Detection method, assembly method and spin-drying control method for a washing machine

Abstract

This application discloses a detection method, assembly method, and spin-drying control method for a washing machine. The washing machine is equipped with a magnetic component and at least three Hall sensors. These three Hall sensors are not collinear but are coaxially arranged opposite to the magnetic component. The magnetic component and the three Hall sensors are respectively mounted on the inner and outer tubs. Based on the principle that three points form a plane, the three Hall sensors, which are not collinear, simulate a surface adjacent to the outer and inner tubs, while the magnetic component simulates a surface adjacent to the inner and outer tubs, thus simulating the relative posture of the outer and inner tubs and accurately detecting their posture. When the detected relative posture exceeds a threshold, the fasteners fixing the outer and inner tubs are adjusted to reduce the relative posture to below the threshold, improving the assembly accuracy of the tubs. When the difference between the relative posture and the reference posture exceeds the threshold, the motor is controlled to alternately rotate forward and backward, reducing the vibration of the tubs during spin-drying.

Description

Technical Field

[0001] This application relates to the field of clothing washing technology, and in particular to a testing method, assembly method and dehydration control method for a washing machine. Background Technology

[0002] As people's living standards continue to improve, washing machines have gradually become an indispensable appliance in home life. The washing machine's tub consists of an outer tub and an inner tub, and the coaxiality of these two tubs affects the stability of the washing machine during operation. When the coaxiality of the outer and inner tubs is poor, the tub will experience significant vibration during operation, and may even impact the machine's casing, affecting its lifespan.

[0003] Therefore, it is necessary to detect the relative posture of the outer and inner drums. Summary of the Invention

[0004] In order to accurately detect the relative posture of the outer tub and the inner tub and improve the stability of the washing machine operation, this application provides a detection method, an assembly method and a spin-drying control method for a washing machine.

[0005] In some embodiments of this application, the washing machine includes a cabinet, a door, a tub, a magnetic component, and at least three Hall sensors. The cabinet has a clothes loading / unloading opening; the door is used to open and close the clothes loading / unloading opening; the tub includes an outer tub and an inner tub, the outer tub is disposed in the cabinet, the inner tub is disposed in the outer tub, and a clothes handling cavity is formed inside the inner tub, which communicates with the clothes loading / unloading opening; the magnetic component is disposed on one of the inner tub and the outer tub; at least three Hall sensors are disposed on the other of the inner tub and the outer tub, the at least three Hall sensors are opposite to the magnetic component and are coaxially arranged, and the at least three Hall sensors are not on the same straight line, used to sense the position of the magnetic component and output a detection signal.

[0006] The detection method includes: acquiring detection signals output by at least three Hall sensors; determining the relative posture of the inner tub and the outer tub based on the detection signals output by at least three Hall sensors, wherein the maximum distance difference between at least three position points of the inner tub and the outer tub is a first difference value, the maximum distance difference value is obtained based on the distance value between at least three position points, the included angle between two planes opposite to the inner tub and the outer tub is a first included angle value, and the relative posture includes at least one of the first difference value and the first included angle value.

[0007] Thus, in the above technical solution, a magnetic component and at least three Hall sensors are provided. These at least three Hall sensors are not collinear but are opposite to the magnetic component and coaxially arranged. The magnetic component and the at least three Hall sensors are respectively installed on the inner and outer tubs. Based on the principle that three points form a plane, the three Hall sensors, which are not collinear, simulate a surface adjacent to the inner and outer tubs, while the magnetic component simulates a surface adjacent to the inner and outer tubs, thereby simulating the relative posture of the inner and outer tubs and accurately detecting their posture. Furthermore, using Hall sensors for detection is low-cost and small in size.

[0008] In some embodiments of this application, at least three Hall sensors are arranged at equal intervals; the magnetic element is a ring-shaped permanent magnet.

[0009] In the above technical solution, the Hall sensors are arranged at equal intervals, which can more accurately simulate the adjacent surfaces of the outer and inner barrels, improving the accuracy of the relative attitude detection between the outer and inner barrels. Simultaneously, the calculation of the relative attitude between the outer and inner barrels is also simpler. The continuous shape of the ring-shaped permanent magnet ensures that the magnetic field strength across its entire surface remains consistent, making the calculation results of the relative attitude between the inner and outer barrels more reliable. Furthermore, there is no magnetic field reversal during Hall detection, thus minimizing the impact on the circuit.

[0010] In some embodiments of this application, determining the relative posture of the inner tub and the outer tub based on the detection signals output by at least three Hall sensors includes: determining the distance values ​​between the at least three Hall sensors and the magnetic component based on the detection signals output by the at least three Hall sensors; calculating the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component based on the distance values ​​between the at least three Hall sensors and the magnetic component; and obtaining the angle between two planes opposite to the inner tub and the outer tub based on the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component.

[0011] In the above technical solution, the angle between the two planes opposite to the inner tub and the outer tub is obtained by the angle between the plane where at least three Hall sensors are located and the plane where the magnetic component is located. The coaxiality between the inner tub and the outer tub is characterized by the angle between the two planes opposite to the inner tub and the outer tub, which is convenient for calculation.

[0012] In some embodiments of this application, the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic element is calculated based on the distance values ​​between the at least three Hall sensors and the magnetic element, including:

[0013] The shortest distance between the plane containing at least three Hall sensors and the plane containing the magnetic component is calculated based on the following relationship:

[0014]

[0015] Where D is the shortest distance between the plane containing the three Hall sensors and the plane containing the magnetic component, d1, d2, and d3 are the distances between the three Hall sensors and the magnetic component, and r is the distance between the center point of the plane containing the three Hall sensors and the three Hall sensors.

[0016] Based on the shortest distance value, the angle between the plane containing at least three Hall sensors and the plane containing the magnetic component is calculated.

[0017] In the above technical solution, the shortest distance between the plane where the three Hall sensors are located and the plane where the magnetic component is located can be accurately calculated, making the angle between the plane where the three Hall sensors are located and the plane where the magnetic component is located more accurate, that is, the relative posture of the inner and outer barrels is more accurate.

[0018] In some embodiments of this application, determining the relative attitude of the inner tub and the outer tub based on detection signals output by at least three Hall sensors includes: determining the distance values ​​between at least three Hall sensors and the magnetic component based on the detection signals output by at least three Hall sensors; obtaining the distance values ​​between at least three position points of the inner tub and the outer tub based on the distance values ​​between the at least three Hall sensors and the magnetic component; obtaining the distance difference between at least three position points based on the distance values ​​between the at least three position points; and obtaining the maximum distance difference between two opposing planes of the inner tub and the outer tub based on the distance difference between the at least three position points.

