Washing machine

Abstract

The present invention relates to a washing machine which effectively accumulates potential energy before rotating in reverse a rotary tub of the washing machine, the washing machine including: the rotary tub which is rotatable and into which laundry can be loaded; a motor for rotating the rotary tub; and a controller which performs start-up control for starting the rotation of the rotary tub, wherein the start-up control includes: a first process in which torque is applied to the rotary tub to rotate same in the first rotation direction; and a second process in which, after the first process starts, if the rotational acceleration of the rotary tub is equal to or less than a first threshold value before the rotational speed of the rotary tub reaches a first rotation speed, the rotary tub is rotated in reverse.

Description

washing machine

[0001] The present disclosure relates to a washing machine.

[0002] Washing machines, commonly used in households, perform various laundry processing tasks. For example, washing machines can perform washing, rinsing, detangling, and spinning. By utilizing the potential energy of the rotating drum and the rotating system containing the laundry during each process, power consumption can be reduced.

[0003] According to one embodiment of the present disclosure, a washing machine includes a rotating drum capable of rotating and into which laundry can be put, a motor for rotating the rotating drum, and a controller for performing startup control to initiate rotation of the rotating drum. According to one embodiment of the present disclosure, the startup control includes a first process of controlling the motor so that a torque for rotating the rotating drum in a first rotation direction is applied to the rotating drum, and a second process of controlling the motor so that a torque is applied to the rotating drum so that the rotating drum rotates in the reverse direction if, after the first process is initiated, a rotational acceleration of the rotating drum is lower than or equal to a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed.

[0004] According to one embodiment of the present disclosure, in the second processing, the controller controls the motor to rotate the rotating member in a second rotational direction that is a reverse rotational direction of the first rotational direction.

[0005] According to one embodiment of the present disclosure, the controller terminates the start control when the rotation speed of the rotating drum reaches the first rotation speed.

[0006] According to one embodiment of the present disclosure, in the first processing, if the rotational speed of the rotating drum reaches the first rotational speed before the rotational acceleration of the rotating drum becomes below a predetermined first threshold value, the controller terminates the start control and does not perform the second processing.

[0007] According to one embodiment of the present disclosure, the predetermined first threshold is a rotational acceleration of the rotary drum when a torque for rotating the rotary drum in the first rotational direction in the first process is not greater than a load torque of the rotary drum applied in the opposite direction of the first rotational direction.

[0008] According to one embodiment of the present disclosure, after the first processing is initiated, if the rotational acceleration of the rotating drum is less than or equal to a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed, the controller performs torque control so that the torque applied to the rotating drum becomes a predetermined torque value so that the rotating drum rotates in reverse.

[0009] A predetermined torque according to one embodiment of the present disclosure has a magnitude capable of rotating the rotating member in the second direction.

[0010] A predetermined torque value according to one embodiment of the present disclosure is a value in the range of 90% or more of the maximum torque value that the motor can output.

[0011] According to one embodiment of the present disclosure, when the rotation speed of the rotating drum in the second processing becomes greater than or equal to a predetermined rotation speed, the controller changes the rotation direction of the rotating drum to a second rotation direction and controls the rotation speed of the rotating drum in the second rotation direction to become the second rotation speed.

[0012] According to one embodiment of the present disclosure, the controller terminates the start control when the rotation speed of the rotating drum reaches the second rotation speed.

[0013] According to one embodiment of the present disclosure, after termination of the start control, the controller initiates a control other than the start control while maintaining the rotation of the rotary actuator.

[0014] According to one embodiment of the present disclosure, if the rotation speed of the rotating drum does not reach the second rotation speed, the controller repeats the second processing without terminating the starting control.

[0015] According to one embodiment of the present disclosure, if the rotation speed of the rotating tank does not reach the second rotation speed, the controller repeatedly performs the second processing without terminating the startup control, but terminates the startup control when any one or a combination of any one of a first condition that the number of repetitions of the second processing reaches a predetermined upper limit, a second condition that the rotation speed of the rotating tank reaches the second rotation speed before the rotational acceleration of the rotating tank becomes lower than or equal to a predetermined second threshold after the start of the second processing, and a third condition that the rotational direction of the rotating tank is set to the predetermined rotational direction is satisfied.

[0016] According to one embodiment of the present disclosure, the controller initiates the second processing after a predetermined period of time has elapsed after the first processing is completed.

[0017] According to one embodiment of the present disclosure, before performing a start control to initiate rotation of the rotating drum, the rotating drum is in a stationary state.

[0018] A method of controlling a washing machine includes a step of performing startup control. The startup control includes a first process of controlling a motor so that a torque for rotating the rotating drum in a first rotation direction is applied to the rotating drum, and a second process of controlling the motor so that the rotating drum rotates in reverse if, after the first process is started, the rotational acceleration of the rotating drum is below a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed.

[0019] The above embodiments and aspects of the disclosure and advantages of the embodiments will become more apparent with reference to the accompanying drawings.

[0020] FIG. 1 is a schematic diagram showing the configuration of a washing machine according to one embodiment of the present disclosure.

[0021] Figure 2 is a flowchart of the operation of a washing machine according to one embodiment of the present disclosure.

[0022] FIG. 3 is a schematic diagram for explaining the load of a rotating drum according to one embodiment of the present disclosure.

[0023] Figure 4 is a flowchart of a startup control according to one embodiment of the present disclosure.

[0024] FIG. 5 is a timing chart of the start control according to one embodiment of the present disclosure.

[0025] Figure 6 is a flowchart of a start-up control according to one embodiment of the present disclosure.

[0026] FIG. 7 is a block diagram of a washing machine according to one embodiment of the present disclosure.

[0027] It should be understood that the various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in this document to specific embodiments, but rather to encompass various modifications, equivalents, or alternatives of the embodiments.

[0028] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0029] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0030] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0031] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0032] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0033] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0034] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0035] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0036] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0037] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present disclosure. However, one embodiment of the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted to clearly describe one embodiment of the present disclosure, and the same or similar parts are designated with the same or similar drawing reference numerals throughout the present disclosure.

[0038] According to one embodiment of the present disclosure, in a control method of a washing machine that rotates a rotating drum with laundry loaded therein in a predetermined direction by a motor, an observation operation may be performed before the rotation operation of the rotating drum is performed, and an acceleration operation may be performed following the observation operation. In the observation operation, the stationary rotating drum may be rotated in a direction opposite to a set direction up to a preset observation reference angle. In the acceleration operation, the rotating drum may be rotated in the same direction as the existing rotation direction of the rotating drum up to a preset acceleration reference angle.

[0039] However, the load (load torque) applied to the motor driving the rotating drum of the washing machine changes depending on the condition or weight of the laundry inside the rotating drum. Therefore, simply rotating the rotating drum to the observation angle may not effectively accumulate potential energy in the rotating system including the rotating drum and the laundry, and thus torque utilizing the potential energy (torque that rotates the rotating drum in the opposite direction of the rotational direction in the observation operation) may not be effectively obtained.

[0040] Accordingly, the present disclosure provides a washing machine capable of effectively accumulating potential energy before reversing the rotational motion. Fig. 1 is a schematic diagram showing the configuration of a washing machine according to one embodiment of the present disclosure.

