Clothes processing device and control method thereof, electronic equipment and storage medium

Abstract

The invention provides a clothes treatment device and a control method thereof, electronic equipment and a storage medium, the clothes treatment device is provided with an inertia measurement device and a rotatable washing drum, the inertia measurement device is loaded in the washing drum, and the method comprises the following steps: acquiring measurement information of the inertia measurement device; and monitoring the running state of the washing drum according to the measurement information. According to the scheme, actual implementation and application are facilitated, the actual running state of the washing drum can be obtained, the washing effect of the clothes treatment device in actual use is controllable, and the use experience of a user is improved.

Description

Technical Field

[0001] This invention relates to the field of clothing processing device control technology, and in particular to a clothing processing device and its control method, electronic equipment and storage medium. Background Technology

[0002] As an indispensable household appliance in modern homes, the internal structure of a washing machine has a significant impact on its function and performance. The rotation and spin speed control of the washing drum are achieved through a drum motor. This motor drives the drum to rotate, enabling washing and spin-drying functions. By controlling the drum motor's speed, the washing and spin-drying speeds can be precisely controlled to meet the washing needs of different types of clothing. Adjusting the current and voltage of the drum motor allows for regulation of the washing intensity, ensuring optimal cleaning results.

[0003] To ensure optimal washing performance and achieve precise control and management of the washing drum, washing machines currently utilize closed-loop motor control feedback systems. These systems provide position, speed, and torque feedback information. The main control board uses this feedback to understand the drum motor's speed, direction, position, and load, adjusting its operation accordingly. However, this approach makes the drum's operation entirely dependent on the accuracy, precision, and timeliness of the feedback system. It fails to provide a clear picture of the drum's actual operating status, leading to unpredictable washing results and a diminished user experience. Summary of the Invention

[0004] To achieve the above-mentioned objectives and other advantages of the present invention, a first objective of the present invention is to provide a control method for a garment handling apparatus, the garment handling apparatus being equipped with an inertial measuring device and a rotatable washing drum, the inertial measuring device being mounted inside the washing drum, comprising the following steps:

[0005] Obtain the measurement information from the inertial measurement device;

[0006] The operating status of the washing drum is monitored using the measurement information.

[0007] Furthermore, the measurement information includes measurement information from multiple directions of the washing drum.

[0008] Furthermore, the measurement information is the acceleration of the washing drum in multiple directions.

[0009] Furthermore, the acceleration of the washing drum in multiple directions is the acceleration of the washing drum measured in multiple detection axis directions of the inertial measurement device.

[0010] Furthermore, the plurality of detection axes are configured to include an x-axis for measuring the left-right acceleration of the washing drum, a y-axis for measuring the front-back acceleration of the washing drum, and a z-axis for measuring the up-down acceleration of the washing drum; wherein the plurality of detection axes of the inertial measurement device are perpendicular to each other, and any two of the detection axes form a detection plane.

[0011] Furthermore, the step of monitoring the operating status of the washing drum through the measurement information includes:

[0012] The operating status of the washing drum is monitored by measuring acceleration in multiple directions.

[0013] Furthermore, the step of monitoring the operating status of the washing drum by measuring acceleration in multiple directions includes:

[0014] The tilt angle of the washing drum is calculated by the acceleration in multiple directions of the washing drum;

[0015] The position of the washing drum rotation is determined by the tilt angle.

[0016] Furthermore, the step of monitoring the operating status of the washing drum by measuring acceleration in multiple directions also includes:

[0017] The actual operating information of the washing drum is obtained by analyzing the position of the rotating washing drum.

[0018] The operation of the washing drum is controlled by combining the actual operating information with the target operating information.

[0019] Furthermore, the step of calculating the tilt angle of the washing drum using accelerations in multiple directions includes:

[0020] The tilt angle of the corresponding detection plane is calculated by measuring the acceleration in multiple directions of the washing drum.

[0021] Furthermore, the step of calculating the tilt angle of the washing drum using accelerations in multiple directions further includes:

[0022] Obtain a reference location;

[0023] The angles between the multiple detection axes and the reference position are calculated using the acceleration of the washing drum in multiple directions and the reference position.

[0024] Furthermore, the reference position is configured such that the gravity component on one of the detection axes is 1g, and the other detection axes have no gravity component.

[0025] Furthermore, the step of determining the position of the washing drum rotation by the tilt angle further includes:

[0026] When the measurement information is associated with the device to be tested inside the washing drum, the position of the device to be tested is determined based on the position of the rotating washing drum.

[0027] Furthermore, the step of obtaining the actual operating information of the washing drum by analyzing the position of the rotating washing drum includes:

[0028] By analyzing the position of the washing drum at different times, one or more of the following can be obtained: rotation direction, rotation speed, number of rotations, and rhythm of motion of the washing drum.

