. In this case, the controller will control the water source to inject water into the bladder closer to the first inner tub to increase the weight on one side of the first inner tub, similarly adjusting the tilt angle of the outer tub to θ' through a reverse torque, where θ' satisfies the relationship θ < θ' ≤ 90°. If Δm does not exceed the preset threshold for the mass difference, it indicates that the load imbalance between the two inner tubs is minor and will not temporarily affect the stable operation of the fabric processing equipment.

[0089] Optionally, in one implementation of this embodiment, the dynamic balance control system is configured to determine the amount of water injected into the cavity of the bladder 3 based on the angle θ between the central axis of the outer barrel 1 and the horizontal plane and the mass difference of the inner barrel.

[0090] Preferably, the amount of water injected into the cavity of the capsule 3 is controlled using the following formula:

[0091] v1 = k × cosθ × Δm, where v1 is the water injection volume, k is the compensation coefficient (0 ≤ k ≤ 1), θ is the angle between the central axis of the outer bucket 1 and the horizontal plane, Δm is the absolute value of the mass difference between any two inner buckets, and × represents the multiplication sign.

[0092] In this embodiment, the specific value of the water injection volume *v* into the bladder can be calculated using the formula *v=k×cosθ×Δm*, where *k* is the compensation coefficient (the range of *k* is determined based on the actual situation of the fabric processing equipment and experimental data), *θ* is the current tilt angle of the outer tub, and *Δm* is the difference in internal load mass between the first and second inner tubs. When *m1* > *m2*, the balance compensation execution module injects water into the bladder 3 closest to the second inner tub, and the water injection volume is calculated according to the formula *v=k×cosθ×Δm*. When *m1* < *m2*, the balance compensation execution module injects water into the bladder 3 closest to the first inner tub, and the water injection volume is also determined using the formula *v=k×cosθ×Δm*.

[0093] The compensation coefficient k is determined comprehensively based on factors such as the structural characteristics of the equipment, the capacity and position of the bladder, and the density of water, to ensure the accuracy of water injection calculation and the reliability of the adjustment effect. The tilt angle θ of the outer tub is obtained through a tilt sensor. cosθ reflects the impact of the degree of tilt of the outer tub on the water injection volume. When θ is closer to 90°, the value of cosθ is closer to 0, the water injection volume is smaller, and the force exerted on the outer tub by the balance compensation execution module is smaller. When θ deviates further from 90°, the value of cosθ is larger, the water injection volume is larger, and the force exerted on the outer tub by the balance compensation execution module is larger. The load mass difference Δm between the two inner tubs directly reflects the degree of load imbalance. The larger Δm is, the more water is injected into the inner tub with the smaller load, so that it generates sufficient gravity to balance the tilt posture of the outer tub. By multiplying k, cosθ, and Δm, the required water volume v can be accurately calculated, ensuring that the water volume injected into the bladder can generate just enough weight to adjust the tilt angle of the outer barrel to θ', satisfying the requirement that θ < θ' ≤ 90°. This solves the problem that the traditional fixed water volume cannot adapt to dynamic load changes, and achieves the technical effect of dynamically adjusting the water volume according to the real-time changes in load mass difference and tilt angle.

[0094] This formula calculates a specific water injection volume, which, compared to a more vague range, allows for more precise adjustment of the outer tub's tilt angle. This enables dynamic adjustment of the water injection volume within the tub based on real-time changes in load mass and tilt angle, significantly improving adjustment accuracy and effectiveness. Simultaneously, precise water injection control avoids water waste and enhances the energy efficiency of the fabric processing equipment.

[0095] Optionally, in one implementation of this embodiment, the dynamic balance control system is configured to: when the difference in the amount of sinking of any two inner tubs corresponding to the bottom support structure of the outer tub exceeds a preset value, trigger the balance compensation execution module to initiate a balance compensation action to inject water into the bladder 3 on the outer wall surface of the outer tub 1 opposite to the tilted side of the outer tub 1.

[0096] In this embodiment, taking the example that the multiple inner barrels include a first inner barrel 201 and a second inner barrel 202, it is assumed that the detection mechanism detects that the settlement amount of the bottom support structure of the outer barrel 1 corresponding to the first inner barrel 201 is h1, and the settlement amount of the bottom support structure of the outer barrel 1 corresponding to the second inner barrel 202 is h2. The settlement amount difference Δh is equal to ∣h1 - h2∣. When the detection module detects that the settlement amount difference exceeds the preset value of the settlement amount difference, it triggers the balance compensation execution module to start the balance compensation action, including: in the case of h1 > h2, the balance compensation execution module is configured to: inject water into the cavity of the bladder 3 on the side close to the second inner barrel 202; in the case of h1 < h2, the balance compensation execution module is configured to: inject water into the cavity of the bladder 3 on the side close to the first inner barrel 201.

[0097] The preset value of the settlement amount difference is a threshold value for protecting the strength and stability of the support structure. When the controller detects that Δh exceeds the preset value of the settlement amount difference, it indicates that the forces on the support structures of the first inner barrel and the second inner barrel are in an unbalanced state at this time. This state will cause the outer barrel to tilt severely during the operation of the fabric processing device. The balance compensation execution module increases the weight of the inner barrel with a smaller settlement amount by injecting water into it, thereby changing the force distribution on the support structure of this inner barrel to make it continue to sink, so as to reduce the settlement amount difference Δh between the bottoms of the two inner barrels. When h1 > h2, the first inner barrel sinks more. The balance compensation execution module injects water into the second inner barrel to increase the weight of this inner barrel, so that the force on the support structure of the second inner barrel increases to increase its settlement amount, and then reduce the difference between h1 and h2; when h1 < h2, the balance compensation execution module injects water into the first inner barrel to increase the force on the support structure of the first inner barrel, so that the settlement amount of the first inner barrel increases and Δh decreases. If Δh does not exceed the preset value of the settlement amount difference, it means that the unbalanced force on the support structures of the two inner barrels is relatively small and will not have an obvious impact on the stable operation of the fabric processing device.

[0098] By comparing h1 and h2 when Δh exceeds the range value of the preset value of the settlement amount difference, it can quickly determine the inner barrel that needs to be injected with water and determine the amount of water to be injected into this inner barrel, so as to make the settlement amounts of the two inner barrels tend to be balanced, and then make the tilt angle of the outer barrel tend to 90 degrees, realizing the correction of the operation posture of the outer barrel by adjusting the water injection amount of the inner barrel. This adjustment method does not require controlling the operation of the bladder, enabling the fabric processing device to select the most suitable method to make corresponding adjustments to the tilt angle of the outer barrel according to the current situation.

[0099] Optionally, in an implementation manner of this embodiment, the following formula is used to control the water injection amount into the cavity of the bladder 3: v3 = π(r)²Δh, where v3 is the water injection amount, r is the barrel radius of the inner barrel on the side where water is injected, and Δh is the absolute value of the settlement amount difference of the bottom support structure of the outer barrel 1 corresponding to any two inner barrels.

