METHOD AND CONTROL UNIT FOR EXECUTING A SPIN PROGRAM FOR A CLEANING DEVICE AND CLEANING DEVICE

Description

[0001] The invention relates to a method and a control unit for carrying out a spin program for a cleaning device and to a cleaning device.

[0002] EP 2 309 048 A1 describes a drum for a washing machine with at least one driving rib.

[0003] EP 0 542 137 A1, JP H10 216390 A, CN 107 313 209 A and WO 2020 / 046076 A1 describe generic methods and devices.

[0004] The approach presented here aims to create an improved method and an improved control unit for carrying out a spin program for a cleaning device as well as an improved cleaning device.

[0005] According to the invention, this object is achieved by a method and a control unit for executing a spin program for a cleaning device, as well as by a cleaning device having the features of the main claims. Advantageous embodiments and further developments of the invention are set forth in the following subclaims.

[0006] The advantages achieved with this invention include the ability to spin textiles safely even with a ribless drum. Furthermore, imbalance and the resulting overloading of the machine can be avoided.

[0007] A method for carrying out a spin cycle for a cleaning appliance having a rotatable, ribless drum for holding textiles is presented. The method comprises a step of providing a first movement signal to an interface to a drive of the cleaning appliance, wherein the first movement signal causes a first rotational movement of the drum in a first direction until the drum has reached a first target speed. The method further comprises a step of providing a second movement signal to the interface to the drive. The second movement signal represents a second rotational movement of the drum in a second direction opposite to the first direction until the drum has reached a second target speed that is greater than the first target speed.The method further comprises a step of further providing a further first movement signal to the interface to the drive of the cleaning device, wherein the further first movement signal causes a further first rotational movement of the drum in the first direction until the drum has reached a further first target speed that is greater than the second target speed of the previous second rotational movement. In a further providing step, a further second movement signal is provided to the interface to the drive, wherein the further second movement signal represents a further second rotational movement of the drum in the second direction until the drum has reached a further second target speed that is greater than the further first target speed of the previous further first rotational movement.In a repeating step, at least one of the further providing steps is repeated until the further first target speed or the further second target speed reaches a predetermined maximum speed. The method further comprises a step of providing a third motion signal to the interface to the drive, wherein the third motion signal represents a third rotational movement of the drum at the predetermined maximum speed in the direction of the previous further providing step.

[0008] The method can, for example, be carried out or controlled in a washing machine, as it can be used for private or commercial purposes. The cleaning device can preferably be used to clean textiles so that they go through a spin program. The drum can also be referred to as a laundry drum, for example, and is shaped to clean the textiles inside. Advantageously, an inner side of a drum shell of the drum is or can be made smooth with the exception of a plurality of knobs. A ribless drum can be said to have no geometry that protrudes from the surface and where the drum radius is reduced by more than 10%."Ribless" can mean that the drum has no ribs on the inside extending between the drum base and the drum opening, for example, parallel to the drum's axis of rotation. A "nub" can be understood as a bump-like protrusion on the inside of the drum.

[0009] A stud can be pyramid-shaped or conical. A stud can have a circle or a regular polygon as its base. A stud can also be referred to as a structural element, a wobble, or a mini-driver. The drive can be implemented, for example, as a motor that can set the drum in motion, for example in the first direction. The first direction of the first rotational movement of the drum and, for example, the further first rotational movement of the drum can, for example, correspond to a clockwise direction or alternatively to a counterclockwise direction. Accordingly, the second direction of the second rotational movement of the drum and the further second rotational movement can, for example, correspond to a counterclockwise direction or alternatively to a clockwise direction.Advantageously, the second rotational movement is greater than the first rotational movement, the further first rotational movement is greater than the second rotational movement, and the further second rotational movement is greater than the further first rotational movement. This advantageously sets the drum into a pendulum rhythm, so that the textiles in the ribless drum advantageously adhere to a drum shell. The third movement signal advantageously causes the drum to rotate at least once, for example, to spin the textiles in the spin cycle.

[0010] According to the invention, the method comprises a step of calculating the maximum rotational speed using a predetermined g-factor, a drum radius value representing a drum radius of the drum, and the gravitational constant. The g-factor can advantageously be in a range between 2 and 6, with it advantageously being 4.