[0029] A second objective of the present invention is to provide a garment processing device that utilizes the above-described method, comprising a rotatable washing drum, an inertial measurement device, a washing drum power supply module, and a main control board. The inertial measurement device is mounted inside the washing drum, and the main control board is electrically connected to the inertial measurement device via the washing drum power supply module.

[0030] A third object of the present invention is to provide an electronic device comprising: a memory having program code stored thereon; and a processor connected to the memory, wherein the above-described method is implemented when the program code is executed by the processor.

[0031] A fourth objective of this invention is to provide a computer-readable storage medium having program instructions stored thereon, which, when executed, implement the method described above.

[0032] Compared with the prior art, the beneficial effects of the present invention are:

[0033] This invention provides a garment processing device and its control method, electronic device, and storage medium. The garment processing device is equipped with an inertial measurement unit and a rotatable washing drum. The inertial measurement unit is installed inside the washing drum. The process includes the following steps: acquiring measurement information from the inertial measurement unit; and monitoring the operating status of the washing drum using the measurement information. The solution provided by this invention is convenient for practical application, enabling the acquisition of the actual operating status of the washing drum, thus making the washing effect of the garment processing device controllable in actual use and improving the user experience.

[0034] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0036] Figure 1 This is a flowchart of the control method for the clothing handling device in Example 1;

[0037] Figure 2 Flowchart for determining the position of the washing drum rotation in Example 1;

[0038] Figure 3 This is a flowchart illustrating the operation of the control washing drum in Example 1;

[0039] Figure 4 Here is a flowchart of the tilt angle calculation for Example 1;

[0040] Figure 5 Cross-section of the garment processing device Figure 1 ;

[0041] Figure 6 Cross-section of the garment processing device Figure 2 ;

[0042] Figure 7 This is a schematic diagram of the interior of the garment processing device;

[0043] Figure 8 This is a schematic diagram of the electronic device in Example 3;

[0044] Figure 9 This is a schematic diagram of the storage medium in Example 4.

[0045] In the diagram: 1. Washing drum; 2. Inertial measurement unit; 3. Lifting rib; 4. Clamping device; 5. Washing drum power supply module. Detailed Implementation

[0046] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0047] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0048] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0050] To address the issue that washing machines rely on closed-loop motor control feedback systems to provide position, speed, and torque feedback information, the main control board uses this feedback to understand the speed, direction, position, and load of the washing drum motor, and then adjusts the motor's operating state to control and manage the drum. However, this makes the drum's operating state entirely dependent on the accuracy, precision, and timeliness of the feedback system, making it impossible to know the actual operating state of the drum. This results in uncontrollable washing performance and a reduced user experience. Embodiment 1 of this invention provides a control method for a clothing handling device.

[0051] The clothing processing equipment can be configured as a washing machine, a washer-dryer combo, or a clothes dryer, etc. For ease of description, this invention uses a drum washing machine as an example for illustration, and should not be construed as a limitation on the type of clothing processing equipment.

[0052] This method can be executed by the main control unit of the garment processing device. The main control unit can be implemented in the form of software and / or hardware, and is generally integrated into any electronic device with network communication capabilities, such as a mobile terminal, PC, or server.

[0053] Example 1

[0054] A control method for a garment handling device, the garment handling device being equipped with an inertial measuring device and a rotatable washing drum, the inertial measuring device being mounted inside the washing drum, such as... Figure 1 As shown, it includes the following steps:

[0055] S1. Obtain the measurement information of the inertial measurement device;

[0056] The inertial measurement device provides attitude, motion, and acceleration information of the washing drum and connected components (e.g., tripod, lifting ribs), thereby enabling the garment handling device to obtain the motion state of the washing drum and connected components (e.g., tripod, lifting ribs).

[0057] This embodiment is based on a technical solution for powering the washing drum, enabling the installation and application of the inertial measurement device in the washing drum and connected components (e.g., tripod, lifting ribs) of the clothing processing device.

[0058] Optionally, such as Figure 5As shown, the garment processing device includes a washing drum 1, a washing drum power supply module 5, a main control board, and an inertial measurement device 2. The inside of the fixing device of the washing drum 1 has a wiring space, and the wires are run through the wiring space and out from the end of the fixing device. The main control board supplies power to the inertial measurement device 2 and communicates with it through the wires in the fixing device of the washing drum 1 via the washing drum power supply module 5.

[0059] The inertial measurement device 2 can be placed at the location to be monitored according to actual monitoring needs, including but not limited to the location on the washing drum body, tripod, lifting rib, etc. Since the vibration at the front end of the washing drum is greater than that at the rear end, to minimize the impact of the washing drum vibration on the inertial measurement device 2, it is preferable to place the inertial measurement device 2 at the rear end of the washing drum.