[0019] In the above technical solution, the distance values ​​between the inner tub and the outer tub at multiple locations are obtained by measuring the distance values ​​between three Hall sensors and the magnetic component. The coaxiality of the inner tub and the outer tub is characterized by the distance difference between the multiple locations of the inner tub and the outer tub. The distance value calculation is convenient and highly accurate.

[0020] In some embodiments of this application, the washing machine includes a cabinet, a door, a tub, multiple fasteners, a magnetic component, and at least three Hall sensors. The cabinet has a clothes loading / unloading opening; the door is used to open and close the clothes loading / unloading opening; the tub includes an outer tub and an inner tub, the outer tub is disposed in the cabinet, the inner tub is disposed in the outer tub, and a clothes handling cavity is formed inside the inner tub, which communicates with the clothes loading / unloading opening; multiple positions of the outer tub and the inner tub are fixed by fasteners; the magnetic component is disposed on one of the inner tub and the outer tub; at least three Hall sensors are disposed on the other of the inner tub and the outer tub, the at least three Hall sensors are opposite to the magnetic component and are coaxially arranged, and the at least three Hall sensors are not on the same straight line, used to sense the position of the magnetic component and output detection signals.

[0021] The assembly method includes: acquiring detection signals output by at least three Hall sensors; determining the relative posture of the inner tub and the outer tub based on the detection signals output by at least three Hall sensors, wherein the maximum distance difference between at least three position points of the inner tub and the outer tub is a first difference value, the maximum distance difference value is obtained based on the distance value between at least three position points, the included angle between two opposing planes of the inner tub and the outer tub is a first included angle value, and the relative posture includes at least one of the first difference value and the first included angle value; when the relative posture reaches or exceeds a set threshold, adjusting at least one of a plurality of fasteners to bring the relative posture below the set threshold.

[0022] Thus, in the above technical solution, a magnetic component and at least three Hall sensors are provided. These at least three Hall sensors are not collinear but are opposite to and coaxial with the magnetic component. The magnetic component and the at least three Hall sensors are respectively installed on the inner tub and the outer tub. Based on the principle that three points form a plane, the three Hall sensors, which are not collinear, simulate a surface adjacent to the outer tub and the inner tub, while the magnetic component simulates a surface adjacent to the inner tub and the outer tub, thereby simulating the relative posture of the outer tub and the inner tub. This allows for accurate detection of the posture of the inner tub and the outer tub. When the relative posture of the inner tub and the outer tub is detected to reach or exceed a set threshold, it is considered that the coaxiality of the inner tub and the outer tub is poor. At least one of the fasteners used to fix the outer tub and the inner tub is adjusted so that the relative posture of the inner tub and the outer tub is below the set threshold. This improves the consistency and accuracy of the washing machine tub assembly and enhances the stability of the washing machine's operation.

[0023] In some embodiments of this application, the fastener is a bolt. When the relative posture reaches or exceeds a set threshold, at least one of the multiple fasteners is adjusted, including: when the first difference reaches or exceeds the set threshold, tightening the fastener closest to the Hall sensor corresponding to the first difference.

[0024] In the above technical solution, when the first difference reaches or exceeds a set threshold, it is considered that the coaxiality of the inner tub and the outer tub is poor. Tightening the fastener closest to the Hall sensor corresponding to the first difference can reduce the difference between the distance value of the position point near the Hall sensor corresponding to the first difference and the distance value of the position point near other Hall sensors, thereby improving the coaxiality of the inner tub and the outer tub.

[0025] In some embodiments of this application, the washing machine includes a cabinet, a door, a tub, a position detection device, and a motor. The cabinet has a clothes loading / unloading opening; the door is used to open and close the clothes loading / unloading opening; the tub includes an outer tub and an inner tub, the outer tub is disposed in the cabinet, the inner tub is disposed in the outer tub, and a clothes handling chamber is formed inside the inner tub, which communicates with the clothes loading / unloading opening; the position detection device includes a detection end and a detected end, the detection end is disposed on one of the inner tub and the outer tub, and the detected end is disposed on the other of the inner tub and the outer tub, the detection end and the detected end are opposite to each other and coaxially arranged, the detection end is used to detect the position of the detected end and output a detection signal; the motor is used to drive the inner tub to rotate.

[0026] The dehydration control method includes: dividing the dehydration process into multiple dehydration stages; in each dehydration stage, determining the relative posture of the inner tub and the outer tub based on the detection signal output by the detection terminal, the maximum distance difference between at least three position points of the inner tub and the outer tub is the first difference value, the maximum distance difference value is obtained based on the distance value between at least three position points, the included angle between two planes opposite to the inner tub and the outer tub is the first included angle value, and the relative posture includes at least one of the first difference value and the first included angle value; when the posture difference between the relative posture and the stored reference posture reaches or exceeds the set difference threshold, controlling the motor to perform alternating forward and reverse rotation operations.

[0027] Thus, in the above technical solution, considering that the distribution balance of the clothes inside the tub will change as moisture is lost, and the coaxiality of the inner and outer tubs will be affected, the spin-drying process is divided into multiple spin-drying stages. In each spin-drying stage, the detection signal output by the detection end is acquired, and the relative posture of the inner and outer tubs is determined based on the detection signal. When the posture difference between the relative posture of the inner and outer tubs and the stored reference posture reaches or exceeds a set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations, thereby improving the distribution balance of the clothes inside the tub. This can reduce the vibration of the tub during the spin-drying process, thereby reducing washing noise and extending the service life of the washing machine. At the same time, it can avoid spin-drying interruptions caused by excessive tub vibration, saving spin-drying time.

[0028] In some embodiments of this application, the dehydration process is divided into multiple dehydration stages, including: determining the dehydration time required to perform the dehydration process based on the amount of washing water; and dividing the dehydration time into multiple dehydration periods.

[0029] In the above technical solution, the dehydration time required to perform the dehydration process can be accurately determined based on the amount of washing water, and then the dehydration time can be divided into multiple dehydration periods, making the division of dehydration periods more reasonable.

[0030] In some embodiments of this application, when the attitude difference between the relative attitude and the stored reference attitude reaches or exceeds a set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations, including: when the angle difference between the first included angle value and the stored reference included angle reaches or exceeds a set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations until the angle difference drops below the set difference threshold.

[0031] In the above technical solution, the determination of whether to control the motor to perform alternating forward and reverse operation is based on the relationship between the angle between the two planes opposite the inner tub and the outer tub and the angle difference between the stored reference angle and the set difference threshold. The angle difference can intuitively represent the coaxiality of the inner tub and the outer tub, and the judgment calculation based on the angle difference is simple.

[0032] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the principles of this application.

[0034] Figure 1 A schematic diagram of a washing machine according to one embodiment of this application is shown.

[0035] Figure 2 It shows Figure 1 The diagram shows the washing machine tub and position detection device.

