Washing machine

Abstract

To provide a washing machine capable of determining whether clothing is attached to a water tub during dewatering.SOLUTION: A washing machine includes a water tub, a rotary tub, a motor, a torque detection part and a determination part. The rotary tub is arranged in the water tub and clothing is stored inside. The motor rotationally drives the rotary tub or a pulsator provided in the rotary tub. The torque detection part detects motor torque acting on the motor. The determination part acquires starting torque which is the motor torque detected when starting the motor from a state where the motor is stopped, at least after one dewatering processing and before starting predetermined operation, from the torque detection part, and performs attaching determination in which, in the case where the starting torque is equal to or less than a predetermined threshold value set beforehand, it is determined that attaching of clothing to the rotary tub is present.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a washing machine. [Background technology]

[0002] There are drum-type washing machines with a horizontal rotating shaft and vertical-type washing machines with a vertical rotating shaft. However, because washing machines spin at high speeds during spin-drying, clothes may remain stuck to the inner surface of the spin tub even after the spin-drying is complete. If the drying process is performed with clothes stuck to the spin tub, the clothes may be left half-dried, unevenly dried, or wrinkled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-175613 A Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a washing machine capable of determining whether clothes are stuck to the water tub during spin-drying. [Means for solving the problem]

[0005] The washing machine according to the embodiment includes a water tub, a spin tub, a motor, a torque detection unit, and a determination unit. The spin tub is disposed in the water tub and stores clothes. The motor drives and rotates the spin tub or a pulsator provided in the spin tub. The torque detection unit detects motor torque acting on the motor. The determination unit obtains from the torque detection unit a starting torque, which is the motor torque detected when the motor is started from a stopped state after at least one dehydration process and before the start of a predetermined operation, and performs a sticking determination to determine that the clothes are stuck to the spin tub if the starting torque is equal to or less than a predetermined threshold value. [Brief description of the drawings]

[0006] [Figure 1] 1 is a cross-sectional view showing an overall configuration of a washing / drying machine according to an embodiment; [Diagram 2] 2 is a schematic diagram showing an installation position and a vibration detection direction of an acceleration sensor according to an embodiment. [Diagram 3] FIG. 2 is a diagram showing the configuration of an electric circuit that drives a drum motor according to an embodiment. [Figure 4] FIG. 2 is a block diagram showing a functional configuration of a control device according to an embodiment. [Diagram 5] FIG. 4 is a diagram showing a flow of a series of washing operations including a drying operation according to an embodiment. [Figure 6] FIG. 6 is a diagram for explaining a start-up operation of a dehydration process according to one embodiment. [Figure 7] 4 is a flowchart showing a procedure for processing a washing operation and a drying operation by a washer / dryer of one embodiment. [Figure 8] FIG. 4 is a first diagram for explaining a process performed by a preheat dehydration determining unit according to an embodiment. [Figure 9] FIG. 2 is a second diagram for explaining the process performed by the preheat dehydration determining unit according to an embodiment. [Figure 10] FIG. 11 is a diagram showing an example of two predetermined threshold values ​​set by a second setting unit according to a first modified example of an embodiment. [Figure 11]10 is a flowchart showing a procedure of processing for a washing operation and a drying operation by a washer / dryer according to a first modified example of an embodiment. [Figure 12] FIG. 11 is a diagram showing an example of preheat dehydration according to a second modified example of an embodiment. [Figure 13] FIG. 13 is a diagram showing a first example of threshold values ​​set by a second setting unit in a third modified example of an embodiment. [Figure 14] FIG. 13 is a diagram showing a second example of the threshold value set by the second setting unit in the third modified example of an embodiment. [Figure 15] 13A and 13B are diagrams showing examples of threshold values ​​set by a second setting unit in the fourth and fifth modified examples of an embodiment; [Figure 16] 13A and 13B are diagrams showing the difference in operation time depending on the stages of change in rotation speed and the maximum rotation speed during preheat dehydration when the fabric material is chemical fiber and when the fabric material is cotton in a sixth modified example of an embodiment. [Figure 17] FIG. 1 is a cross-sectional view showing a vertical type washing / drying machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, the washing machine of the embodiment will be described with reference to the drawings. In the following description, the same reference numerals are given to components having the same or similar functions. And, the duplicated description of those components may be omitted. "Based on XX" means "based on at least XX" and may include the case of being based on another element in addition to XX. "Based on XX" is not limited to the case of using XX directly, but may also include the case of being based on XX that has been calculated or processed. "XX or YY" is not limited to either one of XX and YY, but may include both XX and YY. This also applies to the case of three or more selective elements. "XX" and "YY" are any element (for example, any information). In this application, "washing machine" may also include a washer-dryer having a drying function. In this application, "rotation speed" means the number of rotations per unit time. That is, "rotation speed" is used in a sense equivalent to "rotation speed".

[0008] <Embodiment> (Overall configuration of a washer / dryer) FIG. 1 is a cross-sectional view showing the overall configuration of a washer / dryer 1 according to one embodiment. The washer / dryer 1 is an example of a "washing machine." The washer / dryer 1 is, for example, a drum-type washer / dryer with a horizontal or oblique rotation axis. The washer / dryer 1 includes, for example, a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, a bellows 15, a drum motor 16, a first elastic support unit 17, a damper device 18, a water supply valve 21, a water supply case 22, a water supply pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50 (see FIG. 4).

[0009] The housing 11 is formed to be generally rectangular and hollow, having a front plate, a rear plate, a left plate, a right plate, a bottom plate, and a top plate. The front plate of the housing 11 is provided with an entrance 11a which is a through hole. The door 12 is attached to the front plate of the housing 11. The door 12 is capable of opening and closing the entrance 11a.

[0010] The operation unit PU is provided, for example, at the upper front end of the housing 11. The operation unit PU includes a plurality of buttons or a touch panel, and accepts the selection of an operation course by the user. Examples of the operation courses include a standard course, a time-saving course (quick course), a delicate course (delicate wash course), and a quiet course. The time-saving course is a course that completes the washing operation in a shorter operation time than the standard course. The quiet course is a course that suppresses noise (i.e., suppresses vibration of the water tub 13 or drum 14) compared to the standard course.

[0011] Water tub 13 is provided inside housing 11. Water tub 13 is formed in a cylindrical shape with a closed rear surface. Water tub 13 is arranged with a downward tilt toward the rear. The front surface of water tub 13 has an opening. When door 12 is in a closed state relative to entrance 11a, door 12 airtightly closes the opening on the front surface of water tub 13.

[0012] The water tub 13 has a rear end 13e1 and a front end 13e2 as both ends in the axial direction of the drum motor 16. The rear end 13e1 is the end closest to the drum motor 16 of the two ends in the axial direction. On the other hand, the front end 13e2 is the end located opposite the rear end 13e1 and is the end farthest from the drum motor 16 of the two ends in the axial direction. The "axial direction" is a direction that intersects with the radial and circumferential directions of the drum 14. The "axial direction" may also be referred to as the "rotation axis direction."

[0013] Drum 14 is disposed within water tub 13. Drum 14 is a storage chamber in which clothes (laundry) are stored. Drum 14 is cylindrical with a rear wall, and is supported rotatably within water tub 13. Drum 14 is configured to rotate about an inclined axis (central axis CL) that extends in the front-to-rear direction and is inclined slightly downward toward the rear from the horizontal. Drum 14 is an example of a "rotating tub." Drum 14 may also be referred to as a "washing tub."

[0014] The peripheral and rear walls of drum 14 are provided with a number of holes 14a for water and air passage. The inner surface of the peripheral wall of drum 14 is provided with a number of baffles 14b for agitating the laundry. The laundry in drum 14 is agitated by being caught by each baffle 14b while moving in the circumferential direction and then falling by gravity. The front of drum 14 is provided with a circular opening through which laundry is put in and taken out. The front of water tub 13 is provided with an inlet 13a connected to the opening of drum 14. Inlet 13a of water tub 13 and inlet 11a of housing 11 are connected via bellows 15.

[0015] Drum motor 16 is provided behind water tub 13. Drum motor 16 constitutes a drive mechanism of washer / dryer 1. Drum motor 16 is, for example, a three-phase AC motor. However, drum motor 16 may be a speed-controllable DC motor or the like. The tip of rotating shaft 16a of drum motor 16 penetrates the back surface of water tub 13, protrudes into water tub 13, and is connected and fixed to the center of rear end 14e1 of drum 14. As a result, drum 14 is directly driven to rotate by drum motor 16. Drum 14 is continuously rotated in the forward direction (for example, clockwise when viewed from the front) in the dehydration operation. Drum 14 is repeatedly rotated forward and backward in the washing operation, rinsing operation, and drying operation. Drum motor 16 is an example of a "motor".

[0016] First elastic support part 17 includes, for example, a spring, and has elasticity. For example, first elastic support part 17 is disposed above water tub 13. An upper end part of first elastic support part 17 is connected to a top plate of housing 11. A lower end part of first elastic support part 17 is connected to an upper end part of water tub 13. First elastic support part 17 elastically supports water tub 13 from above.

[0017] The damper device 18 includes a spring 18a and a damping device 18b. The spring 18a has elasticity. The damping device 18b includes, for example, a hydraulic damper or a pneumatic damper consisting of a piston and a cylinder, and acts on the vibration to dampen the vibration in cooperation with the spring 18a. For example, the damper device 18 is disposed below the water tank 13. The lower end of the damper device 18 is connected to the bottom plate of the housing 11. The upper end of the damper device 18 is connected to the lower part of the water tank 13. The damping device 19 damps the vibration of the water tank 13.