[0060] It should be noted that the specific implementation of the washing drum power supply scheme of the inertial measurement device described in this embodiment is not limited to... Figure 5 The structures shown represent all solutions that enable power supply to the washing drum, and all fall under the scope of this application. For example, the invention described in patent application number CN202211607494.0, entitled "A Device for Powering the Inside of a Drum Washing Machine and a Washing Machine," and the invention described in patent application number CN2023116816837, also entitled "A Device for Powering the Inside of a Drum Washing Machine and a Washing Machine," etc.

[0061] In some embodiments, when only limited angle monitoring of the washing drum and connected components (e.g., tripod, lifting ribs) is required, the inertial measurement device can be used to measure only one direction of the washing drum, and the resulting measurement information is the measurement information of that one direction of the washing drum.

[0062] To improve detection accuracy, monitor the 360° tilt angle of a plane, or even to fully grasp the motion state of an object, the inertial measurement device can be used to measure the washing drum in multiple directions, and the obtained measurement information includes the measurement information of the washing drum in multiple directions.

[0063] Considering that in the actual application of clothing handling devices, it is difficult to ensure that the tilt of the washing drum and connected components (e.g., tripod, lifting ribs) occurs only in one direction, in order to fully grasp the motion state of the object, it is preferable that the measurement information includes measurement information of the washing drum in multiple directions.

[0064] Optionally, the inertial measurement device employs an IMU (Inertial Measurement Unit) that measures the three-axis attitude angles (or angular rates) and acceleration of an object. Depending on the built-in sensors (three-axis magnetometer, three-axis accelerometer, and three-axis gyroscope), IMUs are available in six-axis and nine-axis configurations to meet the high-precision measurement requirements of different application scenarios. A common six-axis IMU includes gyroscopes in three axes and accelerometers in three axes to measure the angular rate and acceleration of an object in three-dimensional space. The IMU is the core device of inertial positioning technology. After error compensation and inertial navigation calculations, it ultimately outputs information such as the position and velocity of the washing tub and connected components (e.g., tripod, lifting ribs) relative to their initial positions.

[0065] Because accelerometers can measure acceleration in all directions, the tilt angle can be calculated, making them suitable for monitoring the operating status of the washing drum and connected components (e.g., tripod, lifting ribs) within a garment processing device. Optionally, the inertial measurement unit uses an accelerometer, a type of inertial sensor typically composed of a mass, damper, elastic element, capacitor plates (for capacitive accelerometers), and an ASIC chip (Application-Specific Integrated Circuit). The theoretical basis of an accelerometer is Newton's second law; during acceleration, the sensor can calculate the acceleration value by measuring the inertial force acting on the mass. Depending on the measurement dimension, accelerometers are classified into single-axis, biaxial, and triaxial types. Compared to single-axis and biaxial accelerometers, which can only detect changes in planar motion, triaxial accelerometers can measure acceleration in three-dimensional space with a single product, thus meeting the needs of miniaturization and applications in more fields.

[0066] Optionally, when only limited angle monitoring of the washing drum and connected components (e.g., tripod, lifting ribs) is required, a single-axis accelerometer can be used. Specifically, the detection axis of the single-axis accelerometer can be set to be perpendicular to or parallel to the plane of gravity. However, because the single-axis accelerometer is more sensitive to small angle changes when the detection axis is perpendicular to the plane of gravity, it is preferable to set the detection axis of the single-axis accelerometer to be perpendicular to the plane of gravity.

[0067] For single-axis accelerometers, if their detection axis is not well aligned with the gravity plane, it will affect the component of gravitational acceleration on the detection axis, thus affecting detection accuracy. Optionally, to achieve essentially constant sensitivity, reduce the requirement for alignment with the gravity plane, and achieve a 360° tilt angle in the XY plane, a dual-axis accelerometer can be used. Specifically, dividing the X-axis output value of the dual-axis accelerometer by the Y-axis output value yields tanθ. Since this calculation result is independent of gravitational acceleration g, it is not required that the X-axis of the dual-axis accelerometer be set perpendicular to the gravity plane, and the Y-axis be set parallel to the gravity plane. Even if the XY plane of the dual-axis accelerometer is tilted to some extent from the gravity plane, the accuracy of the tilt angle detection in the XY plane can be ensured. This characteristic compensates for the deficiency of single-axis accelerometers, which must be aligned with the gravity plane.

[0068] When using a biaxial accelerometer to monitor the 360° tilt angle of the washing drum and connected components (e.g., tripod, lifting ribs), the range of rotation angle can be determined by the positive and negative values ​​of the two output axes of the biaxial accelerometer. This ensures that the output value of the biaxial accelerometer corresponds one-to-one with the tilt angle within the 360° range, and the specific angle can then be determined based on the ratio of the two output axes of the biaxial accelerometer.