[0011] According to one embodiment, the second movement signal, the further first movement signal, and the further second movement signal can be provided for a predetermined period of time, wherein the predetermined period of time corresponds to half a period of a pendulum frequency. In this way, a back-and-forth oscillation can be achieved.

[0012] According to one embodiment, the third movement signal can be provided for a third time period, wherein the third time period is a multiple of the period duration. This advantageously enables complete rotations of the drum.

[0013] According to one embodiment, the method may include a step of determining the oscillation frequency using the drum radius value. For this purpose, the drum radius value may be read into a storage unit, for example, via an interface.

[0014] In the determining step, according to one embodiment, the oscillation frequency can be determined as a quotient of the square root of a quotient of the gravitational constant and the drum radius value, plus double the angular number. This allows a oscillation frequency adapted to the cleaning device to be achieved.

[0015] According to one embodiment, the oscillation frequency can be increased by a predetermined factor in the determining step. The predetermined factor can, for example, be in a range between 10% and 40%; preferably, the factor is 20%, for example. This allows the center of gravity of the textiles to be spun to be taken into account.

[0016] According to one embodiment, the first motion signal, the second motion signal, the further first motion signal, and the further second motion signal can cause a constant acceleration of the drum. This allows for easy rotation control.

[0017] According to one embodiment, the first movement signal can cause a first acceleration of the drum, the second movement signal a second acceleration of the drum that is greater than the first acceleration, the further first movement signal a further first acceleration of the drum that is greater than the second acceleration, and the further second movement signal a further second acceleration that is greater than the further first acceleration. Advantageously, this allows for an increasingly greater pendulum swing, so that the textiles cling evenly to the drum.

[0018] According to one embodiment, the maximum speed can be reached during a third repeat operation in the repeating step. Advantageously, a three-fold oscillation can be performed. This allows the settling time to be kept short while still ensuring reliable textile transport.

[0019] The approach presented here further provides a control unit configured to perform, control, or implement the steps of a variant of a method presented here in corresponding devices. This embodiment of the invention in the form of a device also allows the problem underlying the invention to be solved quickly and efficiently.

[0020] The control unit can be designed to read in input signals and to determine and provide output signals using the input signals. An input signal can, for example, represent a sensor signal that can be read in via an input interface of the control unit. An output signal can represent a control signal or a data signal that can be provided at an output interface of the control unit. The control unit can be designed to determine the output signals using a processing rule implemented in hardware or software. For example, the control unit can comprise a logic circuit, an integrated circuit, or a software module and can, for example, be implemented as a discrete component or be comprised of a discrete component.

[0021] A computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory, or an optical memory is also advantageous. If the program product or program is executed on a computer or a control unit, the program product or program can be used to carry out,

[0022] Implementation and / or control of the steps of the method according to one of the embodiments described above.

[0023] Furthermore, a cleaning device for cleaning textiles is presented, which has a rotatable ribless drum for receiving the textiles, a drive for setting the drum in a rotating movement and a control unit in a previously mentioned variant.

[0024] The cleaning device can be implemented, for example, as a standard washing machine or as a commercial or professional device. The inside of a drum shell can advantageously be smooth, except for a plurality of nubs.

[0025] An embodiment of the invention is shown purely schematically in the drawings and is described in more detail below. It shows Figure 1 shows a schematic representation of a cleaning device according to an embodiment; Figure 2 shows a perspective representation of a ribless drum for a cleaning device according to an embodiment; Figure 3 shows a block diagram of a control unit according to an embodiment; Figure 4 shows a flowchart of a method for carrying out a spin program for a cleaning device according to an embodiment; and Figure 5 shows a pendulum curve diagram for a cleaning device according to an embodiment.

[0026] Figure 1 shows a schematic representation of a cleaning device 100 according to an exemplary embodiment. The cleaning device 100 is designed to clean textiles 102. For this purpose, the cleaning device 100 has a rotatable, ribless drum 104, a drive 106, and a control unit 108. The drum 104 is designed to be ribless and is designed to accommodate the textiles 102 within it. The drive 106 is designed to set the drum 104 in a rotary motion and can, for example, comprise an electric motor. The control unit 108 is designed to control the drive and thereby set the drum 104 in the rotary motion. Furthermore, the control unit 108 is designed, for example, to carry out or control a method for carrying out a spin program of the cleaning device 100, as described in one of the following figures.