[0018] The water tub 13 vibrates in accordance with the vibration of the drum 14. The water tub 13 is provided with an acceleration sensor 61a and an acceleration sensor 61b for detecting the vibration of the water tub 13. When the acceleration sensor 61a and the acceleration sensor 61b are not distinguished from each other, they are referred to as the acceleration sensor 61. The acceleration sensor 61 is, for example, a three-axis acceleration sensor capable of detecting accelerations of the X-axis, the Y-axis, and the Z-axis. FIG. 2 is a schematic diagram showing the installation position and vibration detection direction of the acceleration sensor 61 in one embodiment. To detect the imbalance of the clothes in the drum 14, as shown in FIG. 2, the acceleration sensor 61a is provided at the rear end 13e1 of the water tub 13, and the acceleration sensor 61b is provided at the front end 13e2 of the water tub 13, and the vibrations of the rear end 13e1 and the front end 13e2 of the water tub 13 are detected. "Imbalance" means an unbalanced load state due to the uneven distribution of the clothes in the drum 14. With this configuration, the front imbalance can be detected by the acceleration sensor 61b, and the rear imbalance can be detected by the acceleration sensor 61a. The term "front imbalance" refers to an uneven load condition in which clothes are unevenly distributed in the front of the drum 14. The term "rear imbalance" refers to an uneven load condition in which clothes are unevenly distributed in the rear of the drum 14.

[0019] Water supply valve 21 is fixed inside housing 11. The inlet of water supply valve 21 is connected to a water faucet via a hose (not shown). The outlet of water supply valve 21 is switched between an open state and a closed state by water supply valve solenoid 71 (see FIG. 4). The outlet of water supply valve 21 is connected to water injection case 22. Water injection case 22 is connected to the inside of water tank 13 via a cylindrical water injection pipe 23. When water supply valve 21 is opened, water from the water supply is supplied into water tank 13.

[0020] Drain outlet 13b is provided at the bottom of water tub 13. The upper end of drain pipe 24 is connected to drain outlet 13b. Drain pipe 24 is provided with a drain valve (not shown). The drain valve is switched between an open state and a closed state by drain valve motor 72 (see FIG. 4). When the drain valve is opened, the wash water in water tub 13 is discharged from drain pipe 24.

[0021] An exhaust port 13c for discharging air from within water tub 13 is provided at the top of the front part of water tub 13. An air inlet 13d for supplying dry air into water tub 13 is provided at the top of the rear part of water tub 13. A hot air supply mechanism 30 is provided inside housing 11 for circulating and supplying dry air (hot air) into drum 14 to perform a laundry drying operation.

[0022] The hot air supply mechanism 30 includes, for example, a circulation air duct 31, a heat pump 32, and a blower fan 33. The heat pump 32 constitutes a part of a refrigeration cycle in which a compressor 41, a condenser 42, a throttling device (not shown), and an evaporator 43 are connected in a cycle by piping. The condenser 42 and the evaporator 43 are disposed in the circulation air duct 31. The heat pump 32 dehumidifies and heats the air passing through the circulation air duct 31 to generate dry air. The blower fan 33 circulates the air discharged from the exhaust port 13c through the circulation air duct 31, and supplies the air dehumidified and heated by the heat pump 32 from the intake port 13d through the water tank 13 into the drum 14. The heat pump 32 is an example of a "heating device" that heats the air passing through the circulation air duct 31. The heating device may be a heater (such as an electric heater) instead of the heat pump 32.

[0023] (Electric circuit configuration of motor drive system) FIG. 3 is a diagram showing the configuration of an electric circuit that drives drum motor 16 in one embodiment. FIG. 3 is a diagram showing a schematic diagram of a drive system (motor control unit 111) of drum motor 16 of washer / dryer 1. Inverter circuit 132 is configured by connecting six IGBTs (Insulated Gate Bipolar Transistors) 133a-133f in a three-phase bridge configuration, and flywheel diodes 134a-134f are connected between the collector and emitter of each of IGBTs 133a-133f. The emitters of IGBTs 133d, 133e, and 133f on the lower arm side are connected to ground via shunt resistors 135u, 135v, and 135w. The connection points between the emitters of IGBTs 133d, 133e, and 133f and shunt resistors 135u, 135v, and 135w are connected to control circuit 111c via level shift circuits 136, respectively. In this embodiment, a combination of the shunt resistors 135u, 135v, and 135w and the level shift circuit 136 constitutes an example of a current sensor 62 (see FIG. 4).

[0024] The level shift circuit 136 includes an operational amplifier and the like, and generates a signal by amplifying the terminal voltages of the shunt resistors 135u, 135v, and 135w, and applies a bias so that the output range of the generated signal falls within the positive side. The overcurrent comparison circuit 138 detects an overcurrent when the upper and lower arms of the inverter circuit 132 are short-circuited.

[0025] A driving power supply circuit 139 is connected to the input side of the inverter circuit 132. The driving power supply circuit 139 performs voltage-doubler full-wave rectification on a 100V AC power supply 140 using a full-wave rectifier circuit 141 formed of a diode bridge and two capacitors 142a, 142b connected in series, and supplies a DC voltage of about 280V to the inverter circuit 132. Each phase output terminal of the inverter circuit 132 is connected to each phase winding 16u, 16v, 16w of the drum motor 16.

[0026] The control circuit 111c operates using the power supply 145 as a power source, and performs PWM (Pulse Wide Modulation) control of the six IGBTs 133a to 133f via the drive circuit 144 and the high-voltage driver circuit 146. The drive circuit 144 operates using the power supply 143 as a power source, and converts the drive signal output by the control circuit 111c into a drive signal with a higher voltage and applies it to the gates of the IGBTs 133d, 133e, and 133f on the lower arm side. The high-voltage driver circuit 146 converts the output of the drive circuit 144 into a voltage higher than the double-voltage full-wave rectified voltage and applies it to the gates of the IGBTs 133a, 133b, and 133c on the upper arm side. The output signal of the rotor position sensor 161 provided in the drum motor 16 is input to the control circuit 111c. The control circuit 111c generates a drive signal for driving the drum motor 16 based on the output signal of the rotor position sensor 161.

[0027] The control circuit 111c detects the three-phase currents Iau to Iaw flowing through the windings 16u to 16w of the drum motor 16 obtained through the level shift circuit 136, estimates the phase θ and the rotational angular velocity ω of the rotating magnetic field on the secondary side based on the detected current values, and calculates the excitation current component Id and the torque current component Iq (hereinafter referred to as the "q-axis current") by performing an orthogonal coordinate transformation and a dq (direct-quadrature) coordinate transformation on the three-phase currents Iau to Iaw. The q-axis current is a current component that increases in proportion to the motor torque acting on the drum motor 16. The q-axis current is an example of a "torque current". However, the "torque current" in this specification is not limited to the q-axis current, and may be any current that increases according to the load of the motor. The control circuit 111c identifies the motor torque acting on the drum motor 16 from the q-axis current. The control circuit 111c is an example of a "torque detection unit".

[0028] (Control device configuration) Next, the control device 50 will be described. The control device 50 is mainly configured with a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control device 50 comprehensively controls the entire washer-dryer 1, and executes a washing operation including a washing operation, a rinsing operation, and a spin-drying operation by the washer-dryer 1, and a subsequent drying operation (drying operation).

[0029] Fig. 4 is a block diagram showing a functional configuration of the control device 50 according to an embodiment. In addition to the acceleration sensors 61a and 61b described above, a current sensor 62 is connected to the control device 50. The current sensor 62 measures the current flowing through the drum motor 16. For ease of explanation, the current sensor 62 and the motor control unit 111 are shown separately in Fig. 4. However, the current sensor 62 may be included in the motor control unit 111.

[0030] The control device 50 includes, for example, a weight detection unit (cloth amount detection unit) 51, a cloth quality detection unit 52, a first setting unit 53, a spin-drying operation determination unit 54, a control unit 55, a second setting unit 56, a preheat spin-drying determination unit 57, a sticking determination unit 58, a motor control unit 111, and a storage unit 59. All or part of these functional units are realized by a hardware processor such as a CPU executing a program (software). However, all or part of these functional units may be realized by hardware (including circuitry) such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field Programmable Gate Array), or a discrete circuit, or may be realized by cooperation between software and hardware. The motor control unit 111 may be provided as a part of the control unit 55. The storage unit 59 is realized by, for example, one or a combination of RAM, ROM, and EEPROM (Electrically Erasable Programmable ROM).

[0031] Weight detection unit 51 determines the weight of the clothes (amount of fabric) by utilizing, for example, the change in the load on drum motor 16 depending on the weight of the clothes. For example, before water is supplied to water tub 13, weight detection unit 51 rotates drum 14 using drum motor 16 with clothes contained in drum 14, and detects the weight of the clothes based on the magnitude of the torque current flowing through drum motor 16 (for example, the current value of the q-axis current).

[0032] The fabric type detection unit 52 determines the fabric type by, for example, utilizing the fact that the load on the drum motor 16 changes due to differences in water absorbency caused by different fabric types. The fabric type detection unit 52 determines the fabric type by, for example, determining whether the laundry is mainly cotton-based or mainly synthetic fiber-based. The fabric type detection unit 52 detects the fabric type by a combination of two indexes, for example, (1) the average value (or integral value) of the q-axis current while the drum 14 is rotating at a constant speed during the washing operation, and (2) the average value of the difference between the maximum and minimum values ​​of the q-axis current during one rotation of the drum 14 during the washing operation.

[0033] The first setting unit 53 sets a threshold value used to determine the detection result of the first detection value of the acceleration sensor 61a (the detection result of vibration of the rear end 13e1 of the water tank 13) and the detection result of the second detection value (the detection result of vibration of the front end 13e2 of the water tank 13).

[0034] Dehydration operation determination unit 54 makes a determination regarding rotation control of drum 14 based on the detection results of acceleration sensor 61 (the detection results of the first detection value and the detection results of the second detection value) and a threshold value. For example, dehydration operation determination unit 54 makes a determination regarding rotation control of drum 14 based on the threshold value changed by first setting unit 53. For example, dehydration operation determination unit 54 makes a determination regarding how to proceed with the dehydration operation as a determination regarding rotation control of drum 14.

[0035] In this embodiment, the spin-drying operation determination unit 54 determines whether to redo the spin-drying operation or the number of rotations that the drum 14 will achieve in the spin-drying operation (the maximum allowable number of rotations) as a way to proceed with the spin-drying operation. Note that the "detection result of the sensor" in each embodiment of the present invention is not limited to the detection value of the sensor (for example, the first detection value or the second detection value of the acceleration sensor 61) itself, but may be an index value obtained by performing a calculation on the detection value of the sensor. Details of the processing by the spin-drying operation determination unit 54 will be described later.