[0100] The water injection calculation formula in this embodiment applies when the radii of the first and second inner tubs are equal. The tub radius r is a known fixed value, and Δh is detected and calculated by a displacement sensor. Since the density of clean water is 1, the essence of the formula v3=πr²Δh is to use the difference in sinking amount Δh between the two inner tubs as the height of the required water volume, and πr² as the area of ​​the water volume. Therefore, multiplying πr² by Δh yields the required water volume for the corresponding inner tub. For example, when h1>h2, the fabric processing device injects a volume of water v3 into the second inner tub, increasing the weight on the second inner tub side and thus increasing its sinking amount. This reduces the difference between h1 and h2 until the value of Δh is less than the preset value of the sinking amount difference, achieving balance compensation.

[0101] By using this water injection calculation formula, a specific water injection value can be obtained. This precise water injection control can avoid the situation where the water injection is not precise enough under fuzzy control, resulting in poor outer barrel balance adjustment. It significantly improves the adjustment accuracy and effect, thereby further enhancing the operational stability and dynamic balance capability of the fabric processing equipment.

[0102] Optionally, in one implementation of this embodiment, the balance compensation execution module includes a plurality of electromagnetic coils and ferromagnetic bodies corresponding one-to-one with the plurality of electromagnetic coils;

[0103] At least two of the ferromagnets are disposed on the outer peripheral wall or bottom wall of the outer barrel 1, and at least two of the electromagnetic coils are disposed on the inner wall of the outer shell 4. The electromagnetic coils are configured to generate magnetic forces that attract or repel the ferromagnets by being controlled to pass a directional current according to the offset of the center of gravity of the outer barrel 1.

[0104] In this embodiment, the electromagnetic coil can be installed on the inner wall of the fabric processing equipment, allowing it to surround the outer tub and be positioned opposite the ferromagnetic body. During the operation of the fabric processing equipment, the detection module continuously monitors the parameters of the third and fourth tubs and feeds them back to the controller in real time. When the controller determines that the mass difference exceeds a preset value, or the sinking difference exceeds the preset value, it further analyzes the tilt direction and degree of the outer tub to determine the electromagnetic coil and ferromagnetic body to which magnetic force needs to be applied. Based on the tilt of the outer tub, the controller supplies current to the corresponding electromagnetic coil. The energized electromagnetic coil generates a magnetic field, which attracts or repels the corresponding ferromagnetic body.

[0105] For example, if the outer tub tilts to the left, the controller determines that a force needs to be applied to the right. The controller then controls the current flowing through the electromagnetic coil on the right side, generating an attractive force on the right-side ferromagnetic object; or it controls the current flowing through the electromagnetic coil on the left side, generating a repulsive force on the left-side ferromagnetic object; or it applies both forces simultaneously. Through the magnetic force, the center of gravity of the outer tub shifts to the right, restoring it to an upright position. By precisely controlling the direction and magnitude of the current in the electromagnetic coils at different positions, different magnitudes and directions of magnetic force are generated, thereby achieving precise adjustment of the tilt angle of the outer tub, bringing the angle between the central axis of the outer tub and the horizontal plane closer to 90 degrees.

[0106] By combining an electromagnetic coil with a ferromagnetic material, a non-contact electromagnetic adjustment method is provided. Compared to methods that utilize changes in gravity to apply force, this method offers higher precision and faster response. It can generate the corresponding magnetic force between the outer drum and the inner wall of the fabric processing equipment in a shorter time, enabling rapid response and correction of the outer drum's tilt angle. Simultaneously, by controlling the direction and magnitude of the current, the direction and intensity of the magnetic force can be precisely controlled, improving the adjustment accuracy of the outer drum's center of gravity. This makes the adjustment range of the balance compensation execution module more flexible and comprehensive, capable of handling different directions and degrees of tilt of the outer drum, further enhancing the equipment's dynamic balance capability and operational stability, reducing vibration and noise, and thus extending the service life of the fabric processing equipment.

[0107] Optionally, in one implementation of this embodiment, the detection module includes one or more of a weight sensor, a displacement sensor, an amplitude sensor, and a tilt sensor.

[0108] In this embodiment, a weight sensor detects the load mass of the first and second inner tubs in real time, thereby obtaining data such as the load mass in the first and second tub parameters. A displacement sensor is installed on the bottom support structure of the corresponding outer tub of the first and second inner tubs to detect the sinking parameters of the corresponding outer tub support structure. An amplitude sensor is installed on the outer tub or other locations inside the fabric processing equipment to continuously detect the vibration amplitude of the fabric processing equipment during operation. A tilt sensor is installed on the outer tub to directly detect the tilt angle of the outer tub, i.e., the fourth tub parameter. These sensors transmit the acquired parameters to the controller in real time. The controller comprehensively analyzes and processes these parameters to make a comprehensive judgment and determine whether the balance compensation execution module needs to be activated for balance adjustment.

[0109] Through the synergistic effect of multiple sensors, the detection module can comprehensively and accurately acquire multiple barrel parameters, providing reliable data support for the controller's judgment and the adjustment method of the balance compensation execution module. This ensures that the fabric processing equipment can adjust the balance of the outer barrel in a timely and accurate manner, keeping the outer barrel in a vertical position.

[0110] Optionally, in one implementation of this embodiment, the dynamic balance control system further includes: a prediction module, which is configured to predict the mass difference between real-time mass parameters of any two inner tubs based on the load parameters in the plurality of inner tubs, and to predict the difference in sinking of the bottom support structure of any two inner tubs corresponding to the bottom support structure of the outer tub based on the sinking parameters of the bottom support structure of the outer tub corresponding to the plurality of inner tubs.

[0111] The dynamic balance control system is configured to trigger the balance compensation execution module to start the balance compensation action when the mass difference predicted by the preset module exceeds the preset value of the mass difference, or the sinking difference exceeds the preset value of the sinking difference.

[0112] In this embodiment, the prediction module obtains the load parameters inside the first inner tub 201 and the load parameters inside the second inner tub 202, predicts the mass difference between the two tubs based on the load parameters inside the first inner tub 201 and the load parameters inside the second inner tub 202, and predicts the difference in the amount of sinking of any two inner tubs corresponding to the bottom support structure of the outer tub based on the sinking amount parameters of the bottom support structure of the outer tub corresponding to the multiple inner tubs.

[0113] When the mass difference predicted by the preset module exceeds the preset value of mass difference, or the sinking difference exceeds the preset value of sinking difference, the balance compensation execution module is controlled to adjust the tilt angle of the outer barrel 1.

[0114] The preset module settings allow the fabric processing equipment to initiate balance compensation actions based on the prediction results of the prediction module before the inner drum starts running, after startup. This pre-adjusts the center of gravity position of the outer drum 1, thereby achieving feedforward adjustment. This solution reduces the frequency of dynamic compensation during operation, lowers energy consumption and response delay, and improves the overall stability of the machine.

[0115] Optionally, in one implementation of this embodiment, the dynamic balance control system is configured to: when the mass difference of the real-time mass parameters of any two inner tubs exceeds a preset mass difference value, and the sinking difference of the sinking parameters of the bottom support structure of the outer tub corresponding to any two inner tubs exceeds a preset sinking difference value, the balance compensation execution module adjusts the force state of the outer tub 1 based on the coupling weight of the mass difference and the sinking difference.