[0041] Referring to FIG. 1, a washing machine (1) according to one embodiment of the present disclosure is disclosed. The washing machine (1) according to the example of FIG. 1 is a drum-type washing machine. However, the washing machine (1) according to the present disclosure is not limited to a drum-type washing machine, and may also be applied to a top loader washing machine in which a door is installed on the top and laundry is loaded from the top. The washing machine (1) is a fully automatic washing machine, and a series of washing processes including washing, rinsing, and dehydration processes can be automatically performed. The washing machine (1) may include a case (2), a fixed drum (3), a rotating drum (4), a water supply device (5), a drain pump (6), a driver (10), and a controller (15).

[0042] In the following description, the direction in which the axis of rotation extends is described as the 'axial direction', the direction around the axis of rotation is described as the 'circumferential direction' or 'peripheral direction', and the direction perpendicular to the axis of rotation (the direction of the diameter or radius) is described as the 'diameter direction'.

[0043] The case (2) of the washing machine (1) is a box-shaped container composed of panels or frames, and constitutes the exterior of the washing machine (1). A circular inlet (2a) is formed on the front of the case (2) for loading and unloading laundry. A door (2b) having a transparent window is attached to the inlet (2a). The inlet (2a) is opened and closed by the door (2b). An operating unit (2c) having a switch or the like operated by a user may be installed above the inlet (2a).

[0044] Inside the case (2), a fixed tank (3) connected to the inlet (2a) can be installed. The fixed tank (3) is formed as a cylindrical water-storable container with a bottom and is connected to the inlet (2a). The fixed tank (3) can be supported by a damper (not shown) installed inside the case (2) so as to be stable in a position in which its center line (axis line) is inclined upward from the horizontal. In other words, the fixed tank (3) can be arranged so that its axis line follows a direction intersecting the vertical direction.

[0045] The rotary tank (4) is formed as a cylindrical container with a diameter slightly smaller than that of the fixed tank (3), and can be accommodated in the fixed tank (3) with its center line (axis) aligned with the fixed tank (3). For example, the rotary tank (4) can be rotated in a position in which its center line (axis) is inclined upward from the horizontal. In other words, the rotary tank (4) can be arranged so that its axis follows a direction in which the vertical direction intersects. A circular opening (4a) that is in contact with the input port (2a) can be formed at the front of the rotary tank (4). Laundry can be fed into the rotary tank (4) through the input port (2a) and the circular opening (4a).

[0046] On the side surface of the rotating tank (4), a number of dehydration holes (4b) (only some of which are shown in Fig. 1) are formed on all sides. In addition, a plurality of stirring lifters (4c) may be attached to the inside of the side surface of the rotating tank (4). The front part of the rotating tank (4) may be supported in a rotatably manner on the inlet (2a).

[0047] A water supply device (5) is installed on the upper part of the fixed tank (3). The water supply device (5) has a water supply pipe (5a), a water supply valve (5b), and a detergent inlet (5c). The upper end of the water supply pipe (5a) protrudes outside the washing machine (1) and is connected to a water supply source (not shown). The lower end of the water supply pipe (5a) is connected to a water inlet (3a) located on the upper part of the fixed tank (3). The detergent inlet (5c) receives detergents such as liquid laundry soap or fabric softener, mixes these detergents with the supplied water, and injects them into the fixed tank (3).

[0048] A drain port (3b) is installed at the bottom of the fixed tank (3). The drain port (3b) is connected to a drain pump (6). The drain pump (6) discharges unnecessary water collected in the fixed tank (3) to the outside of the washing machine (1) through a drain pipe (6a). The drain pump (6) is an example of a drainage mechanism that discharges water collected in the fixed tank (3).

[0049] A drive unit (10) may be attached below the fixed member (3). According to one embodiment of the present disclosure, the drive unit (10) may include a shaft (11) and a motor (12).

[0050] The shaft (11) penetrates the rear part of the fixed member (3) and protrudes into the interior of the fixed member (3). The end of the shaft (11) is fixed to the lower center of the rotating member (4). In other words, the rear part of the rotating member (4) is supported by the shaft (11). The drive unit (10) directly drives the rotating member (4) to rotate. As a result, the rotating member (4) can rotate around the rotation axis (J) by driving the motor (12).

[0051] For example, the rotation axis (J) may coincide with the center line of the fixed member (3), the center line of the rotating member (4), and the axis of the shaft (11). In addition, the rotation axis (J) extends in a direction intersecting the vertical direction (specifically, in a direction inclined with respect to the horizontal direction or in a substantially horizontal direction). The rotating member (4) can rotate about the rotation axis (J) intersecting the vertical direction.

[0052] According to one embodiment of the present disclosure, the motor (12) can rotate the rotating member (4). In one example, the motor (12) rotates the shaft (11) to rotate the rotating member (4) fixed to the end of the shaft (11). The motor (12) may include a stator (not shown) and a rotor (not shown) facing the stator with a predetermined gap therebetween.

[0053] A plurality of motor coils (not shown) arranged in a circumferential direction are installed on the stator of the motor (12). A plurality of magnets (not shown) arranged in a circumferential direction may be installed on the rotor of the motor (12). The energization of the motor coils can be controlled by a controller (15). When the motor coils are energized, a magnetic field that rotates the rotor is generated. Specifically, when AC power is supplied to the motor coils, a magnetic field is formed between the motor coils and the rotor. By the action of this magnetic field, the rotor rotates around the rotation axis (J).

[0054] According to one embodiment of the present disclosure, a washing machine (1) may include at least one sensor. The at least one sensor acquires various pieces of information used to control the operation of the washing machine (1). The information acquired by the at least one sensor may be utilized by the controller (15). According to one embodiment of the present disclosure, the at least one sensor of the washing machine (1) may include a current sensor (21) and a rotation angle sensor (22). The current sensor (21) detects a current flowing to the motor (12) (specifically, a motor coil). The rotation angle sensor (22) detects a rotation angle of the motor (12) (specifically, a rotor). For example, the rotation angle sensor (22) may include a Hall sensor.

[0055] According to one embodiment of the present disclosure, the controller (15) comprehensively controls the operation of the washing machine (1). For example, the controller (15) may control the drive unit (10). According to one embodiment of the present disclosure, the controller (15) may include, but is not limited to, a processor (16) and a drive circuit (17). The controller (15) may include only the processor (16). The controller (15) may further include memory in addition to the processor (16) and the drive circuit (17).

[0056] According to one embodiment of the present disclosure, the processor (16) may be communicatively connected to each part of the washing machine (1) and control each part of the washing machine (1). For example, the processor (16) may include a memory that stores a program and data for operating the washing machine (1). The memory may store information (setting values ​​such as threshold values) used for controlling the washing machine (1).

[0057] The processor (16) is a hardware device that controls the overall operation of the washing machine (1). The processor (16) is a hardware component (chip) that includes an integrated circuit in which electrical circuits are integrated.

[0058] The processor (16) may include various processing circuits and / or multiple processors. For example, the term "processor" as used herein, including in the claims, may include various processing circuits, including at least one processor. One or more processors in at least one processor may be configured to perform various functions described herein, individually and / or collectively, in a distributed fashion. As used herein, "processor," "at least one processor," and "one or more processors" may be configured to perform various functions. However, these terms may include, without limitation, a situation where one processor performs some of the functions and other processor(s) perform other parts of the functions, and a situation where a single processor may perform all of the functions. Furthermore, the at least one processor may include a combination of processors that perform various functions of the disclosed functions in a distributed manner. The at least one processor may execute program instructions to achieve or perform various functions. The processor (16) may control various devices included in the washing machine (1) by executing programs stored in the memory. The processor (16) may be single or may be multiple.