[0036] Figure 3 It shows Figure 2 The exploded view of the position detection device shown.

[0037] Figure 4 A schematic diagram showing the positional distribution of the three Hall sensors on the circuit board is shown.

[0038] Figure 5 It shows Figure 1 The diagram shows the component blocks of a washing machine.

[0039] Figure 6 It shows Figure 1 The diagram shown is a partial hardware circuit diagram of the washing machine.

[0040] Figure 7 A flowchart of a detection method for a washing machine according to an embodiment of this application is shown.

[0041] Figure 8 It shows Figure 7 The flowchart showing a detailed embodiment of step S720 is shown.

[0042] Figure 9 This illustration shows a principle diagram of determining the relative posture of the inner and outer tubs according to an embodiment of this application.

[0043] Figure 10 It shows Figure 7 A detailed flowchart of another embodiment of step S720 is shown.

[0044] Figure 11 A flowchart of an assembly method for a washing machine according to an embodiment of this application is shown.

[0045] Figure 12 A flowchart of another embodiment of the present application for assembling a washing machine is shown.

[0046] Figure 13 A flowchart of a spin-drying control method for a washing machine according to an embodiment of this application is shown.

[0047] Figure 14 A flowchart of a spin-drying control method for a washing machine according to another embodiment of this application is shown.

[0048] The annotations in the attached figures are explained as follows:

[0049] 100. Washing machine; 10. Cabinet; 20. Door; 30. Drum; 31. Outer drum; 32. Inner drum; 41. Detection end; 411. Hall sensor; 42. Detected end; 43. First bracket; 44. Insulating rubber gasket; 45. Second bracket; 46. Rubber gasket; 50. Motor; 60. Control device. Detailed Implementation

[0050] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only some embodiments of this application, and not all embodiments.

[0051] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0052] Furthermore, the terms “including” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0053] In the description of this application, it should be understood that the terms "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0054] The terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified with ordinal numbers such as "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature.

[0055] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0056] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0057] The high cost and low accuracy of washing machine tub coaxiality detection in related technologies stem from the reliance on infrared or vision systems. Furthermore, the low assembly precision of the washing machine tub leads to poor coaxiality. Additionally, during washing machine use, the uneven distribution of clothes within the tub, exacerbated by moisture loss during spin-drying, further alters the balance and affects the coaxiality of the inner and outer tubs. Moreover, the spin-drying process, achieved by the combination of the inner and outer tubs, generates irregular angular momentum due to the inner tub's tilt relative to the outer tub. This momentum is transmitted structurally to the outer tub, impacting overall structural stability. Better coaxiality between the inner and outer tubs results in a smaller tilt angle, controlling the angular momentum and minimizing tub vibration; conversely, poorer coaxiality leads to a larger tilt angle and greater tub vibration.

[0058] In view of this, some embodiments of this application design a Hall effect attitude detection system including a magnetic component and at least three Hall sensors. The at least three Hall sensors are not on the same straight line and are opposite to the magnetic component and coaxially arranged. The magnetic component and the at least three Hall sensors are respectively disposed on the inner tub and the outer tub. Based on the principle that three points form a plane, the three Hall sensors that are not on the same straight line simulate a surface adjacent to the inner tub and the outer tub, and the magnetic component simulates a surface adjacent to the outer tub and the inner tub, thereby simulating the relative attitude of the outer tub and the inner tub, and can accurately detect the attitude of the inner tub and the outer tub.

[0059] Furthermore, in some embodiments of this application, during the assembly of the washing tub, the relative posture of the inner tub and the outer tub is detected. When the relative posture of the inner tub and the outer tub reaches or exceeds a set threshold, it is considered that the coaxiality of the inner tub and the outer tub is poor. At least one of the multiple fasteners used to fix the outer tub and the inner tub is adjusted so that the relative posture of the inner tub and the outer tub is below the set threshold. This improves the consistency and assembly accuracy of the washing tub assembly. The improvement in assembly accuracy contributes to the overall stability of the washing machine's operation.

[0060] Furthermore, some embodiments of this application consider that as moisture is lost from the clothes inside the tub, the distribution balance of the clothes inside the tub will change, and the coaxiality of the inner and outer tubs will be affected. The spin-drying process is divided into multiple spin-drying stages. In each spin-drying stage, the detection signal output by the detection end is acquired, and the relative posture of the inner and outer tubs is determined based on the detection signal. When the posture difference between the relative posture of the inner and outer tubs and the stored reference posture reaches or exceeds a set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations, thereby improving the distribution balance of the clothes inside the tub. This can reduce the vibration of the tub during the spin-drying process, thereby reducing washing noise and extending the service life of the washing machine. At the same time, it can avoid spin-drying interruption due to excessive tub vibration, saving spin-drying time.

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0062] The washing machine described in this application can be a top-loading washing machine. The following description uses a top-loading washing machine as an example to illustrate the washing machine structure, testing method, assembly method, and spin-drying control method of this application.

[0063] Figure 1 A schematic diagram of a washing machine according to one embodiment of this application is shown. Figure 2 It shows Figure 1 The diagram shown depicts the washing machine tub and position detection device. Figure 3 It shows Figure 2 The exploded view of the position detection device shown.

[0064] like Figure 1 As shown, the washing machine 100 of this embodiment includes a housing 10, which has a hollow shell structure. The internal space of the housing 10 may house other components of the washing machine 100, such as a tub, circuit structure, drive device, and water circuit components. The external shape of the housing 10 can be designed as needed, for example, it can be a hollow cuboid shape or a hollow cylinder shape.

[0065] In some embodiments, such as Figure 1 As shown, the top of the box 10 is provided with a clothes loading and unloading port, which connects to the internal space of the box 10, and the clothes to be washed can be put into the inside of the box 10 through the clothes loading and unloading port.

[0066] In some embodiments, the top of the box 10 is provided with a door 20, which is movably provided at the clothing loading and unloading opening for opening or closing the clothing loading and unloading opening, thereby opening or closing the internal space of the box 10.

[0067] In some embodiments, the door 20 and the housing 10 can be connected by a hinge, and the door 20 can rotate about the axis of the hinge to open and close the door 20, thereby opening or closing the clothing loading and unloading port.

[0068] The washing machine 100 of this embodiment further includes a tub 30, which is disposed inside the housing 10 and has a clothes handling chamber formed inside. The top of the tub 30 has an opening that is directly opposite and communicates with the clothes loading / unloading opening of the housing 10. This opening is also directly opposite the door 20. When the door 20 is opened, clothes can be sequentially placed into the clothes handling chamber inside the tub 30 through the clothes loading / unloading opening of the housing 10 and the opening of the tub 30 for washing.

