Washing machine and control method thereof

Abstract

A washing machine of the present invention comprises: a housing; a drum provided inside the housing and accommodating laundry; a motor that rotates the drum; and a control unit that applies a reference current to the motor on the basis that the rotational speed of the motor is maintained at a reference rotational speed and the rotational angle of the motor is a reference rotational angle, and recognizes the weight of the laundry on the basis of a change value of the rotational speed of the motor while the reference current is applied. When the rotational speed of the motor is maintained at the reference rotational speed, the control unit of the washing machine filters current detected by a current detection unit, recognizes a compensation current on the basis of the filtered current and a target current applied to the motor, and compensates for the reference current on the basis of the recognized compensation current.

Description

Washing machine and its control method

[0001] The disclosed invention relates to a washing machine and a control method thereof for recognizing the weight of laundry.

[0002] The washing machine can perform a weight recognition cycle that recognizes the weight of laundry, a washing cycle that separates contaminants from laundry using water containing detergent, a rinsing cycle that removes contaminants or residual detergent from laundry using water containing no detergent, a spin-drying cycle that removes water from laundry, and a draining cycle that discharges water inside a tub to the outside during the washing cycle, rinsing cycle, and spin-drying cycle, and can further perform a drying cycle that dries laundry using heat generated from a drying device.

[0003] One example of a method for detecting the weight of laundry involves using a motor connected to the drum. More specifically, conventional washing machines apply torque to the motor for a set period of time to rotate the drum, directly or indirectly detecting the inertia of the rotating drum. Based on this detected inertia, the weight of the laundry is then detected.

[0004] When recognizing the weight of laundry using this method, if laundry is distributed unevenly within the drum's internal space, an imbalance occurs. This can lead to errors in the recognized inertia values ​​due to physical influences such as contact friction and mechanical vibration of the laundry, as well as fluctuations in the drum's rotational speed and voltage. This has led to problems in existing washing machines, which often fail to accurately recognize the weight of laundry.

[0005] Furthermore, depending on the assembly process of the motor and the distribution of components within the washing machine, friction between the drum and laundry, as well as friction between machines, can vary. This has led to existing washing machines recognizing different weights for the same laundry load.

[0006] One aspect of the disclosed invention provides a washing machine and a control method thereof that applies a reference current to a motor when the rotational angle of the motor is a reference rotational angle while the rotational speed of the motor is maintained at a reference rotational speed, and recognizes the weight of laundry based on a change value of the rotational speed of the motor when the reference current is applied to the motor.

[0007] Another aspect of the disclosed invention provides a washing machine and a control method thereof that filters the current of the motor detected by a current detection unit while the rotation speed of the motor is maintained at a reference rotation speed and recognizes the weight of laundry based on the filtered current.

[0008] A washing machine according to one aspect of the disclosed invention comprises: a housing; a drum provided inside the housing and accommodating laundry; a motor for rotating the drum; and a control unit for applying a reference current to the motor based on the rotation speed of the motor being maintained at a reference rotation speed and the rotation angle of the motor being the reference rotation angle, and recognizing the weight of the laundry based on the rotation speed of the motor corresponding to the application of the reference current.

[0009] A control unit of a washing machine according to one aspect recognizes a change in rotation speed based on a rotation speed of the motor recognized while applying a reference current to the motor, recognizes a torque value of the motor based on the reference current and a torque constant, and recognizes a weight of laundry based on the recognized change in rotation speed and torque value.

[0010] According to one aspect, a washing machine further includes a current detection unit that detects current flowing through a motor. According to one aspect, a control unit of the washing machine filters the current detected by the current detection unit when the rotation speed of the motor is maintained at a reference rotation speed, recognizes a compensation current based on the filtered current and a target current applied to the motor, and compensates for the reference current based on the recognized compensation current.

[0011] A control unit of a washing machine according to one aspect recognizes a change in rotation speed based on a rotation speed of the motor recognized while applying a reference current to the motor, recognizes a torque value of the motor based on a compensated reference current and a torque constant, and recognizes a weight of laundry based on the recognized change in rotation speed and torque value.

[0012] The control unit of the washing machine according to one aspect recognizes the rotation speed of the motor based on the current detected by the current detection unit and the reference voltage while applying the reference current to the motor.

[0013] The control unit of the washing machine according to one aspect recognizes the inertia value of the drum based on the recognized change in rotation speed and torque value, and recognizes the weight of the laundry based on the inertia value and torque value.

[0014] According to one aspect, a washing machine further includes a current detection unit that detects current flowing through a motor. According to one aspect, a control unit of the washing machine recognizes a rotation angle of the motor based on the current detected by the current detection unit and a target voltage.

