Drum washing machine and fluffing control method, device and computer readable storage medium

Abstract

The application provides a drum washing machine and a scattering control method, device and computer readable storage medium. The drum washing machine comprises a washing drum. The control method comprises the following steps: in the case that the eccentric weight of a load exceeds a preset weight, rotating the washing drum at least one circle along a preset direction, and acquiring a signal sequence; wherein the signal sequence is a plurality of signal values collected by a driving mechanism of the washing drum when the washing drum rotates; determining a first time when a characteristic value in the signal sequence appears according to the signal sequence; the characteristic value comprises a peak value in the signal sequence; rotating the eccentric load to a scattering starting position according to the first time and a second time when the washing drum starts to rotate, so that the signal value of the driving mechanism is the peak value when the eccentric load rotates to the scattering starting position; controlling the movement of the washing drum; in the movement process of the washing drum, a preset rotation track of the eccentric load is located in the upper half of the washing drum and comprises the scattering starting position.

Description

Technical Field

[0001] This application relates to the field of washing machine control technology, and more particularly to drum washing machines and their shake control methods, devices, and computer-readable storage media. Background Technology

[0002] When a drum washing machine is fully loaded, the load eccentricity is significant, requiring a lower spin speed or preventing spin-drying altogether. Therefore, when significant load eccentricity is detected, it is necessary to shake the eccentric load to disperse it. In related technologies, shaking the eccentric load involves alternating forward and reverse rotation of the washing drum; however, this method is not effective in dispersing the eccentric load when the eccentricity is substantial. Summary of the Invention

[0003] This application proposes a drum washing machine and a method, apparatus and computer-readable storage medium for shaking and dispersing, aiming to solve the technical problem in the prior art that it is not easy to shake and disperse an eccentric load when the eccentric load has a large eccentricity and the eccentricity of the eccentric load is large.

[0004] In a first aspect, this application proposes a method for controlling the shaking of a drum washing machine, the drum washing machine including a washing drum; the control method includes: When the eccentric weight of the load exceeds the preset weight, the washing drum is controlled to rotate at least one revolution in the preset direction, and a signal sequence is acquired; wherein, the signal sequence is a plurality of signal values ​​acquired by the driving mechanism of the washing drum from the rotating device of the washing drum. Based on the signal sequence, determine the first moment when a feature value appears in the signal sequence; the feature value includes the peak value in the signal sequence. Based on the first moment and the second moment when the washing drum starts to rotate, the eccentric load is rotated to the shaking start position; The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load is shaken off; during the movement of the washing drum, the eccentric load starts to move from the shaking off starting position and can move in the upper part of the washing drum.

[0005] Optionally, controlling the washing drum to rotate at least one revolution in a preset direction includes: Control the washing drum to rotate one revolution in a preset direction at a first rotation speed; The step of rotating the eccentric load to the shaking start position based on the first moment and the second moment when the washing drum starts to rotate includes: Controlling the washing drum to rotate along the preset direction at the first rotation speed, the time difference between the first moment and the second moment is used to rotate the eccentric load to the shaking start position.

[0006] Optionally, the preset rotation trajectory includes a shaking end position; the shaking end position and the shaking start position are arranged symmetrically. The control of the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load can move back and forth between the end position of the shaking and the beginning position of the shaking.

[0007] Optionally, controlling the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to rotate forward and backward at a second speed for a preset duration; wherein the preset duration is less than the time it takes for the washing drum to rotate one revolution at the second speed.

[0008] Optionally, the preset duration is half the time it takes for the washing drum to rotate one revolution at the second rotation speed.

[0009] Optionally, controlling the washing drum to move according to a preset rotation trajectory includes: controlling the washing drum to rotate forward and backward, and alternating forward and backward at least a preset number of times.

[0010] Optionally, the jitter control method further includes: Before controlling the washing drum to rotate at least one revolution in a preset direction, control the washing drum to rotate at a second rotation speed to ensure that the load is in close contact with the washing drum; and / or The dispersion control method further includes: After controlling the washing drum to move along a preset rotation trajectory, the washing drum is controlled to rotate forward and backward a preset number of times according to a preset rotation-stop ratio.

