Washing machine and washing machine control method

Abstract

This application discloses a washing machine and a washing machine control method. It considers the imbalance in the distribution of clothes inside the drum. As the motor speed increases, the coaxiality of the inner and outer drums is affected. During the motor's acceleration phase, a detection signal is acquired from the detection end when the motor is within a preset speed range. Based on the detection signal, the real-time relative posture of the inner and outer drums is determined, and the motor speed is controlled according to the relative posture of the inner and outer drums. This adjusts the relative posture of the inner and outer drums, thereby improving their coaxiality. This reduces drum vibration when the motor passes through the speed resonance range during the acceleration phase, thus reducing washing noise and extending the washing machine's lifespan. Simultaneously, it avoids interruptions in the spin-drying process due to excessive drum vibration, saving spin-drying time.

Description

Technical Field

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

[0002] As people's living standards improve, washing machines have gradually become an indispensable appliance in homes. During various stages of the washing process, washing machines may require a spin-drying operation. One spin-drying method involves gradually increasing the motor's rotation speed until a set target speed is reached, such as 800 rpm, and then spinning is performed at that target speed. During this process of increasing the motor's rotation speed, it passes through a speed resonance range (resonance occurs when the rotational speed is close to the natural vibration frequency of the ground). If the inner drum's rotational speed falls within this resonance range, the drum will experience significant vibration, potentially even impacting the washing machine's casing and affecting its lifespan.

[0003] Therefore, it is urgent to optimize the control logic of the washing machine to reduce the vibration of the drum when the motor is in the acceleration phase and passes through the speed resonance range. Summary of the Invention

[0004] In order to reduce the vibration of the washing tub when the motor is in the acceleration phase and passes through the speed resonance range, this application provides a washing machine and a washing machine control method.

[0005] In some embodiments of this application, the washing machine includes a cabinet, a door, a tub, a position detection device, a motor, and a control device. 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 the inner tub has a clothes processing chamber formed inside, which is connected to the clothes loading / unloading opening; the motor is used to drive the inner tub to rotate.

[0006] The control device is configured to: acquire the detection signal output by the detection end when the motor is in the acceleration phase, when the motor is in a preset speed range; determine the relative posture of the inner tub and the outer tub based on the detection signal, wherein the distance between multiple positions of the inner tub and the outer tub is a first distance value, the included angle between two 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 distance value and the first included angle value; and control the speed of the motor based on the relative posture of the inner tub and the outer tub.

[0007] Thus, in the above technical solution, considering the imbalance in the distribution of clothes inside the tub, the coaxiality of the inner and outer tubs is affected as the motor speed increases. During the motor's acceleration phase, the detection signal output by the detection end when the motor is within a preset speed range is acquired. Based on the detection signal, the real-time relative posture of the inner and outer tubs is determined, and the motor speed is controlled according to the relative posture of the inner and outer tubs. This achieves the adjustment of the relative posture of the inner and outer tubs, thereby improving the coaxiality of the inner and outer tubs. This can reduce the vibration of the tub when the motor is in the acceleration phase and passes through the speed resonance range, thereby reducing washing noise and extending the service life of the washing machine. At the same time, it can avoid the interruption of spin-drying due to excessive tub vibration, saving spin-drying time.

[0008] In some embodiments of this application, the detection end includes at least three Hall sensors, and the at least three Hall sensors are not on the same straight line. The detected end is a magnetic component, and the control device is configured to determine the relative posture of the inner tub and the outer tub based on the detection signals output by the at least three Hall sensors.

[0009] In the above technical solution, based on the principle that three points form a plane, three Hall sensors not on the same straight line simulate a surface adjacent to the outer and inner tubs, while the detected end simulates a surface adjacent to the inner and outer tubs, thereby simulating the relative posture of the outer and inner tubs to achieve the detection of their relative posture. Furthermore, using Hall sensors for detection is low-cost and compact.

[0010] In some embodiments of this application, the at least three Hall sensors are arranged at equal intervals; the magnetic element is a ring-shaped permanent magnet.

[0011] 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.