[0069] like Figure 2 As shown, the washing tub 30 includes an outer tub 31 and an inner tub 32. The outer tub 31 is housed within the casing 10 and holds washing liquid, such as water. The outer tub 31 has an inlet and an outlet. The inner tub 32 is rotatably disposed inside the outer tub 31 and holds clothes to be washed. The outer tub 31 and inner tub 32 are arranged coaxially. A hole is formed in the outer wall of the inner tub 32, through which it communicates with the inner cavity of the outer tub 31. Water from the outer tub 31 can enter the inner tub 32 through this hole to wash the clothes inside. Washing water can be discharged from the inner tub 32 to the outer tub 31 through the hole, and the washing water is discharged from the washing machine 100 through a drainage structure connected to the outer tub 31.

[0070] The washing machine 100 of this embodiment also includes a plurality of fasteners (not shown in the figure), which fix multiple positions of the outer tub 31 and the inner tub 32. By adjusting the fasteners, the relative posture of the outer tub 31 and the inner tub 32 can be changed.

[0071] For example, four fasteners are used, with four locations selected on the circumference of the outer tub 31 and the inner tub 32, each fixed together by a fastener. Alternatively, three fasteners can be used, with three locations selected on the circumference of the outer tub 31 and the inner tub 32, each fixed together by a fastener. Five fasteners can also be used, with five locations selected on the circumference of the outer tub 31 and the inner tub 32, each fixed together by a fastener. Of course, the number of fasteners can also be greater.

[0072] In some embodiments, the fastener is a bolt. Tightening the bolts at different positions can change the angles of the outer tub 31 and the inner tub 32 in different directions, thereby changing the relative posture of the outer tub 31 and the inner tub 32. For example, the outer tub 31 and the inner tub 32 are fixed together at four positions in the circumferential direction by a bolt.

[0073] The washing machine 100 of this application embodiment also includes a position detection device, which includes a detection end 41 and a detected end 42. The detection end 41 is used to detect the position of the detected end 42.

[0074] In some embodiments, such as Figure 2 As shown, the detection end 41 is disposed on the outer tub 31, and the detection end 42 is disposed on the inner tub 32. In some other embodiments, the detection end 41 may be disposed on the inner tub 32, and the detection end 42 may be disposed on the outer tub 31.

[0075] exist Figure 2 In the embodiment shown, the bottom wall of the outer tub 31 and the bottom wall of the inner tub 32 are respectively provided with receiving grooves. The detection end 41 and the detected end 42 are housed in the receiving grooves, which can realize the stable installation of the detection end 41 and the detected end 42, and will not affect the original structure and operation of the washing machine due to the setting of the detection end 41 and the detected end 42.

[0076] In some embodiments, such as Figure 2 and Figure 3As shown, the detection end 41 is fixed to the bottom wall of the outer tub 31 by the first bracket 43, and an insulating rubber gasket 44 is provided between the first bracket 43 and the detection end 41. The insulating rubber gasket 44 can make the contact between the first bracket 43 and the detection end 41 more reliable. The end to be detected 42 is fixed to the bottom wall of the inner tub 32 by the second bracket 45, and a rubber gasket 46 is provided between the second bracket 45 and the end to be detected 42. The rubber gasket 46 can make the contact between the second bracket 45 and the end to be detected 42 more reliable.

[0077] In some embodiments, the detection end 41 is disposed on the outer tub 31 and includes three Hall sensors 411, which are not collinear. Based on the principle that three points form a plane, the three Hall sensors 411, which are not collinear, simulate a surface adjacent to the outer tub 31 and the inner tub 32, while the detected end 42 simulates a surface adjacent to the inner tub 32 and the outer tub 31, thereby simulating the relative posture of the outer tub 31 and the inner tub 32 to detect their relative posture. Furthermore, using Hall sensors for detection is low-cost and compact.

[0078] In some embodiments, the detection end 41 may also include more Hall sensors 411, such as four Hall sensors 411, five Hall sensors 411, etc.

[0079] Figure 4 A schematic diagram showing the positional distribution of the three Hall sensors on the circuit board is shown.

[0080] In some embodiments, such as Figure 2 and Figure 4 As shown, the detection end 41 is disposed on the outer tub 31, and includes three Hall sensors 411 arranged at equal intervals. The equal spacing of the Hall sensors 411 allows for more accurate simulation of a surface adjacent to the inner tub 32, improving the accuracy of relative attitude detection between the outer tub 31 and the inner tub 32. Simultaneously, the calculation of the relative attitude between the outer tub 31 and the inner tub 32 is also simpler, for example, facilitating the calculation of angle values. Of course, in other embodiments, the Hall sensors 411 may not be arranged at equal intervals.

[0081] like Figure 3 As shown, the detection end 41 also includes an external terminal 412. The detection end 41 is connected to the control device 60 through the external terminal 412 to transmit the detection signals output by each Hall sensor 411 to the control device 60.

[0082] In some embodiments, corresponding to the detection end 41 including three Hall sensors 411, the detected end 42 is a magnetic element. The magnetic field strength is obtained through the voltage signals output by the Hall sensors 411, and the distance from each Hall sensor 411 to the magnetic element 42 can be calculated. This allows determination of the distance between two adjacent planes of the outer tub 31 and the inner tub 32, such as the distance between multiple points on the bottom wall surface of the outer tub 31 and the bottom wall surface of the inner tub 32. This, in turn, determines the relative orientation of the inner tub 32 and the outer tub 31. The smaller the difference in distance between each Hall sensor 411 and the magnetic element 42, the better the coaxiality between the outer tub 31 and the inner tub 32; conversely, the greater the difference in distance between each Hall sensor 411 and the magnetic element 42, the worse the coaxiality between the outer tub 31 and the inner tub 32.

[0083] In some embodiments, such as Figure 3 As shown, the magnetic component 42 is a ring-shaped permanent magnet, which is positioned opposite the three Hall sensors 411. The continuous shape of the ring-shaped permanent magnet ensures that the magnetic field strength remains consistent across its entire surface, making the relative attitude calculation results of the inner barrel 32 and the outer barrel 31 more reliable. Furthermore, there is no magnetic field reversal during the Hall sensor detection process, thus minimizing its impact on the circuit.

[0084] In some embodiments, the magnetic element 42 may also include multiple magnetic elements, such as three magnetic elements, each of which is opposite to a Hall sensor 411.

[0085] In the above embodiments, the detection end 41 is described using position detection via Hall sensor 411 as an example. It can be understood that in other embodiments, the detection end 41 and the detected end 42 may also be other structural components.

[0086] In some embodiments, a drive device may be provided inside the housing 10. The drive device is connected to the inner tub 32 and is used to drive the inner tub 32 to rotate. Specifically, the drive device is located outside the outer tub 31, and the output end of the drive device extends into the interior of the outer tub 31 and is connected to the inner tub 32 for transmission, so as to drive the inner tub 32 to rotate relative to the outer tub 31, thereby washing, dehydrating, etc. of the clothes in the inner tub 32.