[0027] According to this exemplary embodiment, the cleaning appliance 100 further comprises a supply unit 110, which is designed, for example, to supply a cleaning liquid to a tub 112 of the cleaning appliance 100 after the start of a cleaning program of the cleaning appliance 100. The supply unit 110 comprises, for example, a valve via which the inlet of liquid from a supply line into a dispenser drawer can be controlled. The tub 112 is shaped to collect the cleaning liquid. The drum 104 is arranged in the tub 112.

[0028] Figure 2 shows a perspective view of a ribless drum 112 for a cleaning device according to an embodiment. The drum 112 shown here may correspond to the drum 112 as shown in Figure 1 Accordingly, the drum 112 shown here can be used in a cleaning device as described in Figure 1The drum 112 has a drum shell 200, which forms a circumferential side wall of the drum 112. According to this exemplary embodiment, an inner side 202 of the drum shell 200 is smooth, except for a plurality of knobs 204. According to this exemplary embodiment, the knobs 204 are hexagonal and curved toward an interior space 206 of the drum 112. Furthermore, according to this exemplary embodiment, the knobs 204 are arranged offset from one another and surrounded by a honeycomb-shaped surface structure of the drum 112.

[0029] Figure 3 shows a block diagram of a control unit 108 according to an embodiment. The control unit 108 can be used, for example, in a cleaning device, as is shown, for example, in Figure 1 described. According to this embodiment, the control unit 108 has a computing unit 300 and a provision unit 302.

[0030] The computing unit 300 is designed to calculate a maximum rotational speed 310 for a spinning process using a predetermined g-factor 304, a drum radius value 306 representing a drum radius of the drum, and the gravitational constant 308.

[0031] The provision unit 302 is designed to provide a first movement signal 312, a second movement signal 314, a further first movement signal 316, a further second movement signal 318 and a third movement signal 320 to an interface to the drive 106 of the cleaning device. The first movement signal 312 causes a first rotational movement of the drum in a first direction until the drum has reached a first target speed. The second movement signal 314 causes a second rotational movement of the drum in a second direction opposite to the first direction until the drum has reached a second target speed that is greater than the first target speed. The further first movement signal 316 further causes a further first rotational movement of the drum in the first direction until the drum has reached a further first target speed that is greater than the second target speed of the previous second rotational movement.Analogously, the further second movement signal 318 causes a further second rotational movement of the drum in the second direction until the drum has reached a further second target speed that is greater than the further first target speed of the previous further first rotational movement. This sets the drum into a pendulum rhythm according to this exemplary embodiment. The third movement signal 320 causes a third rotational movement of the drum at the predetermined maximum speed 310 in the previously controlled direction. This enables the control unit 108 to carry out a spin program of the cleaning device. According to one exemplary embodiment, the third rotational movement follows seamlessly on from the previous rotational movement. Thus, the third rotational movement can continue a rotational movement as soon as the maximum speed is reached. The third rotational movement is characterized by a plurality of complete revolutions in the same direction of rotation.

[0032] According to this exemplary embodiment, the computing unit 300 is only optionally configured to determine a pendulum frequency 322 using the drum radius value 306. According to one exemplary embodiment, the drum radius value 306 can optionally be read in via an interface to a storage unit. Furthermore, the provision unit 302 is optionally configured to provide the second movement signal 314, the further first movement signal 316, and the further second movement signal 318 for a predetermined period of time corresponding to half a period of the pendulum frequency 322. According to this exemplary embodiment, the first movement signal 312, the second movement signal 314, the further first movement signal 316, and the further second movement signal 318 further optionally cause a constant acceleration of the drum.More specifically, the first movement signal 312 causes a first acceleration of the drum, the second movement signal 314 causes a second acceleration of the drum that is greater than the first acceleration, the further first movement signal 316 causes a further first acceleration of the drum that is greater than the second acceleration, and the further second movement signal 318 causes a further second acceleration that is greater than the further first acceleration.