[0036] Control unit 55 controls the entire washer-dryer 1. For example, control unit 55 controls the washing operation of washer-dryer 1 in the washing process based on the detection result of the weight of the clothes (cloth amount) by weight detection unit 51. For example, control unit 55 controls the rinsing operation of washer-dryer 1 in the rinsing process based on the detection result of the fabric type by fabric type detection unit 52. For example, control unit 55 controls the spin-drying operation of washer-dryer 1 based on the determination result of spin-drying operation determination unit 54. For example, control unit 55 controls the drive of drum motor 16 to control the rotation of drum 14.

[0037] Also, for example, control unit 55 controls the preheat dehydration of the washer-dryer 1 based on the determination result of preheat dehydration determination unit 57. Also, for example, control unit 55 controls the operation of the washer-dryer 1 based on the determination result of sticking determination unit 58. Details of the process by control unit 55 to control the operation of the washer-dryer 1 based on the determination result of sticking determination unit 58 will be described later. Also, for example, control unit 55 controls the operation of the washer-dryer 1 to start the drying operation when the washing operation is completed.

[0038] The second setting unit 56 sets a predetermined threshold value used by the sticking determination unit 58 to determine whether or not clothes are sticking to the drum 14 after the dehydration process in the preheat dehydration. For example, the second setting unit 56 stores, in a reference destination in the memory unit 59 of the sticking determination unit 58, a predetermined threshold value TH1 that is compared with the starting torque, which is the motor torque determined based on the q-axis current calculated by the control circuit 111c when the drum motor 16 is started from a stopped state. The control circuit 111c is an example of a "torque detection unit".

[0039] Preheat dehydration determination unit 57 makes a determination regarding rotation control of drum 14 based on the detection results of acceleration sensor 61 (the detection results of the first detection value and the detection results of the second detection value) and a threshold value. For example, preheat dehydration determination unit 57 makes a determination regarding rotation control of drum 14 based on the threshold value changed by first setting unit 53. For example, preheat dehydration determination unit 57 makes a determination regarding how to proceed with preheat dehydration as a determination regarding rotation control of drum 14.

[0040] In this embodiment, the preheat dehydration determination unit 57 determines whether to redo the preheat dehydration or the maximum rotation speed (maximum allowable rotation speed) of the drum 14 in the preheat dehydration as a method of proceeding with the preheat dehydration. The preheat dehydration determination unit 57 is an example of a "determination unit." Details of the processing by the preheat dehydration determination unit 57 will be described later.

[0041] The sticking determination unit 58 determines whether or not the starting torque in the operation of rotating the drum 14 from a state in which the drum motor 16 is stopped after the dehydration process in the preheat dehydration described later exceeds a predetermined threshold value TH1. For example, the sticking determination unit 58 acquires the motor torque acting on the drum motor 16, which the control circuit 111c identifies from the q-axis current, from the control circuit 111c. The sticking determination unit 58 also reads out the predetermined threshold value TH1 set by the second setting unit 56 (i.e., the predetermined threshold value TH1 stored in the storage unit 59) from the storage unit 59. The sticking determination unit 58 compares the acquired motor torque with the predetermined threshold value TH1. If the motor torque is equal to or less than the predetermined threshold value, the sticking determination unit 58 determines that the clothes are stuck to the drum 14. If the motor torque exceeds the predetermined threshold value, the sticking determination unit 58 determines that the clothes are not stuck to the drum 14.

[0042] (Storage part) Storage unit 59 stores various information necessary for the processing performed by control device 50. For example, storage unit 59 stores thresholds T1a-T5a and thresholds T1b-T5b (described later) used in the determination made by dehydration operation determination unit 54. Storage unit 59 also stores thresholds T6a and T6b used in the determination made by preheat dehydration determination unit 57. Storage unit 59 also stores a predetermined threshold TH1 used in the determination made by sticking determination unit 58.

[0043] (Rotation control of rotating tank) (Washing operation flow) 5 is a diagram showing the flow of a series of washing operations accompanied by a drying operation in one embodiment. The washing operation includes, for example, a "washing step", a "rinsing step", a "dehydration step", and a "preheat dehydration step" in this order.

[0044] The "washing step" includes detergent injection, water supply, rotation of the drum 14 (washing), and drainage. The "rinsing step" is a rinsing step that occurs after the "washing step" and rotates the drum 14 while simultaneously supplying and draining water (i.e., pouring and draining water). The "rinsing step" may also be a rinsing step in which the drum 14 is rotated with water stored in the water tub 13. The "rinsing step" may also include both of these. When the "rinsing step" includes both of these, a spin-drying operation may be performed between the rinsing in which water is poured and poured and the rinsing in which water is stored. The "spin-drying step" is a step that occurs after the "washing step" and rotates the drum 14 after the "rinsing step" to remove a certain amount of water from the clothes. Each of the "spin-drying step" and the "rinsing step" may be performed multiple times during a series of washing operations.

[0045] The "preheat dehydration process" is a dehydration process carried out at the end of a series of washing operations. The preheat dehydration process is a dehydration process carried out immediately before a drying operation. The preheat dehydration process is a dehydration process in which hot air is supplied to the circulating air passage 31 by the hot air supply mechanism 30 while the drum 14 rotates to remove as much moisture as possible from the clothes. The maximum rotation speed of the drum 14 in the preheat dehydration process is higher than the maximum rotation speed of the drum 14 in the dehydration process. The duration of the preheat dehydration process is longer than the duration of the dehydration process.

[0046] Next, the relationship between the dehydration process and the determination of the detection result of the acceleration sensor 61 will be described. First, the operation of the dehydration process will be described. The operation of the dehydration process is basically the same as the operation of the preheat dehydration process, except for the process of sticking determination. That is, the process performed by the dehydration operation determination unit 54 and the process performed by the preheat dehydration determination unit 57 are basically the same.

[0047] FIG. 6 is a diagram for explaining the start-up operation of the spin-drying process in one embodiment. In the start-up of the spin-drying process, the rotation speed of the drum 14 is increased stepwise, and a judgment operation using a threshold is performed at a plurality of rotation speeds (a plurality of speeds). In this embodiment, each of the thresholds T1a to T5a is a threshold (a threshold for a first detection value) to be compared with the detection result of the first detection value of the acceleration sensor 61. Also, in this embodiment, each of the thresholds T1b to T5b is a threshold (a threshold for a second detection value) to be compared with the detection result of the second detection value of the acceleration sensor 61. Hereinafter, when the thresholds T1a to T5a are not distinguished from each other, they are simply referred to as a "threshold Ta". Similarly, when the thresholds T1b to T5b are not distinguished from each other, they are simply referred to as a "threshold Tb". In this embodiment, in each of the first to seventh judgments J1 to J5, the detection result of the first detection value of the acceleration sensor 61a is compared with the threshold Ta, and the detection result of the second detection value of the acceleration sensor 61b is compared with the threshold Tb. Then, the dehydration operation determiner 54 determines that the clothes imbalance is outside the tolerable range when the detection result of the first detection value of the acceleration sensor 61a exceeds the threshold value Ta or when the detection result of the second detection value of the acceleration sensor 61b exceeds the threshold value Tb. On the other hand, the dehydration operation determiner 54 determines that the clothes imbalance is within the tolerable range when the detection result of the first detection value of the acceleration sensor 61a is equal to or less than the threshold value Ta and the detection result of the second detection value of the acceleration sensor 61b is equal to or less than the threshold value Tb.

[0048] Specifically, for example, control unit 55 first increases the rotation speed of drum 14 to first rotation speed R1, and then fixes the rotation speed of drum 14 at first rotation speed R1 for a certain period of time. After the state of washer / dryer 1 stabilizes, spin-drying operation determination unit 54 makes a first determination J1 regarding how to proceed with the spin-drying operation based on the detection result of the first detection value of acceleration sensor 61a obtained at first rotation speed R1 and threshold value T1a set by first setting unit 53 corresponding to first rotation speed R1.

[0049] For example, if the detection result of acceleration sensor 61a exceeds threshold value T1a in first determination J1, spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, control unit 55 performs a retry operation, which is a restart of the spin-drying process. The retry operation is an operation in which rotation of drum 14 is stopped, water is supplied into water tub 13, and drum 14 is rotated to move the clothes, thereby attempting to eliminate the imbalance of the clothes. When a retry operation is performed, the spin-drying process is restarted from the beginning (i.e., from first determination J1 at a lower rotation speed).

[0050] In addition, when the detection result of the acceleration sensor 61a is equal to or lower than the threshold value T1a in the first judgment J1, the dehydration operation judgment unit 54 makes a first judgment J1 regarding how to proceed with the dehydration operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the first rotation speed R1 and the threshold value T1b set by the first setting unit 53 corresponding to the first rotation speed R1.

[0051] If the detection result of the acceleration sensor 61b exceeds the threshold value T1b in the first determination J1, the dehydration operation determination unit 54 determines that the imbalance of the clothes is outside the tolerable range. In this case, the control unit 55 performs a retry operation, which is to restart the dehydration process.

[0052] Furthermore, if the detection result of acceleration sensor 61b is equal to or lower than threshold value T1b in first determination J1, spin-drying operation determination unit 54 determines that the imbalance of the clothes is within the tolerable range. In this case, control unit 55 increases the rotation speed of drum 14 to second rotation speed R2, which is higher than first rotation speed R1, and then fixes the rotation speed of drum 14 to second rotation speed R2 for a certain period of time. After the state of washer-dryer 1 has stabilized, spin-drying operation determination unit 54 makes a second determination J2 regarding the progress of the spin-drying operation based on the detection result of acceleration sensor 61a obtained at second rotation speed R2 and threshold value T2a set by first setting unit 53 corresponding to second rotation speed R2.