[0012] In some embodiments of this application, determining the relative posture of the inner tub and the outer tub based on detection signals 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 where the at least three Hall sensors are located and the plane where the magnetic component is located based on the distance values ​​between the at least three Hall sensors and the magnetic component; obtaining the angle between two planes opposite to the inner tub and the outer tub 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; and controlling the motor speed based on the relative posture of the inner tub and the outer tub includes: obtaining the angle deviation value between the angle between the two planes opposite to the inner tub and the outer tub and the set target angle; and controlling the motor speed based on the angle deviation value.

[0013] In the above technical solution, the angle between the two planes opposite to the inner tub and the outer tub is obtained by using 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.

[0014] 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: calculating the shortest distance between the plane containing the at least three Hall sensors and the plane containing the magnetic element based on the following relationship:

[0015]

[0016] 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.

[0017] 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.

[0018] 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.

[0019] In some embodiments of this application, the control device is configured to output a first level signal when the angle deviation value reaches or exceeds a set deviation threshold, and to output a second level signal when the angle deviation value is below the set deviation threshold; the second level signal is different from the first level signal.

[0020] In the above technical solution, different level signals are used to characterize whether the angle deviation value meets the set deviation threshold, so as to quickly know whether the relative posture of the inner and outer tubs meets the requirements.

[0021] In some embodiments of this application, determining the relative attitude of the inner tub and the outer tub based on detection signals 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; obtaining the distance values ​​between multiple 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; controlling the motor speed based on the relative attitude of the inner tub and the outer tub includes: obtaining the maximum distance difference between the distance values ​​of multiple position points of the inner tub and the outer tub, and calculating the difference between the maximum distance difference and a set target distance difference as a distance deviation value; controlling the motor speed based on the distance deviation value.

[0022] 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 values ​​at multiple locations between the inner tub and the outer tub. The distance value calculation is convenient and highly accurate.

[0023] In some embodiments of this application, the control device is configured to output a first level signal when the distance deviation value reaches or exceeds a set deviation threshold, and to output a second level signal when the distance deviation value is below the set deviation threshold; the second level signal is different from the first level signal.

[0024] In the above technical solution, different level signals are used to characterize whether the distance deviation value meets the set deviation threshold, so as to quickly know whether the relative posture of the inner and outer tubs meets the requirements.

[0025] In some embodiments of this application, controlling the motor speed based on the relative posture of the inner and outer tubs includes: when the motor is within a preset speed range, obtaining the degree of posture deviation between the relative posture and the target posture; when the degree of posture deviation exceeds a preset deviation, adjusting the motor speed based on the degree of posture deviation so that the degree of posture deviation is within the preset deviation range.

[0026] In the above technical solution, when the degree of posture deviation exceeds the preset deviation degree, the speed of the motor is adjusted based on the degree of posture deviation, so that the degree of posture deviation is within the preset deviation degree range, thereby reducing the vibration of the clothes tub.

[0027] In some embodiments of this application, the washing machine is provided with 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 are coaxially arranged. The detection end is used to detect the position of the detected end and output a detection signal.

[0028] The control method includes: when the motor is in the acceleration phase, acquiring the detection signal output by the detection end when the motor is within a preset speed range; based on the detection signal, determining the relative posture of the inner tub and the outer tub, wherein the distance between multiple positions of the inner tub and the outer tub is a first distance value, 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 distance value and the first included angle value; and controlling the speed of the motor based on the relative posture of the inner tub and the outer tub.

[0029] Thus, in the above technical solution, considering the imbalance in the distribution of clothes inside the tub, the coaxiality of the inner and outer tubs is affected as the motor speed increases. During the motor's acceleration phase, the detection signal output by the detection end when the motor is within a preset speed range is acquired. Based on the detection signal, the real-time relative posture of the inner and outer tubs is determined, and the motor speed is controlled according to the relative posture of the inner and outer tubs. This achieves the adjustment of the relative posture of the inner and outer tubs, thereby improving the coaxiality of the inner and outer tubs. This can reduce the vibration of the tub when the motor is in the acceleration phase and passes through the speed resonance range, thereby reducing washing noise and extending the service life of the washing machine. At the same time, it can avoid the interruption of spin-drying due to excessive tub vibration, saving spin-drying time.