[0011] Secondly, this application also proposes a sloshing control device for a drum washing machine, comprising: The control module is used to control the washing drum to rotate at least one revolution in a preset direction when the eccentric weight of the eccentric load exceeds a preset weight. An acquisition module is used to acquire a signal sequence; wherein the signal sequence is a plurality of signal values ​​collected by the drive mechanism of the washing drum from the rotating device of the washing drum; A determining module is configured to determine, based on the signal sequence, the first moment in which a feature value appears in the signal sequence; the feature value includes a peak value in the signal sequence. The control module is configured to rotate the load to the shaking start position according to the first moment and the second moment when the washing drum starts to rotate, so that when the eccentric load rotates to the shaking start position, the signal value of the drive mechanism is at its peak. The control module is used to control the washing drum to move according to a preset rotation trajectory; during the movement of the washing drum, the eccentric load starts to move from the shaking start position and can move in the upper part of the washing drum.

[0012] Thirdly, this application also proposes a drum washing machine, including a controller configured to perform the shaking control method as described above.

[0013] Fourthly, this application proposes a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps in the jitter control method as described above.

[0014] In the technical solution of this application embodiment, when the eccentric weight of the load exceeds the preset weight, the washing drum is controlled to rotate at least one revolution along the preset direction. Then, based on the obtained signal value of the drive mechanism, the eccentric load is moved to the shaking start position at the first moment when the peak value in the signal value appears and the second moment when the washing drum starts to rotate. Compared with the prior art, this application pre-calibrates the initial shaking position of the eccentric load so that it is located in the upper part of the washing drum, thereby redistributing the eccentric load and improving the success probability of shaking the eccentric load. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic flowchart of the jitter control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of a sub-process of the jitter control method provided in the embodiments of this application; Figure 3 This is another schematic flowchart of the jitter control method provided in the embodiments of this application; Figure 4 A schematic diagram of a specific process for the jitter control method provided in the embodiments of this application; Figure 5 This is a schematic diagram of the module structure of the jitter control device provided in the embodiments of this application. Detailed Implementation

[0017] 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 the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0019] In this application, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0020] This application provides a drum washing machine, a shaking control method, an apparatus, and a computer-readable storage medium, which will be described in detail below.

[0021] like Figure 1 The diagram shown is a flowchart of an embodiment of the shaking control method for a drum washing machine in this application. The shaking control method includes: S200, when the eccentric weight of the load exceeds the preset weight, control the washing drum to rotate at least one revolution in the preset direction.

[0022] In the technical solution of this embodiment, when the eccentric weight of the load exceeds a preset weight, the load needs to be shaken. The washing drum is controlled to rotate at least one revolution along a preset direction, such as one revolution, two revolutions, or more revolutions. The preset direction can be clockwise or counterclockwise.

[0023] S300, acquire signal sequence; wherein, the signal sequence is multiple signal values ​​acquired by the drive mechanism of the washing drum from the rotating device of the washing drum; In the technical solution of this embodiment, the signal sequence refers to the signal values ​​of the driving mechanism, such as electrical signals or torque signals. As the washing drum rotates in a preset direction, the signal acquisition device acquires signal values ​​at a preset acquisition frequency to obtain the signal sequence. For example, as the washing drum rotates one revolution clockwise, the current sensor acquires multiple current values ​​collected by the motor at different time points.

[0024] S400, based on the signal sequence, determine the first moment when a feature value in the signal sequence appears; the feature value includes the peak value in the signal sequence; In the technical solution of this embodiment, during the rotation of the washing drum, due to the eccentricity of the load, the signal value differs depending on the location of the eccentricity within the drum. Determining the first moment of the occurrence of the characteristic value (peak value) based on the signal sequence can be used to calibrate the position of the eccentric load during its ascent. Taking clockwise rotation as an example, when the eccentric load rotates from the 9 o'clock position towards the 12 o'clock position, due to the need to overcome gravity, the drum lifts the eccentric load a greater height per unit time when the eccentric load is at the 9 o'clock position. Furthermore, the weight of the eccentric load is greater than that of the load at other positions, resulting in a momentary peak in the motor current. Therefore, the first moment of the peak value is used as a reference time to calibrate the starting position of the eccentric load's shaking.

[0025] S500, based on the first moment and the second moment when the washing drum starts to rotate, rotate the eccentric load to the shaking start position.