[0053] The second determination J2 is the same as the first determination J1. That is, when the detection result of the acceleration sensor 61a obtained at the second rotation speed R2 exceeds the second threshold T2a, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 performs a retry operation and restarts the spin-drying process from the beginning. When the detection result of the acceleration sensor 61a obtained at the second rotation speed R2 is equal to or less than the threshold T2a, the spin-drying operation determination unit 54 performs a second determination J2 regarding the progress of the spin-drying operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the second rotation speed R2 and the threshold T2b set by the first setting unit 53 corresponding to the second rotation speed R2. When the detection result of the acceleration sensor 61b exceeds the threshold T2b in the second determination J2, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 performs a retry operation, which is a redo of the spin-drying process. Furthermore, when the detection result of the acceleration sensor 61b is equal to or less than the threshold value T2b in the second determination J2, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is within the allowable range. In this case, the control unit 55 increases the rotation speed of the drum 14 to a third rotation speed R3 that is higher than the second rotation speed R2. Then, a third determination J3 is performed using a third threshold value T3a at the third rotation speed R3. Similarly, thereafter, when the detection result of the acceleration sensor 61a obtained at the third rotation speed R3 is equal to or less than the threshold value T3a, a third determination J3 is performed based on the detection result of the acceleration sensor 61b obtained at the third rotation speed R3 and the threshold value T3b, and when the detection result of the acceleration sensor 61b obtained at the third rotation speed R3 is equal to or less than the threshold value T3b, a fourth determination J4 is performed using a fourth threshold value T4a at a fourth rotation speed R4 that is faster than the third rotation speed R3. If the detection result of the acceleration sensor 61a obtained at the fourth rotation number R4 is equal to or less than the threshold value T4a in the fourth determination J4, a fourth determination J4 is made based on the detection result of the acceleration sensor 61b obtained at the fourth rotation number R4 and the threshold value T4b, and if the detection result of the acceleration sensor 61b obtained at the fourth rotation number R4 is equal to or less than the threshold value T4b, a fifth determination J5 is made using a fifth threshold value T5a at a fifth rotation number R5 that is faster than the fourth rotation number R4. For example, the contents of the second to fifth determinations J2 to J5 are the same as the contents of the first determination J1.

[0054] One or more of the first to fifth decisions J1 to J5 (for example, the fifth decision J5) may be a decision for determining the ultimate rotation speed (maximum allowable rotation speed) in the ongoing spin cycle instead of a decision for determining whether or not a retry is required. For example, the operation when the fifth decision J5 is a decision for determining the ultimate rotation speed is as follows.

[0055] If the detection result of the acceleration sensor 61a obtained at the fifth rotation number R5 exceeds the threshold T5a in the fifth determination J5, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 stops increasing the rotation number of the drum 14 beyond the fifth rotation number R5. That is, the maximum rotation number in the spin-drying process is fixed to the fifth rotation number R5, which is lower than the target rotation number RM1. If the detection result of the acceleration sensor 61a obtained at the fifth rotation number R5 is equal to or lower than the threshold T5a in the fifth determination J5, the spin-drying operation determination unit 54 performs a fifth determination J5 regarding the progress of the spin-drying operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the fifth rotation number R5 and the threshold T5b set by the first setting unit 53 corresponding to the fifth rotation number R5. If the detection result of the acceleration sensor 61b exceeds the threshold T5b in the fifth determination J5, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, control unit 55 stops increasing the rotation speed of drum 14 beyond fifth rotation speed R5. That is, the maximum rotation speed in the spin cycle is fixed at fifth rotation speed R5, which is lower than target rotation speed RM1. Furthermore, if the detection result of acceleration sensor 61b is equal to or lower than threshold value T5b in fifth determination J5, spin cycle determination unit 54 determines that the imbalance of the clothes is within the allowable range. In this case, control unit 55 increases the rotation speed of drum 14 beyond fifth rotation speed R5 to target rotation speed RM1. In this case, target rotation speed RM1 becomes the maximum rotation speed in spin cycle 1.

[0056] The above-described process performed by the washer-dryer 1 is merely an example, and the process performed by the washer-dryer 1 is not limited to the above-described process. For example, the washer-dryer 1 may perform the process described below.

[0057] (Processing performed by a washer / dryer) Next, the process of the washing operation and the drying operation performed by the washer-dryer 1 of one embodiment will be described with reference to Fig. 7 to Fig. 9. Fig. 7 is a flow chart showing the procedure of the process of the washing operation and the drying operation performed by the washer-dryer 1 of one embodiment. Fig. 8 is a first diagram for explaining the process performed by the preheat dehydration determination unit 57 of one embodiment. Fig. 9 is a second diagram for explaining the process performed by the preheat dehydration determination unit 57 of one embodiment.

[0058] It is assumed that the user operates operation unit PU to instruct the washing operation and drying operation shown in Fig. 5. In response to the user's operation on operation unit PU, weight detection unit 51 determines the weight of the clothes (cloth amount) by utilizing, for example, the change in the load on drum motor 16 depending on the weight of the clothes (step S1). Based on the result of detection of the weight of the clothes (cloth amount) by weight detection unit 51, the washing operation of washer / dryer 1 in the washing process is controlled (step S2).

[0059] In the washing process, fabric type detection unit 52 determines the fabric type by utilizing the fact that the load on drum motor 16 changes due to differences in water absorbency caused by fabric types (step S3). For example, fabric type detection unit 52 determines the fabric type by determining whether the laundry is mainly made of cotton or synthetic fibers. Control unit 55 controls the rinsing operation of washer / dryer 1 in the rinsing process based on the fabric type detection result by fabric type detection unit 52 (step S4).

[0060] Control unit 55 controls the dehydration operation of washer / dryer 1 based on the determination result of dehydration operation determination unit 54 (step S5).

[0061] Specifically, for example, control unit 55 first increases the rotation speed of drum 14 to first rotation speed R1, and then fixes the rotation speed of drum 14 at first rotation speed R1 for a certain period of time. After the state of washer / dryer 1 stabilizes, spin-drying operation determination unit 54 makes a first determination J1 regarding how to proceed with the spin-drying operation based on the detection result of the first detection value of acceleration sensor 61a obtained at first rotation speed R1 and threshold value T1a set by first setting unit 53 corresponding to first rotation speed R1.

[0062] For example, if the detection result of acceleration sensor 61a exceeds threshold value T1a in first determination J1, spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, control unit 55 performs a retry operation, which is a restart of the spin-drying process. The retry operation is an operation in which rotation of drum 14 is stopped, water is supplied into water tub 13, and drum 14 is rotated to move the clothes, thereby attempting to eliminate the imbalance of the clothes. When a retry operation is performed, the spin-drying process is restarted from the beginning (i.e., from first determination J1 at a lower rotation speed).

[0063] In addition, when the detection result of the acceleration sensor 61a is equal to or lower than the threshold value T1a in the first judgment J1, the dehydration operation judgment unit 54 makes a first judgment J1 regarding how to proceed with the dehydration operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the first rotation speed R1 and the threshold value T1b set by the first setting unit 53 corresponding to the first rotation speed R1.

[0064] If the detection result of the acceleration sensor 61b exceeds the threshold value T1b in the first determination J1, the dehydration operation determination unit 54 determines that the imbalance of the clothes is outside the tolerable range. In this case, the control unit 55 performs a retry operation, which is to restart the dehydration process.

[0065] Furthermore, if the detection result of acceleration sensor 61b is equal to or lower than threshold value T1b in first determination J1, spin-drying operation determination unit 54 determines that the imbalance of the clothes is within the tolerable range. In this case, control unit 55 increases the rotation speed of drum 14 to second rotation speed R2, which is higher than first rotation speed R1, and then fixes the rotation speed of drum 14 to second rotation speed R2 for a certain period of time. After the state of washer-dryer 1 has stabilized, spin-drying operation determination unit 54 makes a second determination J2 regarding the progress of the spin-drying operation based on the detection result of acceleration sensor 61a obtained at second rotation speed R2 and threshold value T2a set by first setting unit 53 corresponding to second rotation speed R2.

[0066] The second determination J2 is the same as the first determination J1. That is, when the detection result of the acceleration sensor 61a obtained at the second rotation speed R2 exceeds the second threshold T2a, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 performs a retry operation and restarts the spin-drying process from the beginning. When the detection result of the acceleration sensor 61a obtained at the second rotation speed R2 is equal to or less than the threshold T2a, the spin-drying operation determination unit 54 performs a second determination J2 regarding the progress of the spin-drying operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the second rotation speed R2 and the threshold T2b set by the first setting unit 53 corresponding to the second rotation speed R2. When the detection result of the acceleration sensor 61b exceeds the threshold T2b in the second determination J2, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 performs a retry operation, which is a redo of the spin-drying process. Furthermore, when the detection result of the acceleration sensor 61b is equal to or less than the threshold value T2b in the second determination J2, the spin-drying operation determination unit 54 determines that the imbalance of the clothes is within the allowable range. In this case, the control unit 55 increases the rotation speed of the drum 14 to a third rotation speed R3 that is higher than the second rotation speed R2. Then, a third determination J3 is performed using a third threshold value T3a at the third rotation speed R3. Similarly, thereafter, when the detection result of the acceleration sensor 61a obtained at the third rotation speed R3 is equal to or less than the threshold value T3a, a third determination J3 is performed based on the detection result of the acceleration sensor 61b obtained at the third rotation speed R3 and the threshold value T3b, and when the detection result of the acceleration sensor 61b obtained at the third rotation speed R3 is equal to or less than the threshold value T3b, a fourth determination J4 is performed using a fourth threshold value T4a at a fourth rotation speed R4 that is faster than the third rotation speed R3. If the detection result of the acceleration sensor 61a obtained at the fourth rotation number R4 is equal to or less than the threshold value T4a in the fourth judgment J4, a fourth judgment J4 is made based on the detection result of the acceleration sensor 61b obtained at the fourth rotation number R4 and the threshold value T4b, and if the detection result of the acceleration sensor 61b obtained at the fourth rotation number R4 is equal to or less than the threshold value T4b, a fifth judgment J5 is made using a fifth threshold value T5a at a fifth rotation number R5 that is faster than the fourth rotation number R4.