[0030] 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

[0031] 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.

[0032] Figure 1 A schematic diagram of a washing machine according to one embodiment of this application is shown.

[0033] Figure 2 It shows Figure 1 The diagram shows the washing machine tub and position detection device.

[0034] Figure 3 It shows Figure 2 The exploded view of the position detection device shown.

[0035] Figure 4 A schematic diagram showing the positional distribution of the three Hall sensors on the circuit board is shown.

[0036] Figure 5 It shows Figure 1 The diagram shows the component blocks of a washing machine.

[0037] Figure 6 It shows Figure 1The diagram shown is a partial hardware circuit diagram of the washing machine.

[0038] Figure 7 A flowchart of a washing machine control method according to an embodiment of this application is shown.

[0039] Figure 8 It shows Figure 7 The flowchart showing a detailed embodiment of step S720 is shown.

[0040] Figure 9 This illustration shows the principle of determining the relative posture of the inner and outer tubs according to an embodiment of this application.

[0041] Figure 10 It shows Figure 7 A detailed flowchart of another embodiment of step S720 is shown.

[0042] Figure 11 A flowchart of some steps of a washing machine control method according to an embodiment of this application is shown.

[0043] Figure 12 It shows Figure 7 The flowchart showing a detailed embodiment of step S730 is shown.

[0044] Figure 13 A logic diagram for controlling motor speed according to an embodiment of this application is shown.

[0045] The annotations in the attached figures are explained as follows:

[0046] 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

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] In related technologies, the washing machine tub vibrates significantly when the motor is accelerating through the speed resonance range. This is because the distribution of clothes within the tub is somewhat unbalanced, and this imbalance becomes more pronounced as the motor speed increases, affecting the coaxiality of the inner and outer tubs. During the spin-drying process, the clothes are spun dry by the combination of the inner and outer tubs. The tilt of the inner tub relative to the outer tub generates irregular angular momentum, which is transmitted to the outer tub through the structure, thus affecting the overall structural stability. The better the coaxiality of the inner and outer tubs and the smaller their tilt angle, the more the generated angular momentum can be controlled in a specific direction, resulting in less tub vibration when the motor passes through the speed resonance range. Conversely, the worse the coaxiality of the inner and outer tubs and the larger their tilt angle, the greater the tub vibration when the motor passes through the speed resonance range.

[0054] In view of this, the washing machine of this application embodiment considers the problem of uneven distribution of clothes in the drum. As the motor speed increases, the coaxiality of the inner drum and the outer drum is affected. During the motor speed-up phase, the detection signal output by the detection end when the motor is within a preset speed range is acquired. Based on the detection signal, the real-time relative posture of the inner drum and the outer drum is determined, and the motor speed is controlled according to the relative posture of the inner drum and the outer drum. This achieves the adjustment of the relative posture of the inner drum and the outer drum, thereby improving the coaxiality of the inner drum and the outer drum. This can reduce the vibration of the drum when the motor is in the speed-up phase and passes through the speed resonance range, thereby reducing washing noise and extending the service life of the washing machine. At the same time, it can avoid the interruption of spin-drying due to excessive drum vibration, saving spin-drying time.

[0055] 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.

[0056] The washing machine described in this application can be a top-loading washing machine. The structure and control method of the washing machine described in this application will be explained below using a top-loading washing machine as an example.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] In some embodiments, such as Figure 2 and Figure 3 As 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.

[0068] 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.

[0069] 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.

[0070] Figure 4 A schematic diagram showing the positional distribution of the three Hall sensors on the circuit board is shown.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] Figure 5 It shows Figure 1 The diagram shows the component blocks of a washing machine.

[0079] 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.

[0080] 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.

[0081] Figure 6 It shows Figure 1 The diagram shown is a partial hardware circuit diagram of the washing machine.

[0082] like Figure 6 As shown, the control device 60 may include an MCU drive circuit U6 and a voltage regulator circuit U5.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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, and the distance between multiple points between two planes opposite to the inner barrel 32 and the outer barrel 31.

[0087] 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.