[0026] In the technical solution of the embodiment, when the eccentric load rotates to the shaking start position, the signal value of the drive mechanism is at its peak. The second moment is the moment when the washing drum starts to rotate; the shaking start position that the eccentric load needs to rotate to can be determined based on the first moment and the second moment, and the washing drum is rotated so that the eccentric load rotates to the shaking start position; this shaking start position corresponds to the peak value of the drive mechanism during the rising process of the eccentric load.

[0027] Furthermore, in some embodiments, after rotating one revolution at a first rotational speed, the initial position and the starting position of the eccentric load can be determined. By controlling the rotational speed and time based on the angle or arc length between these two positions, the eccentric load can be moved to the starting position of the eccentric load. The rotational speed and time can be adjusted as long as the angle or arc length of the cylinder's operation matches the difference between the initial position and the eccentric load position. That is, the rotational speed can be adjusted to match the time difference between the first and second moments; a rotational speed less than the first speed can match a time difference greater than the first moment; and a rotational speed greater than the first speed can match a time difference less than the first moment.

[0028] S600, control the washing drum to move according to a preset rotation trajectory so that the eccentric load is shaken off; during the movement of the washing drum, the eccentric load starts to move from the shaking off starting position and can move in the upper part of the washing drum.

[0029] In the technical solution of the embodiment, the eccentric load is shaken from this position according to a preset rotation trajectory. During the shaking process, the eccentric load can move from the shaking start position and move in the upper part of the washing drum, thereby redistributing the eccentric load and increasing the success rate of shaking the eccentric load.

[0030] In the technical solution of this application embodiment, when the eccentric weight of the load exceeds the preset weight, the washing drum is controlled to rotate at least one revolution along the preset direction. Then, based on the obtained signal value of the drive mechanism, the eccentric load is moved to the shaking start position at the first moment when the peak value in the signal value appears and the second moment when the washing drum starts to rotate. Compared with the prior art, this application pre-calibrates the initial shaking position of the eccentric load so that it is located in the upper part of the washing drum, thereby redistributing the eccentric load and improving the success probability of shaking the eccentric load.

[0031] In the technical solution of this application embodiment, the eccentric position of the eccentric load inside the washing drum is unknown. This is achieved by rotating the washing drum at least one revolution and acquiring multiple signal values ​​from the drive mechanism. During this rotation, the eccentric load rotates within the drum and needs to overcome gravity to rise. When it approaches the circumferential position at 9 o'clock (clockwise) or 3 o'clock (counterclockwise), the motor's work is converted into gravitational potential energy, resulting in the largest signal value, which can be used to determine the position of the eccentric load. Therefore, based on the second moment when the signal value reaches its peak and the first moment when the washing drum begins to rotate, the eccentric load can be rotated to this position as the starting position for eccentric load dispersion. This allows the eccentric load to move in the upper part of the drum with the dispersion starting position clearly defined, enabling it to collapse into the washing drum under gravity, thus achieving dispersion and redistribution.

[0032] The motion pattern of the eccentric load in the washing drum includes the following: Taking clockwise as an example, when the eccentric load rotates from the 12 o'clock position to the 6 o'clock position, the eccentric load moves from top to bottom, and potential energy does work, requiring no additional work from the motor. From the 6 o'clock to the 9 o'clock position, inertia can be used to do work. However, when rotating from the 9 o'clock position to the 12 o'clock position, the motor needs to accelerate to start, at which point the signal value peaks. Therefore, when the peak value appears, the eccentric load can be rotated to the 9 o'clock position. The 9 o'clock position is at the starting point of the upper half of the washing drum, which can effectively utilize this position to disperse the eccentric load motion. Of course, in this embodiment, due to errors in signal acquisition, the starting position of dispersion may not be exactly at the 9 o'clock position in actual use, but it will be in a position near the 9 o'clock position, such as between 8:45 and 9:15.

[0033] In this embodiment, the washing drum can rotate one, two, or more times. During two or more rotations, the starting position of the shaking can be determined based on the first and second moments of the peak value observed in each rotation.