[0069] Since biaxial accelerometers can only monitor tilt angles in the XY plane, it's difficult to guarantee that the tilt of the washing drum and connected components (e.g., tripod, lifting ribs) only occurs in the XY plane in practical applications of garment handling devices. Optionally, to comprehensively understand the motion of the object, a triaxial accelerometer can be used. Like biaxial accelerometers, triaxial accelerometers can calculate tilt angles in the XY, YZ, and XZ planes separately, and can also calculate the angles between each detection axis and a reference position, including the angle between the horizontal plane and the x-axis of the triaxial accelerometer, the y-axis of the triaxial accelerometer, and the z-axis of the triaxial accelerometer, as well as the angle between the gravity vector and the triaxial accelerometer.

[0070] Since an accelerometer can measure acceleration caused by motion, specifically acceleration caused by gravity (1g), it is suitable for calculating tilt angles. The operating state of the washing drum is based on its rotational position, and the accelerometer can quickly detect changes in the drum's motion without relying on an external signal source, providing accurate motion information independently within a short time. In this embodiment, an accelerometer and a measuring device containing the accelerometer are preferably used to measure the acceleration of the washing drum in multiple directions; the obtained measurement information represents the acceleration of the washing drum in these multiple directions.

[0071] Since accelerometers can measure acceleration in the direction of each detection axis, the tilt angle can be calculated. This is suitable for monitoring the operating status of the washing drum and connected components (e.g., tripod, lifting ribs) in a garment processing device.

[0072] In some embodiments, the acceleration of the washing drum in multiple directions is the acceleration of the washing drum measured in multiple detection axis directions of the inertial measurement device; wherein, the multiple detection axes of the inertial measurement device are perpendicular to each other, and any two of the detection axes form a detection plane.

[0073] Since acceleration is a spatial vector, on the one hand, to accurately understand the motion state of the washing tub and connected components (e.g., tripod, lifting ribs), it is necessary to measure the components on the three detection axes of the accelerometer; on the other hand, when the motion direction of the washing tub and connected components (e.g., tripod, lifting ribs) is unknown in advance, only a triaxial accelerometer can be used to detect the acceleration signal. At the same time, since the triaxial accelerometer is also based on the principle of gravity, it is possible to achieve a tilt angle of ±90° or 0-360° on both axes.

[0074] In some preferred embodiments, such as Figure 6 , Figure 7 As shown, the plurality of detection axes are configured to include an x-axis for measuring the left-right acceleration of the washing drum, a y-axis for measuring the front-back acceleration of the washing drum, and a z-axis for measuring the up-down acceleration of the washing drum. The x-axis and y-axis can form an XY detection plane. Figure 6 In the model, the XY detection plane is horizontal, the x-axis and z-axis can form the XZ detection plane, and the y-axis and z-axis can form the YZ detection plane.

[0075] For ease of description, this embodiment uses a triaxial accelerometer as an example of inertial measurement device, and should not be construed as a limitation on the type of inertial measurement device.

[0076] A triaxial accelerometer is used to measure the acceleration of a washing tub and its connected components (e.g., tripod, lifting ribs) in three orthogonal directions (typically the x, y, and z axes). The angle is then calculated based on the accelerometer's measurements. Specifically, the spring compression is determined by the angle between the accelerometer and the ground, and the specific force can be measured by the spring's compression length. Therefore, in the absence of external force, the accelerometer can accurately measure the tilt angle.

[0077] S2. Monitor the operating status of the washing drum using the measurement information.

[0078] In some embodiments, the step of monitoring the operating status of the washing drum using the measurement information includes:

[0079] The operating status of the washing drum is monitored by measuring acceleration in multiple directions.

[0080] In the above embodiments, different types of inertial measurement devices can be used to measure the acceleration of the washing drum in multiple directions. Processing the acceleration of the washing drum in multiple directions can yield the operating status of the washing drum.

[0081] In some embodiments, such as Figure 2 As shown, the step of monitoring the operating status of the washing drum by measuring acceleration in multiple directions includes:

[0082] S21. Calculate the tilt angle of the washing drum using the acceleration in multiple directions of the washing drum;

[0083] Optionally, when using a dual-axis accelerometer to monitor the 360° tilt angle of the washing drum and connected components (e.g., tripod, lifting ribs), the range of rotation angle can be determined by the positive and negative values ​​of the two output axes of the dual-axis accelerometer. This ensures that the output value of the dual-axis accelerometer corresponds one-to-one with the tilt angle within the 360° range. Then, the specific angle can be determined based on the ratio of the two output axes of the dual-axis accelerometer. This not only reduces the requirement for alignment with the gravity plane but also enables the calculation of the 360° tilt angle in the XY plane.