[0067] The control unit 55 controls the preheat dehydration of the washer / dryer 1 based on the determination result of the preheat dehydration determination unit 57 (step S6).

[0068] Specifically, for example, control unit 55 first increases the rotation speed of drum 14 to sixth rotation speed R6, and then fixes the rotation speed of drum 14 at sixth rotation speed R6 for a certain period of time. After the state of washer / dryer 1 stabilizes, pre-heat dehydration determination unit 57 makes a sixth determination J6 regarding how to proceed with pre-heat dehydration, based on the detection result of the first detection value of acceleration sensor 61a obtained at the sixth rotation speed R6 and threshold value T6a set by first setting unit 53 corresponding to the sixth rotation speed R6.

[0069] For example, if the detection result of the acceleration sensor 61a exceeds the threshold value T6a in the sixth determination J6, the preheat dehydration determination unit 57 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 performs a retry operation, which is a redo of the preheat dehydration. When a retry operation is performed, the preheat dehydration is started again from the beginning (i.e., from the sixth determination J6 at a lower rotation speed).

[0070] In addition, if the detection result of the acceleration sensor 61a is equal to or lower than the threshold value T1a in the sixth judgment J6, the preheat dehydration judgment unit 57 makes a sixth judgment J6 regarding how to proceed with the dehydration operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the sixth rotation speed R6 and the threshold value T6b set by the first setting unit 53 corresponding to the sixth rotation speed R6.

[0071] If the detection result of the acceleration sensor 61b exceeds the threshold value T6b in the sixth determination J6, the preheat dehydration determination unit 57 determines that the imbalance of the clothes is outside the tolerable range. In this case, the control unit 55 performs a retry operation, which is to repeat the preheat dehydration.

[0072] Furthermore, when the detection result of the acceleration sensor 61b is equal to or less than the threshold value T6b in the sixth determination J6, the preheat dehydration determination unit 57 determines that the imbalance of the clothes is within the allowable range. In this case, the sticking determination unit 58 determines whether or not the starting torque in the operation of rotating the drum 14 from the state in which the drum motor 16 is stopped after the dehydration process in the preheat dehydration exceeds the predetermined threshold value TH1 (step S7). For example, the sticking determination unit 58 acquires the motor torque acting on the drum motor 16, which the control circuit 111c identifies from the q-axis current, from the control circuit 111c. Furthermore, the sticking determination unit 58 reads out the predetermined threshold value TH1 set by the second setting unit 56 (i.e., the predetermined threshold value TH1 stored in the storage unit 59) from the storage unit 59. The sticking determination unit 58 compares the acquired motor torque with the predetermined threshold value TH1. If the motor torque is equal to or less than the predetermined threshold value TH1 (NO in step S7), the sticking determination unit 58 determines that clothes are stuck to the drum 14 (step S8). If the motor torque exceeds the predetermined threshold value TH1 (YES in step S7), the sticking determination unit 58 determines that clothes are not stuck to the drum 14 (step S9). The determinations made in the processes of steps S8 and S9 are based on the idea that "the motor torque acting on the drum motor 16 when clothes are stuck to the drum 14 shown in FIG. 8 is smaller than the motor torque acting on the drum motor 16 when clothes are not stuck to the drum 14 and clothes are unevenly distributed as shown in FIG. 9."

[0073] Control unit 55 controls the operation of washer / dryer 1 based on the determination result of sticking determination unit 58. For example, when motor torque is equal to or less than predetermined threshold value TH1 and preheat dehydration determination unit 57 determines that clothes are stuck to drum 14 (step S8), control unit 55 controls the operation of washer / dryer 1 to remove clothes from drum 14 (step S10). Examples of control of washer / dryer 1 performed by control unit 55 to remove clothes from drum 14 include control to rotate drum 14 by rapidly stopping rotation of drum motor 16 in a short period, and control to supply water to drum 14 and stir the clothes to loosen them. Then, control unit 55 increases the rotation speed of drum 14 beyond sixth rotation speed R6 to RM2, which is the maximum rotation speed in preheat dehydration and is the target rotation speed (step S11). Also, for example, if the motor torque exceeds a predetermined threshold value TH1 and the preheat dehydration determination unit 57 determines that there is no clothing stuck to the drum 14, the control unit 55 proceeds to the process of step S11 without performing the process of step S10.

[0074] The control unit 55 controls the operation of the washer / dryer 1 so that the washing operation is completed and then the drying operation is started (step S12). The control unit 55 ends the process performed by the washer / dryer 1 when the drying operation is completed.

[0075] (advantage) The washer / dryer 1 (an example of a washing machine) comprises a water tub 13, a drum 14 (an example of a rotating tub) that is placed in the water tub 13 and contains clothes, a drum motor 16 (an example of a motor) that drives and rotates the drum 14, a control circuit 111c (an example of a torque detection unit) that detects the motor torque acting on the drum motor 16, and a determination unit that obtains from the control circuit 111c a starting torque, which is the motor torque detected when the drum motor 16 is started from a stopped state after one dehydration process (an example of at least one dehydration process) in preheat dehydration and before the start of a drying operation (an example of a specified operation), and performs a sticking determination to determine that the clothes are stuck to the drum 14 if the starting torque is less than a specified threshold value TH1.

[0076] This washer / dryer 1 (an example of a washing machine) can determine whether clothes are stuck to the tub early when the spin cycle begins, and if the clothes are not stuck, the peeling operation is not performed, thereby shortening the operating time.

[0077] <First Modification of the Embodiment> (Washer / dryer configuration) Next, a washer / dryer 1 according to a first modified example of one embodiment of the present invention will be described with reference to Fig. 10 and Fig. 11. In the description of the washer / dryer 1 according to the first modified example of one embodiment, differences from the washer / dryer 1 according to the first embodiment will be mainly described.

[0078] Like the washer / dryer 1 of the embodiment of the present invention, the washer / dryer 1 of the first modification of the embodiment of the present invention includes a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, a bellows 15, a drum motor 16, a first elastic support unit 17, a second elastic support unit 18, a damping device 19, a water supply valve 21, a water injection case 22, a water injection pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50. Like the control device 50 of the embodiment of the present invention, the control device 50 of the first modification of the embodiment of the present invention includes a weight detection unit (cloth amount detection unit) 51, a cloth quality detection unit 52, a first setting unit 53, a spin-drying operation determination unit 54, a control unit 55, a second setting unit 56, a pre-heat spin-drying determination unit 57, a sticking determination unit 58, a motor control unit 111, and a memory unit 59.

[0079] In the washer / dryer 1 according to one embodiment of the present invention, the second setting unit 56 has been described as setting one predetermined threshold value TH1 used by the sticking determination unit 58 to determine whether clothes stick to the drum 14 after the dehydration process in the preheat dehydration. However, in the washer / dryer 1 according to the first modified example of one embodiment of the present invention, the second setting unit 56 may set two or more predetermined threshold values ​​used by the sticking determination unit 58 to determine whether clothes stick to the drum 14 after the dehydration process in the preheat dehydration. In the washer / dryer 1 according to the first modified example of one embodiment of the present invention, the sticking determination unit 58 may read out from the storage unit 59 each of the two or more predetermined threshold values ​​set by the second setting unit 56 (for example, the predetermined threshold value TH1 and a predetermined threshold value TH2 greater than the threshold value TH1 stored in the storage unit 59). Also, the sticking determination unit 58 may compare the acquired motor torque with each of the two or more predetermined threshold values ​​and determine whether the motor torque is larger than the predetermined threshold value. Then, the control unit 55 may control the operation of the washer / dryer 1 based on the determination result of the sticking determination unit 58.

[0080] FIG. 10 is a diagram showing an example of two predetermined thresholds set by the second setting unit 56 of the first modified example of the embodiment. In the example shown in FIG. 10, the two predetermined thresholds set by the second setting unit 56 are a threshold TH1 and a threshold TH2. The threshold TH2 is larger than the threshold TH1. The second setting unit 56 sets the predetermined threshold TH1 and the predetermined threshold TH2 used by the sticking determination unit 58 to determine whether clothes are stuck to the drum 14 after the dehydration process in the preheat dehydration step. For example, the second setting unit 56 stores the predetermined threshold TH1 and the predetermined threshold TH2, which are compared with the starting torque, which is the motor torque specified based on the q-axis current calculated by the control circuit 111c when the drum motor 16 is started from a stopped state, in a reference destination in the memory unit 59 of the sticking determination unit 58.

[0081] Pre-heat dehydration determination unit 57 makes a determination regarding control of rotation of drum 14 based on the detection results of acceleration sensor 61 (the detection results of the first detection value and the detection results of the second detection value) and two or more threshold values ​​(for example, threshold value TH1 and threshold value TH2). Then, control unit 55 controls the operation of washer / dryer 1 based on the determination result of sticking determination unit 58.

[0082] (Processing performed by a washer / dryer) Next, a description will be given of the process of the washing operation and the drying operation performed by the washer-dryer 1 according to the first modified example of the embodiment. Fig. 11 is a flow chart showing the procedure of the process of the washing operation and the drying operation performed by the washer-dryer 1 according to the first modified example of the embodiment.

[0083] It is assumed that the user has performed an operation on operation unit PU to instruct the washing operation and drying operation shown in Fig. 5. In response to the user's operation on operation unit PU, the washer / dryer 1 performs the processes from step S1 to step S5.

[0084] The control unit 55 controls the preheat dehydration of the washer / dryer 1 based on the determination result of the preheat dehydration determination unit 57 (step S6).

[0085] Specifically, for example, control unit 55 first increases the rotation speed of drum 14 to sixth rotation speed R6, and then fixes the rotation speed of drum 14 at sixth rotation speed R6 for a certain period of time. After the state of washer / dryer 1 stabilizes, pre-heat dehydration determination unit 57 makes a sixth determination J6 regarding how to proceed with pre-heat dehydration, based on the detection result of the first detection value of acceleration sensor 61a obtained at the sixth rotation speed R6 and threshold value T6a set by first setting unit 53 corresponding to the sixth rotation speed R6.