[0059] The drive circuit (17) receives power from a power source (not shown). In addition, the drive circuit (17) is electrically connected to the drive unit (10) and can supply power to the drive unit (10). As a result, the drive unit (10) is driven, allowing the rotary drum (4) to rotate.

[0060] In one example, the drive circuit (17) may include a motor drive circuit (not shown). The motor drive circuit can drive the motor (12) by supplying power to a motor coil installed on the stator of the motor (12). For example, the motor drive circuit is an inverter circuit having a plurality of switching elements. The motor drive circuit can convert direct current power supplied from a direct current power source (not shown) into alternating current power by a switching operation that turns these multiple switching elements on and off, and supply the alternating current power to the motor coil. For example, the direct current power source is a direct current power source generated by a converter circuit that converts alternating current power supplied from a commercial power source (not shown) into direct current power.

[0061] In addition, the switching operation of the motor drive circuit can be controlled by the processor (16). For example, the processor (16) can control the switching operation of the motor drive circuit by PWM (pulse width modulation) control.

[0062] In addition, the controller (15) can perform various controls such as start control. Start control will be described in detail later.

[0063] Figure 2 is a flowchart of the operation of a washing machine according to one embodiment of the present disclosure.

[0064] Referring to Fig. 2, laundry is introduced into the rotating drum (4) at step S1. When laundry is introduced, detergent, etc., may also be introduced into the detergent introduction unit (5c). Then, by operating the operating unit (2c), a washing start instruction is input to the controller (15) (specifically, the processor (16)) (YES in step S2). Accordingly, the controller (15) automatically initiates a series of washing processes, including washing, rinsing, and dehydration.

[0065] Before the washing process, the controller (15) can measure the weight of the laundry to set the water supply amount (step S3). The controller (15) can set an appropriate water supply amount based on the measured weight of the laundry (step S4).

[0066] Once the water supply amount is set, the controller (15) initiates the washing process (step S5). When the washing process is initiated, the controller (15) controls the water supply valve (5b) to supply the set amount of water to the fixed tank (3). At that time, the detergent contained in the detergent inlet (5c) is injected into the fixed tank (3) together with the supplied water. Next, the controller (15) drives the drive unit (10) to initiate the rotation of the rotating tank (4).

[0067] When the washing process is completed, the controller (15) initiates the rinsing process (step S6). In the rinsing process, the controller (15) drives the drain pump (6). By driving the drain pump (6), the washing water collected in the holding tank (3) is drained. The controller (15) performs water supply and stirring processes in the rinsing process, similar to the washing process.

[0068] When the rinsing process is completed, the controller (15) can execute the detangling process (step S7). In the detangling process, the controller (15) controls the water supply valve (5b) to stop the water supply to the fixed tank (3). In addition, the controller (15) drives the drive unit (10) to initiate the rotation of the rotating tank (4).

[0069] When the detangling process is completed, the controller (15) executes the dewatering process (step S8). In the dewatering process, the rotating drum (4) is driven to rotate at high speed for a predetermined period of time. During the dewatering process, the laundry is stuck to the inner surface of the rotating drum (4) due to centrifugal force. The water contained in the laundry flows out of the rotating drum (4). As a result, the laundry is dewatered. The water collected in the fixed drum (3) through the dewatering process is discharged by the operation of the drain pump (6).

[0070] When the dehydration process is completed, the controller (15) sounds a buzzer (not shown), for example, to signal the end of the wash cycle. Of course, this is merely an example; for example, the controller (15) may also notify the user's terminal of the end of the wash cycle via communication. Upon completion of the dehydration process, the operation of the washing machine (1) is terminated.

[0071] FIG. 3 is a schematic diagram for explaining the load of a rotating drum according to one embodiment of the present disclosure.

[0072] Referring to Fig. 3, the load torque (Ts) of the rotating tub (4) will be described. Let the total weight of the laundry (W) including water be 'm', the acceleration of gravity be 'g', the center (weight center) distance, which is the distance between the center (center) of the rotating tub (rotation axis (J)) and the center (weight center) (M) of the laundry (W) in the rotating tub (4), be 'r', and the center (weight center) angle, which is the angle between the straight line connecting the center (rotation axis (J)) of the rotating tub (4) and the center (M) and a straight line extending vertically (specifically, a straight line extending vertically downward from the center of the rotating tub (4), be 'θ'. At this time, the load torque (Ts) becomes 'mgr·sinθ'. In addition, the center (M) of the laundry (W) corresponds to the center (weight center) of the rotating system including the rotating tub (4) and the laundry (W).

[0073] In this way, the load torque (Ts) varies depending on the total weight (m) of the laundry (W), the center distance (r), and the center angle (θ). As the total weight (m) of the laundry (W) increases, the load torque (Ts) increases. As the center distance (r) of the laundry (W) increases, the load torque (Ts) increases. As the center angle (θ) of the laundry (W) approaches 90°, the load torque (Ts) increases.

[0074] In addition, in order to rotate the stationary rotating drum (4) in one direction, the 'torque for rotating the rotating drum (4) in a predetermined direction' applied to the rotating drum (4) is required to be greater than the 'load torque (Ts) (torque acting in the opposite direction to the predetermined direction)'.

[0075] Figure 4 is a flowchart of a startup control according to one embodiment of the present disclosure.

[0076] Next, the startup control performed by the controller (15) will be described. The startup control is a control for initiating the rotation of the rotary drum (4). For example, the startup control is performed at the start of the dehydration process. According to one embodiment of the present disclosure, the controller (15) performs the first and second processes in the startup control.

[0077] In a first process according to one embodiment of the present disclosure, the controller (15) controls the motor (12) so that a torque for rotating the rotating tank (4) in a predetermined rotational direction is applied to the stationary rotating tank (4). Then, the controller (15) terminates the first process and performs the second process if the rotational acceleration of the rotating tank (4) becomes lower than a predetermined threshold before the rotational speed of the rotating tank (4) reaches a first predefined rotational velocity (speed) after the start of the first process.

[0078] In a second process according to one embodiment of the present disclosure, the controller (15) controls the motor (12) so that the rotating drum (4) rotates in reverse (so that it rotates in a direction opposite to the rotation direction in the first process). In addition, in the first process, the controller (15) terminates the start control when the rotation speed of the rotating drum (4) reaches the first rotation speed before the rotational acceleration of the rotating drum (4) becomes lower than a predetermined threshold value.

[0079] According to one embodiment of the present disclosure, when the second process is initiated, the controller (15) controls the motor (12) so that the torque applied to the rotating drum (4) to reversely rotate the rotating drum (4) becomes a predefined torque. And, when the rotational speed of the rotating drum (4) reaches a predetermined rotational speed (predetermined rotation velocity) in the second process, the controller (15) controls the motor (12) so that the rotational speed of the rotating drum (4) becomes a second predefined rotational speed (second predefined rotation velocity (speed)).

[0080] Next, the startup control will be described with reference to Fig. 4. When the startup control is initiated, the controller (15) performs the following processing. Here, the processing of steps S14 to S16 corresponds to the second processing.