[0084] Optionally, when using a triaxial accelerometer, the tilt angles in the XY, YZ, and XZ planes can be calculated separately. The principle is the same as that of a biaxial accelerometer, and will not be elaborated here. It can also calculate the angle between each detection axis and the reference position, including the angle between the horizontal plane and the x-axis of the triaxial accelerometer, the y-axis of the triaxial accelerometer, and the z-axis of the gravity vector, so as to monitor the tilt of the washing drum and connected components (e.g., tripod, lifting ribs) in various directions and fully grasp the motion state of the object.

[0085] S22. Determine the position of the rotating washing drum by the tilt angle. For example, the position of the washing drum and connected components (e.g., tripod, lifting rib) relative to the initial position can be obtained by the tilt angle.

[0086] In some embodiments, the step of monitoring the operating status of the washing drum by acceleration in multiple directions further includes:

[0087] S23. The actual operating information of the washing drum is obtained by analyzing the position of the rotating washing drum; for example, the rotation speed, direction, number of revolutions and rhythm of the washing drum can be obtained by combining the position information with information such as time and count.

[0088] In some embodiments, such as Figure 3As shown, the step of obtaining the actual operating information of the washing drum by analyzing the position of the rotating washing drum includes:

[0089] By analyzing the position of the washing drum at different times, one or more of the following can be obtained: rotation direction, rotation speed, number of rotations, and rhythm of motion of the washing drum.

[0090] S24. Control the operation of the washing drum by combining the actual operation information with the target operation information.

[0091] Taking the washing drum speed as an example, if the actual speed of the washing drum is lower than the target speed, the speed of the washing drum motor needs to be increased to make the washing drum speed reach the target speed.

[0092] Taking the rotation direction of the washing drum as an example, if the actual rotation direction of the washing drum is different from the target rotation direction, it is necessary to control the rotation direction of the washing drum motor so that the actual rotation direction of the washing drum is consistent with the target rotation direction.

[0093] Taking the number of rotations of the washing drum as an example, if the actual number of rotations of the washing drum is less than the target rotation direction, it is necessary to control the washing drum motor to continue rotating so that the actual number of rotations of the washing drum is consistent with the target number of rotations.

[0094] Taking the rotation rhythm of the washing drum as an example, if the actual rotation rhythm of the washing drum is different from the target rotation rhythm, it is necessary to control the rotation rhythm of the washing drum motor to make the actual rotation rhythm of the washing drum consistent with the target rotation rhythm.

[0095] In some embodiments, the step of calculating the tilt angle of the washing drum using accelerations in multiple directions includes:

[0096] The tilt angle of the corresponding detection plane is calculated by measuring the acceleration in multiple directions of the washing drum.

[0097] Optionally, when using a dual-axis accelerometer to monitor the 360° tilt angle of the washing drum and connected components (e.g., tripod, lifting rib), the range of rotation angle can be determined by the positive and negative values ​​of the two output axes of the dual-axis accelerometer, so that the output value of the dual-axis accelerometer corresponds one-to-one with the tilt angle within the 360° range. Then, the specific angle can be determined based on the ratio of the two output axes of the dual-axis accelerometer.

[0098] Optionally, when using a triaxial accelerometer, the tilt angles in the XY, YZ, and XZ planes can be calculated separately. The principle is the same as that of a biaxial accelerometer, and will not be elaborated here.

[0099] In some embodiments, such as Figure 4As shown, the step of calculating the tilt angle of the washing drum using accelerations in multiple directions further includes:

[0100] S211. Obtain the reference position;

[0101] S212. Calculate the angles between the multiple detection axes and the reference position using the accelerations of the washing drum in multiple directions and the reference position.

[0102] To monitor the tilt of the washing drum and connected components (e.g., tripod, lifting ribs) in all directions and comprehensively understand the motion state of the object, reference positions can be set, and the angles between each detection axis and the reference positions can be calculated, including the angle between the horizontal plane and the x-axis of the triaxial accelerometer. The angle between the horizontal plane and the y-axis of the triaxial accelerometer and the angle between the gravity vector and the z-axis of the triaxial accelerometer. The operating status of the washing drum and connected components (e.g., tripod, lifting ribs) can be determined by measuring the angle between each detection axis and the reference position.

[0103] Since the accelerometer can measure acceleration caused by motion, that is, acceleration caused by gravity (1g), the reference position is optionally configured such that the gravity component on one of the detection axes is 1g, and there is no gravity component on the other detection axes.

[0104] Taking a triaxial accelerometer as an example, the reference position is set such that the gravitational component on the z-axis of the triaxial accelerometer is 1g, while there are no gravitational components on the x-axis and y-axis. In this case, the angles between the horizontal plane and the x-axis of the triaxial accelerometer, the angles between the horizontal plane and the y-axis of the triaxial accelerometer, and the angles between the gravity vector and the z-axis of the triaxial accelerometer are all 0. This embodiment does not limit the specific setting of the reference position; the reference position can be defined according to actual needs to facilitate algorithm calculation.