[0033] The third movement signal 320 is provided by the provision unit 302 for a third time period, which, according to this embodiment, is a multiple of the period duration. Optionally, the computing unit 300, according to this embodiment, calculates the pendulum frequency 322 as a quotient of the square root of a quotient of the gravitational constant 308 and the drum radius value 306, as well as the doubled angular number.

[0034] According to this embodiment, the computing unit 300 increases the oscillation frequency 322 by a predetermined factor, which is, for example, between 10% and 40%.

[0035] However, the factor is advantageously set at 20%. The factor is stored, for example, in a memory unit.

[0036] In other words, according to this exemplary embodiment, the control unit 108 is configured to implement a pendulum wash rhythm for the cleaning device in order to securely apply the textiles to the drum shell despite a tendency to slip in the drum. This allows, for example, a possible imbalance to be measured and the textiles to be spun.

[0037] Figure 4 shows a flowchart of a method 400 for performing a spin program for a cleaning device according to an embodiment. The method 400 can be performed, for example, in a cleaning device as described in Figure 1It is carried out or controlled, for example, by a control unit as described in Figure 3 was described.

[0038] The method 400 comprises a step 402 of providing a first movement signal to an interface to a drive of the cleaning device. The first movement signal causes a first rotational movement of the drum in a first direction until the drum has reached a first target speed. In a step 404 of providing, a second movement signal is provided to the interface to the drive, wherein the second movement signal causes a second rotational movement of the drum in a second direction opposite to the first direction until the drum has reached a second target speed that is greater than the first target speed.

[0039] The method 400 further comprises a step 406 of further providing a further first movement signal to the interface to the drive of the cleaning device. The further first movement signal causes a further first rotational movement of the drum in the first direction until the drum has reached a further first target speed that is greater than the second target speed of the previous second rotational movement. In a step 408 of further providing, a further second movement signal is provided to the interface to the drive, wherein the further second movement signal causes a further second rotational movement of the drum in the second direction until the drum has reached a further second target speed that is greater than the further first target speed of the previous further first rotational movement.In addition, the method 400 comprises a step 410 of repeating at least one of the steps 406, 408 of further providing until the further first target speed or the further second target speed reaches a predetermined maximum speed.

[0040] For example, in step 410 of the repetition process, the maximum speed is reached during a third repetition. This means that, for example, swinging the drum three times is sufficient.

[0041] In a provision step 412, a third movement signal is provided to the interface to the drive, wherein the third movement signal represents a third rotational movement of the drum at the predetermined maximum speed in the direction of the previous provision step. This ensures that, for example, the textiles in the ribless drum are distributed against the drum shell before, for example, the cleaning device begins the spin cycle. This prevents, for example, the formation of an imbalance and subsequent damage to the cleaning device.

[0042] The method 400 includes a step 414 of calculating the maximum speed using a predetermined g-factor, a drum radius value representing a drum radius of the drum, and the gravitational constant.

[0043] According to one embodiment, method 400 includes a step 416 of determining the oscillation frequency using the drum radius value. According to this embodiment, determining step 416 can be performed before step 402 of providing the first motion signal, as can calculating step 414. Steps 414 and 416 can also be performed simultaneously.

[0044] Figure 5 shows a pendulum curve diagram 500 for a cleaning device according to an embodiment. The rotational speed is shown on the ordinate and time on the abscissa. The pendulum curve diagram 500 can, for example, correspond to the rotational movements of the drum over time 502, as shown in the Figure 4described methods for carrying out a spin program for a cleaning appliance. This means that according to this exemplary embodiment, the rotational movements of the drum are represented by an amplitude curve 504. The amplitude curve 504 makes it clear that the drum initially oscillates several times, reaching a higher speed value with each oscillating movement. When the maximum speed is reached, according to this exemplary embodiment, the drum movement accelerates, which means that the drum continues to rotate in the current direction and, for example, a spin program of the cleaning appliance is carried out. According to this exemplary embodiment, the direction of rotation of the drum does not change. According to one exemplary embodiment, the drum is initially rotated in a first direction for a period of time t 1 until a speed A(n)Start is reached.The time period t1 is shorter than or equal to half the period T of the oscillating frequency. The drum is then rotated alternately in opposite directions, each for a period of half a period T / 2. The speed is increased with each rotation until the maximum speed is reached, at which the drum then continues to rotate for a time period tPI without changing direction. The time period tPI is greater than a multiple of the period T. According to the exemplary embodiment shown, after turning, the drum is rotated in a second direction opposite to the first direction, reaching a speed of -(A(n)Start+ΔA(n)). Immediately afterwards, the drum is rotated in the first direction, reaching a speed of A(n)Start+2ΔA(n).Immediately afterwards, the drum is rotated again in the second direction, immediately afterwards again in the first direction, immediately afterwards again in the second direction and immediately afterwards again in the first direction, whereby a speed A(n) End is reached which corresponds to the maximum speed.