[0087] Figure 5 It shows Figure 1 The diagram shows the component blocks of a washing machine.

[0088] like Figure 5 As shown, the drive device may include a motor 50, a drive pulley, and a belt. For example, the belt is tautly wound around the output end of the motor 50 and the drive pulley, which is connected to the inner tub 32, thus indirectly connecting the motor 50 to the inner tub 32. The rotation of the motor 50 drives the drive pulley to rotate the inner tub 32 relative to the outer tub 31, thereby washing and spin-drying the clothes in the inner tub 32.

[0089] The washing machine 100 of this embodiment may further include a control device 60. The control device 60 is electrically connected to the motor 50 and can send control signals to the motor 50 to control its operation, thereby executing various washing programs, or controlling the motor 50 to stop operation. The control device 60 is electrically connected to a detection terminal 41 and can receive detection signals input from the detection terminal 41. Based on the detection signals input from the detection terminal 41, it obtains the relative posture of the inner tub 32 and the outer tub 31, and controls the motor 50 based on the relative posture of the inner tub 32 and the outer tub 31. The control device 60 may also be electrically connected to other structures of the washing machine 100 to control the washing machine 100 to execute a series of programs, such as water intake, washing, rinsing, and spin-drying.

[0090] Figure 6 It shows Figure 1 The diagram shown is a partial hardware circuit diagram of the washing machine.

[0091] like Figure 6 As shown, the control device 60 may include an MCU drive circuit U6 and a voltage regulator circuit U5.

[0092] Among them, the voltage regulator circuit U5 is connected to the power supply circuit U7, the MCU drive circuit U6, and the three Hall sensors U1, U2, and U3, providing a stable power supply voltage to the power supply circuit U7, the MCU drive circuit U6, and the three Hall sensors U1, U2, and U3.

[0093] The MCU drive circuit U6 is connected to three Hall sensors U1, U2, and U3, and is used to determine the relative posture of the inner barrel 32 and the outer barrel 31 based on the detection signals input by the three Hall sensors U1, U2, and U3.

[0094] In some embodiments, the MCU driving circuit U6 has an indicator port PB1 for indicating the relative posture detection status of the inner barrel 32 and the outer barrel 31. For example, a high level output indicates that the coaxiality of the inner barrel 32 and the outer barrel 31 meets the requirements, and a low level output indicates that the coaxiality of the inner barrel 32 and the outer barrel 31 does not meet the requirements.

[0095] In some embodiments, the MCU driving circuit U6 has data output ports SCL and SDA. The data output ports SCL and SDA are used to output relative attitude detection data between the inner barrel 32 and the outer barrel 31, such as the angle between two planes opposite to the inner barrel 32 and the outer barrel 31, the distance between multiple points between two planes opposite to the inner barrel 32 and the outer barrel 31, etc.

[0096] The control device 60 also includes resistors R2 and R3. The ratio of resistors R2 and R3 determines the voltage of the reference resistor. By acquiring the voltage of the reference resistor, the system function is identified. In some embodiments, the accuracy of the resistor is 5%. To avoid the influence of resistance value uncertainty, the voltage range is divided into 13 ranges when using commonly used resistors. Therefore, the detection accuracy of the relative posture of the inner barrel 32 and the outer barrel 31 can be divided into 13 levels, which facilitates the selection and use of different accuracy conditions in the actual implementation of this application.

[0097] Figure 7 A flowchart of a detection method for a washing machine according to an embodiment of this application is shown.

[0098] Control device 60 is configured to execute a detection method, such as Figure 7 As shown, the detection method includes at least steps S710 to S720, which are described in detail below:

[0099] In step S710, detection signals output by at least three Hall sensors are acquired. Then, proceed to step S720.

[0100] The detection signal is also known as the voltage signal.

[0101] In step S720, the relative posture of the inner tub and the outer tub is determined based on the detection signals output by the at least three Hall sensors.

[0102] In some embodiments, the relative orientation of the inner tub and the outer tub is the angle between two opposing planes of the inner tub and the outer tub, i.e., the first angle value. For example... Figure 8 As shown, the relative attitude between the inner tub and the outer tub is determined based on the detection signals output by the at least three Hall sensors, including steps S810 to S830, which are described in detail below:

[0103] In step S810, the distance between the at least three Hall sensors and the magnetic component is determined based on the detection signals output by the at least three Hall sensors.

[0104] In step S820, based on the distance values ​​between the at least three Hall sensors and the magnetic component, the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component is calculated.

[0105] In some embodiments, step S820 includes steps S8201 and S8202.

[0106] like Figure 9As shown, with the center of the circuit board where the three Hall sensors are located as the center, and the distance of the Hall sensor from the center as the radius, A, B, and C represent the positions of the Hall sensors, and corresponding points A′, B′, and C′ represent the points projected by the Hall sensors onto the ring-shaped permanent magnet. The Hall sensors are linear Hall sensors, and the distance from the Hall sensor to the ring-shaped permanent magnet can be calculated using the magnetic field strength. The use of a ring-shaped permanent magnet ensures a consistent magnetic field strength across the entire surface. The distance from the Hall sensor's projection onto the ring-shaped permanent magnet can be calculated from the magnetic field strength measured by the three Hall sensors. A smaller difference in projection distance indicates better coaxiality of the inner and outer drums of the washing machine. Simultaneously, the distance information can be used to calculate the spatial distribution of the projection points, thereby determining the information of the projection onto the surface of the ring-shaped permanent magnet and calculating the shortest distance from the center of the circle to the surface of the ring-shaped permanent magnet.

[0107] In step S8201, the shortest distance between the plane containing the three Hall sensors and the plane containing the magnetic component is calculated based on the following relationship:

[0108]

[0109] Where D is the shortest distance between the plane containing the three Hall sensors and the plane containing the magnetic component, d1, d2, and d3 are the distances between the three Hall sensors and the magnetic component, and r is the distance between the center point of the plane containing the three Hall sensors and the three Hall sensors.

[0110] In step S8202, based on the shortest distance value, the angle between the plane where the three Hall sensors are located and the plane where the magnetic component is located is calculated.

[0111] Given that the shortest distance between the plane containing the three Hall sensors and the plane containing the magnetic component is known, it is common knowledge how to calculate the angle between the plane containing the three Hall sensors and the plane containing the magnetic component, so it will not be elaborated here.

[0112] Using the above equation, the shortest distance between the plane containing the three Hall sensors and the plane containing the magnetic component can be accurately calculated, making the angle between the plane containing the three Hall sensors and the plane containing the magnetic component more accurate, and thus the relative posture of the inner and outer barrels more accurate.