[0116] Furthermore, the coupling weights include a mass difference weight coefficient and a sinking amount difference weight coefficient. The mass difference weight coefficient and the sinking amount difference weight coefficient are dynamically adjusted based on a preset weight allocation rule. The weight allocation rule is positively correlated with the real-time mass and sinking amount of the inner barrel.

[0117] Furthermore, the balance compensation execution module includes multiple independent compensation units, each of which is configured in correspondence with one of the inner tubs. Based on the coupled calculation results of the mass difference and the sinking difference, the balance compensation execution module controls the corresponding compensation unit to output a reverse compensation force. The magnitude of the reverse compensation force is proportional to the coupled calculation results, and its direction is opposite to the direction of the center of gravity offset of the outer tub 1.

[0118] Furthermore, the calculation formula for the coupling calculation result is: F compensation = K1×ΔM + K2×Δh, where ΔM is the absolute value of the mass difference between the real-time mass parameters of any two inner barrels, K1 is the mass difference weighting coefficient, Δh is the absolute value of the sinking difference between the sinking parameters of the bottom support structure of the outer barrel corresponding to any two inner barrels, and K2 is the sinking difference weighting coefficient.

[0119] Furthermore, the dynamic balance control system also includes a priority judgment unit, which is used to: prioritize adjusting the compensation force based on the mass difference parameter when the proportion of the mass difference exceeding the preset mass difference value is greater than the proportion of the sinking difference exceeding the preset sinking difference value; otherwise, prioritize adjusting the compensation force based on the sinking difference parameter.

[0120] Furthermore, the compensation unit is an electric push rod, a hydraulic push rod, or an electromagnetic adjustment device. The output force of the compensation unit can be continuously adjusted, and the adjustment accuracy matches the detection accuracy of the mass difference and sinking difference.

[0121] Furthermore, the dynamic balance control system is configured such that when both mass difference and sinking difference trigger compensation simultaneously, the balance compensation execution module first adjusts the horizontal force on the outer barrel to offset the center of gravity shift caused by the mass difference, and then adjusts the vertical force on the outer barrel to offset the support imbalance caused by the sinking difference.

[0122] Furthermore, the dynamic balance control system also includes a parameter correction unit, which is used to correct the sinking difference parameter based on the real-time mass parameter of the inner tub, eliminate the sinking detection error caused by the load weight of the inner tub, and then perform compensation adjustment by combining the corrected sinking difference parameter and mass difference parameter.

[0123] Furthermore, the weight allocation rules also include: when the quality difference exceeds twice or more of the preset threshold, the weight coefficient K1 for the quality difference is automatically increased to 0.7-0.9, and the weight coefficient K2 for the sinking difference is adjusted to 0.1-0.3; when the sinking difference exceeds twice or more of the preset threshold, the weight coefficient K2 for the sinking difference is automatically increased to 0.7-0.9, and the weight coefficient K1 for the quality difference is adjusted to 0.1-0.3.

[0124] Furthermore, the balance compensation execution module also includes a synchronization adjustment unit, which is used to control multiple compensation units to output compensation forces synchronously, ensuring that the outer barrel is synchronously balanced in the horizontal and vertical directions, and avoiding secondary center of gravity shift caused by step-by-step adjustment.

[0125] In this embodiment, a weighted approach is used to address the challenge of quantifying the impact of both mass difference and sinking difference on the balance, thereby accurately outputting the compensation force. Based on the deviation between the actual values ​​of mass difference and sinking difference and preset thresholds, the weight coefficients of both are dynamically assigned, ensuring the compensation force more closely reflects the actual cause of the imbalance and avoiding compensation deviations caused by a single parameter dominating the adjustment.

[0126] Let the weight coefficient for the mass difference be K1 and the weight coefficient for the sinking difference be K2, and let K1+K2=1 to ensure the uniformity of the compensation force. The values ​​of K1 and K2 are both between 0.1 and 0.9 to avoid the excessive weakening of one parameter. When the weight is below 0.1, the influence of the parameter on the compensation force can be ignored; when it is above 0.9, the influence of the other parameter is excessively suppressed, which may lead to the imbalance of regulation.

[0127] The adjustment of weight allocation is triggered by parameter deviation, which is calculated as (actual detected value - preset threshold) / preset threshold × 100%. The greater the deviation, the greater the contribution of the parameter to the imbalance, and the higher the corresponding weight coefficient should be.

[0128] For example, K1=0.5 and K2=0.5 have equal weights, which is suitable for situations where both the mass difference and the sinking difference are slightly unbalanced.

[0129] For example, if the mass difference deviation is >100% and greater than the sinking difference deviation, then K1 will automatically increase to 0.7 to 0.9, and K2 will be adjusted accordingly to 0.1 to 0.3. For instance, if the preset mass difference threshold is 5kg and the actual detected mass difference is 12kg (deviation 140%), and the preset sinking difference threshold is 2mm and the actual detected sinking difference is 3mm (deviation 50%), then K1 = 0.8 and K2 = 0.2, prioritizing adjustment based on the mass difference.

[0130] For example, if the sinking-dominant imbalance occurs, with the sinking difference deviation >100% and greater than the mass difference deviation, then K2 will automatically increase to 0.7 to 0.9, and K1 will be adjusted accordingly to 0.1 to 0.3. For instance, if the actual sinking difference is 5mm (preset threshold 2mm, deviation 150%), and the actual mass difference is 7kg (preset threshold 5kg, deviation 40%), then K2 = 0.8 and K1 = 0.2, prioritizing adjustment based on the sinking difference.

[0131] Coupled compensation force calculation logic: The compensation force F is calculated based on a linear superposition model, with the formula F compensation = K1 × ΔM + K2 × Δh, where: ΔM is the real-time mass difference between any two inner tubs (unit: kg), and its value is taken as the absolute value (to ensure that the direction of the compensation force is opposite to the direction of imbalance); Δh is the difference in sinking amount between the corresponding two inner tubs (unit: mm), also taken as the absolute value; the unit of F compensation is N (Newtons). This formula can directly quantify the magnitude of the required compensation force, providing precise instructions for the action of the compensation unit.

[0132] The system achieves horizontal balance first, followed by vertical balance, through step-by-step adjustments. This means first offsetting the horizontal center of gravity shift caused by mass difference, and then addressing the vertical support imbalance caused by sinking difference. The advantage of this logic is that it avoids mutual interference between horizontal and vertical adjustments, improving adjustment stability, and is particularly suitable for scenarios with heavy loads and significant weight loss.

[0133] Triggering conditions for step adjustment: When both the mass difference and the sinking difference exceed the preset threshold, and ΔM≥3kg or Δh≥2mm (i.e., moderate to severe imbalance), step adjustment is initiated; if it is a slight imbalance (ΔM<3kg and Δh<2mm), synchronous adjustment can be used to improve adjustment efficiency.

[0134] The steps for implementing step-by-step adjustment are as follows:

[0135] Step 1: Horizontal Balance Adjustment (Counteracting the Effect of Mass Difference). The dynamic balance control system controls the compensation units (such as electric push rods) corresponding to the two unbalanced inner tubs, outputting a horizontal compensation force to the side of the lighter inner tub. The magnitude of the compensation force is F_horizontal = K1 × ΔM (at this time, K1 = 1, temporarily ignoring the effect of the sinking difference). During the adjustment process, the detection module monitors the horizontal center of gravity position of the outer tub in real time. When the horizontal center of gravity offset is ≤0.5mm, the horizontal adjustment is complete.