[0086] For example, if the detection result of the acceleration sensor 61a exceeds the threshold value T6a in the sixth determination J6, the preheat dehydration determination unit 57 determines that the imbalance of the clothes is outside the allowable range. In this case, the control unit 55 performs a retry operation, which is a redo of the preheat dehydration. When a retry operation is performed, the preheat dehydration is started again from the beginning (i.e., from the sixth determination J6 at a lower rotation speed).

[0087] In addition, if the detection result of the acceleration sensor 61a is equal to or lower than the threshold value T1a in the sixth judgment J6, the preheat dehydration judgment unit 57 makes a sixth judgment J6 regarding how to proceed with the dehydration operation based on the detection result of the second detection value of the acceleration sensor 61b obtained at the sixth rotation speed R6 and the threshold value T6b set by the first setting unit 53 corresponding to the sixth rotation speed R6.

[0088] If the detection result of the acceleration sensor 61b exceeds the threshold value T6b in the sixth determination J6, the preheat dehydration determination unit 57 determines that the imbalance of the clothes is outside the tolerable range. In this case, the control unit 55 performs a retry operation, which is to repeat the preheat dehydration.

[0089] Furthermore, when the detection result of the acceleration sensor 61b is equal to or less than the threshold value T6b in the sixth determination J6, the preheat dehydration determination unit 57 determines that the imbalance of the clothes is within the allowable range. In this case, the sticking determination unit 58 determines whether or not the starting torque in the operation of rotating the drum 14 from the state in which the drum motor 16 is stopped after the dehydration process in the preheat dehydration exceeds the predetermined threshold value TH1 (step S7). For example, the sticking determination unit 58 acquires the motor torque acting on the drum motor 16, which the control circuit 111c identifies from the q-axis current, from the control circuit 111c. Furthermore, the sticking determination unit 58 reads out the predetermined threshold value TH1 set by the second setting unit 56 (i.e., the predetermined threshold value TH1 stored in the storage unit 59) from the storage unit 59. The sticking determination unit 58 compares the acquired motor torque with the predetermined threshold value TH1. If the motor torque is equal to or less than the predetermined threshold TH1 (NO in step S7), the sticking determination unit 58 determines that the clothes are stuck to the drum 14 (step S8). If the motor torque exceeds the predetermined threshold TH1 (YES in step S7), the sticking determination unit 58 determines whether the starting torque exceeds a predetermined threshold TH2 (step S21). For example, the sticking determination unit 58 reads out the predetermined threshold TH2 set by the second setting unit 56 (i.e., the predetermined threshold TH2 stored in the storage unit 59) from the storage unit 59. The sticking determination unit 58 compares the acquired motor torque with the predetermined threshold TH2. If the motor torque is equal to or less than the predetermined threshold TH2 (NO in step S21), the sticking determination unit 58 determines that the clothes are stuck to a degree less than the degree of the clothes stuck determined in step S8 (step S22). Furthermore, when the motor torque exceeds the predetermined threshold value TH2 (YES in step S21), sticking determination unit 58 determines that no clothes are stuck to drum 14 (step S23).

[0090] The control unit 55 controls the operation of the washer / dryer 1 based on the determination result of the sticking determination unit 58. For example, if the motor torque is equal to or less than the predetermined threshold TH1 and the preheat / spin determination unit 57 determines that the clothes are stuck to the drum 14 (step S8), the control unit 55 performs a peeling control to supply water to the drum 14 and stir the clothes to loosen them (step S24). Then, the control unit 55 performs the process of step S11. Also, if the control unit 55 determines that the clothes are stuck to a degree smaller than the degree of the clothes stuck determined in step S8 (step S22), the control unit 55 performs a simple peeling control to rotate the drum 14 by repeatedly rotating and stopping the drum motor 16 rapidly in a short cycle (step S25). Then, the control unit 55 proceeds to the process of step S11. Also, if the motor torque exceeds the predetermined threshold TH2 (YES in step S21), the control unit 55 proceeds to the process of step S11 without performing the processes of steps S24 and S25.

[0091] When the washing operation is completed, the control unit 55 performs the process of step S12. When the drying operation is completed, the control unit 55 ends the process performed by the washer / dryer 1.

[0092] In terms of points not described above, the washer / dryer 1 of the first modified example of one embodiment is similar to the washer / dryer 1 of the first embodiment.

[0093] (advantage) Second setting unit 56 sets two or more predetermined thresholds used by sticking determination unit 58 to determine whether clothes stick to drum 14 after the spin-drying process in pre-heat spin-drying. Sticking determination unit 58 reads out each of the two or more predetermined thresholds set by second setting unit 56 from memory unit 59 (for example, a predetermined threshold TH1 stored in memory unit 59 and a predetermined threshold TH2 larger than threshold TH1). Sticking determination unit 58 also compares the acquired motor torque with each of the two or more predetermined thresholds, and determines whether the motor torque is larger than the predetermined threshold. Control unit 55 controls the operation of washer / dryer 1 based on the determination result of sticking determination unit 58.

[0094] This washer / dryer 1 (an example of a washing machine) can more accurately determine the strength with which clothes are stuck to the drum 14. Also, the washer / dryer 1 (an example of a washing machine) can perform an appropriate process to peel off the clothes from the drum 14 efficiently according to the degree of sticking while minimizing damage to the clothes.

[0095] <Second Modification of the Embodiment> (Washer / dryer configuration) Next, a washer / dryer 1 according to a second modified example of one embodiment of the present invention will be described with reference to Fig. 12. In the description of the washer / dryer 1 according to the second modified example of one embodiment, differences from the washer / dryer 1 according to one embodiment and the washer / dryer 1 according to the first modified example of one embodiment will be mainly described.

[0096] Like the washer / dryer 1 of the embodiment of the present invention, the washer / dryer 1 of the embodiment of the present invention includes a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, a bellows 15, a drum motor 16, a first elastic support unit 17, a second elastic support unit 18, a damping device 19, a water supply valve 21, a water injection case 22, a water injection pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50. Like the control device 50 of the embodiment of the present invention, the control device 50 of the embodiment of the present invention includes a weight detection unit (cloth amount detection unit) 51, a cloth quality detection unit 52, a first setting unit 53, a spin-drying operation determination unit 54, a control unit 55, a second setting unit 56, a pre-heat spin-drying determination unit 57, a sticking determination unit 58, a motor control unit 111, and a memory unit 59.

[0097] In the washer-dryer 1 of the embodiment of the present invention and the first modified example of the embodiment of the present invention, in the preheat dehydration process, sticking determination unit 58 has been described as determining whether or not clothes stick to drum 14 only between rotation speed R6 and rotation speed RM2. However, in the washer-dryer 1 of the second modified example of the embodiment of the present invention, in the preheat dehydration process, the rotation speed does not have to be changed in two stages, rotation speed R6 and rotation speed RM2, but may be changed in three or more stages. Also, in the washer-dryer 1 of the second modified example of the embodiment of the present invention, in the preheat dehydration process, sticking determination unit 58 may determine whether or not clothes stick to drum 14 every time the rotation speed is changed (except at the maximum rotation speed RM2).

[0098] Fig. 12 is a diagram showing an example of preheat dehydration in a second modified example of an embodiment. In the preheat dehydration shown in Fig. 12, the rotation speed is changed to four stages of R6, R7, R8, and RM2. In the preheat dehydration shown in Fig. 12, the sticking determination unit 58 determines whether or not the clothes are stuck to the drum 14 every time the rotation speed R6, R7, or R8 is changed. The determination method by the sticking determination unit 58 may be the same as the determination method by the sticking determination unit 58 in the embodiment or the determination method by the sticking determination unit 58 in the first modified example of an embodiment.

[0099] (advantage) Sticking determination unit 58 determines whether clothes are stuck to drum 14 each time the rotation speed is changed except for the maximum rotation speed. This washer / dryer 1 (an example of a washing machine) can determine whether clothes are stuck to drum 14 multiple times. In this case, since sticking can be determined and dealt with from the low rotation speed stage of R6, the removal operation can be completed more easily than dealing with it when the clothes stick firmly at a higher rotation speed. Also, if sticking is eliminated at a low rotation speed stage, moisture is removed from the clothes to a certain extent at that point, so the possibility of the clothes sticking again can be reduced later, and a smooth transition to a drying operation can be made.

[0100] <Third Modification of the Embodiment> (Washer / dryer configuration) Next, a washer / dryer 1 according to a third modified example of one embodiment of the present invention will be described with reference to Figs. 13 and 14. The description of the washer / dryer 1 according to the third modified example of one embodiment will focus on the differences from the washer / dryer 1 according to one embodiment, the washer / dryer 1 according to the first modified example of one embodiment, and the washer / dryer 1 according to the second modified example of one embodiment.

[0101] The washer-dryer 1 of the third variant of one embodiment of the present invention, like the washer-dryer 1 of one embodiment of the present invention, comprises a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, bellows 15, a drum motor 16, a first elastic support part 17, a second elastic support part 18, a damping device 19, a water supply valve 21, a water inlet case 22, a water inlet pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50.

[0102] Like the control device 50 of one embodiment of the present invention, the control device 50 of the third modified example of one embodiment of the present invention has a weight detection section (cloth amount detection section) 51, a cloth quality detection section 52, a first setting section 53, a spin-drying operation determination section 54, a control section 55, a second setting section 56, a pre-heat spin-drying determination section 57, a sticking determination section 58, a motor control section 111, and a memory section 59. However, the second setting section 56 of the third modified example of one embodiment is different from the second setting section 56 of one embodiment, the second setting section 56 of the first modified example of one embodiment, and the second setting section 56 of the second modified example of one embodiment.