[0105] In some embodiments, the step of determining the position of the washing drum rotation by the tilt angle further includes:

[0106] When the measurement information is associated with the device to be tested inside the washing drum, the position of the device to be tested is determined based on the position of the rotating washing drum.

[0107] The specific installation location of the inertial measurement unit (IMU) is determined according to actual needs. This embodiment does not limit the specific installation location of the IMU, as long as it is installed on the washing drum and can rotate synchronously with the washing drum. In addition, the specific installation direction of the IMU is determined according to actual needs (e.g., parallel to the plane of drum rotation or along the axial direction, etc.).

[0108] With the development of garment processing device technology, many new functional modules have been added to garment processing devices, such as... Figures 5-7 As shown, a clamping device 4 is mounted on the lifting ribs 3 inside the washing drum 1. This clamping device is used to clamp, hang, and shake the clothes. To facilitate the implementation of the control logic of the clamping device 4, it is necessary to obtain the position of the lifting ribs 3 on which the clamping device 4 is mounted during the operation of the washing drum 1 of the clothes handling device. At this time, an inertial measurement device can be installed in one or more lifting ribs 3 whose position information needs to be known. The specific installation direction of the inertial measurement device is determined according to actual needs (e.g., parallel to the plane of drum rotation or along the axial direction, etc.). Alternatively, the inertial measurement device can be installed in other suitable positions as long as the position of the lifting rib to be detected can be obtained.

[0109] Taking a triaxial accelerometer installed inside a single lifting rib as an example, the x-axis measures the acceleration of the washing drum, the y-axis measures the front-to-back acceleration of the washing drum, and the z-axis measures the vertical acceleration of the washing drum. The reference position can be chosen as the highest point of the lifting rib at the top of the washing drum. At this position, the gravitational component on the z-axis of the triaxial accelerometer is 1g, while there are no gravitational components on the x-axis and y-axis. At this position, the angles between the horizontal plane and the x-axis, y-axis, and z-axis of the triaxial accelerometer are all 0. Figure 6 The coordinates are shown in the diagram. The triaxial accelerometer rotates synchronously with the washing drum, for example, rotating to... Figure 7 At the position shown, the angles between the x-axis, y-axis, and z-axis and the reference position can be calculated using the accelerations of the washing drum in the x, y, and z directions, as well as the set reference position. This is the angle between the horizontal plane and the x-axis of the triaxial accelerometer. The angle between the horizontal plane and the y-axis of the triaxial accelerometer and the angle between the gravity vector and the z-axis of the triaxial accelerometer. The position of the lifting rib can be determined by the angle between each detection axis and the reference position, thereby controlling the timing of clamping, suspending, and shaking of the clamping device.

[0110] When installing a triaxial accelerometer in multiple lifting ribs, the principle is the same as when installing a triaxial accelerometer in a single lifting rib. The triaxial accelerometer is simply associated with the corresponding lifting rib, which will not be elaborated here.

[0111] This embodiment provides a control method for a clothing processing device. The clothing processing device is equipped with an inertial measurement unit and a rotatable washing drum. The inertial measurement unit is installed inside the washing drum. The method includes the following steps: acquiring measurement information from the inertial measurement unit; and monitoring the operating status of the washing drum using the measurement information. The solution provided by this embodiment is convenient for practical implementation and application, enabling the acquisition of the actual operating status of the washing drum. This makes the washing effect of the clothing processing device controllable in actual use, thereby improving the user experience.

[0112] Example 2

[0113] A clothing processing apparatus is provided, employing the method described above. For a detailed description of the method, please refer to the corresponding descriptions in the above method embodiments, which will not be repeated here. In some embodiments, the clothing processing apparatus may be used as a washing machine, in other embodiments as a washer-dryer combo, or as a clothes dryer.

[0114] The garment handling device includes a rotatable washing drum, an inertial measurement unit, a washing drum power supply module, and a main control board. The inertial measurement unit is installed inside the washing drum, and the main control board is electrically connected to the inertial measurement unit through the washing drum power supply module.

[0115] Optionally, such as Figure 5 As shown, the garment processing device includes a washing drum 1, a washing drum power supply module 5, a main control board, and an inertial measurement device 2. The inside of the fixing device of the washing drum 1 has a wiring space, and the wires are run through the wiring space and out from the end of the fixing device. The main control board supplies power to the inertial measurement device 2 and communicates with it through the wires in the fixing device of the washing drum 1 via the washing drum power supply module 5.