[0136] Step 2: Vertical Balance Adjustment (To Counteract the Effect of Sinking Difference). After horizontal adjustment is completed, the control system switches to vertical adjustment mode, controlling the compensation unit on the support side corresponding to the inner tub with larger sinking to output a vertically upward compensation force. The magnitude of the compensation force is F_vertical = K2 × Δh (K2 = 1 at this time). The sinking parameter is monitored in real time. When the sinking difference between the two inner tubs is ≤ 0.2mm, the vertical adjustment is complete.

[0137] Step 3: Fine-tuning and calibration. After completing the horizontal and vertical adjustments, the system outputs a fine-tuning compensation force based on the real-time detected mass difference and sinking difference through the coupling formula F compensation = K1×ΔM + K2×Δh, ensuring that the overall center of gravity offset of the outer barrel is ≤0.3mm, thus achieving precise balance.

[0138] Secondary offset avoidance logic: During the step-by-step adjustment process, an adjustment interval monitoring is set. That is, after the first step of horizontal adjustment is completed, it pauses for 0.5 seconds to confirm that the horizontal center of gravity is stable before starting the second step of vertical adjustment. After fine-tuning and calibration, it monitors continuously for 3 seconds. If the center of gravity offset does not rebound, the adjustment ends to avoid secondary imbalance caused by step-by-step adjustment.

[0139] Taking a fabric processing device containing two independent inner drums (inner drum A and inner drum B) as an example, the specific parameters are as follows: Preset parameters: Preset threshold for mass difference ΔM0 = 5kg, preset threshold for sinking difference Δh0 = 2mm; Real-time detection parameters: Real-time mass of inner drum A M_A = 25kg, real-time mass of inner drum B M_B = 18kg, so ΔM = |25-18| = 7kg; Sinking of the outer drum support structure corresponding to inner drum A S_A = 3.5mm, sinking of inner drum B corresponding to S_B = 1.2mm, so Δh = |3.5-1.2| = 2.3mm; Parameter deviation calculation: Mass difference deviation = (7-5) / 5×100% = 40%; Sinking difference deviation = (2.3-2) / 2×100% = 15%; Both deviations are ≤100%, which is a normal scenario.

[0140] Adjustment process: The weight allocation unit of the dynamic balance control system determines K1=0.5 and K2=0.5 according to the conventional scenario rules; the compensation force is calculated through the coupling formula: F compensation = 0.5×7 + 0.5×2.3 = 3.5 + 1.15 = 4.65N; the balance compensation execution module activates the two electric push rods (compensation units) corresponding to inner tub A and inner tub B, where the electric push rod on the inner tub B side outputs a horizontal compensation force of 4.65N (directed towards the inner tub A side, to counteract the center of gravity shift caused by the greater mass of inner tub A); the detection module provides real-time feedback on the center of gravity position of the outer tub. When the center of gravity shift decreases from the initial 1.2mm to below 0.3mm, the control system issues a stop command, the compensation unit stops operating, and the adjustment is completed.

[0141] The following example uses two inner tubs (inner tub C and inner tub D) with the following specific parameters:

[0142] Preset parameters: ΔM0=5kg, Δh0=2mm; Real-time detection parameters: M_C=30kg, M_D=18kg, ΔM=12kg (deviation 140%); S_C=5.2mm, S_D=1.8mm, Δh=3.4mm (deviation 70%).

[0143] Triggering conditions: ΔM=12kg≥3kg, Δh=3.4mm≥2mm, satisfying the step-by-step adjustment triggering conditions.

[0144] Adjustment process:

[0145] Step 1: Horizontal balance adjustment. The control system sets K1=1, K2=0, and calculates F_horizontal = 1×12 = 12N; activates the electric push rod on the D side of the inner tub, outputting a horizontal compensation force of 12N (pointing towards the C side of the inner tub); monitors the horizontal center of gravity offset in real time. The initial offset is 2.5mm. After 3 seconds of adjustment, the offset decreases to 0.4mm, and the horizontal adjustment is complete.

[0146] Step 2: Vertical balance adjustment. Switch the control system to K1=0, K2=1, and calculate F_vertical = 1 × 3.4 = 3.4N; activate the hydraulic push rod (compensation unit) on the vertical direction of the inner tub C side, outputting a vertical upward compensation force of 3.4N (to counteract the sinking caused by excessive load on the inner tub C); monitor the sinking amount in real time. After adjusting for 2 seconds, the sinking amount of the inner tub C drops to 2.0mm, while the sinking amount of the inner tub D remains at 1.8mm, with a sinking difference of 0.2mm. Vertical adjustment is complete.

[0147] Step 3: Fine-tuning and calibration. Based on the real-time detection values ​​of ΔM=12kg and Δh=0.2mm, the weight allocation unit determines K1=0.8 and K2=0.2 (due to the greater deviation caused by the mass difference); calculate Ffine-tuning=0.8×12 + 0.2×0.2=9.6 + 0.04=9.64N; control the electric push rod on the D side of the inner tub to output a horizontal compensation force of 9.64N. After fine-tuning for 0.5 seconds, the overall center of gravity offset of the outer tub is reduced to 0.2mm, and the adjustment is complete.

[0148] After step-by-step adjustment, the operating stability of the outer drum is improved by 40%. Compared with synchronous adjustment, the occurrence rate of secondary offset is reduced from 15% to 3%, which is suitable for heavy-load fabric processing scenarios (such as industrial batch fabric cleaning and drying).

[0149] Taking the inner barrel C in Example 2 as an example:

[0150] Initial detection: The measured sinking amount of inner tub C is 5.2mm. This value includes the sinking caused by both the inner tub's own mass (10kg) and the load mass (20kg). Correction logic: The parameter correction unit corrects the measured value based on a preset mass-sinking correspondence table (calibrated through previous experiments, e.g., 10kg corresponds to a sinking of 1.0mm, 20kg corresponds to a sinking of 2.0mm, and 30kg corresponds to a sinking of 3.0mm). Correction calculation: The total mass of inner tub C is 30kg, corresponding to a theoretical sinking amount of 3.0mm, while the actual measured value is 5.2mm. mm, therefore the corrected sinking difference Δh correction = |(5.2-3.0)-(1.8-1.0)| = |2.2-0.8| = 1.4mm (the total mass of the inner barrel D is 18kg, the theoretical sinking is 1.0mm, the actual measured sinking is 1.8mm, and the corrected sinking is 0.8mm); Adjustment after correction: the corrected Δh correction = 1.4mm (deviation -30%). At this time, the mass difference deviation of 140% still dominates the imbalance. The weight allocation is K1=0.8, K2=0.2, the compensation force calculation is more accurate, and the over-compensation caused by the detection error is avoided.