[0081] In step S11, the controller (15) initiates a first process. According to one embodiment, the controller (15) performs speed control to rotate the rotating tank (4) in a predetermined rotational direction as the first process. In the speed control, the controller (15) controls the motor (12) so that the rotational speed (RV) of the rotating tank (4) becomes a predetermined first rotational speed (RV1). For example, the first rotational speed (RV1) may be set as a target rotational speed of the rotating tank (4) in a control performed following the start control.

[0082] According to one embodiment, the controller (15) (processor (16)) can obtain the rotation speed of the motor (12) based on the temporal change in the rotation angle of the motor (12) (specifically, the rotor) detected by the rotation angle sensor (22). In this example, the rotation speed (RV) of the rotating drum (4) is the same as the rotation speed of the motor (12). In this way, the controller (15) determines the rotation speed (RV) of the rotating drum (4) based on the detection result of the rotation angle sensor (22).

[0083] In the speed control of the first process, the controller (15) (processor (16)) determines the rotation speed command value (RV*). The rotation speed command value (RV*) in the speed control of the first process represents the (predetermined) first rotation speed (RV1), which is the target rotation speed in the speed control of the first process.

[0084] In addition, in the speed control of the first processing, the controller (15) determines the current command value (target current value of the current flowing through the motor (12)) so that the difference between the rotation speed (RV) (actual speed) of the rotating drum (4) and the first rotation speed (RV1) (command value) becomes small. Then, the controller (15) (processor (16)) controls the switching operation of the drive circuit (17) so that the 'current value of the current flowing through the motor (12) (specifically, the motor coil)' detected by the current sensor (21) becomes close to the current command value - in other words, so that there is no difference between the current value of the current flowing through the motor (12) and the current command value - to control the power supplied to the motor (12).

[0085] When the first processing is initiated in this way, step S12 is performed.

[0086] In step S12, the controller (15) determines whether the rotation speed (RV) of the rotating tank (4) is equal to or greater than a predetermined first rotation speed (RV1). If the rotation speed (RV) of the rotating tank (4) is not equal to or greater than the first rotation speed (RV1), step S13 is performed.

[0087] Meanwhile, when the rotation speed (RV) of the rotary tank (4) reaches the first rotation speed (RV1), the controller (15) terminates the start control. Then, the next control (e.g., control for the dehydration process) is initiated while the rotation of the rotary tank (4) is maintained.

[0088] In step S13, if the rotation speed (RV) of the rotating tank (4) is not greater than the first rotation speed (RV1), the controller (15) determines whether the rotation acceleration (RA) of the rotating tank (4) is less than or equal to a predetermined threshold value (RAth). If the rotation acceleration (RA) of the rotating tank (4) is less than or equal to the threshold value (RAth), step S14 is performed, and if not, step S12 is performed.

[0089] The threshold value (RAth) is set to the rotational acceleration of the rotating drum (4) when the torque applied to the rotating drum (4) in the first processing (torque for rotating the rotating drum (4) in a predetermined rotational direction) is not greater than the load torque of the rotating drum (4). For example, the threshold value (RAth) may be set to zero, but is not limited thereto.

[0090] In addition, if the threshold value (RAth) becomes excessively large in the positive direction, even if the rotation unit (4) can be rotated once in the first processing, the second processing may be performed (the second processing may be performed more than necessary). In addition, if the threshold value (RAth) becomes excessively large in the negative direction, the start control may not be performed normally (the second processing may not be initiated when it is necessary to perform the second processing). Taking the above into account, the threshold value (RAth) is set to an appropriate value. The threshold value may be set to zero as described above, but may also be set to an appropriate positive value or less - for example, an acceleration that changes by 10% of the motor's rated speed within 1 second.

[0091] Specifically, the controller (15) (processor (16)) derives the rotational acceleration (RA) of the rotating tank (4) based on the temporal change in the rotational speed (RV) of the rotating tank (4). For example, the controller (15) can obtain the rotational acceleration (RA) of the rotating tank (4) by differentiating the rotational speed (RV) of the rotating tank (4) with respect to time.

[0092] In step S14, if the rotation speed (RV) of the rotating tank (4) is not higher than the first rotation speed (RV1) and the rotation acceleration (RA) of the rotating tank (4) is lower than or equal to the threshold value (RAth), the controller (15) can perform torque control to rotate the rotating tank (4) in reverse. In the torque control, the controller (15) controls the motor (12) so that the torque applied to the rotating tank (4) to rotate the rotating tank (4) in reverse becomes a predetermined torque value (predetermined value). The predetermined torque value is set to a value that can reliably rotate the rotating tank (4) in the reverse direction. For example, the predetermined torque value may be set to a maximum torque value (maximum value), but is not limited thereto. For example, the predetermined torque value may be a value in a range of 80% or more of the maximum torque value that the motor can output.

[0093] Specifically, in the torque control of the second process, the controller (15) (processor (16)) determines a torque command value. The torque command value in the torque control of the second process indicates a predetermined torque value (predetermined value) which is a target torque in the torque control of the second process.

[0094] In addition, in the torque control of the second processing, the controller (15) determines the current command value (target current value of the current flowing through the motor (12)) based on the torque command value. For example, the larger the torque command value, the larger the current command value. Then, the controller (15) (processor (16)) controls the switching operation of the drive circuit (17) so that the 'current value of the current flowing through the motor (12) (specifically, the motor coil)' detected by the current sensor (21) approaches the current command value, thereby controlling the power supplied to the motor (12).

[0095] When torque control is initiated in this manner, step S15 is performed.

[0096] In step S15, the controller (15) determines whether the rotation speed (RV) of the rotating tank (4) is equal to or greater than a predetermined rotation speed (RVth). If the rotation speed (RV) of the rotating tank (4) is equal to or greater than the predetermined rotation speed (RVth) (if the rotation speed (RV) of the rotating tank (4) reaches the predetermined rotation speed (RVth)), step S16 is performed, and if not, step S15 is performed.

[0097] In step S16, if the rotation speed (RV) of the rotating tank (4) is equal to or greater than a predetermined rotation speed (RVth), the controller (15) performs speed control to rotate the rotating tank (4) in a second rotation direction, which is a reverse rotation direction (the reverse direction of the rotation direction in the first processing). In the speed control, the controller (15) controls the motor (12) so that the rotation speed (RV) of the rotating tank (4) becomes a second rotation speed (RV2). Here, the second rotation speed (RV2) may be the same as or different from the first rotation speed (RV1). For example, the second rotation speed (RV2) may be set as the target rotation speed of the rotating tank (4) in a control performed after the start control.

[0098] Specifically, in the speed control of the second processing, the controller (15) (processor (16)) determines the rotation speed command value (RV*). The rotation speed command value (RV*) in the speed control of the second processing indicates the second rotation speed (RV2), which is the target rotation speed in the speed control of the second processing.

[0099] In the speed control of the second processing, the controller (15) determines the current command value (target current value of the current flowing through the motor (12)) so that the difference between the rotation speed (RV) (actual speed) of the rotating drum (4) and the second rotation speed (RV2) (command value) becomes small. Then, the controller (15) (processor (16)) controls the switching operation of the drive circuit (17) so that the 'current value of the current flowing through the motor (12) (specifically, the motor coil)' detected by the current sensor (21) becomes close to the current command value, thereby controlling the power supplied to the motor (12).