[0034] For example, let T be the time it takes for the washing drum to rotate one revolution. Let t0 be the second moment. The first moments when the peak occurs in the first, second, third, ... nth revolutions of the washing drum are t1, t2, t3, ... tn, respectively. Based on these multiple first moments, combined with the period T of one revolution, the average moment when the peak occurs in the washing drum can be determined as: [t1 + (t2 - T) + (t3 - 2T) + ... + (tn - (n - 1)T)] / n. Then, the starting position of the shaking is determined based on the average moment and the second moment. This method helps to improve the accuracy of the determined shaking start position, making it closer to 9 o'clock or 3 o'clock, thus improving the success rate of shaking.

[0035] As an optional implementation of the above embodiments, such as Figure 2 As shown, controlling the washing drum to rotate at least one revolution in a preset direction includes: S210, control the washing drum to rotate one revolution in a preset direction at a first rotation speed; The step of rotating the eccentric load to the shaking start position based on the first moment and the second moment when the washing drum starts to rotate includes: S510, control the washing drum to rotate in the preset direction at the first speed according to the time difference between the first moment and the second moment, and rotate the eccentric load to the shaking start position.

[0036] In the technical solution of this embodiment, the washing drum rotates one revolution at a constant speed along a preset direction at a first rotational speed; based on the time difference between the second moment when the peak occurs and the first moment, the eccentric load is rotated to the shaking start position. For example, by rotating along the preset direction at the first rotational speed at the second moment and the time difference between the first moment, the eccentric load can be rotated to the shaking start position.

[0037] In this embodiment, the washing drum is initially in an unknown position before rotation, and the first moment when rotation begins is recorded. After completing one revolution, it is eccentrically rotated to that position. Then, the washing drum is rotated along the preset direction at the first rotation speed, the time difference between the first and second moments, thus rotating the eccentric load to the starting position for shaking. This method helps to quickly determine the initial shaking position and improves the shaking timeliness of the washing machine.

[0038] Of course, in some other embodiments, the washing drum is controlled to rotate n times in a preset direction at a first rotation speed; the time for one rotation of the washing drum is T. The second moment is t0. The first moments when the peak occurs in the first, second, third, ... nth rotation of the washing drum are t1, t2, t3, ... tn, respectively. Based on these multiple first moments, combined with the period T of one rotation, the average moment when the peak occurs in the washing drum can be determined as: [t1 + (t2 - T) + (t3 - 2T) + ... (tn - (n - 1)T)] / n. Then, the washing drum is rotated in the preset direction at the first rotation speed, and based on the time difference between the average moment and the second moment, it is rotated to the starting position of the shaking. This method helps to improve the accuracy of the determined shaking start position, making it closer to 9 o'clock or 3 o'clock, which can improve the shaking success rate, but the shaking timeliness is lower than that of one rotation.

[0039] As an optional implementation of the above embodiments, the preset rotation trajectory includes a shaking end position; the shaking end position and the shaking start position are arranged symmetrically. The control of the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load can move back and forth between the end position of the shaking and the beginning position of the shaking.

[0040] If the shaking begins at the 9 o'clock position, then the shaking ends at the 3 o'clock position. The washing drum rotates along a preset trajectory, causing the eccentricity to move back and forth between the 9 o'clock and 3 o'clock positions in the upper half, allowing the eccentricity to redistribute due to gravity. In this embodiment, the washing drum moves along the preset trajectory, with the eccentricity moving back and forth between 9 o'clock, 12 o'clock, 3 o'clock, 12 o'clock, and 9 o'clock...

[0041] In some embodiments, the number of back-and-forth movements is multiple, such as 5 times, 10 times, etc.

[0042] As an optional implementation of the above embodiments, controlling the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to rotate forward and backward at a second speed for a preset duration; wherein the preset duration is less than the time it takes for the washing drum to rotate one revolution at the second speed. For example, the preset duration is 1 / 4 to 3 / 4 of the time it takes for the washing drum to rotate one revolution at the second speed.

[0043] In this embodiment, the washing drum begins to shake when the eccentric load is at the shaking start position, and while the eccentric load is able to rotate in its upper part, it rotates at a second speed in both forward and reverse directions for a time less than one revolution at the second speed, thereby shaking the eccentric load. At this time, the eccentric load can rotate between the shaking start position and its corresponding symmetrical position.

[0044] As an optional implementation of the above embodiments, the preset duration is half the time required for the washing drum to rotate one revolution at the second rotation speed. In this embodiment, the eccentric load can be dispersed in the upper semicircular portion of the washing drum.