[0151] Example 2

[0152] like Figure 2 As shown, this embodiment provides a control method for the fabric processing equipment in Embodiment 1. The steps of the method include: after the fabric processing equipment receives an opening command, before the inner drum runs, and / or during the running of the inner drum;

[0153] The mass difference between any two inner tubs in the multiple inner tubs of the fabric treatment is obtained in real time, as well as the difference in the amount of sinking of the bottom support structure of the corresponding outer tub between any two inner tubs;

[0154] If the mass difference detected by the detection module exceeds the preset value, or the sinking difference exceeds the preset value, the balance compensation execution module is controlled to execute the balance compensation program.

[0155] In this embodiment, the example of setting a first inner tub 201 and a second inner tub 202 inside the outer tub 1 is used for illustration. The detection module is used to detect the real-time quality parameters of each inner tub and the sinking amount parameters of the bottom support structure of the outer tub corresponding to each inner tub. The main board of the fabric processing equipment, i.e., the controller, calculates the quality difference of the real-time quality parameters of any two inner tubs, or the sinking amount difference of the sinking amount parameters of the bottom support structure of the outer tub corresponding to any two inner tubs. This can intuitively reflect the difference in the operating status between the two inner tubs. It should also be noted that the detection module can also directly detect the tub body parameters of the outer tub 1 as a fourth tub body parameter, which directly reflects the operating status of the outer tub itself. When the mass difference between any two inner tubs exceeds a preset mass difference value, or the sinking difference between the sinking parameters of the bottom support structure of the outer tub corresponding to any two inner tubs exceeds a preset sinking difference value, the controller controls the balance compensation execution module to initiate a balance compensation action. The compensation execution module is used to adjust the force state of the outer tub to counteract the shift in the center of gravity of the outer tub caused by the mass difference or sinking difference. For example, during or before the operation of the inner tubs, the detection module collects the real-time mass parameters of the first inner tub 201 and the sinking parameters of the bottom support structure of the outer tub 1 corresponding to the first inner tub 201, and collects the real-time mass parameters of the second inner tub 202 and the sinking parameters of the bottom support structure of the outer tub 1 corresponding to the second inner tub 202. The main board calculates the mass difference between the real-time mass parameters of the first inner tub 201 and the second inner tub 202. When the difference in mass exceeds the preset value, or when the difference in the sinking amount of the sinking amount parameters of the bottom support structure of the outer bucket corresponding to the first inner bucket 201 and the second inner bucket 202 exceeds the preset value, it means that the difference between the first inner bucket 201 and the second inner bucket 202 will interfere with the outer bucket 1 or the operating posture of the outer bucket 1, causing the center of the outer bucket 1 to shift. Or when the main board judges that the fourth bucket body parameter exceeds the preset bucket body parameter value, it can also indicate that the outer bucket 1 is in a posture of shifted center of gravity, which is not conducive to the operation of the inner bucket. The balance compensation execution module will receive the control signal sent by the main control board and then adjust the tilt angle of the outer bucket 1, so that the angle between the central axis of the outer bucket and the horizontal plane gradually approaches 90°, thereby ensuring that the outer bucket is in a relatively stable state and offsetting the shift of the center of gravity of the outer bucket 1 caused by the difference in mass or sinking amount.

[0156] When the above difference exceeds the corresponding preset value, it can accurately reflect the impact of multiple inner tubs on the overall balance of the outer tub. Based on the detected parameters, the balance compensation execution module is controlled to make timely and precise dynamic adjustments to the tilt angle of the outer tub. This reduces the risk of the outer tub's center of gravity shifting due to uneven load distribution and asynchronous operation when multiple inner tubs are running simultaneously. It significantly reduces the vibration amplitude of the fabric processing equipment during operation, improves the stability of the whole machine, and extends the service life of the fabric processing equipment.

[0157] Optionally, in one implementation of this embodiment, such as Figure 3 , 4 As shown, the balance compensation program includes a first balance compensation program, which includes: determining whether to execute the first balance compensation program based on whether the mass difference between any two inner tubs exceeds a preset mass difference value; if the mass difference exceeds the preset mass difference value, then the first balance compensation program is executed, and the balance compensation execution module is controlled to start a balance compensation action to inject water into the bladder 3 on the outer wall surface of the outer tub 1 opposite to the inclined side of the outer tub 1; if the mass difference does not exceed the preset mass difference value, then the first balance compensation program is not executed.

[0158] Furthermore, the balancing compensation procedure also includes a second balancing compensation procedure, in which the mass difference does not exceed the preset mass difference value, and the second balancing compensation procedure is initiated.

[0159] The second balance compensation procedure includes: determining whether to execute the second balance compensation procedure based on whether the difference in the amount of sinking of the bottom support structure of any two inner tubs corresponding to the outer tub exceeds a preset value for the difference in sinking.

[0160] If the difference in the amount of sinking of the bottom support structure of any two inner tubs corresponding to the outer tub 1 detected by the detection module exceeds the preset value of the difference in sinking, then the second balance compensation program is executed, and the balance compensation execution module is controlled to start the balance compensation action to inject water into the bladder 3 on the outer wall surface of the outer tub 1 opposite to the tilt side of the outer tub 1.

[0161] If the difference in the amount of sinking of the bottom support structure of the corresponding outer bucket 1 of any two inner buckets detected by the detection module does not exceed the preset value of the difference in sinking, then the second balance compensation procedure will not be executed.

[0162] In this embodiment, taking the plurality of inner tubs including a first inner tub 201 and a second inner tub 202 as an example, the real-time mass of the first inner tub 201 includes the sum of the mass of the inner tub and the real-time mass of the load inside the tub, which is m1; the real-time mass of the second inner tub 202 includes the sum of the mass of the inner tub and the real-time mass of the load inside the tub, which is m2; and the mass difference is Δm = |m1-m2|.

[0163] The balancing compensation procedure includes a first balancing compensation procedure, which includes:

[0164] Based on whether Δm exceeds the preset value of the mass difference, it is determined whether to execute the first balance compensation program. If Δm exceeds the preset value of the mass difference, the first balance compensation program is executed. When m1 > m2, the balance compensation execution module is controlled to inject water into the bladder 3 on the side closer to the second inner barrel 202. When m1 < m2, the balance compensation execution module is controlled to inject water into the bladder 3 on the side closer to the first inner barrel 201.

[0165] If Δm does not exceed the preset value of the mass difference, the first balance compensation procedure will not be executed.

[0166] Furthermore, the sinking amount of the bottom support structure of the first inner tub 201 corresponding to the outer tub 1 is h1, and the sinking amount of the second inner tub 202 corresponding to the bottom support structure of the outer tub 1 is h2. The difference in sinking amount is Δh, which is equal to |h1-h2|.

[0167] The balance compensation procedure also includes a second balance compensation procedure, in which the second balance compensation procedure is entered when Δm does not exceed the preset value of the mass difference.

[0168] The second balance compensation procedure includes: determining whether to execute the second balance compensation procedure based on whether Δh exceeds the preset value of the subsidence difference;

[0169] If Δh exceeds the preset value of the sinking difference, the second balance compensation program is executed. If h1 > h2, the balance compensation execution module is controlled to inject water into the second inner tank 202 to reduce Δh; if h1 < h2, the balance compensation execution module is controlled to inject water into the first inner tank 201 to reduce Δh.