[0100] When the rotation speed (RV) of the rotary tank (4) reaches the second rotation speed (RV2), the controller (15) terminates the startup control. Then, the controller (150) initiates a control other than the startup control (e.g., control for the dehydration process) while maintaining the rotation of the rotary tank (4).

[0101] FIG. 5 is a timing chart of the start control according to one embodiment of the present disclosure.

[0102] Referring to Figure 5, the processing timing in the start control is illustrated.

[0103] At time t0, the controller (15) initiates the first process. In the first process, the controller (15) controls the motor (12) so that the rotation speed (RV) of the rotating tank (4) becomes the first rotation speed (RV1) (rotation speed command value (RV*)). As a result, the rotation speed (RV) of the rotating tank (4) gradually increases toward the first rotation speed (RV1).

[0104] In addition, the torque (torque generated by the motor (12)) for rotating the rotating body (4) in a predetermined direction (e.g., clockwise) cannot be greater than the load torque of the rotating body (4). Therefore, in the period from time t0 to time t1, the rotational acceleration (RA) of the rotating body (4) gradually decreases.

[0105] Also, from the time point t0 until the rotational acceleration (RA) of the rotating tank (4) becomes lower than or equal to the threshold value (RAth) (zero in the example of Fig. 5), the rotating tank (4) rotates in a predetermined rotational direction (clockwise in the example of Fig. 5). Accordingly, the central angle (θ) gradually increases until the rotational acceleration (RA) of the rotating tank (4) becomes lower than or equal to the threshold value (RAth), and potential energy according to the central angle (θ) is gradually accumulated in the rotating system including the rotating tank (4) and the laundry (W).

[0106] At time t1, the controller (15) determines that the rotational acceleration (RA) of the rotational tank (4) is below the threshold value (RAth) before the rotational speed (RV) of the rotational tank (4) reaches the first rotational speed (RV1). Then, the controller (15) ends the first processing.

[0107] When the first processing is completed, the application of torque to rotate the rotary drum (4) in a predetermined rotation direction (clockwise in the example of Fig. 5) is released. As a result, a torque according to the potential energy accumulated in the rotating system including the rotary drum (4) and the laundry (W) begins to be applied to the rotary drum (4). The torque according to the potential energy is a torque that rotates the rotary drum (4) in the reverse direction of the predetermined rotation direction (counterclockwise in the example of Fig. 5). By applying the torque according to the potential energy to the rotary drum (4), the rotary drum (4) rotates in the reverse rotation direction (counterclockwise).

[0108] In the second processing, the controller (15) initiates control of the motor (12) based on the rotation angle (stimulus position) of the motor (12) at the start point of the second processing. This makes it possible to accurately generate torque for rotating the rotating drum (4) in the reverse rotation direction.

[0109] In addition, when the second process is initiated in the example of Fig. 5, the controller (15) performs torque control. In the torque control, the controller (15) controls the motor (12) so that the torque applied to the rotating member (4) (torque for rotating the rotating member (4) in the reverse rotation direction) becomes a predetermined torque (maximum torque in the example of Fig. 5). As a result, the reverse rotation (rotation in the reverse rotation direction) of the rotating member (4) is promoted.

[0110] At time t2, the controller (15) determines that the rotation speed of the rotating tank (4) is higher than the predetermined rotation speed (RVth). Then, the controller (15) terminates the torque control of the second process and starts the speed control of the second process. In the speed control of the second process, the controller (15) controls the motor (12) so that the rotation speed (RV) of the rotating tank (4) becomes the second rotation speed (RV2) (rotation speed command value (RV*)). As a result, the rotation speed (RV) of the rotating tank (4) gradually increases toward the second rotation speed (RV2).

[0111] Next, an embodiment according to the present disclosure and a comparative example are compared. Hereinafter, for convenience of explanation, in the description of components in the comparative example, the same symbols for components in the embodiment according to the present disclosure are used. In addition, in the washing machine according to the comparative example in the following description, after an observation process in which a motor (12) is controlled so that a stationary rotating drum (4) rotates by a predetermined angle in a predetermined rotation direction, an acceleration process is performed to reversely rotate the rotating drum (4) by a torque according to potential energy accumulated in a rotating system including the rotating drum (4) and laundry (W).

[0112] As described above, the load (load torque (Ts)) of the rotating drum (4) changes depending on the condition or weight of the laundry (W) inside the rotating drum (4). Therefore, as in the observation process in the comparative example, simply rotating the stationary rotating drum (4) in a predetermined rotational direction by a predetermined angle cannot effectively accumulate potential energy in the rotating system including the rotating drum (4) and the laundry (W). As a result, there are cases where torque using potential energy (torque that rotates the rotating drum (4) in the reverse rotational direction) cannot be effectively obtained.

[0113] For example, in the observation process, if the upper limit of the rotation angle at which the stationary rotating unit (4) can actually be rotated in a predetermined rotation direction by the motor (12) is set as the 'upper limit angle', in a case where the load on the rotating unit (4) is relatively small, there are cases where the upper limit angle becomes larger than the predetermined angle in the observation process of the comparative example. In this case, the potential energy accumulated in the rotating unit in the observation process of the comparative example becomes less than the potential energy that can actually be accumulated in the rotating unit.

[0114] In addition, when the load on the rotating tank (4) is relatively small, in the observation processing of the comparative example, there are cases where the rotating tank (4) in the stationary state can be rotated once in the predetermined rotation direction only with the torque (torque generated by the motor (12)) applied to the rotating tank (4). However, even in such a case, in the comparative example, the rotating tank (4) in the stationary state is not rotated once in the predetermined rotation direction, but rather the rotating tank (4) in the stationary state is rotated by a predetermined angle in the predetermined rotation direction and then acceleration processing is performed, so the time required for start-up control cannot be shortened.

[0115] In addition, when the load on the rotating drum is relatively large, in the process of rotating the stationary rotating drum (4) in a predetermined rotation direction, before the rotation angle (angle corresponding to the center angle (θ)) of the rotating drum (4) reaches the upper limit angle, the laundry (W) may collapse (scatter) due to gravity, causing the position of the center (M) of the laundry (W) to lower. In this case, the upper limit angle changes during the operation of rotating the stationary rotating drum (4) in the predetermined rotation direction. For example, the upper limit angle after the laundry (W) collapses becomes larger than the upper limit angle before the laundry (W) collapses.

[0116] In addition, whether the laundry will collapse (or fall apart) depends on the state of the laundry (W), such as the amount of water absorbed by the laundry (W) or the tangled state of the laundry (W). Therefore, it is difficult for the controller (15) to determine whether the laundry will collapse simply by measuring the amount of laundry. Therefore, in the comparative example, since the predetermined angle in the observation process is set to a 'rotation angle at which the laundry (W) does not collapse', it is difficult to effectively accumulate potential energy in the rotation system (e.g., accumulate the maximum potential energy).

[0117] Meanwhile, in the washing machine (1) according to one embodiment of the present disclosure, the controller (15) can perform the first processing by considering the load torque state of the rotating tank (4) by managing the end of the first processing (processing for rotating the rotating tank (4) in a stationary state in a predetermined rotation direction) based on the rotation speed (RV) of the rotating tank (4) and the rotation acceleration (RA) of the rotating tank (4). For example, as the load torque of the rotating tank (4) decreases with respect to the torque applied to the rotating tank (4) in the first processing (torque for rotating the rotating tank (4) in a predetermined rotation direction), the time from the 'start time of the first processing' to the 'time when the rotation acceleration (RA) of the rotating tank (4) becomes lower than or equal to the threshold value (RAth) before the rotation speed (RV) of the rotating tank (4) reaches the first rotation speed (RV1)' becomes longer.