[0116] The inertial measurement device 2 can be placed at the location to be monitored according to actual monitoring needs, including but not limited to the location on the washing drum body, tripod, lifting rib, etc. Since the vibration at the front end of the washing drum is greater than that at the rear end, to minimize the impact of the washing drum vibration on the inertial measurement device 2, it is preferable to place the inertial measurement device 2 at the rear end of the washing drum, that is, preferably at the end near the bottom of the washing drum.

[0117] It should be noted that the specific implementation of the washing drum power supply scheme of the inertial measurement device described in this embodiment is not limited to... Figure 5The structures shown represent all solutions that enable power supply to the washing drum, and all fall under the scope of this application. For example, the invention described in patent application number CN202211607494.0, entitled "A Device for Powering the Inside of a Drum Washing Machine and a Washing Machine," and the invention described in patent application number CN2023116816837, also entitled "A Device for Powering the Inside of a Drum Washing Machine and a Washing Machine," etc.

[0118] The clothing processing device of this embodiment may include the following process:

[0119] A measurement information acquisition module is used to acquire the measurement information of the inertial measurement device;

[0120] The washing drum operation status monitoring module is used to monitor the operation status of the washing drum through the measurement information.

[0121] Based on the technical solutions of the above embodiments, optionally, the measurement information includes measurement information of the washing drum in multiple directions.

[0122] Based on the technical solution of the above embodiments, optionally, the measurement information is the acceleration of the washing drum in multiple directions.

[0123] Based on the technical solution of the above embodiments, optionally, the acceleration of the washing drum in multiple directions is the acceleration of the washing drum measured in multiple detection axis directions of the inertial measurement device.

[0124] Based on the technical solution of the above embodiments, optionally, the plurality of detection axes are configured to include an x-axis for measuring the left-right acceleration of the washing drum, a y-axis for measuring the front-back acceleration of the washing drum, and a z-axis for measuring the up-down acceleration of the washing drum; wherein, the plurality of detection axes of the inertial measurement device are perpendicular to each other, and any two of the detection axes form a detection plane.

[0125] Based on the technical solution of the above embodiments, optionally, the step of monitoring the operating status of the washing drum through the measurement information includes:

[0126] The operating status of the washing drum is monitored by measuring acceleration in multiple directions.

[0127] Based on the technical solution of the above embodiments, optionally, the step of monitoring the operating status of the washing drum by measuring the acceleration in multiple directions of the washing drum includes:

[0128] The tilt angle of the washing drum is calculated by the acceleration in multiple directions of the washing drum;

[0129] The position of the washing drum rotation is determined by the tilt angle.

[0130] Based on the technical solution of the above embodiments, optionally, the step of monitoring the operating status of the washing drum by measuring the acceleration in multiple directions of the washing drum further includes:

[0131] The actual operating information of the washing drum is obtained by analyzing the position of the rotating washing drum.

[0132] The operation of the washing drum is controlled by combining the actual operating information with the target operating information.

[0133] Based on the technical solution of the above embodiments, optionally, the step of calculating the tilt angle of the washing drum through the acceleration in multiple directions of the washing drum includes:

[0134] The tilt angle of the corresponding detection plane is calculated by measuring the acceleration in multiple directions of the washing drum.

[0135] Based on the technical solution of the above embodiments, optionally, the step of calculating the tilt angle of the washing drum through the acceleration in multiple directions of the washing drum further includes:

[0136] Obtain a reference location;

[0137] The angles between the multiple detection axes and the reference position are calculated using the acceleration of the washing drum in multiple directions and the reference position.

[0138] Based on the technical solution of the above embodiments, optionally, the reference position is configured such that the gravity component on one of the detection axes is 1g, and there is no gravity component on the other detection axes.

[0139] Based on the technical solution of the above embodiments, optionally, the step of determining the position of the washing drum rotation by the tilt angle further includes:

[0140] When the measurement information is associated with the device to be tested inside the washing drum, the position of the device to be tested is determined based on the position of the rotating washing drum.

[0141] Based on the technical solution of the above embodiments, optionally, the step of obtaining the actual operating information of the washing drum by analyzing the position of the rotating washing drum includes:

[0142] By analyzing the position of the washing drum at different times, one or more of the following can be obtained: rotation direction, rotation speed, number of rotations, and rhythm of motion of the washing drum.

[0143] This embodiment provides a clothing processing device, which includes an inertial measurement unit and a rotatable washing drum. The inertial measurement unit is installed inside the washing drum. The process includes the following steps: acquiring measurement information from the inertial measurement unit; and monitoring the operating status of the washing drum using the measurement information. This embodiment provides a solution that is convenient for practical application, enabling the acquisition of the actual operating status of the washing drum, thus making the washing effect of the clothing processing device controllable in actual use and improving the user experience.