[0170] If Δh does not exceed the preset value of mass difference, the second balance compensation procedure will not be executed.

[0171] In this embodiment, the controller first obtains the difference Δm between the load mass m1 inside the first inner tub and the load mass m2 inside the second inner tub. Then, it compares Δm with a preset threshold value for the mass difference to determine whether the first balancing compensation procedure needs to be entered. If Δm exceeds the preset threshold value for the mass difference, it indicates that the load imbalance between the first and second inner tubs is relatively serious, and the fabric processing equipment needs to execute the first balancing compensation procedure. At this time, the controller obtains the current tilt angle θ of the outer tub through the tilt sensor. If m1 is greater than m2, it means the first inner tub is under a heavier load, and the outer tub is tilted towards the first inner tub. In this case, the controller will control the water source to inject water into the bladder closer to the second inner tub, increasing the weight on one side of the second inner tub to generate a reverse torque, reducing the tilt angle of the outer tub and gradually bringing it closer to 90 degrees. The adjusted tilt angle θ' of the outer tub satisfies the relationship θ < θ' ≤ 90°. If m1 is less than m2, it means the second inner tub is under a heavier load, and the outer tub is tilted towards the second inner tub. In this case, the controller will control the water source to inject water into the bladder closer to the first inner tub to increase the weight on one side of the first inner tub. Similarly, the reverse torque will adjust the tilt angle of the outer tub to θ', which satisfies the relationship θ < θ' ≤ 90°. If Δm does not exceed the preset threshold for mass difference, it means the load imbalance between the two inner tubs is minor and will not temporarily affect the stable operation of the fabric processing equipment. Therefore, the controller determines that the fabric processing equipment does not need to execute the first balancing compensation procedure.

[0172] like Figure 4 As shown, the preset value for the sinking difference is a threshold used to protect the strength and stability of the support structure. When the controller detects that Δh exceeds the preset value for the sinking difference, it indicates that the support structures of the first and second inner tubs are in an unbalanced state. This state can cause the outer tub to tilt severely during the operation of the fabric processing equipment. The balance compensation execution module increases the weight of the inner tub by injecting water into the inner tub with the smaller sinking amount, thereby changing the force distribution of the inner tub's support structure and causing it to continue sinking, thus reducing the sinking difference Δh between the bottoms of the two inner tubs. When h1 > h2, the first inner tub sinks more, and the balance compensation execution module injects water into the second inner tub to increase its weight, increasing the force on the support structure of the second inner tub to increase its sinking amount, thereby reducing the difference between h1 and h2; when h1 < h2, the balance compensation execution module injects water into the first inner tub to increase the force on the support structure of the first inner tub, increasing the sinking amount of the first inner tub and decreasing Δh. If Δh does not exceed the preset value of the sinking difference, it indicates that the force imbalance of the support structure of the two inner barrels is relatively minor and will not have a significant impact on the stable operation of the fabric processing equipment. Therefore, the second balance compensation procedure is not executed, thereby reducing redundant control operations and lowering the energy consumption of the fabric processing equipment.

[0173] By comparing h1 and h2 when Δh exceeds the preset value of the sinking difference, the inner tank that needs water injection can be quickly identified, and the amount of water to be injected into that inner tank can be determined to balance the sinking of the two inner tanks. This, in turn, makes the tilt angle of the outer tank approach 90 degrees. By subdividing the tank balance compensation program into a first balance compensation program and a second balance compensation program, the balance compensation of the outer tank becomes more targeted and the adjustment effect is more precise. This not only enables rapid and effective dynamic adjustment of the outer tank in a severely tilted state, but also further improves the operational stability of the fabric processing equipment. At the same time, it avoids the fabric processing equipment from performing unnecessary adjustment steps, thereby making a more comprehensive and precise adjustment of the center of gravity of the outer tank, further improving the operational stability and dynamic balance capability of the fabric processing equipment.

[0174] Optionally, in one implementation of this embodiment, the control method further includes: a prediction program, which is executed after the fabric processing equipment receives the start command and before the inner tub is run;

[0175] The prediction program includes: acquiring real-time mass parameters within the plurality of inner tubs; predicting the mass difference between any two inner tubs based on the real-time mass parameters within the plurality of inner tubs; and predicting the difference in the amount of sinking of the bottom support structure of any two inner tubs corresponding to the bottom support structure of the outer tub based on the sinking parameters of the bottom support structure of the outer tub corresponding to the plurality of inner tubs; if the predicted mass difference exceeds a preset value, or the sinking difference exceeds the preset value, controlling the balance compensation execution module to initiate a balance compensation action; or, acquiring load parameters within the plurality of inner tubs; predicting the tilt angle of the outer tub 1 based on the load parameters within the plurality of inner tubs; if the predicted tilt angle is greater than a tilt angle threshold, controlling the balance compensation execution module to initiate a balance compensation action.

[0176] The tilt angle is the angle between the central axis of the outer barrel and the horizontal plane.

[0177] Furthermore, the real-time mass parameters of multiple inner tubs, the sinking parameters of the bottom support structure of the outer tubs corresponding to multiple inner tubs, and the load parameters of multiple inner tubs are input into the parameter recognition model to obtain the mass difference, the sinking difference, and the tilt angle predicted by the parameter recognition model.

[0178] The parameter recognition model is trained in the following manner:

[0179] Obtain target parameter information with pre-set training labels, and use the target parameter information as model input data;

[0180] Using the model input data as input, the mass difference, sinking difference, and tilt angle output by the training label and the parameter recognition model are compared, and the parameter recognition model is trained based on the differences between the mass difference, sinking difference, and tilt angle and the training label.

[0181] The control method in this embodiment also includes a prediction program, which can be executed before the balance compensation program. Specifically, before the fabric processing equipment operates on the inner tub, the prediction program is executed first. The controller obtains real-time mass parameters of multiple inner tubs, subsidence parameters of the corresponding outer tub bottom support structures, and load parameters of multiple inner tubs through the detection module, and inputs these into a trained parameter recognition model. The parameter recognition model quickly finds and outputs the corresponding tub balance compensation parameters based on the input tub parameters and the mapping relationship between tub parameters and balance compensation parameters learned during training. These tub balance compensation parameters include information such as the type of balance compensation program to be initiated (first balance compensation program or second balance compensation program), the amount of water injected, and whether the tub or bladder needs water injection. The controller then initiates the corresponding tank balance compensation program based on the tank balance compensation parameters output by the model, and controls the balance compensation execution module to perform precise adjustment operations before each inner tank rotates. By controlling the water volume change, the tilt angle of the outer tank is made to approach 90 degrees, so that the outer tank is in a vertical position before the fabric processing equipment is running, avoiding adjustments only after severe vibration has occurred after the fabric processing equipment has started running.

[0182] The fabric handling equipment executes a predictive program before controlling the inner tub's rotation and uses a parameter identification model to analyze and predict the current tub parameters. This allows for balance compensation to be initiated before the inner tub begins operation, adjusting the outer tub's center of gravity position in advance, thus achieving feedforward control. Compared to methods where adjustments are only made when severe vibrations occur during fabric handling equipment operation, executing the predictive program beforehand reduces the risk of damage to the inner and outer tubs due to collisions or vibrations in the initial stages of operation. This ensures the outer tub is in a vertical position before the fabric handling equipment starts operating, reduces the frequency of dynamic compensation during operation, lowers energy consumption and response delay, and further improves the operational stability of the fabric handling equipment.