[0118] In this way, since the washing machine (1) according to one embodiment of the present disclosure can perform the first process by considering the load torque state of the rotating drum (4), it can effectively accumulate potential energy in the rotating system including the rotating drum (4) and laundry (W) in the first process. For example, as the load torque of the rotating drum (4) decreases, the washing machine (1) can increase the rotation angle (angle corresponding to the center angle (θ)) for rotating the stationary rotating drum (4) in a predetermined rotation direction in the first process, so that the potential energy accumulated in the rotating system in the first process can increase.

[0119] In addition, in the washing machine (1) according to one embodiment of the present disclosure, if the rotational speed (RV) of the rotational drum (4) reaches the first rotational speed (RV1) before the rotational acceleration (RA) of the rotational drum (4) becomes lower than the threshold value (RAth), the startup control is terminated. Accordingly, since the second process can be omitted in cases where it is unnecessary in the startup control, the time required for the startup control can be shortened.

[0120] In addition, the washing machine (1) according to one embodiment of the present disclosure can effectively accumulate potential energy in the rotation system in the first treatment even if the position of the center (M) of the laundry (W) changes due to the laundry (W) collapsing in the first treatment when the load of the rotation drum (4) is relatively large.

[0121] As described above, the controller (15) of the washing machine (1) according to one embodiment of the present disclosure terminates the first processing and starts the second processing when the rotational acceleration of the rotational drum (4) becomes lower than a predetermined threshold value before the rotational speed of the rotational drum (4) reaches a predetermined first rotational speed after the start of the first processing in the startup control.

[0122] In the above example, since the controller (15) can perform the first process by considering the load torque state of the rotating drum (4), potential energy can be effectively accumulated in the rotating system including the rotating drum (4) and laundry (W) in the first process. Accordingly, in the second process, torque using the potential energy (torque for rotating the rotating drum (4) in the opposite direction of the rotational direction in the first process) can be effectively obtained.

[0123] In addition, in one embodiment of the present disclosure, compared to the comparative example, since a large potential energy (e.g., maximum potential energy) can be accumulated in the rotation system in the first process, torque utilizing the large potential energy can be obtained in the second process. Accordingly, in one embodiment of the present disclosure, compared to the comparative example, since the washing machine (1) can reduce the torque required for the motor (12) (torque required to rotate the rotating drum (4) in a stationary state), the motor (12) can be miniaturized.

[0124] In a washing machine (1) according to one embodiment of the present disclosure, the controller (15) terminates the startup control when the rotation speed of the rotating drum (4) reaches the first rotation speed before the rotation acceleration of the rotating drum (4) becomes lower than the threshold value in the first process. In this configuration, since the second process (processing for reversing the rotation drum (4)) can be omitted in the startup control when it is unnecessary, the time required for the startup control can be shortened.

[0125] According to one embodiment of the present disclosure, the controller (15) of the washing machine (1) controls the motor (12) so that, when the second process is initiated, the torque applied to the rotating drum (4) to reversely rotate the rotating drum (4) becomes a predetermined torque. In the second process according to one embodiment of the present disclosure, in addition to the torque (torque for reversely rotating the rotating drum (4)) based on the potential energy accumulated in the first process, the torque generated by the motor (12) (torque for reversely rotating the rotating drum (4)) can be applied to the rotating drum (4), so that the reverse rotation of the rotating drum (4) can be promoted.

[0126] According to one embodiment of the present disclosure, the controller (15) of the washing machine (1) controls the motor (12) so that the rotation speed of the rotation tank (4) becomes a predetermined second rotation speed when the rotation speed of the rotation tank (4) reaches a predetermined rotation speed in the second process. According to one embodiment, the controller (15) can start the next control after terminating the start control in a state where the rotation speed of the rotation tank (4) becomes the second rotation speed.

[0127] In a washing machine (1) according to one embodiment of the present disclosure, the controller (15) can repeatedly perform the second processing in the startup control until a termination condition for terminating the startup control is established.

[0128] Figure 6 is a flowchart of a start-up control according to one embodiment of the present disclosure.

[0129] In the startup control according to one embodiment of the present disclosure, step S17 may be performed in addition to steps S11 to S16 of the startup control illustrated in FIG. 4. According to one embodiment, step S17 may be performed after step S16.

[0130] After step S16 (speed control of the second process) is initiated, the controller (15) determines whether a termination condition for terminating the startup control is met. If the termination condition is not met, step S14 (processing of the first stage of the second process) is performed and the rotating tank (4) rotates in reverse. On the other hand, if the termination condition is met, the controller (15) terminates the startup control. Then, the next control (e.g., control for the dehydration process) is initiated while maintaining the rotation of the rotating tank (4).

[0131] In addition, as an example of a termination condition, it may be any one or a combination of the following: a first condition that the number of repetitions of the second processing reaches a predetermined upper limit; a second condition that the rotational speed (RV) of the rotating tank (4) reaches the second rotational speed (RV2) before the rotational acceleration (RA) of the rotating tank (4) becomes lower than or equal to the threshold value (RAth) after the start of the second processing; and a third condition that the rotational direction of the rotating tank (4) is set to a predetermined rotational direction (for example, the rotational direction of the rotating tank (4) predetermined in the following control).

[0132] Specifically, the termination condition may be a condition that at least one of the first condition and the second condition is satisfied, or it may be a condition that the first condition is satisfied or both the second condition and the third condition are satisfied.

[0133] In a washing machine (1) according to one embodiment of the present disclosure, the controller (15) can repeatedly perform the second processing until a termination condition for terminating the startup control is established in the startup control.

[0134] According to one embodiment of the present disclosure, the controller (15) can repeatedly perform a second process of rotating the rotating drum (4) in reverse using torque based on potential energy accumulated in the rotating system including the rotating drum (4) and laundry (W). By repeatedly performing the second process in this way, the potential energy accumulated in the rotating system can gradually increase. As a result, the rotation of the rotating drum (4) can be promoted in the start control.

[0135] According to one embodiment of the present disclosure, the controller (15) may initiate the second processing immediately after terminating the first processing, or may initiate the second processing after a predetermined time has elapsed from the time of terminating the first processing. Here, the predetermined time may be 1 second or more.

[0136] According to one embodiment of the present disclosure, the washing machine (1) may not include a rotation angle sensor (22). In this case, the controller (15) (processor (16)) can estimate the rotation angle of the motor (12) based on information obtained by various sensors (e.g., current sensor (21)) other than the rotation angle sensor (22). As a method for estimating the rotation angle of the motor (12), a rotation angle estimation method according to a conventional motor sensorless control method can be used. In addition, the controller (15) can estimate the rotation angle of the motor (12) at the start time of the second process based on the rotation angle of the motor (12) immediately before the start of the second process (the rotation angle estimated by the above estimation process), in the second process.

[0137] FIG. 7 is a block diagram of a washing machine according to one embodiment of the present disclosure.