[0103] The second setting unit 56 in the third modified example of the embodiment sets a threshold value (for example, a threshold value TH1 or a threshold value TH2) used when the adhesion determination unit 58 determines whether or not the clothes are stuck to the drum 14 based on the weight (cloth amount) of the clothes detected by the weight detection unit 51. FIG. 13 is a diagram showing a first example of the threshold value set by the second setting unit 56 in the third modified example of the embodiment. FIG. 14 is a diagram showing a second example of the threshold value set by the second setting unit 56 in the third modified example of the embodiment. For example, when setting one threshold value TH1 used when the adhesion determination unit 58 determines whether or not the clothes are stuck to the drum 14 based on the weight (cloth amount) of the clothes detected by the weight detection unit 51, the second setting unit 56 sets the threshold value TH1 to, for example, 100% of the threshold value according to the weight of the clothes detected by the weight detection unit 51, as shown in FIG. 13. For example, when the second setting unit 56 sets two threshold values ​​TH1 and TH2 used by the sticking determination unit 58 to determine whether or not clothes are stuck to the drum 14 based on the weight of the clothes (amount of fabric) detected by the weight detection unit 51, as shown in Figure 14, for example, the second setting unit 56 sets the threshold value TH2 to 100% of the threshold value corresponding to the weight of the clothes detected by the weight detection unit 51, and sets the threshold value TH1 to 80%.

[0104] The sticking determination unit 58 may use the threshold value thus set to determine whether or not the clothes are stuck to the drum 14.

[0105] (advantage) In the third modified example of the embodiment, the second setting unit 56 sets a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the sticking determination unit 58 to determine whether the clothes are stuck to the drum 14, based on the weight of the clothes (cloth amount) detected by the weight detection unit 51. The degree to which the clothes stick to the drum 14 varies depending on the weight of the clothes. Therefore, by having the second setting unit 56 take the weight of the clothes into consideration when setting the threshold value used by the sticking determination unit 58 to make a determination, the sticking determination unit 58 can more appropriately determine the degree to which the clothes stick to the drum 14. As a result, the washer / dryer 1 (an example of a washing machine) can more accurately determine the degree to which the clothes stick to the drum 14, and can perform an appropriate process to efficiently remove the clothes from the drum 14 without damaging the clothes as much as possible and according to the degree of sticking, as in the first modified example described above.

[0106] <Fourth Modification of the Embodiment> (Washer / dryer configuration) Next, a washer / dryer 1 according to a fourth modified example of one embodiment of the present invention will be described with reference to Fig. 15. In the description of the washer / dryer 1 according to the fourth modified example of one embodiment, differences from the washer / dryer 1 according to the third modified example of one embodiment will be mainly described.

[0107] The washer-dryer 1 of the fourth variant of one embodiment of the present invention, like the washer-dryer 1 of the third variant of one embodiment of the present invention, comprises a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, bellows 15, a drum motor 16, a first elastic support part 17, a second elastic support part 18, a damping device 19, a water supply valve 21, a water inlet case 22, a water inlet pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50.

[0108] Like the control device 50 of the third modified embodiment of the embodiment of the present invention, the control device 50 of the fourth modified embodiment of the present invention has a weight detection section (cloth amount detection section) 51, a cloth quality detection section 52, a first setting section 53, a spin-drying operation determination section 54, a control section 55, a second setting section 56, a pre-heat spin-drying determination section 57, a sticking determination section 58, a motor control section 111, and a memory section 59. However, the second setting section 56 of the fourth modified embodiment of the embodiment is different from the second setting section 56 of the third modified embodiment of the embodiment.

[0109] The second setting unit 56 in the third modified example of the embodiment has been described as setting a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the sticking determination unit 58 to determine whether or not the clothes are stuck to the drum 14, based on the weight of the clothes (amount of cloth) detected by the weight detection unit 51. The second setting unit 56 in the fourth modified example of the embodiment sets a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the sticking determination unit 58 to determine whether or not the clothes are stuck to the drum 14, based on the weight of the clothes (amount of cloth) detected by the weight detection unit 51 and the cloth quality detected by the cloth quality detection unit 52.

[0110] 15 is a diagram showing an example of thresholds set by the second setting unit 56 in the fourth modified example of the embodiment. For example, when setting two thresholds TH1 and TH2 used by the adhesion determination unit 58 to determine whether the clothes are stuck to the drum 14 or not based on the weight (cloth amount) of the clothes detected by the weight detection unit 51 and the cloth quality detected by the cloth quality detection unit 52, the second setting unit 56 sets the threshold TH2 to 100% of the weight of the clothes detected by the weight detection unit 51, sets the threshold TH1 to, for example, 80% of the weight of the clothes when the cloth quality is cotton, and sets the threshold TH1 to, for example, 70% of the weight of the clothes when the cloth quality is synthetic fiber, as shown in FIG.

[0111] The sticking determination unit 58 may determine whether or not the clothes are stuck to the drum 14 using the thresholds TH1 and TH2 set in this manner.

[0112] (advantage) The second setting unit 56 in the fourth modified example of the embodiment sets a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the adhesion determination unit 58 when determining whether the clothes are stuck to the drum 14 based on the weight (cloth amount) of the clothes detected by the weight detection unit 51 and the cloth quality detected by the cloth quality detection unit 52. The degree to which the clothes stick to the drum 14 varies depending on the weight of the clothes, and also on the cloth quality. Therefore, the second setting unit 56 takes into consideration the weight and cloth quality of the clothes in setting the threshold value used by the adhesion determination unit 58 when making a determination, so that the adhesion determination unit 58 can more appropriately determine the degree to which the clothes stick to the drum 14. As a result, the washer / dryer 1 (an example of a washing machine) can more accurately determine whether the clothes are stuck to the drum 14, and can perform an appropriate process to efficiently peel off the clothes from the drum 14 according to the degree of adhesion while minimizing damage to the clothes as in the first modified example described above.

[0113] <Fifth Modification of the Embodiment> (Washer / dryer configuration) Next, a description will be given of a washer / dryer 1 according to a fifth modified example of one embodiment of the present invention. In the description of the washer / dryer 1 according to the fifth modified example of one embodiment, differences from the washer / dryer 1 according to the fourth modified example of one embodiment will be mainly described.

[0114] The washer-dryer 1 of the fifth variant of one embodiment of the present invention, like the washer-dryer 1 of the fourth variant of one embodiment of the present invention, comprises a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, bellows 15, a drum motor 16, a first elastic support part 17, a second elastic support part 18, a damping device 19, a water supply valve 21, a water inlet case 22, a water inlet pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50.

[0115] Like the control device 50 of the fourth modified embodiment of the embodiment of the present invention, the control device 50 of the fifth modified embodiment of the present invention has a weight detection section (cloth amount detection section) 51, a cloth quality detection section 52, a first setting section 53, a spin-drying operation determination section 54, a control section 55, a second setting section 56, a pre-heat spin-drying determination section 57, a sticking determination section 58, a motor control section 111, and a memory section 59. However, the second setting section 56 of the fifth modified embodiment of the embodiment is different from the second setting section 56 of the fourth modified embodiment of the embodiment.

[0116] The second setting unit 56 in the fourth modified example of the embodiment has been described as setting a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the sticking determination unit 58 to determine whether or not the clothes are stuck to the drum 14, based on the weight of the clothes (cloth amount) detected by the weight detection unit 51 and the cloth quality detected by the cloth quality detection unit 52. The second setting unit 56 in the fifth modified example of the embodiment sets a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the sticking determination unit 58 to determine whether or not the clothes are stuck to the drum 14, based on the cloth quality detected by the cloth quality detection unit 52.

[0117] For example, the second setting unit 56 sets a predetermined threshold value TH2 instead of 100% of the weight of the clothing detected by the weight detection unit 51, and if the fabric is cotton, sets the threshold value TH1 to, for example, 70% of the predetermined threshold value TH2, and if the fabric is synthetic fiber, sets the threshold value TH1 to, for example, 80% of the predetermined threshold value TH2.

[0118] The sticking determination unit 58 may determine whether or not the clothes are stuck to the drum 14 using the thresholds TH1 and TH2 set in this manner.

[0119] (advantage) In the fifth modified example of the embodiment, the second setting unit 56 sets a threshold value (e.g., threshold value TH1 or threshold value TH2) used by the sticking determination unit 58 to determine whether the clothes are stuck to the drum 14, based on the fabric quality detected by the fabric quality detection unit 52. The degree to which the clothes stick to the drum 14 varies depending on the fabric quality. Therefore, by having the second setting unit 56 take into consideration the fabric quality of the clothes when setting the threshold value used by the sticking determination unit 58 to make a determination, the sticking determination unit 58 can appropriately determine the degree to which the clothes stick to the drum 14. As a result, the washer / dryer 1 (an example of a washing machine) can accurately determine whether the clothes stick to the drum 14, and can perform an appropriate process to peel the clothes off the drum 14 efficiently according to the degree of sticking while minimizing damage to the clothes, as in the first modified example described above.

[0120] Sixth Modification of the Embodiment (Washer / dryer configuration) Next, a washer / dryer 1 according to a sixth modified example of one embodiment of the present invention will be described with reference to Fig. 16. The description of the washer / dryer 1 according to the sixth modified example of one embodiment will focus on the differences from the washer / dryer 1 of the present invention described above, which does not take into account the fabric type.

[0121] Like the washer / dryer 1 of the fourth modified example of an embodiment of the present invention and the washer / dryer 1 of the fifth modified example of an embodiment of the present invention, the washer / dryer 1 of the sixth modified example of an embodiment of the present invention includes a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, a bellows 15, a drum motor 16, a first elastic support portion 17, a second elastic support portion 18, a damping device 19, a water supply valve 21, a water inlet case 22, a water inlet pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50. The washer / dryer 1 of the sixth modified example of an embodiment of the present invention is a further modified example of the washer / dryer 1 of the fourth modified example of an embodiment of the present invention and the washer / dryer 1 of the fifth modified example of an embodiment of the present invention.