[0113] In step S830, based on the angle between the plane where the at least three Hall sensors are located and the plane where the magnetic component is located, the angle between the two planes opposite to the inner and outer tubs is obtained.

[0114] That is, the angle between the plane where the at least three Hall sensors are located and the plane where the magnetic component is located is taken as the angle between the two opposing planes of the inner and outer tubs, which is the first angle value.

[0115] The angle between the inner and outer tubs is obtained by measuring the angle between the plane containing at least three Hall sensors and the plane containing the magnetic component. This angle is used to characterize the coaxiality of the inner and outer tubs, making the calculation convenient.

[0116] In some embodiments, the detection method further includes: outputting a first level signal when the first included angle value is above a set included angle threshold, and outputting a second level signal when the first included angle value is below the set included angle threshold. The second level signal is different from the first level signal; for example, the second level signal is a high level signal and the first level signal is a low level signal.

[0117] The included angle threshold can be an included angle value set based on experience.

[0118] Different level signals are used to characterize whether the included angle value meets the set included angle threshold, so as to quickly determine whether the relative posture of the inner and outer tubs meets the requirements.

[0119] In some embodiments, the relative orientation of the inner and outer tubs is the maximum distance difference between at least three points on the inner and outer tubs, i.e., the first difference. The two opposing planes of the inner and outer tubs are, for example, the bottom wall surface of the inner tub and the bottom wall surface of the outer tub. Figure 10 As shown, the relative attitude between the inner tub and the outer tub is determined based on the detection signals output by the at least three Hall sensors, including steps S1010 to S1040, which are described in detail below:

[0120] In step S1010, the distance between the at least three Hall sensors and the magnetic component is determined based on the detection signals output by the at least three Hall sensors.

[0121] In step S1020, based on the distance values ​​between the at least three Hall sensors and the magnetic component, the distance values ​​between at least three position points between the two opposing planes of the inner and outer tubs are obtained.

[0122] That is, the distance values ​​between the at least three Hall sensors and the magnetic component are used as the distance values ​​between at least three points on the two opposing planes of the inner and outer tubs.

[0123] In step S1030, the distance difference between the at least three location points is obtained based on the distance values ​​of the at least three location points.

[0124] That is, the distance values ​​of the at least three locations are subtracted from each other in pairs to obtain the distance difference between the at least three locations.

[0125] In step S1040, based on the distance difference between the at least three location points, the maximum distance difference between the two planes opposite to the inner and outer tubs is obtained.

[0126] That is, the largest of the distance differences among the at least three locations is taken as the maximum distance difference between the two opposing planes of the inner and outer buckets, which is also the first difference.

[0127] By using the distance values ​​between three Hall sensors and the magnetic component, the distance values ​​between multiple points on two opposing planes of the inner and outer tubs are obtained. The coaxiality of the inner and outer tubs is characterized by the distance difference between these multiple points on the two opposing planes. The distance calculation is convenient and highly accurate.

[0128] In some embodiments, the detection method further includes: outputting a first level signal when the first difference reaches or exceeds a set distance difference threshold, and outputting a second level signal when the first difference is below the set distance difference threshold. The second level signal is different from the first level signal; for example, the second level signal is a high level signal and the first level signal is a low level signal.

[0129] The distance difference threshold can be a distance value set based on experience.

[0130] Different level signals are used to characterize whether the first difference meets the set distance difference threshold, so as to quickly determine whether the relative posture of the inner and outer tubs meets the requirements.

[0131] Figure 11 A flowchart of an assembly method for a washing machine according to an embodiment of this application is shown.

[0132] like Figure 11 As shown, the assembly method includes at least steps S1110 to S1140, which are described in detail below:

[0133] In step S1110, detection signals output by at least three Hall sensors are acquired. Then, proceed to step S1120.

[0134] The detection signal is also known as the voltage signal.

[0135] In step S1120, the relative attitude of the inner tub and the outer tub is determined based on the detection signals output by the at least three Hall sensors. Then, the process proceeds to step S1130.

[0136] The relative posture can be either the aforementioned first difference or the aforementioned first included angle. For details on how to determine the relative posture of the inner and outer tubs based on the detection signals output by the at least three Hall sensors, please refer to the description of the detection method embodiments of this application.

[0137] In step S1130, it is determined whether the relative attitude has reached or exceeded the set threshold. If so, proceed to step S1140.

[0138] When the relative posture reaches or exceeds the set threshold, it is considered that the coaxiality of the inner and outer barrels is not good, so it is necessary to proceed to step S1140 for adjustment.

[0139] The threshold can be a value set based on experience. When the relative attitude is the first difference, the threshold is a distance value set based on experience; when the relative attitude is the first included angle value, the threshold is an included angle value set based on experience.

[0140] In step S1140, at least one of the multiple fasteners is adjusted so that the relative orientation is below a set threshold.

[0141] In some embodiments, the fastener is a bolt, the relative posture is a first difference, and step S1140 specifically involves tightening the fastener closest to the Hall sensor corresponding to the first difference.

[0142] When the first difference reaches or exceeds a set threshold, it is considered that the coaxiality of the inner tub and the outer tub is poor. Tighten the fastener closest to the Hall sensor corresponding to the first difference. The difference between the distance value of the location point near the Hall sensor corresponding to the first difference and the distance value of the location point near other Hall sensors can be used to improve the coaxiality of the inner tub and the outer tub.

[0143] Figure 12 A flowchart of another embodiment of the present application for assembling a washing machine is shown.

[0144] like Figure 12 As shown, the assembly method includes at least steps S1210 to S1240, which are described in detail below:

[0145] In step S1210, the three Hall sensors are powered on, and the voltage signals output by the three Hall sensors are acquired. Then, proceed to step S1220.

[0146] In step S1220, the distance values ​​between the inner tub and the outer tub at three positions are determined based on the voltage signals output by the three Hall sensors. Then, the process proceeds to step S1230.

[0147] In step S1230, the maximum distance difference between the distance values ​​of the three location points is calculated, and it is determined whether the maximum distance difference is within 3mm. If not, proceed to step S1240.

[0148] In step S1240, tighten the bolt closest to the Hall sensor corresponding to the maximum distance difference.

[0149] After assembling the inner and outer tubs, the Hall sensor is powered on, and the consistency of the three voltages returned by the Hall sensor is compared. If the maximum distance difference among the distance values ​​corresponding to the three voltages is within 3mm, the coaxiality of the inner and outer tubs is considered to be excellent. Otherwise, the coaxiality of the inner and outer tubs is considered to be poor. The bolt closest to the Hall sensor corresponding to the maximum distance difference is tightened to improve the assembly accuracy.