[0138] In the block diagram of FIG. 7, a washing machine (1) according to an embodiment of the present disclosure may include a shaft (11), a drive unit (10) including a motor (12), a controller (15) including a processor (16) and a drive circuit (17), a communication unit (1300), a user interface (1200), a memory (1700), and a sensor (20). Not all components of the washing machine (1) are essential, and each component may be added or subtracted according to the design specifications of the manufacturer.

[0139] Below, we will look at the above components in turn.

[0140] The drive unit (10) can drive the drum of the washing machine (1). The drive unit (10) rotates the motor (12) to rotate the shaft (11) connected to the motor (12).

[0141] The motor (12) is a rotating body that can be driven by an alternating voltage, and can be used for washing, rinsing, untangling, and spin-drying operations by rotation in the washing machine (1), but is not limited thereto.

[0142] Since the shaft (11) is connected to the drum, the drum can be rotated by the driving unit (10), and laundry received in the drum can be washed, rinsed, untangled, and / or dehydrated.

[0143] The controller (15) can control the overall operation of the washing machine (1). The overall operation of the washing machine (1) can be performed by the processor (16) included in the controller (15). The processor (16) can control the drive unit (10), the communication unit (1300), the user interface (1200), and / or the memory (1700) by executing programs stored in the memory (not shown) and / or the memory (1700) of the processor (16) itself. The controller (15) can obtain various physical quantities related to controlling the overall operation of the washing machine (1) through the sensor (20).

[0144] The sensor (20) may include one or more sensors. The one or more sensors may include, but are not limited to, a current sensor (21) for detecting current flowing in the motor (12), a rotation angle sensor (22) for detecting the rotation speed of the rotating drum (4) (the rotation speed of the motor (12)), a vibration sensor (23) for detecting vibration of the rotating drum (4), and / or a weight sensor (24) for detecting the weight of laundry accumulated in the rotating drum (4).

[0145] According to one embodiment of the present disclosure, the processor (16) may include an artificial intelligence (AI) processor. The AI ​​processor may be manufactured in the form of a dedicated hardware chip for artificial intelligence (AI), or may be manufactured as part of an existing general-purpose processor (e.g., CPU or application processor) or a graphics-only processor (e.g., GPU) and mounted on the washing machine (1).

[0146] The processor (16) may include a communication unit (1300) to operate on an IoT (Internet of Things) network or a home network as needed.

[0147] The communication unit (1300) may include a short-range wireless communication interface (1310) and a long-range wireless communication interface (1320). The short-range communication unit (1310) may include, but is not limited to, a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a near field communication interface, a Wi-Fi communication unit, a Zigbee communication unit, an infrared (IrDA, infrared Data Association) communication unit, a WFD (Wi-Fi Direct) communication unit, an UWB (Ultra Wideband) communication unit, an Ant+ communication unit, etc. The long-range communication unit (1320) transmits and receives a wireless signal with at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include various types of data according to transmission and reception of a voice call signal, a video call signal, or a text / multimedia message. The remote communication unit (1320) may include, but is not limited to, a 3G module, a 4G module, a 5G module, an LTE module, an NB-IoT module, an LTE-M module, etc.

[0148] According to one embodiment of the present disclosure, communication can be made with a server or other electrical device outside the washing machine (1) through the communication unit (1300) and data can be transmitted and received.

[0149] The user interface (1200) may include an output interface (1500) and an input interface (1600).

[0150] The output interface (1500) is for outputting an audio signal or a video signal and may include a display unit (1510) and an audio output unit (1520).

[0151] According to one embodiment of the present disclosure, the washing machine (1) can display information related to the washing machine (1) through a display (1510). For example, washing progress information, power factor information, power consumption information, etc. of the washing machine (1) can be displayed on the display (1510).

[0152] When the display (1510) and the touchpad are configured as a touch screen in a layered structure, the display (1510) can be used as an input device in addition to an output device. The display (1510) can include at least one of a liquid crystal display, a thin film transistor-liquid crystal display, a light-emitting diode (LED), an organic light-emitting diode, a flexible display, a 3D display, and an electrophoretic display. In addition, depending on the implementation form of the washing machine (1), two or more displays (1510) can be included.

[0153] The audio output unit (1520) can output audio data received from the communication unit (1300) or stored in the memory (1700). In addition, the audio output unit (1520) can output audio signals related to functions performed in the washing machine (1). The audio output unit (1520) can include a speaker, a buzzer, etc.

[0154] According to one embodiment of the present disclosure, an input interface (1600) is a component for receiving input from a user. The input interface (1600) may be at least one of a key pad, a dome switch, a touch pad (contact electrostatic capacitance type, pressure resistive film type, infrared detection type, surface ultrasonic conduction type, integral tension measurement type, piezo effect type, etc.), a jog wheel, and a jog switch, but is not limited thereto.

[0155] The input interface (1600) may include a voice recognition module. For example, the washing machine (1) may receive a voice signal, which is an analog signal, through a microphone, and convert the voice portion into computer-readable text using an Automatic Speech Recognition (ASR) model. The washing machine (1) may interpret the converted text using a Natural Language Understanding (NLU) model to obtain the user's utterance intent. Here, the ASR model or the NLU model may be an artificial intelligence model. The artificial intelligence model may be processed by an artificial intelligence-dedicated processor designed with a hardware structure specialized for processing artificial intelligence models. The artificial intelligence model may be created through learning. Here, being created through learning means that a basic artificial intelligence model is learned using a plurality of learning data by a learning algorithm, thereby creating a predefined operation rule or artificial intelligence model set to perform a desired characteristic (or purpose). The artificial intelligence model may be composed of a plurality of neural network layers. Each of the multiple neural network layers has multiple weight values, and performs neural network operations through operations between the operation results of the previous layer and the multiple weight values.

[0156] Linguistic understanding is the technology of recognizing, applying, and processing human language / characters, including natural language processing, machine translation, dialog systems, question answering, and speech recognition / synthesis.

[0157] The memory (1700) may store a program for processing and controlling the controller (15), and may store input / output data (e.g., washing progress information of the washing machine (1)). The memory (1700) may also store an artificial intelligence model.

[0158] The memory (1700) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk. In addition, the washing machine (1) may operate a web storage or cloud server that performs a storage function on the Internet.

[0159] According to one embodiment of the present disclosure, a washing machine includes a rotating drum capable of rotating and into which laundry can be put, a motor for rotating the rotating drum, and a controller for performing startup control to initiate rotation of the rotating drum. According to one embodiment of the present disclosure, the startup control includes a first process of controlling the motor so that a torque for rotating the rotating drum in a first rotation direction is applied to the rotating drum, and a second process of controlling the motor so that a torque is applied to the rotating drum so that the rotating drum rotates in reverse if, after the first process is initiated, a rotational acceleration of the rotating drum is lower than or equal to a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed.

[0160] According to one embodiment of the present disclosure, in the second processing, the controller controls the motor to rotate the rotating member in a second rotational direction that is a reverse rotational direction of the first rotational direction.

[0161] According to one embodiment of the present disclosure, the controller terminates the start control when the rotation speed of the rotating drum reaches the first rotation speed.

[0162] According to one embodiment of the present disclosure, in the first processing, if the rotational speed of the rotating drum reaches the first rotational speed before the rotational acceleration of the rotating drum becomes below a predetermined first threshold value, the controller terminates the start control and does not perform the second processing.