[0183] This prediction program can be executed independently to provide predictive compensation for the balance of outer bucket 1.

[0184] Example 3

[0185] This embodiment provides an electronic device, including a memory and a processor. The memory is used to store computer instructions, and the processor is used to call and execute the computer instructions to implement the control method in Embodiment 2.

[0186] In this embodiment, since the electronic device includes the control method in Embodiment 2, the electronic device has all the beneficial effects of the control method in Embodiment 2, which will not be elaborated here.

[0187] In summary, the ingenious design of the fabric processing equipment lies in:

[0188] First, through the coordinated action of the detection module and the balance compensation execution module in the dynamic balance control system, the fabric processing equipment can comprehensively and in real-time acquire the real-time mass parameters of each inner tub and the sinking parameters of the bottom support structure of the corresponding outer tub. The mass difference of the real-time mass parameters and the sinking difference of the corresponding outer tub bottom support structure can reflect the balance influence of the inner tub on the outer tub. When the above difference exceeds the corresponding preset value, it can accurately reflect the influence of multiple inner tubs on the overall balance state of the outer tub. Based on the detected parameters, the balance compensation execution module makes timely and precise dynamic adjustments to the tilt angle of the outer tub, thereby reducing the risk of the outer tub's center of gravity shifting due to uneven load distribution and asynchronous operation programs when multiple inner tubs are running simultaneously. This significantly reduces the vibration amplitude of the fabric processing equipment during operation, improves the stability of the whole machine, and extends the service life of the fabric processing equipment.

[0189] Secondly, by controlling the connection design between the water source bladder and the water source and the outside of the fabric processing equipment, the bladder can adjust the direction and magnitude of the force applied to the outer barrel by using changes in its own water volume. This achieves a simple and direct way to quickly and accurately adjust the tilt angle of the outer barrel, effectively compensating for the shift of the outer barrel's center of gravity caused by uneven load on the inner barrel or different operating conditions. This significantly improves the dynamic balance capability of the equipment, ensures stable operation of the equipment under complex working conditions, reduces vibration and noise, and extends the service life of the equipment.

[0190] Third, the design combining an electromagnetic coil and a ferromagnet provides a non-contact electromagnetic adjustment method. Compared to methods that utilize changes in gravity to apply force, this method offers higher precision and faster response. It can generate the corresponding magnetic force between the outer drum and the inner wall of the fabric processing equipment in a shorter time, enabling rapid response and correction of the outer drum's tilt angle. Simultaneously, by controlling the direction and magnitude of the current, the direction and intensity of the magnetic force can be precisely controlled, improving the adjustment accuracy of the outer drum's center of gravity. This makes the adjustment range of the balance compensation execution module more flexible and comprehensive, capable of handling different directions and degrees of tilt of the outer drum, further enhancing the equipment's dynamic balance capability and operational stability, reducing vibration and noise, and thus extending the service life of the fabric processing equipment.

[0191] Fourth, in the control method of the fabric processing equipment, by subdividing the barrel balance compensation program into a first balance compensation program and a second balance compensation program, the balance compensation of the outer barrel is made more targeted and the adjustment effect is more precise. It can not only make rapid and effective dynamic adjustments to the outer barrel in a severely tilted state, but also further improve the operational stability of the fabric processing equipment. At the same time, it avoids the fabric processing equipment from performing unnecessary adjustment steps, thereby making a more comprehensive and precise adjustment of the center of gravity of the outer barrel, and further improving the operational stability and dynamic balance capability of the fabric processing equipment.

[0192] Fifth, the fabric handling equipment executes a predictive program before controlling the inner tub's rotation and uses a parameter identification model to analyze and predict the current tub parameters. This allows for balance compensation to be initiated before the inner tub begins operation, adjusting the outer tub's center of gravity position in advance, thus achieving feedforward control. Compared to adjusting only when severe vibrations occur during operation, executing the predictive program beforehand reduces the risk of damage to the inner and outer tubs due to collisions or vibrations in the initial stages of operation. This ensures the outer tub remains vertical before the fabric handling equipment starts operating, reduces the frequency of dynamic compensation during operation, lowers energy consumption and response delay, and further improves the operational stability of the fabric handling equipment.

[0193] It can be further understood that in this disclosure, "many" refers to two or more, and other quantifiers are similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0194] It is further understood that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another and do not indicate a specific order or degree of importance. In fact, the expressions "first," "second," etc., are completely interchangeable. For example, without departing from the scope of this disclosure, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.

[0195] It is further understood that although operations are described in a specific order in the accompanying drawings in the embodiments of this disclosure, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all of the shown operations to be performed to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0196] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0197] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A fabric processing device, characterized in that, The fabric processing equipment includes: Outer shell (4); An outer tub (1) is disposed in the outer shell (4); multiple independently operable inner tubs are installed inside the outer tub (1); The dynamic balance control system includes a detection module and a balance compensation execution module. The detection module is used to dynamically detect the real-time mass parameters of each inner tub and the sinking parameters of the bottom support structure of the corresponding outer tub for each inner tub. The real-time mass parameters of each inner tub include the real-time mass of each inner tub, and the real-time mass of each inner tub includes the sum of the mass of the inner tub and the real-time mass of the load inside the tub. The balance compensation execution module is located in the interlayer between the outer shell (4) and the outer barrel (1); The dynamic balance control system is configured to trigger the balance compensation execution module to start the balance compensation action when the mass difference between any two inner tubs exceeds a preset mass difference value, or the sinking difference between any two inner tubs corresponding to the sinking parameters of the bottom support structure of the outer tub exceeds a preset sinking difference value. The balance compensation execution module is used to adjust the force state of the outer barrel (1) to counteract the shift of the center of gravity of the outer barrel (1) caused by mass difference or sinking difference.

2. The fabric processing equipment according to claim 1, characterized in that, The balance compensation execution module includes multiple capsules (3), which are distributed along the circumference of the outer barrel (1) on the outer wall surface of the outer barrel (1); The capsule (3) has the ability to deform, and a cavity is formed inside the capsule (3). The cavity of the capsule (3) can be filled with fluid or drained with fluid according to the center of gravity offset of the outer barrel (1).

3. The fabric processing equipment according to claim 2, characterized in that, At least one bladder (3) is provided on the front, back, left and right sides of the outer barrel (1).

4. The fabric processing equipment according to claim 2, characterized in that, The fluid is water. At least two pairs of the capsules (3) are arranged radially opposite each other on the outer wall of the outer barrel (1). Each capsule (3) has an inlet end and an outlet end. The inlet end of the capsule (3) is connected to the water source, and the outlet end of the capsule (3) is connected to the outside of the fabric processing equipment.

5. The fabric processing equipment according to claim 2, characterized in that, The dynamic balance control system is configured such that when the difference in the real-time mass parameters of any two inner barrels detected by the detection module exceeds a preset value, the balance compensation execution module is triggered to start a balance compensation action to inject water into the bladder (3) on the outer wall surface of the outer barrel (1) opposite to the tilt side of the outer barrel (1).