[0088] Figure 7 A flowchart of a washing machine control method according to an embodiment of this application is shown.

[0089] Control device 60 is configured to execute washing machine control methods, such as Figure 7 As shown, the washing machine control method includes at least steps S710 to S730, which are described in detail below:

[0090] In step S710, when the motor is in the acceleration phase, the detection signal output by the detection terminal when the motor is within a preset speed range is acquired. Then, the process proceeds to step S720.

[0091] The preset speed range can be the speed resonance range.

[0092] When the detection end includes at least three Hall sensors, and the at least three Hall sensors are not on the same straight line, and the detected end is a magnetic component, the detection signal output by the detection end when the motor is in the preset speed range is obtained, that is, the detection signal output by the at least three Hall sensors when the motor is in the preset speed range is obtained, and the detection signal is also a voltage signal.

[0093] In step S720, the relative orientation of the inner and outer tubs is determined based on the detection signal. Then, the process proceeds to step S730.

[0094] In some embodiments, the relative orientation of the inner and outer tubs is the angle between two opposing planes of the inner and outer tubs, i.e., the first angle value. For example... Figure 8 As shown, the relative posture of the inner and outer tubs is determined based on the detection signal, including steps S810 to S830, which are described in detail below:

[0095] 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.

[0096] In step S820, based on the distance values ​​between the at least three Hall sensors and the magnetic element, the angle between the plane where the at least three Hall sensors are located and the plane where the magnetic element is located is calculated.

[0097] In some embodiments, step S820 includes steps S8201 and S8202.

[0098] like Figure 9 As 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.

[0099] 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:

[0100]

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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 calculated angle between the plane containing the three Hall sensors and the plane containing the magnetic component more accurate, which in turn makes the relative posture of the inner and outer barrels more accurate.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] In some embodiments, the relative orientation of the inner and outer tubs is the distance value between multiple points on two opposing planes of the inner and outer tubs, i.e., a first distance value. 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 posture of the inner and outer tubs is determined based on the detection signal, including steps S1010 to S1020, which are described in detail below:

[0109] 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.

[0110] In step S1020, based on the distance values ​​between the at least three Hall sensors and the magnetic component, the distance values ​​between multiple location points between the inner tub and the outer tub on two opposing planes are obtained.

[0111] That is, the distance values ​​between the at least three Hall sensors and the magnetic component are used as the distance values ​​between multiple points on two opposing planes of the inner and outer tubs.

[0112] 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 these distance values. The distance calculation is convenient and highly accurate.

[0113] Figure 11 A flowchart of some steps of a washing machine control method according to an embodiment of this application is shown.

[0114] like Figure 11 As shown, in some embodiments, the washing machine control method includes at least steps S1110 to S11100, which are described in detail below:

[0115] In step S1110, the voltage value of the reference resistor is read, system functions are assigned, and the detection accuracy of the relative posture of the inner and outer barrels is determined.

[0116] In step S1120, the voltage values ​​of each Hall sensor are read.

[0117] In step S1130, the distance values ​​of each Hall sensor from the plane of the ring permanent magnet are calculated, and the maximum distance difference between each distance value is calculated.

[0118] In step S1140, it is determined whether the target distance difference is stored. If yes, proceed to step S1180; otherwise, proceed to step S1150.

[0119] In step S1150, it is determined whether the voltage value of the Hall sensor is within the set accuracy range. If yes, proceed to step S1160; otherwise, proceed to step S1170.

[0120] In step S1160, the target distance difference is calculated and stored.

[0121] In step S1170, the plane is adjusted so that the voltage value of the Hall sensor is within the set accuracy range.

[0122] In step S1180, it is determined whether the difference between the maximum distance difference between the distance values ​​corresponding to each Hall sensor and the target distance difference is within the set accuracy range. If yes, proceed to step S1190; otherwise, proceed to step S11100.

[0123] In step S1190, it is determined that the two planes opposite to the inner and outer buckets are parallel, the maximum distance difference and the angle between the two planes are transmitted via serial port, and the indicator port is set to high.

[0124] In step S11100, it is determined that the two planes opposite to the inner and outer buckets are not parallel, the maximum distance difference and the angle between the two planes are transmitted via serial port, and the indicator port is set to low bit.