[0045] As an optional implementation of the above embodiments, controlling the washing drum to move according to a preset rotation trajectory includes: controlling the washing drum to rotate forward and backward, and at least alternating between forward and backward rotation a preset number of times. In this embodiment, setting a preset number of forward and backward rotations of the washing drum improves the success rate of shaking and scattering. For example, the preset number of times is 2, 3, or more.

[0046] As an optional implementation of the above embodiments, such as Figure 3 As shown, the jitter control method further includes: Before controlling the washing drum to rotate at least one revolution in a preset direction, S100, the washing drum is controlled to rotate at a second rotation speed so that the load is in close contact with the washing drum. In the technical solution of this application embodiment, the washing drum rotates at the second rotation speed so that the load is in close contact with the washing drum, thus leaving space for eccentric collapse inside the washing drum. During the eccentric shaking process of a large eccentric load, it is difficult to shake it in both forward and reverse directions; however, in the technical solution of this application embodiment, by placing the eccentric load against the wall and allowing it to move in the upper part, and because sufficient collapse space is reserved, the eccentric load can fall and redistribute.

[0047] In some embodiments, combined with Figure 4As shown, the load is first rotated at a second speed to ensure it is in close contact with the washing drum. Then, it is determined whether the eccentric weight of the load exceeds a preset weight. If not, the load is not significantly eccentric, and the process proceeds to the next washing cycle without entering the tumbling process. If it is, the tumbling process begins. For example, the load is pre-spun at approximately 400 rpm to ensure it is in close contact with the washing drum. Then, it is determined whether the eccentric weight of the load exceeds a preset weight. If not, the load is not significantly eccentric, and the process proceeds to a higher speed for high-speed spin-drying.

[0048] As an optional implementation of the above embodiments, the shaking control method further includes: as an optional implementation of the above embodiments, in step S700, after controlling the washing drum to move along a preset rotation trajectory, controlling the washing drum to rotate forward and backward a preset number of times according to a preset rotation-to-stop ratio. In the technical solution of the embodiments, after the washing drum completes its movement, rotating forward and backward a preset number of times according to a preset rotation-to-stop ratio redistributes the fallen eccentric load, which helps to enhance the shaking effect.

[0049] For example, after the washing drum rotates clockwise a number of times according to the preset rotation-stop ratio, it rotates counterclockwise a number of times according to the preset rotation-stop ratio.

[0050] In this embodiment, after the washing drum is controlled to rotate forward and backward a preset number of times according to the preset rotation-stop ratio, it is determined whether the number of shaking cycles has reached a preset number. If so, the shaking process ends; if not, it is determined whether the eccentric weight is greater than a preset weight. Accordingly, by setting the number of shaking cycles, the drum washing machine is prevented from shaking indefinitely.

[0051] In the technical solution of this application embodiment, both the first rotational speed and the second rotational speed are at most 200 rpm. The first rotational speed is at most 200 rpm so that the peak signal can be accurately captured. The second rotational speed is at most 200 rpm so that the eccentricity can be redistributed by gravity when moving at low speed.

[0052] To better implement the jitter control method in the embodiments of this application, a jitter control device is also provided in the embodiments of this application, such as... Figure 5 As shown, the jitter control device includes: The control module is used to control the washing drum to rotate at least one revolution in a preset direction when the eccentric weight of the load exceeds the preset weight. An acquisition module is used to acquire a signal sequence; wherein the signal sequence is a plurality of signal values ​​collected by the drive mechanism of the washing drum from the rotating device of the washing drum; A determining module is configured to determine, based on the signal sequence, the first moment in which a feature value appears in the signal sequence; the feature value includes a peak value in the signal sequence. The control module is further configured to rotate the eccentric load to the shaking start position based on the first moment and the second moment when the washing drum starts to rotate; wherein, when the eccentric load rotates to the shaking start position, the signal value of the drive mechanism is at its peak value; The control module is also used to control the washing drum to move according to a preset rotation trajectory so that the eccentric load is shaken off; during the movement of the washing drum, the eccentric load starts to move from the shaking off starting position and can move in the upper part of the washing drum.