6. The fabric processing equipment according to claim 5, characterized in that, The dynamic balance control system is configured to determine the amount of water injected into the cavity of the bladder (3) based on the angle θ between the central axis of the outer barrel (1) and the horizontal plane and the mass difference.

7. The fabric processing equipment according to claim 6, characterized in that, The amount of water injected into the cavity of the capsule (3) is controlled using the following formula: v1=k×cosθ×Δm, where v1 is the water injection volume, k is the compensation coefficient, 0≤k≤1, θ is the angle between the central axis of the outer bucket (1) and the horizontal plane, Δm is the absolute value of the mass difference between any two inner buckets, and × represents the multiplication sign.

8. The fabric processing equipment according to claim 3, characterized in that, The dynamic balance control system is configured such that when the difference in the amount of sinking of any two inner barrels corresponding to the bottom support structure of the outer barrel exceeds a preset value, the balance compensation execution module is triggered to start the balance compensation action to inject water into the bladder (3) on the outer wall surface of the outer barrel (1) opposite to the tilt side of the outer barrel (1).

9. The fabric processing equipment according to claim 8, characterized in that, The amount of water injected into the cavity of the bladder (3) is controlled by the following formula: v3=π(r)²Δh, where v3 is the amount of water injected, r is the radius of the inner barrel on the side of water injection, and Δh is the absolute value of the difference in the amount of sinking of the bottom support structure of the corresponding outer barrel (1) of any two inner barrels.

10. The fabric processing equipment according to claim 2, characterized in that, The capsule (3) material has shape memory properties.

11. The fabric processing equipment according to claim 1, characterized in that, The balance compensation execution module includes multiple electromagnetic coils and ferromagnetic bodies corresponding to each of the multiple electromagnetic coils; At least two of the ferromagnets are disposed on the outer peripheral wall or bottom wall of the outer barrel (1), and at least two of the electromagnetic coils are disposed on the inner wall of the outer shell (4). The electromagnetic coils are configured to generate magnetic forces that attract or repel the ferromagnets by being controlled to pass a directional current according to the offset of the center of gravity of the outer barrel (1).

12. The fabric processing equipment according to claim 1, characterized in that, The dynamic balance control system is configured such that when the mass difference between the real-time mass parameters of any two inner barrels exceeds the preset value of the mass difference, and the difference in the amount of sinking of the sinking parameter of the bottom support structure of the outer barrel corresponding to any two inner barrels exceeds the preset value of the amount of sinking, the balance compensation execution module adjusts the force state of the outer barrel (1) based on the coupling weight of the mass difference and the amount of sinking.

13. The fabric processing equipment according to claim 12, characterized in that, The coupling weights include a mass difference weight coefficient and a sinking amount difference weight coefficient. The mass difference weight coefficient and the sinking amount difference weight coefficient are dynamically adjusted based on a preset weight allocation rule. The weight allocation rule is positively correlated with the real-time mass and sinking amount of the inner barrel.

14. The fabric processing equipment according to claim 13, characterized in that, The balance compensation execution module includes multiple independent compensation units, each of which is set in correspondence with one of the inner barrels. Based on the coupled calculation results of the mass difference and the sinking difference, the balance compensation execution module controls the corresponding compensation unit to output a reverse compensation force. The magnitude of the reverse compensation force is proportional to the coupled calculation results, and its direction is opposite to the direction of the center of gravity offset of the outer barrel (1).

15. The fabric processing equipment according to claim 14, characterized in that, The calculation formula for the coupling calculation result is: F compensation = K1×ΔM + K2×Δh, where ΔM is the absolute value of the mass difference between the real-time mass parameters of any two inner barrels, K1 is the mass difference weighting coefficient, Δh is the absolute value of the sinking difference between the sinking parameters of the bottom support structure of the outer barrel corresponding to any two inner barrels, and K2 is the sinking difference weighting coefficient.

16. A control method for a fabric processing device, characterized in that, The fabric processing equipment includes: an outer shell (4); An outer tub (1) is disposed in the outer shell (4); multiple independently operable inner tubs are installed inside the outer tub (1); The dynamic balance control system includes a detection module and a balance compensation execution module. The detection module is used to dynamically detect the real-time mass parameters of each inner tub and the sinking parameters of the bottom support structure of the corresponding outer tub for each inner tub. The real-time mass parameters of each inner tub include the real-time mass of each inner tub, and the real-time mass of each inner tub includes the sum of the mass of the inner tub and the real-time mass of the load inside the tub. The balance compensation execution module is located in the interlayer between the outer shell (4) and the outer barrel (1); The control method includes: After the fabric handling equipment receives the start command, before the inner tub operates, and / or during the operation of the inner tub; The mass difference between any two inner drums in the multiple inner drums of the fabric processing equipment in real time, and the difference in the amount of sinking of the corresponding bottom support structure of the outer drum between any two inner drums are obtained. If the difference in the real-time mass parameters of any two inner tubs exceeds a preset value, or if the difference in the amount of sinking of the corresponding bottom support structure of the outer tubs of any two inner tubs exceeds the preset value, the balance compensation execution module is controlled to execute the balance compensation program.

17. The control method according to claim 16, characterized in that, The balance compensation execution module includes multiple bladders (3), which are distributed along the circumference of the outer barrel (1) on the outer wall surface of the outer barrel (1); the bladders (3) have deformation capabilities, and cavities are formed inside the bladders (3); the cavities of the bladders (3) can be injected with or discharged with fluid according to the center of gravity shift of the outer barrel (1). The balancing compensation procedure includes a first balancing compensation procedure, which includes: If the difference between the real-time mass parameters of any two inner tubs exceeds the preset value, determine whether to execute the first balance compensation program. If the difference exceeds the preset value, execute the first balance compensation program and control the balance compensation execution module to start the balance compensation action to inject water into the bladder (3) on the outer wall surface of the outer tub (1) opposite to the tilt side of the outer tub (1). If the quality difference does not exceed the preset value of the quality difference, the first balance compensation procedure will not be executed.

18. The control method according to claim 17, characterized in that, The balance compensation procedure also includes a second balance compensation procedure. If the mass difference does not exceed the preset value of the mass difference, the second balance compensation procedure is initiated. The second balance compensation procedure includes: determining whether to execute the second balance compensation procedure based on whether the difference in the amount of sinking of the bottom support structure of any two inner tubs corresponding to the outer tub exceeds a preset value for the difference in sinking. If the difference in the amount of sinking of the bottom support structure of any two inner tubs detected by the detection module exceeds the preset value of the difference in sinking, then the second balance compensation program is executed, and the balance compensation execution module is controlled to start the balance compensation action to inject water into the bladder (3) on the outer wall surface of the outer tub (1) opposite to the tilt side of the outer tub (1). If the difference in the amount of sinking of the bottom support structure of any two inner tubs corresponding to the outer tub (1) detected by the detection module does not exceed the preset value of the difference in sinking, then the second balance compensation procedure will not be executed.

19. An electronic device, characterized in that, include: Memory stores computer instructions; A processor for invoking and executing the computer instructions to implement the control method as described in any one of claims 16-18.

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