[0015] According to another aspect, a washing machine includes a drum provided inside a housing and accommodating laundry; a motor for rotating the drum; and a control unit configured to apply a reference current to the motor based on the rotation speed of the motor being maintained at a reference rotation speed and a rotation angle of the motor being a first reference rotation angle, recognize a first weight of the laundry based on the first rotation speed of the motor recognized while applying the reference current, apply a reference current to the motor based on the rotation speed of the motor being maintained at the reference rotation speed and a rotation angle of the motor being a second reference rotation angle, recognize a second weight of the laundry based on the second rotation speed of the motor recognized while applying the reference current, and recognize a final weight of the laundry based on the first and second weights.

[0016] According to another aspect, the control unit of the washing machine recognizes a change value of the first rotation speed based on the first rotation speed of the motor recognized while applying a reference current to the motor, recognizes a change value of the second rotation speed based on the second rotation speed of the motor recognized while applying a reference current to the motor, recognizes a torque value of the motor based on the reference current and a torque constant, and recognizes the weight of the laundry based on the change value of the first and second rotation speeds and the torque value recognized.

[0017] According to another aspect, a washing machine further includes a current detection unit that detects a current flowing through a motor. According to another aspect, a control unit of the washing machine filters the current detected by the current detection unit to recognize a first compensation current when the rotation speed of the motor is maintained at a reference rotation speed and the rotation angle of the motor is a first reference rotation angle, and filters the current detected by the current detection unit to recognize a second compensation current when the rotation speed of the motor is maintained at the reference rotation speed and the rotation angle of the motor is a second reference rotation angle.

[0018] According to another aspect, the control unit of the washing machine recognizes a change value of the first rotation speed based on a first rotation speed of the motor recognized while applying a reference current to the motor, recognizes a first torque value of the motor based on a first compensation current, a reference current, and a torque constant, recognizes a first weight of the laundry based on the recognized change value of the first rotation speed and the first torque value, recognizes a change value of the second rotation speed based on a second rotation speed of the motor recognized while applying a reference current to the motor, recognizes a second torque value of the motor based on a second compensation current, a reference current, and a torque constant, and recognizes a second weight of the laundry based on the recognized change value of the second rotation speed and the second torque value.

[0019] According to another aspect, the control unit of the washing machine recognizes the first rotation speed or the second rotation speed of the motor based on the current detected by the current detection unit and the reference voltage while applying the reference current to the motor.

[0020] According to another aspect, a washing machine further includes a current detection unit that detects current flowing through a motor. According to another aspect, a control unit of the washing machine recognizes a first rotation angle or a second rotation angle of the motor based on the current detected by the current detection unit and a target voltage.

[0021] The first reference rotation angle of the washing machine according to another aspect is the same rotation angle as the second reference rotation angle.

[0022] The first reference rotation angle of the washing machine according to another aspect is different from the second reference rotation angle and is a rotation angle that differs by 180 degrees from the second reference rotation angle.

[0023] According to another aspect, a control method of a washing machine includes: applying a reference current to a motor based on the rotation speed of a motor connected to a drum being maintained at a reference rotation speed and a rotation angle of the motor being a first reference rotation angle; recognizing a first weight of laundry based on a change value of the first rotation speed of the motor while applying the reference current; applying a reference current to the motor based on the rotation speed of the motor being maintained at the reference rotation speed and a rotation angle of the motor being a second reference rotation angle; recognizing a second weight of laundry based on a change value of the second rotation speed of the motor while applying the reference current; and recognizing a final weight of the laundry based on the first and second weights.

[0024] Recognizing the first weight includes filtering the current detected by the current detection unit to recognize the first compensation current when the rotation speed of the motor is maintained at the reference rotation speed and the rotation angle of the motor is the first reference rotation angle, recognizing the first torque value of the motor based on the first compensation current, the reference current, and the torque constant, and recognizing the first weight of the laundry based on the recognized change value of the first rotation speed and the first torque value.

[0025] Recognizing the second weight includes filtering the current detected by the current detection unit to recognize the second compensation current when the rotation speed of the motor is maintained at the reference rotation speed and the rotation angle of the motor is the second reference rotation angle, recognizing the second torque value of the motor based on the second compensation current, the reference current, and the torque constant, and recognizing the second weight of the laundry based on the recognized change value of the second rotation speed and the second torque value.

[0026] In another aspect, the first reference rotation angle in the control method of the washing machine is the same rotation angle as the second reference rotation angle.

[0027] In another aspect, the first reference rotation angle in the control method of the washing machine is different from the second reference rotation angle and is a rotation angle that is 180 degrees different from the second reference rotation angle.