[0053] Optionally, controlling the washing drum to rotate at least one revolution in a preset direction includes: The control module is also used to control the washing drum to rotate one revolution in a preset direction at a first rotation speed; The step of rotating the eccentric load to the shaking start position based on the first moment and the second moment when the washing drum starts to rotate includes: The control module is also used to control the washing drum to rotate along the preset direction at the first speed according to the time difference between the first moment and the second moment, so as to rotate the eccentric load to the shaking start position.

[0054] Optionally, the preset rotation trajectory includes a shaking end position; the shaking end position and the shaking start position are arranged symmetrically. The control of the washing drum to move according to a preset rotation trajectory includes: The control module is also used to control the washing drum to move according to a preset rotation trajectory, so that the eccentric load can move back and forth between the end position of the shaking and the beginning position of the shaking.

[0055] Optionally, controlling the washing drum to move according to a preset rotation trajectory includes: The control module is also used to control the washing drum to rotate forward and backward at a second speed for a preset duration; wherein the preset duration is less than the time it takes for the washing drum to rotate one revolution at the second speed.

[0056] Optionally, the preset duration is half the time it takes for the washing drum to rotate one revolution at the second rotation speed.

[0057] Optionally, controlling the washing drum to move according to a preset rotation trajectory includes: a control module, which is further configured to control the washing drum to rotate in both directions for at least a preset number of times.

[0058] Optionally, the jitter control method further includes: The control module is further configured to control the washing drum to rotate at a second rotational speed before controlling the washing drum to rotate at least one revolution in a preset direction, so as to make the eccentric load closely adhere to the washing drum; and / or The dispersion control method further includes: The control module is also used to control the washing drum to rotate forward and backward a set number of times according to a preset rotation-stop ratio after controlling the washing drum to move along a preset rotation trajectory.

[0059] This application also proposes a jitter control system, including: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the jitter control method as described above.

[0060] Typically, the jitter control system includes at least one processor, at least one memory, and a control program for the jitter control system stored in the memory and executable on the processor. The control program for the jitter control system is configured to implement the steps of the control method described above.

[0061] The processor may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor can be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and coprocessors. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. The processor may also include an AI (Artificial Intelligence) processor, which handles the control method operations related to the jitter control system, enabling the control method model of the jitter control system to learn autonomously, improving efficiency and accuracy.

[0062] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one instruction, which is executed by a processor to implement the jitter control method of the jitter control system provided in the method embodiments of this application.

[0063] When the eccentric weight of the load exceeds the preset weight, the washing drum is controlled to rotate at least one revolution in the preset direction, and a signal sequence is acquired; wherein, the signal sequence is a plurality of signal values ​​acquired by the driving mechanism of the washing drum from the rotating device of the washing drum. Based on the signal sequence, determine the first moment when a feature value appears in the signal sequence; the feature value includes the peak value in the signal sequence. Based on the first moment and the second moment when the washing drum starts to rotate, the eccentric load is rotated to the shaking start position; wherein, when the eccentric load is rotated to the shaking start position, the signal value of the drive mechanism is at its peak value; The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load is shaken off; during the movement of the washing drum, the eccentric load starts to move from the shaking off starting position and can move in the upper part of the washing drum.

[0064] As an optional implementation of the above embodiments, controlling the washing drum to rotate at least one revolution in a preset direction includes: Control the washing drum to rotate one revolution in a preset direction at a first rotation speed; The step of rotating the eccentric load to the shaking start position based on the first moment and the second moment when the washing drum starts to rotate includes: Controlling the washing drum to rotate along the preset direction at the first rotation speed, the time difference between the first moment and the second moment is used to rotate the eccentric load to the shaking start position.

[0065] As an optional implementation of the above embodiments, the preset rotation trajectory includes a shaking end position; the shaking end position and the shaking start position are arranged symmetrically. The control of the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load can move back and forth between the end position of the shaking and the beginning position of the shaking.

[0066] As an optional implementation of the above embodiments, controlling the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to rotate forward and backward at a second speed for a preset duration; wherein the preset duration is less than the time it takes for the washing drum to rotate one revolution at the second speed.

[0067] As an optional implementation of the above embodiments, the preset duration is half the time it takes for the washing drum to rotate one revolution at the second speed.

[0068] As an optional implementation of the above embodiments, controlling the washing drum to move according to a preset rotation trajectory includes: controlling the washing drum to rotate forward and backward, and to alternate between forward and backward at least a preset number of times.