[0122] Like the control device 50 of the fourth modified example of an embodiment of the present invention and the control device 50 of the fifth modified example of an embodiment of the present invention, the control device 50 of the sixth modified example of an embodiment of the present invention has a weight detection section (cloth amount detection section) 51, a cloth type detection section 52, a first setting section 53, a spin-drying operation determination section 54, a control section 55, a second setting section 56, a pre-heat spin-drying determination section 57, a sticking determination section 58, a motor control section 111, and a memory section 59. The washer / dryer 1 of the sixth modified example of an embodiment of the present invention changes the stage of change in the rotation speed in pre-heat spin-drying and the operation time at the maximum rotation speed according to the cloth type.

[0123] FIG. 16 is a diagram showing the difference in the stage of change in the rotation speed in preheat dehydration and the difference in the operation time depending on the maximum rotation speed when the fabric quality is chemical fiber and when the fabric quality is cotton in the sixth modified example of the embodiment. When the fabric quality detection unit 52 determines that the clothes are chemical fiber, for example, the control unit 55 controls the rotation speed in preheat dehydration to two stages as shown in FIG. 16. Also, the control unit 55 controls the operation time at the maximum rotation speed MR2 to 8 minutes as shown in FIG. 16. Also, when the fabric quality detection unit 52 determines that the clothes are cotton, for example, the control unit 55 controls the rotation speed in preheat dehydration to four stages as shown in FIG. 16. Also, the control unit 55 controls the operation time at the maximum rotation speed MR2 to 5 minutes as shown in FIG. 16. In this way, the control unit 55 performs a first mode dehydration operation as a preheat dehydration (an example of a dehydration operation) including at least one dehydration process when the fabric quality detection unit 52 determines that the clothing is cotton (an example of a first fabric quality), and performs a second mode dehydration operation different from the first mode when the fabric quality detection unit 52 determines that the clothing is synthetic fiber (an example of a second fabric quality).

[0124] (advantage) This washer / dryer 1 (an example of a washing machine) can perform more appropriate dehydration according to the fabric quality of the clothes.

[0125] <Seventh Modification of the Embodiment> (Washer / dryer configuration) Next, a description will be given of a washer / dryer 1 according to a seventh modified example of one embodiment of the present invention. The washer / dryer 1 according to the seventh modified example of one embodiment of the present invention is a modified example of the washer / dryer 1 according to the present invention described above, which takes into account the fabric quality.

[0126] The washer-dryer 1 of the seventh variant of one embodiment of the present invention, like the washer-dryer 1 of the fourth variant of one embodiment of the present invention, the washer-dryer 1 of the fifth variant of one embodiment of the present invention, and the washer-dryer 1 of the sixth variant of one embodiment of the present invention, comprises a housing (outer box) 11, a door 12, an operation unit PU, a water tub 13, a drum 14, bellows 15, a drum motor 16, a first elastic support part 17, a second elastic support part 18, a damping device 19, a water supply valve 21, a water inlet case 22, a water inlet pipe 23, a drain pipe 24, a hot air supply mechanism 30, and a control device 50.

[0127] The control device 50 of the seventh variant of one embodiment of the present invention, like the control device 50 of the fourth variant of one embodiment of the present invention, the control device 50 of the fifth variant of one embodiment of the present invention, and the control device 50 of the sixth variant of one embodiment of the present invention, has a weight detection unit (cloth amount detection unit) 51, a cloth quality detection unit 52, a first setting unit 53, a dehydration operation determination unit 54, a control unit 55, a second setting unit 56, a preheat dehydration determination unit 57, a sticking determination unit 58, a motor control unit 111, and a memory unit 59.

[0128] In washer / dryer 1 of the seventh modified example of one embodiment of the present invention, control unit 55 changes the stage of change in rotation speed and the operating time at maximum rotation speed for chemical fibers to the stage of change in rotation speed and the operating time at maximum rotation speed for cotton when the starting torque, which is the motor torque when drum motor 16 is stopped and drum motor 16 is rotated during preheat dehydration (an example of a dehydration operation) is equal to or less than a predetermined threshold value TH1, depending on the fabric quality, which is chemical fiber, detected by fabric quality detection unit 52.

[0129] (advantage) This washer / dryer 1 (an example of a washing machine) can make the clothes easier to peel off from drum 14 even if fabric type detection unit 52 erroneously determines that the fabric type of the clothes is one that does not easily absorb moisture.

[0130] <Eighth Modification of the Embodiment> In the above-described embodiment of the present invention and its modified examples, it has been described that sticking determination unit 58 determines whether or not clothes are stuck to drum 14 each time the rotation speed is changed except for the maximum rotation speed. However, in the eighth modified example of the embodiment, sticking determination unit 58 only needs to determine whether or not clothes are stuck to drum 14 at least once after the first spin-drying in a spin-drying operation that includes at least one spin-drying.

[0131] (advantage) This washer / dryer 1 (an example of a washing machine) can determine whether or not clothes are stuck to the drum 14 at least once.

[0132] FIG. 17 is a cross-sectional view showing a vertical type washer-dryer 1B. Vertical type washer-dryer 1B has, for example, water tub 13 and rotating tub 14B whose rotating shafts are arranged along the vertical direction. Rotating tub 14B is housed in water tub 13. Acceleration sensor 61a is provided, for example, at the upper end of water tub 13. Acceleration sensor 61b is provided at the lower end of water tub 13. Note that by using the rotation speed and motor torque of a motor that rotates pulsator 201 of vertical type washer-dryer 1B instead of the rotation speed and motor torque of drum motor 16 that rotates drum 14 in drum type washer-dryer 1, the above-mentioned embodiment is not limited to drum type washing machines and can be applied to vertical type washing machines as well.

[0133] In the above-described embodiments, sticking determination unit 58 has been described as determining whether or not clothes stick to drum 14 during preheat dehydration. However, in another embodiment, sticking determination unit 58 may determine whether or not clothes stick to drum 14 during a dehydration step following a rinsing step, or during a dehydration operation between a rinsing step with water running and a rinsing step with water stored in the machine when the rinsing step includes a rinsing step with water running and a rinsing step with water stored in the machine.

[0134] According to at least one of the embodiments described above, the washing machine includes a water tub, a spin tub, a motor, a torque detection unit, and a determination unit. The spin tub is disposed in the water tub and holds clothes. The motor rotates and drives the spin tub or a pulsator provided in the spin tub. The torque detection unit detects the motor torque acting on the motor. The determination unit obtains from the torque detection unit a starting torque, which is the motor torque detected when the motor is started from a stopped state after at least one dehydration process and before the start of a predetermined operation, and performs a sticking determination to determine that the clothes are stuck to the spin tub when the starting torque is equal to or less than a predetermined threshold value. With this configuration, it is possible to determine whether clothes are stuck to the water tub during dehydration.

[0135] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0136] 1... washer-dryer (washing machine), 13... water tub, 14... drum (rotating tub), 16... drum motor (motor), 17... first elastic support part, 18... second elastic support part, 19... damping device, 53... first setting part, 54... spin-drying operation determination part (determination part), 55... control part, 56... second setting part, 57... pre-heat spin-drying determination part, 58... sticking determination part, 61a, 61b... acceleration sensor, 201... pulsator.

Claims

1. Aquarium and A rotating tub is disposed within the water tub to accommodate clothes; a motor that rotates the rotating tub or a pulsator provided on the rotating tub; a torque detection unit that detects a motor torque acting on the motor; a determination unit that obtains from the torque detection unit a starting torque, which is the motor torque detected when the motor is started from a stopped state after at least one dehydration process and before the start of a specified operation, and performs a sticking determination to determine that the clothes are stuck to the spin tub if the starting torque is equal to or smaller than a predetermined threshold value that is set in advance; A washing machine equipped with

2. A weight detection unit that detects the weight of the garment; a setting unit that sets the predetermined threshold value based on a detection result of the weight detection unit; The washing machine according to claim 1 .

3. A fabric quality detection unit that detects the fabric quality of the clothing; a setting unit that sets the predetermined threshold value based on a detection result of the fabric quality detection unit; The washing machine according to claim 1 or 2, comprising:

4. a control unit that executes an operation for removing the clothes from the spin tub when the determination unit determines that the starting torque is equal to or less than the predetermined threshold value; The washing machine according to claim 1 or 2, comprising:

5. a fabric quality detection unit that detects whether the fabric quality of the clothes is a first fabric quality or a second fabric quality that is more likely to stick to the spin tub than the first fabric quality; a control unit that performs a first mode of dehydration operation when the fabric type detection unit determines that the garment is of the first fabric type, and performs a second mode of dehydration operation different from the first mode when the fabric type detection unit determines that the garment is of the second fabric type, as the dehydration operation including the at least one dehydration process; Equipped with The control unit is when the fabric type detection unit determines that the garment is of the first fabric type, the spin-drying operation of the first mode is started, and when the sticking determination is performed by stopping the motor during the spin-drying operation of the first mode and the starting torque is equal to or less than the predetermined threshold value, the spin-drying operation of the first mode is stopped and switched to the spin-drying operation of the second mode. The washing machine according to claim 1 or 2.

6. The predetermined threshold value is A first threshold value and a second threshold value greater than the first threshold value, The determination unit is If the starting torque is equal to or less than the first threshold value, it is determined that the clothes are stuck to the spin tub to a first degree; When the starting torque exceeds the first threshold value and is equal to or smaller than the second threshold value, it is determined that the clothes are stuck to the spin tub to a second degree which is smaller than the first degree. The washing machine according to claim 1 or 2.

7. The determination unit is In a case where a first dehydration process is performed in which the spin tub is rotated at a first rotation speed, and a second dehydration process is performed in which the motor is stopped once after the first dehydration process and the spin tub is rotated at a second rotation speed higher than the first rotation speed, the sticking determination is performed between the first dehydration process and the second dehydration process and after the second dehydration process. The washing machine according to claim 1 or 2.

8. The determination unit is In a case where a single dehydration operation includes a plurality of dehydration processes in which the rotation speed of the spin tub is different, and the plurality of dehydration processes are performed in order of increasing rotation speed with an operation of stopping the motor therebetween, the sticking determination is performed after at least a first dehydration process. The washing machine according to claim 1 or 2.

9. The torque detection unit is The starting torque is detected based on a q-axis current of the motor. The washing machine according to claim 1 or 2.

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