[0163] According to one embodiment of the present disclosure, the predetermined first threshold is a rotational acceleration of the rotary drum when a torque for rotating the rotary drum in the first rotational direction in the first process is not greater than a load torque of the rotary drum applied in the opposite direction of the first rotational direction.

[0164] According to one embodiment of the present disclosure, after the first processing is initiated, if the rotational acceleration of the rotating drum is less than or equal to a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed, the controller performs torque control so that the torque applied to the rotating drum becomes a predetermined torque value so that the rotating drum rotates in reverse.

[0165] A predetermined torque according to one embodiment of the present disclosure has a magnitude capable of rotating the rotating member in the second direction.

[0166] A predetermined torque value according to one embodiment of the present disclosure is a value in the range of 90% or more of the maximum torque value that the motor can output.

[0167] According to one embodiment of the present disclosure, when the rotation speed of the rotating drum in the second processing becomes greater than or equal to a predetermined rotation speed, the controller changes the rotation direction of the rotating drum to a second rotation direction and controls the rotation speed of the rotating drum in the second rotation direction to become the second rotation speed.

[0168] According to one embodiment of the present disclosure, the controller terminates the start control when the rotation speed of the rotating drum reaches the second rotation speed.

[0169] According to one embodiment of the present disclosure, after termination of the start control, the controller initiates a control other than the start control while maintaining the rotation of the rotary actuator.

[0170] According to one embodiment of the present disclosure, if the rotation speed of the rotating drum does not reach the second rotation speed, the controller repeats the second processing without terminating the starting control.

[0171] According to one embodiment of the present disclosure, if the rotation speed of the rotating tank does not reach the second rotation speed, the controller repeatedly performs the second processing without terminating the startup control, but terminates the startup control when any one or a combination of any one of a first condition that the number of repetitions of the second processing reaches a predetermined upper limit, a second condition that the rotation speed of the rotating tank reaches the second rotation speed before the rotational acceleration of the rotating tank becomes lower than or equal to a predetermined second threshold after the start of the second processing, and a third condition that the rotational direction of the rotating tank is set to the predetermined rotational direction is satisfied.

[0172] According to one embodiment of the present disclosure, the controller initiates the second processing after a predetermined period of time has elapsed after the first processing is completed.

[0173] According to one embodiment of the present disclosure, before performing a start control to initiate rotation of the rotating drum, the rotating drum is in a stationary state.

[0174] A method of controlling a washing machine includes a step of performing startup control. The startup control includes a first process of controlling a motor so that a torque for rotating the rotating drum in a first rotation direction is applied to the rotating drum, and a second process of controlling the motor so that the rotating drum rotates in reverse if, after the first process is started, the rotational acceleration of the rotating drum is below a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed.

[0175] A method according to an embodiment of the present disclosure may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the present disclosure or may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0176] An embodiment of the present disclosure may also be implemented in the form of a recording medium containing computer-executable instructions, such as program modules, executed by a computer. Computer-readable media may be any available media that can be accessed by a computer, and includes both volatile and nonvolatile media, removable and non-removable media. Furthermore, computer-readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules, or other data. Communication media typically contains computer-readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave, or other transport mechanism, and includes any information delivery media. Furthermore, an embodiment of the present disclosure may also be implemented as a computer program or computer program product containing computer-executable instructions, such as a computer program executed by a computer.

[0177] A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is permanently stored in the storage medium and cases where data is temporarily stored. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0178] A method according to one embodiment of the present disclosure may be provided as a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) through an application store or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

Claims

1. A rotating drum that can rotate and into which laundry can be loaded; a motor for rotating the above-mentioned rotary drum; and Including a controller that performs start control to initiate rotation of the above-mentioned rotary joint, The above-mentioned driving control comprises a first process for controlling the motor so that a torque is applied to the rotating drum to rotate the rotating drum in the first rotation direction, and A washing machine comprising a second process for controlling the motor so that torque is applied to the rotating drum to rotate in reverse if, after the first process is initiated, the rotational acceleration of the rotating drum is below a first threshold value before the rotational speed of the rotating drum reaches the first rotational speed.

2. In paragraph 1, A washing machine, wherein the controller controls the motor so that, in the second processing, the rotating drum rotates in a second rotation direction that is the reverse rotation direction of the first rotation direction.

3. In any one of paragraphs 1 to 2, A washing machine, wherein the controller terminates the starting control when the rotation speed of the rotating drum reaches the first rotation speed.

4. In any one of paragraphs 1 to 3, A washing machine, wherein, in the first processing, the controller terminates the start control and does not perform the second processing if the rotation speed of the rotating drum reaches the first rotation speed before the rotation acceleration of the rotating drum becomes lower than or equal to the first threshold value.

5. In any one of paragraphs 1 to 4, A washing machine according to claim 1, wherein the above-described first threshold value is a rotational acceleration of the rotating drum when the torque for rotating the rotating drum in the first rotational direction in the first processing is not greater than the load torque of the rotating drum applied in the opposite direction of the first rotational direction.

6. In any one of paragraphs 1 to 5, A washing machine, wherein the controller performs torque control so that the torque applied to the rotating drum becomes a predetermined torque value so that the rotating drum rotates in reverse if the rotational acceleration of the rotating drum is below the predetermined first threshold value before the rotational speed of the rotating drum reaches the first rotational speed after the first processing is initiated.

7. In any one of paragraphs 2 to 6, A washing machine, wherein the above-mentioned predetermined torque value is a size capable of rotating the rotating drum in the second direction, which is opposite to the first rotation direction.

8. In any one of paragraphs 6 to 7, A washing machine, wherein the above-mentioned predetermined torque value is a value in the range of 90% or more of the maximum torque that the motor can output.

9. In any one of paragraphs 2 to 8, A washing machine, wherein the controller controls the rotation direction of the rotating drum to the second rotation direction when the rotation speed of the rotating drum in the second processing becomes greater than the predetermined rotation speed and so that the rotation speed of the rotating drum in the second rotation direction becomes the second rotation speed.

10. In paragraph 9, A washing machine, wherein the controller terminates the starting control when the rotation speed of the rotating drum reaches the second rotation speed.

11. In Article 10, A washing machine, wherein the controller initiates a control other than the start control while maintaining the rotation of the rotating drum after the start control is terminated.

12. In any one of paragraphs 10 to 11, A washing machine, wherein the controller repeats the second processing without terminating the starting control if the rotation speed of the rotating drum does not reach the second rotation speed.

13. In any one of paragraphs 9 to 12, The above controller, If the rotation speed of the above-mentioned rotary drum does not reach the second rotation speed, the second processing is repeatedly performed without terminating the starting control, but a first condition is that the number of repetitions of the second processing reaches a predetermined upper limit. A second condition that the rotation speed of the rotating tank reaches the second rotation speed before the rotation acceleration of the rotating tank of the rotating tank becomes lower than or equal to a second threshold value after the start of the second processing, and A washing machine, wherein the starting control is terminated when any one of the third conditions or a combination thereof is satisfied, wherein the rotation direction of the above-mentioned rotating drum is set to a predetermined rotation direction.

14. In any one of paragraphs 1 to 13, A washing machine, wherein the controller initiates the second processing after a predetermined period of time has elapsed after the first processing is completed.

15. In any one of paragraphs 1 to 14, A washing machine, wherein the rotating drum is stopped before performing a start control to initiate rotation of the rotating drum.

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