[0150] After the washing machine is assembled, a factory inspection is performed. During this inspection, the shortest distance between the center of the circuit board containing the three Hall sensors and the surface formed by the ring permanent magnet is stored in the Flash memory of the main control chip. During washing machine operation, the Hall sensors, with their extremely high sampling frequency (e.g., 30,000 voltage data points per second), enable high-precision coaxiality measurement. This voltage data is then transmitted to the main control chip, which further calculates the included angle value.

[0151] The detection method described in this application is well-suited for the spin-drying process of washing machines. During spin-drying, clothes gradually float to the surface. These floating clothes contain a significant amount of water, have a large mass, and their floating position is not fixed, easily causing the center of gravity of the inner tub to deviate from its center. Excessive unevenness in the mass of the clothes within the inner tub results in inconsistent angular momentum directions and large momentum, leading to significant vibrations in the inner tub during spin-drying. Traditional washing machines use a drum-collision switch to recalibrate the machine's balance. This change in displacement is only detected when the vibration causes a significant displacement of the outer tub, triggering the drum-collision switch. By this time, the clothes have already piled up and cannot be spun dry further. Therefore, the spin-drying operation needs to be interrupted, water added back to the tub, and the washing machine restarted to redistribute the clothes. The spin-drying operation is then repeated until the drum-collision switch is no longer triggered. This increases the washing machine's power consumption and wastes water. The detection method described in this application can detect the attitude information of the inner and outer tubs, allowing for appropriate measures to prevent significant vibrations in the inner tub.

[0152] Figure 13 A flowchart of a spin-drying control method for a washing machine according to an embodiment of this application is shown.

[0153] like Figure 13 As shown, the dehydration control method includes at least steps S1310 to S1340, which are described in detail below:

[0154] In step S1310, the dehydration process is divided into multiple dehydration stages. Then, the process proceeds to step S1320.

[0155] Users set the water volume for each wash cycle. If no water volume is set, the washing machine uses fuzzy weighing to determine the required water volume. Knowing the water volume, the required spin-drying time can then be calculated. In some embodiments, the spin-drying cycle is divided into multiple stages, including: determining the required spin-drying time based on the water volume; and dividing the spin-drying time into multiple spin-drying intervals.

[0156] Based on the amount of washing water, the required spin-drying time can be accurately determined, and then the spin-drying time can be divided into multiple spin-drying periods, making the division of spin-drying periods more reasonable.

[0157] In step S1320, at each dehydration stage, the relative posture of the inner and outer drums is determined based on the detection signal output from the detection end. Then, the process proceeds to step S1330.

[0158] The relative posture can be either the aforementioned first difference or the aforementioned first included angle value. For details on how to determine the relative posture of the inner and outer barrels based on the detection signal output from the detection end, please refer to the description of the detection method embodiments of this application.

[0159] In some embodiments, the detection end includes at least three Hall sensors, which are not on the same straight line and are opposite to the magnetic element and are coaxially arranged, as described above.

[0160] In step S1330, it is determined whether the attitude difference between the relative attitude and the stored reference attitude reaches or exceeds the set difference threshold. If so, proceed to step S1340.

[0161] When the attitude difference between the relative attitude and the stored reference attitude reaches or exceeds the set difference threshold, it is considered that the coaxiality of the inner and outer buckets is not good, so it is necessary to proceed to step S1340 for adjustment.

[0162] The difference threshold can be a value set based on experience. When the relative attitude is the first difference, the reference attitude is a distance value, and the difference threshold is a distance value set based on experience; when the relative attitude is the first included angle value, the reference attitude is an included angle value, and the difference threshold is an included angle value set based on experience.

[0163] In step S1340, the motor is controlled to perform alternating forward and reverse rotation operations.

[0164] For example, the time for controlling the motor to perform alternating forward and reverse rotation is 10 seconds. Of course, it is also possible to control the motor to perform alternating forward and reverse rotation until the attitude difference between the relative attitude and the stored reference attitude decreases below a set difference threshold.

[0165] Figure 14 A flowchart of a spin-drying control method for a washing machine according to another embodiment of this application is shown.

[0166] like Figure 14 As shown, the dehydration control method includes at least steps S1410 to S14120, which are described in detail below:

[0167] In step S1410, the spin-drying time is determined based on the amount of washing water, and the spin-drying program is divided into three spin-drying periods. Then, proceed to step S1420.

[0168] In step S1420, it is determined whether the angle difference between the angle between the two planes opposite the inner and outer tubs and the stored reference angle is less than α. If yes, proceed to step S1440; otherwise, proceed to step S1430.

[0169] In step S1430, the motor is controlled to perform alternating forward and reverse rotation operations.

[0170] In step S1440, a dehydration operation is performed. Then, proceed to step S1450.

[0171] In step S1450, it is determined whether the dehydration time has reached 1 / 3. If so, proceed to step S1460; otherwise, continue the dehydration operation.

[0172] In step S1460, it is determined whether the angle difference between the angle between the two planes opposite to the inner and outer tubs and the stored reference angle is less than α. If yes, proceed to step S1480; otherwise, proceed to step S1470.

[0173] In step S1470, the motor is controlled to perform alternating forward and reverse rotation operations.

[0174] In step S1480, a dehydration operation is performed.

[0175] In step S1490, it is determined whether the dehydration time has reached 2 / 3. If so, proceed to step S14100; otherwise, continue the dehydration operation.

[0176] In step S14100, it is determined whether the angle difference between the angle between the two planes opposite the inner and outer tubs and the stored reference angle is less than α. If yes, proceed to step S14120; otherwise, proceed to step S14110.

[0177] In step S14110, the motor is controlled to perform alternating forward and reverse rotation operations.

[0178] In step S14120, a dehydration operation is performed to drain the remaining water.

[0179] Different washing machines have different structures, and their set threshold angle α can vary. Before draining during the first spin cycle, the angle difference is checked to see if it is less than α. If it is greater than α, it indicates that the inner and outer tubs will vibrate during the spin-drying process. To prevent this, the motor is controlled to perform alternating forward and reverse rotation until the angle difference meets the requirement of being less than α. This process is repeated before draining during the second and third spin cycles until the conditions for spin-drying are met, thus completing the spin-drying of the clothes.

[0180] In summary, this application uses a Hall sensor in conjunction with a ring-shaped permanent magnet to simulate the planar position of the inner and outer tubs. The Hall sensor has sensitive magnetic field strength sensing, while the continuous shape of the ring-shaped permanent magnet ensures that the magnetic field strength remains consistent across the entire surface. The field strength from the ring-shaped permanent magnet to the Hall sensor can be calculated using the Hall sensor, thereby determining the spatial position of the ring-shaped permanent magnet. This achieves accurate detection of the relative posture of the inner and outer tubs and further improves the coaxiality of the inner and outer tubs, making the washing machine's operation more stable, reducing washing noise, and extending the washing machine's service life.