[0144] Example 3

[0145] An electronic device, such as Figure 8 As shown, it includes: a memory storing program code; and a processor connected to the memory, which, when executed by the processor, implements a control method for a clothing handling device. A detailed description of the method can be found in the corresponding description in the above method embodiments, and will not be repeated here.

[0146] Example 4

[0147] A computer-readable storage medium, such as Figure 9 As shown, it stores program instructions, which, when executed, implement a control method for a clothing processing device. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it will not be repeated here.

[0148] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0149] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

[0150] The apparatus, electronic device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, electronic device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, electronic device, and non-volatile computer storage medium will not be repeated here.

[0151] Those skilled in the art will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

[0152] The systems, apparatuses, or units described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above apparatuses are described separately as various units based on their functions. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in one or more software and / or hardware.

[0153] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0158] This specification may be described in the general context of computer-executable instructions, such as program units, that are executed by a computer. Generally, program units include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification may also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program units may reside in local and remote computer storage media, including storage devices.

[0159] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0160] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A control method for a garment handling device, characterized in that, The garment handling device is equipped with an inertial measurement unit and a rotatable washing drum, the inertial measurement unit being installed inside the washing drum, and includes the following steps: Obtain the measurement information from the inertial measurement device; The operating status of the washing drum is monitored using the measurement information.

2. The control method for a garment handling device as described in claim 1, characterized in that: The measurement information includes measurement information from multiple directions of the washing drum.

3. The control method for a garment processing device as described in claim 2, characterized in that: The measured information is the acceleration of the washing drum in multiple directions.

4. The control method for a garment handling device as described in claim 3, characterized in that: The acceleration of the washing drum in multiple directions is the acceleration of the washing drum measured in multiple detection axis directions of the inertial measurement device.

5. The control method for a garment handling device as described in claim 4, characterized in that: The plurality of detection axes are configured to include an x-axis for measuring the left-right acceleration of the washing drum, a y-axis for measuring the front-back acceleration of the washing drum, and a z-axis for measuring the up-down acceleration of the washing drum; wherein the plurality of detection axes of the inertial measurement device are perpendicular to each other, and any two of the detection axes form a detection plane.

6. The control method for a garment handling device as described in claim 4, characterized in that, The step of monitoring the operating status of the washing drum through the measurement information includes: The operating status of the washing drum is monitored by measuring acceleration in multiple directions.

7. The control method for a garment handling device as described in claim 6, characterized in that, The step of monitoring the operating status of the washing drum by measuring acceleration in multiple directions includes: The tilt angle of the washing drum is calculated by the acceleration in multiple directions of the washing drum; The position of the washing drum rotation is determined by the tilt angle.

8. The control method for a garment handling device as described in claim 7, characterized in that, The step of monitoring the operating status of the washing drum through acceleration in multiple directions further includes: The actual operating information of the washing drum is obtained by analyzing the position of the rotating washing drum. The operation of the washing drum is controlled by combining the actual operating information with the target operating information.

9. The control method of the garment handling device as described in claim 7, characterized in that, The step of calculating the tilt angle of the washing drum using accelerations in multiple directions includes: The tilt angle of the corresponding detection plane is calculated by measuring the acceleration in multiple directions of the washing drum.

10. A control method for a garment handling device as described in claim 7 or 9, characterized in that, The step of calculating the tilt angle of the washing drum using accelerations in multiple directions further includes: Obtain the reference location; The angles between the multiple detection axes and the reference position are calculated using the acceleration of the washing drum in multiple directions and the reference position.

11. The control method of the garment handling device as described in claim 10, characterized in that: The reference position is configured such that the gravity component on one of the detection axes is 1g, and there is no gravity component on the other detection axes.

12. The control method for a garment handling device as described in claim 10, characterized in that, The step of determining the position of the washing drum rotation by the tilt angle further includes: When the measurement information is associated with the device to be tested inside the washing drum, the position of the device to be tested is determined based on the position of the rotating washing drum.

13. The control method for a garment handling device as described in claim 8, characterized in that, The step of obtaining the actual operating information of the washing drum by analyzing the position of the rotating washing drum includes: By analyzing the position of the washing drum at different times, one or more of the following can be obtained: rotation direction, rotation speed, number of rotations, and rhythm of motion of the washing drum.

14. A garment processing apparatus, employing the method as described in any one of claims 1 to 13, characterized in that: It includes a rotatable washing drum, an inertial measurement unit, a washing drum power supply module, and a main control board. The inertial measurement unit is installed inside the washing drum, and the main control board is electrically connected to the inertial measurement unit through the washing drum power supply module.

15. An electronic device, characterized in that, include: A memory that stores program code; A processor connected to the memory, which, when the program code is executed by the processor, implements the method as described in any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that, It stores program instructions that, when executed, implement the method as described in any one of claims 1 to 13.

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