[0125] In the above embodiment, the system reads the voltage values ​​of the Hall sensors and calculates the distances from each Hall sensor to the plane of the ring permanent magnet based on these voltage values. This allows the system to determine whether the plane containing the Hall sensors is parallel to the plane containing the ring permanent magnet. However, if the system wants to determine the direction of plane offset using the distances from each Hall sensor to the plane of the ring permanent magnet, it needs to provide an initial value for the distance between the two planes when they are parallel to ensure the uniqueness of the parallel planes. By adjusting the planes, the three values ​​of the Hall sensors are kept within the error range, and then the plane parallel distance values ​​are stored in the system's internal storage. With this data, the measured plane parallel information can be output as parallel distance and angle data via a serial port, and the high and low levels of the GPIO indicator can be used to directly and quickly determine whether the two planes are parallel.

[0126] When the offset angle and distance between two planes can be identified, the attitude of the inner and outer drums of the washing machine can be detected. Washing machines with different accelerations will generate different amounts of angular momentum when they are running. By detecting the attitude, the operating status of the inner drum of the washing machine can be identified, thereby enabling the adjustment of system stability.

[0127] In step S730, the motor speed is controlled based on the relative posture of the inner and outer tubs.

[0128] In some embodiments that use a first included angle value to characterize the coaxiality of the inner and outer tubs, controlling the motor speed based on the relative posture of the inner and outer tubs includes: obtaining an angle deviation value between the first included angle value and a set target included angle; and controlling the motor speed based on the angle deviation value.

[0129] Furthermore, when the angle deviation value reaches or exceeds a set deviation threshold, a first level signal is output; when the angle deviation value is below the set deviation threshold, a second level signal is output. 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.

[0130] The deviation threshold can be an angle value set based on experience.

[0131] Different level signals are used to characterize whether the angle deviation value meets the set deviation threshold, so as to quickly determine whether the relative posture of the inner and outer tubs meets the requirements.

[0132] In some embodiments that use a first distance value to characterize the coaxiality of the inner tub and the outer tub, controlling the motor speed based on the relative posture of the inner tub and the outer tub includes: obtaining the maximum distance difference between multiple position points of the inner tub and the outer tub, and calculating the difference between the maximum distance difference and a set target distance difference as a distance deviation value; and controlling the motor speed based on the distance deviation value.

[0133] Furthermore, when the distance deviation value reaches or exceeds a set deviation threshold, a first-level signal is output; when the distance deviation value is below the set deviation threshold, a second-level signal is output. 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.

[0134] The deviation threshold can be a distance value set based on experience.

[0135] Different level signals are used to characterize whether the distance deviation value meets the set deviation threshold, so as to quickly determine whether the relative posture of the inner and outer tubs meets the requirements.

[0136] In some embodiments, such as Figure 12As shown, the motor speed is controlled based on the relative posture of the inner and outer tubs, including steps S1210 to S1220, which are described in detail below:

[0137] In step S1210, when the motor is within a preset speed range, the degree of attitude deviation between the relative attitude and the target attitude is obtained.

[0138] In some embodiments, the degree of attitude deviation between the relative attitude and the target attitude can be the degree of deviation between the maximum distance difference and the set target distance difference.

[0139] In some embodiments, the degree of attitude deviation between the relative attitude and the target attitude can be the difference between the first included angle value and the set target included angle value and the degree of deviation between the target included angle value.

[0140] In step S1220, when the attitude deviation exceeds the preset deviation level, the motor speed is adjusted based on the attitude deviation level so that the attitude deviation level is within the preset deviation level range.

[0141] Figure 13 A logic diagram for controlling motor speed according to an embodiment of this application is shown.