[0069] As an optional implementation of the above embodiments, the jitter control method further includes: Before controlling the washing drum to rotate at least one revolution in a preset direction, control the washing drum to rotate at a second rotation speed so that the eccentric load is in close contact with the washing drum; and / or The dispersion control method further includes: After controlling the washing drum to move along a preset rotation trajectory, the washing drum is controlled to rotate forward and backward a preset number of times according to a preset rotation-stop ratio.

[0070] The foregoing has provided a detailed description of a drum washing machine and its shaking control method, apparatus, and computer-readable storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the shaking of a drum washing machine, characterized in that, The drum washing machine includes a washing drum; the control method includes: When the eccentric weight of the load exceeds the preset weight, the washing drum is controlled to rotate at least one revolution in the preset direction, and a signal sequence is acquired; wherein, the signal sequence is a plurality of signal values ​​acquired by the driving mechanism of the washing drum from the rotating device of the washing drum. Based on the signal sequence, determine the first moment when a feature value appears in the signal sequence; the feature value includes the peak value in the signal sequence. Based on the first moment and the second moment when the washing drum starts to rotate, rotate the eccentric load to the shaking start position; The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load is shaken off; during the movement of the washing drum, the eccentric load starts to move from the shaking off starting position and can move in the upper part of the washing drum.

2. The jitter control method as described in claim 1, characterized in that, Controlling the washing drum to rotate at least one revolution in a preset direction includes: Control the washing drum to rotate one revolution in a preset direction at a first rotation speed; The step of rotating the eccentric load to the shaking start position based on the first moment and the second moment when the washing drum starts to rotate includes: Controlling the washing drum to rotate along the preset direction at the first rotation speed, the time difference between the first moment and the second moment is used to rotate the eccentric load to the shaking start position.

3. The jitter control method as described in claim 1, characterized in that, The preset rotation trajectory includes the shake-off end position; the shake-off end position and the shake-off start position are arranged symmetrically. The control of the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to move along a preset rotation trajectory so that the eccentric load can move back and forth between the end position of the shaking and the beginning position of the shaking.

4. The jitter control method as described in claim 1, characterized in that, The control of the washing drum to move according to a preset rotation trajectory includes: The washing drum is controlled to rotate forward and backward at a second speed for a preset duration; wherein the preset duration is less than the time it takes for the washing drum to rotate one revolution at the second speed.

5. The jitter control method as described in claim 4, characterized in that, The preset duration is half the time it takes for the washing drum to rotate one revolution at the second rotation speed.

6. The jitter control method as described in claim 1, characterized in that, Controlling the washing drum to move along a preset rotation trajectory includes controlling the washing drum to rotate forward and backward, and alternating forward and backward at least a preset number of times.

7. The jitter control method as described in claim 1, characterized in that, The dispersion control method further includes: Before controlling the washing drum to rotate at least one revolution in a preset direction, control the washing drum to rotate at a second rotation speed to ensure that the load is in close contact with the washing drum; and / or The dispersion control method further includes: After controlling the washing drum to move along a preset rotation trajectory, the washing drum is controlled to rotate forward and backward a preset number of times according to a preset rotation-stop ratio.

8. A shaking control device for a drum washing machine, characterized in that, The drum washing machine includes a washing drum, and the control device includes: The control module is used to control the washing drum to rotate at least one revolution in a preset direction when the eccentric weight of the load exceeds the preset weight. An acquisition module is used to acquire a signal sequence; wherein the signal sequence is a plurality of signal values ​​collected by the drive mechanism of the washing drum from the rotating device of the washing drum; A determining module is configured to determine, based on the signal sequence, the first moment in which a feature value appears in the signal sequence; the feature value includes a peak value in the signal sequence. The control module is configured to rotate the eccentric load to the shaking start position according to the first moment and the second moment when the washing drum starts to rotate, so that when the eccentric load is rotated to the shaking start position, the signal value of the drive mechanism is at its peak. The control module is used to control the washing drum to move according to a preset rotation trajectory; during the movement of the washing drum, the eccentric load starts to move from the shaking start position and can move in the upper part of the washing drum.

9. A drum washing machine, characterized in that, Includes a controller configured to perform the jitter control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the steps of the jitter control method according to any one of claims 1 to 7.

Images