[0045] In other words, the drum is set into a pendulum motion, meaning a right-left motion, which leads to a pendulum motion of the textiles. This has the advantage that the amplitude of this pendulum motion, represented here as amplitude curve 504, is gradually increased until it is so large that, by keeping the maximum speed 310 of the pendulum motion constant, the textiles, also referred to as laundry, rest securely against the drum shell without falling. The pendulum frequency f pendulum is adapted to the drum radius r drum of the drum in accordance with the physical formula for the pendulum frequency. The gravitational constant g is specified according to this exemplary embodiment and is g = 9.81 m / s 2< : f Pendel = g r Trommel 2 π

[0046] To implement the oscillation, according to this embodiment, a triangular speed curve with increasing amplitude is implemented at the corresponding oscillation frequency. The triangular shape is achieved by alternately accelerating the drive with constant acceleration in sections, without having to map a sinusoidal curve. Since the curve of the angle of rotation represents the integral of the speed curve, the properties of the integration mean that it is nevertheless almost sinusoidal, so that an attenuation of the higher frequency components of -20 dB / decade is achieved. According to this embodiment, such an approximation is sufficient in practice to safely transport the textiles without slipping. An exact sinusoidal curve is not necessary. The triangular curve has the advantage that it can be implemented with less computing power from a drive controller, which is referred to here as the control unit.

[0047] Parameterization is advantageously carried out taking into account the previously calculated pendulum frequency. Since this is related to the drum radius, but the center of gravity of the textiles is located further inside, the actual pendulum frequency is approximately 20% higher. Therefore, the period T according to this embodiment is reduced accordingly by 10 to 40%, preferably 20%. A plateau speed n PI , also referred to here as the maximum speed 310 , is determined using the g-factor, which depends on the drum radius. The g-factor is calculated as follows: g − Faktor = r Trommel 2 π n / 60 1 / min / s 2 / g

[0048] Where n is the speed, πthe circular constant (3.1415926535) and g the gravitational constant (9.81 m / s2). Since the radius of the textiles moving on the circular path is smaller than the drum radius, a g-factor greater than 1 is used. According to this exemplary embodiment, the g-factor is therefore in the range between 2 and 6, preferably 4. By rearranging the formula, the corresponding plateau speed n PI is obtained, for example. A proportion of a first half-period k 1 is set in the range between 0.2 and 1 and is preferably 1 in order to realize a suitable phase assignment during the transition to the plateau speed. A start speed amplitude A(n) start and an amplitude increment ΔA(n) are both set in a range between n PI / 10 and n PI / 4 and are preferably n PI / 4. This means that the run-up takes place after 3 pendulum cycles.For example, if the maximum speed 310 is 120 rpm, the amplitude increment and start speed amplitude are each 120 rpm / 4 = 30 rpm, so that the run-up only takes place in the following steps as an example: Accelerate to 30 rpm in anti-clockwise rotation so that the textiles swing to the right.

[0049] Slow down the left-hand rotation and accelerate up to 60 rpm in the right-hand rotation so that the textiles swing to the left.

[0050] Slow down the clockwise rotation and accelerate up to 90 rpm in the counterclockwise direction so that the textiles swing to the right.

[0051] Slow down the anti-clockwise rotation and accelerate to 120 rpm in clockwise rotation, then hold at 120 rpm so that the pendulum movement is returned and the speed is maintained with the textiles in the pendulum return to the left.

[0052] This makes it possible to apply or spin textiles that tend to slip or roll in a ribless drum without causing an imbalance, which can be caused, for example, by the textiles being applied suddenly at a high speed.