[0142] like Figure 13 As shown, the attitude control system first sets the target parallelism and the target motor speed. The target parallelism refers to the parallelism between the plane of the Hall sensor and the plane of the ring permanent magnet, i.e., the parallelism between the two opposing planes of the inner and outer tubs (the bottom surfaces of the inner and outer tubs). This target parallelism reflects the target coaxiality of the inner and outer tubs. The target speed refers to the final speed the motor is expected to achieve. Next, the Hall plane detection system detects the actual parallelism between the bottom surfaces of the inner and outer tubs and feeds it back to the plane attitude control. Based on the deviation between the actual and target parallelism, the plane attitude control adjusts the motor speed, for example, by adjusting the motor's acceleration or slightly reducing the motor speed, to improve the stability of the inner and outer tubs and keep the deviation within an acceptable range. Simultaneously, the actual motor speed is identified by detecting the motor current and fed back to the motor control system, which then drives the motor according to the actual and target speeds, thus regulating the motor. By completing the closed-loop adjustment of the stability of the inner and outer tubs through the above steps, the vibration of the tub can be reduced while the motor speed can quickly reach the target speed.

[0143] 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, improves the coaxiality of the inner and outer tubs, makes the washing machine's operation more stable, reduces washing noise, and extends the washing machine's lifespan.

[0144] 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 laundry 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 control device is configured as follows: When the motor is in the speed-up phase, the detection signal output by the detection terminal when the motor is in the preset speed range is acquired; Based on the detection signal, the relative posture of the inner tub and the outer tub is determined, wherein the distance between multiple position points of the inner tub and the outer tub is a first distance value, 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 distance value and the first included angle value. The rotational speed of the motor is controlled based on the relative posture of the inner and outer tubs.

2. A laundry washing machine according to Claim 1, characterized in that The detection end includes at least three Hall sensors, and the at least three Hall sensors are not on the same straight line. The detected end is a magnetic component. The control device is configured to determine the relative posture of the inner tub and the outer tub based on the detection signals output by the at least three Hall sensors.

3. A laundry washing machine according to Claim 2, characterized in that The at least three Hall sensors are arranged at equal intervals; the magnetic component is a ring-shaped permanent magnet.

4. The washing machine according to claim 2, characterized in that, Determining the relative posture of the inner tub and the outer tub based on the detection signal 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; The method of controlling the motor speed based on the relative posture of the inner tub and the outer tub includes: The angle deviation between the included angle between two planes opposite to the inner tub and the outer tub and the set target angle is obtained; The speed of the motor is controlled based on the angle deviation value.

5. A laundry washing machine according to Claim 4, 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.

6. A laundry washing machine according to Claim 4, characterized in that The control device is configured to: When the angle deviation value reaches or exceeds the set deviation threshold, a first level signal is output; when the angle deviation value is below the set deviation threshold, a second level signal is output; the second level signal is different from the first level signal.

7. The washing machine according to claim 2, characterized in that, Determining the relative posture of the inner tub and the outer tub based on the detection signal 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 multiple position points of the outer tub are obtained; Based on the relative posture of the inner tub and the outer tub, the rotational speed of the motor is controlled, including: Obtain the maximum distance difference between multiple location points of the inner bucket and the outer bucket, and calculate the difference between the maximum distance difference and the set target distance difference as the distance deviation value; The speed of the motor is controlled based on the distance deviation value.

8. The washing machine according to claim 7, characterized in that, The control device is configured to: When the distance deviation value reaches or exceeds a set deviation threshold, a first level signal is output; when the distance deviation value is below the set deviation threshold, a second level signal is output; the second level signal is different from the first level signal.

9. A laundry washing machine according to any one of the preceding claims, characterized in that, The method of controlling the motor speed based on the relative posture of the inner tub and the outer tub includes: When the motor is within a preset speed range, the degree of attitude deviation between the relative attitude and the target attitude is obtained; When the attitude deviation exceeds a preset deviation level, the speed of the motor is adjusted based on the attitude deviation level so that the attitude deviation level is within the preset deviation level range.

10. A method of controlling a laundry machine, characterized by, The washing machine has 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 control method includes: When the motor is in the speed-up phase, the detection signal output by the detection terminal when the motor is in the preset speed range is acquired; Based on the detection signal, the relative posture of the inner tub and the outer tub is determined, wherein the distance between multiple position points of the inner tub and the outer tub is a first distance value, 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 distance value and the first included angle value. Control the rotating speed of the motor based on the relative posture of the inner barrel and the outer barrel.

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