[0181] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of this application is limited only by the appended claims.

Claims

1. A detection method for a washing machine, characterized by, The washing machine includes: The box has a compartment for taking out and putting in clothes; The door is used to open and close the opening for taking out and putting in the clothing; A clothes tub includes an outer tub and an inner tub. The outer tub is disposed in the box body, and the inner tub is disposed in the outer tub. The inner tub has a clothes handling cavity formed inside, and the clothes handling cavity is connected to the clothes loading and unloading port. A magnetic component is disposed on one of the inner tub and the outer tub; At least three Hall sensors are disposed on one of the inner tub and the outer tub. The at least three Hall sensors are opposite to the magnetic component and are coaxially arranged. The at least three Hall sensors are not on the same straight line and are used to sense the position of the magnetic component and output a detection signal. The detection method includes: Acquire the detection signals output by the at least three Hall sensors; Based on the detection signals output by the at least three Hall sensors, the relative posture of the inner tub and the outer tub is determined, wherein the maximum distance difference between at least three position points of the inner tub and the outer tub is a first difference value, the maximum distance difference value is obtained based on the distance value between the at least three position points, the included angle between two planes opposite to the inner tub and the outer tub is a first included angle value, and the relative posture includes at least one of the first difference value and the first included angle value.

2. The detection method according to claim 1, characterized in that, The at least three Hall sensors are arranged at equal intervals; the magnetic component is a ring-shaped permanent magnet.

3. The detection method according to claim 1 or 2, characterized in that, Determining the relative attitude between the inner tub and the outer tub based on the detection signals output by the at least three Hall sensors includes: Based on the detection signals output by the at least three Hall sensors, the distance values ​​between the at least three Hall sensors and the magnetic component are determined; Based on the distance values ​​between the at least three Hall sensors and the magnetic component, calculate the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component; Based on the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component, the angle between the two planes opposite to the inner tub and the outer tub is obtained.

4. The detection method according to claim 3, characterized in that, The calculation of the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component, based on the distance values ​​between the at least three Hall sensors and the magnetic component, includes: The shortest distance between the plane containing the at least three Hall sensors and the plane containing the magnetic component is calculated based on the following relationship: Wherein, D is the shortest distance between the plane containing the three Hall sensors and the plane containing the magnetic component, d1, d2, and d3 are the distances between the three Hall sensors and the magnetic component, and r is the distance between the center point of the plane containing the three Hall sensors and the three Hall sensors. Based on the shortest distance value, the angle between the plane containing the at least three Hall sensors and the plane containing the magnetic component is calculated.

5. The detection method according to claim 1 or 2, characterized by, Determining the relative attitude between the inner tub and the outer tub based on the detection signals output by the at least three Hall sensors includes: Based on the detection signals output by the at least three Hall sensors, the distance values ​​between the at least three Hall sensors and the magnetic component are determined; Based on the distance values ​​between the at least three Hall sensors and the magnetic component, the distance values ​​between the inner tub and at least three position points of the outer tub are obtained; Based on the distance values ​​of the at least three location points, the distance difference between the at least three location points is obtained; Based on the distance difference between the at least three location points, the maximum distance difference between the two planes opposite to the inner bucket and the outer bucket is obtained.

6. A method of assembling a washing machine, characterized by, The washing machine includes: The box has a compartment for taking out and putting in clothes; The door is used to open and close the opening for taking out and putting in the clothing; A clothes tub includes an outer tub and an inner tub. The outer tub is disposed in the box body, and the inner tub is disposed in the outer tub. The inner tub has a clothes handling cavity formed inside, and the clothes handling cavity is connected to the clothes loading and unloading port. Multiple fasteners are used to secure the outer tub and the inner tub at multiple locations. A magnetic component is disposed on one of the inner tub and the outer tub; At least three Hall sensors are disposed on one of the inner tub and the outer tub. The at least three Hall sensors are opposite to the magnetic component and are coaxially arranged. The at least three Hall sensors are not on the same straight line and are used to sense the position of the magnetic component and output a detection signal. The assembly method includes: Acquire the detection signals output by the at least three Hall sensors; Based on the detection signals output by the at least three Hall sensors, the relative posture of the inner tub and the outer tub is determined, wherein the maximum distance difference between at least three position points of the inner tub and the outer tub is a first difference value, the maximum distance difference value is obtained based on the distance value between the at least three position points, the included angle between two planes opposite to the inner tub and the outer tub is a first included angle value, and the relative posture includes at least one of the first difference value and the first included angle value; When the relative posture reaches or exceeds a set threshold, at least one of the plurality of fasteners is adjusted so that the relative posture is below the set threshold.

7. The method of assembling according to claim 6, wherein, The fastener is a bolt, and the step of adjusting at least one of the plurality of fasteners when the relative posture reaches or exceeds a set threshold includes: When the first difference reaches or exceeds a set threshold, tighten the fastener closest to the Hall sensor corresponding to the first difference.

8. A spin control method of a washing machine, characterized by, The washing machine includes: The box has a compartment for taking out and putting in clothes; The door is used to open and close the opening for taking out and putting in the clothing; A clothes tub includes an outer tub and an inner tub. The outer tub is disposed in the box body, and the inner tub is disposed in the outer tub. The inner tub has a clothes handling cavity formed inside, and the clothes handling cavity is connected to the clothes loading and unloading port. A position detection device includes a detection end and a detected end. The detection end is disposed on one of the inner tub and the outer tub, and the detected end is disposed on the other of the inner tub and the outer tub. The detection end and the detected end are opposite to each other and coaxially arranged. The detection end is used to detect the position of the detected end and output a detection signal. An electric motor is used to drive the inner tub to rotate; The dehydration control method includes: The dehydration process is divided into multiple dehydration stages; In each of the dehydration stages, the relative posture of the inner tub and the outer tub is determined based on the detection signal output by the detection end. The maximum distance difference between at least three position points of the inner tub and the outer tub is a first difference value, which is obtained based on the distance value between the at least three position points. The included angle between two planes opposite to the inner tub and the outer tub is a first included angle value. The relative posture includes at least one of the first difference value and the first included angle value. When the attitude difference between the relative attitude and the stored reference attitude reaches or exceeds the set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations.

9. The dewatering control method according to claim 8, characterized by, The dehydration process is divided into multiple dehydration stages, including: Determine the spin-drying time required to perform the spin-drying process based on the amount of washing water. The dehydration time is divided into multiple dehydration periods.

10. The dewatering control method of claim 8, wherein, When the attitude difference between the relative attitude and the stored reference attitude reaches or exceeds a set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations, including: When the angle difference between the first included angle value and the stored reference included angle reaches or exceeds the set difference threshold, the motor is controlled to perform alternating forward and reverse rotation operations until the angle difference drops below the set difference threshold.

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