[0053] The described approach is used in washing process technology for cleaning machines with ribless drums. This ensures that even with a small amount of laundry, the laundry items do not slip when the drum rotates and are carried along by the drum. This ensures that the laundry adheres to the drum shell for spinning with sufficient centrifugal force. The described rotation prevents the laundry items from suddenly attaching to the drum shell only at higher speeds, where friction between the drum and the laundry is very high. This prevents the formation of an imbalance and also prevents the washing machine from vibrating excessively and thus moving out of its installation position.

Claims

1. Method (400) for executing a spin program for a cleaning appliance (100) which has a rotatable, ribless drum (112) for receiving the textiles (102), the method (400) comprising the following steps: providing (402) a first motion signal (312) to an interface to a drive (106) of the cleaning appliance (100), the first motion signal (312) effecting a first rotational motion of the drum (112) in a first direction until the drum (112) has reached a first target rotational speed; providing (404) a second motion signal (314) to the interface to the drive (106), the second motion signal (314) representing a second rotational motion of the drum (112) in a second direction, which is opposite to the first direction, until the drum (112) has reached a second target rotational speed which is greater than the first target rotational speed; further providing (406) a further first motion signal (316) to the interface to the drive (106) of the cleaning appliance (100), the further first motion signal (316) effecting a further first rotational motion of the drum (112) in the first direction until the drum (112) has reached a further first target rotational speed which is greater than the second target rotational speed of the preceding second rotational motion; further providing (408) a further second motion signal (318) to the interface to the drive (106), the further second motion signal (318) effecting a further second rotational motion of the drum (112) in the second direction until the drum (112) has reached a further second target rotational speed which is greater than the further first target rotational speed of the preceding further first rotational motion; repeating (410) at least one of the further providing steps (406, 408) until the further first target rotational speed or the further second target rotational speed reaches a predetermined maximum rotational speed (310); and providing (412) a third motion signal (320) to the interface to the drive (106), the third motion signal (320) effecting a third rotational motion of the drum (112) at the predetermined maximum rotational speed (310) in the direction of the preceding further providing step (406, 408), characterised by a step (414) of calculating the maximum rotational speed (310) using a predetermined g-factor (304), a drum radius value (306) representing a drum radius of the drum (112), and the gravitational constant (308).

2. Method (400) according to any of the preceding claims, wherein the second motion signal (314), the further first motion signal (316) and the further second motion signal (318) are provided for a predetermined length of time, wherein the predetermined length of time corresponds to half a period length of a pendulum frequency (322).

3. Method (400) according to claim 2, wherein the third motion signal (320) is provided for a third length of time, wherein the third length of time is a multiple of the period length.

4. Method (400) according to any of claims 2 or 3, comprising a step (416) of determining the pendulum frequency (322) by using the drum radius value (306).

5. Method (400) according to claim 4, wherein in the determining step (416), the pendulum frequency (322) is determined as a quotient of the square root of a quotient of the gravitational constant (308) and the drum radius value (306), as well as of doubled pi.

6. Method (400) according to any of claims 4 or 5, wherein in the determining step (416), the pendulum frequency (322) is increased by a predetermined factor.

7. Method (400) according to any of the preceding claims, wherein the first motion signal (312), the second motion signal (314), the further first motion signal (316) and the further second motion signal (318) effect a constant acceleration of the drum (112).

8. Method (400) according to claim 7, wherein the first motion signal (312) effects a first acceleration of the drum (112), the second motion signal (314) effects a second acceleration of the drum (112), which second acceleration is greater than the first acceleration, the further first motion signal (316) effects a further first acceleration of the drum (112), which further first acceleration is greater than the second acceleration, and the further second motion signal (318) effects a further second acceleration, which further second acceleration is greater than the further first acceleration.

9. Method (400) according to any of the preceding claims, wherein in the repeating step (410), the maximum rotational speed (310) is reached in a third repeat operation.

10. A control unit (108) configured to execute the steps (402, 404, 406, 408, 410, 412, 414, 416) of the method (400) in corresponding units (300, 302) according to any of the preceding claims.

11. Cleaning appliance (100) for cleaning textiles (102) which has the following features: a rotatable, ribless drum (112) for receiving the textiles (102); a drive (106) for setting the drum (112) into a rotational motion; and a control unit (108) according to claim 10.