[0028] According to the disclosed invention, the disclosed invention can improve the precision of recognizing the weight of the laundry because the weight of the laundry is recognized by applying a reference current to the motor when the rotation angle of the motor is a reference rotation angle.

[0029] The disclosed invention can eliminate the degradation of weight detection performance of laundry due to mechanical friction, thereby reducing waste of water, detergent, and energy, and enabling optimized performance of the washing machine.

[0030] The disclosed invention can minimize the weight recognition deviation of laundry for each washing machine by compensating for imbalance and mechanical friction when recognizing the weight of the washing machine, thereby improving the reliability of the washing machine.

[0031] The disclosed invention can improve the accuracy of waterproof cloth recognition and foam recognition, thereby improving the accuracy of various operations of a washing machine.

[0032] The disclosed invention can improve the safety of a washing machine, improve the quality and marketability of the washing machine, and further secure the competitiveness of the washing machine.

[0033] Figure 1 is an exemplary drawing of a washing machine according to one embodiment.

[0034] Figure 2 is a cross-sectional view of a washing machine according to one embodiment.

[0035] Figure 3 is a control configuration diagram of a washing machine according to one embodiment.

[0036] Figure 4 is an exemplary diagram of a driving unit provided in a washing machine according to one embodiment.

[0037] Figure 5 is an exemplary diagram of a control unit provided in a washing machine according to one embodiment.

[0038] FIG. 6a is a graph of current and rotation speed when the weight of laundry received in a washing machine according to one embodiment is recognized.

[0039] FIG. 6b is a graph of the rotation speed of the motor when the weight of laundry received in the washing machine is recognized in an unbalanced state and a balanced state according to one embodiment of the present invention.

[0040] Fig. 7 is a graph showing the filtering point of the current detected by the current detection unit of the washing machine according to one embodiment.

[0041] FIG. 8 is a graph of current and rotation speed when repeatedly recognizing the weight of laundry accommodated in a washing machine according to one embodiment.

[0042] Fig. 9 is a graph showing the current detected and the filtered current in the current detection unit of the washing machine according to one embodiment.

[0043] Figure 10 a is a graph of current and rotation speed when the weight of laundry received in a washing machine according to a modified embodiment is recognized.

[0044] Fig. 10b is an example of the first and second rotation angles when recognizing the weight of laundry accommodated in a washing machine according to a modified embodiment.

[0045] Fig. 11 is a graph of current and rotation speed when repeatedly recognizing the weight of laundry received in a washing machine according to a modified embodiment.

[0046] Figure 12 is a graph showing the distribution of laundry weight recognition according to the density of laundry in the drum of a conventional washing machine and the distribution of laundry weight recognition according to the density of laundry in the drum of a washing machine according to a modified embodiment.

[0047] Figure 13 is a table showing the resolution of a conventional washing machine and the resolution of a washing machine according to a modified embodiment.

[0048] Figure 14 is a control flowchart of a washing machine according to one embodiment.

[0049] Figures 15a and 15b are control flowcharts of a washing machine according to another embodiment.

[0050] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0051] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0052] 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.

[0053] 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.

[0054] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0055] 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).

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Washing machines according to various embodiments can perform washing, rinsing, spin-drying, and drying processes. Washing machines may be an example of a garment treatment device. The term "garment treatment device" encompasses devices that wash laundry (laundry items, drying items), devices that dry laundry, and devices capable of both washing and drying laundry.

[0061] Washing machines according to various embodiments may include top-loading washing machines in which the inlet for loading or withdrawing laundry is provided facing upward, or front-loading washing machines in which the inlet is provided facing forward. Washing machines according to various embodiments may include washing machines with loading methods other than top-loading washing machines and front-loading washing machines.

[0062] In the case of top-loading washing machines, laundry can be washed using the water flow generated by a rotating body such as a pulsator.

[0063] In the case of front-loading washing machines, laundry can be washed by rotating the drum and repeatedly raising and lowering the laundry.

[0064] A front-loading washing machine may include a washing machine with a dryer that can dry laundry contained within the drum. The washing machine with a dryer may include a hot air supply device for supplying high-temperature air into the drum and a condenser device for removing moisture from air discharged from the drum. For example, the washing machine with a dryer may include a heat pump device. According to various embodiments, washing machines may include washing machines with other washing methods other than the washing methods described above.

[0065] Washing machines according to various embodiments may include a housing that accommodates various components therein. The housing may be provided in the form of a box with an inlet formed on one side.

[0066] A washing machine may include a door for opening and closing the loading compartment. The door may be rotatably mounted to the housing by a hinge. At least a portion of the door may be transparent or translucent to allow the interior of the housing to be viewed.

[0067] The washing machine may include a tub provided within the housing to store water. The tub may be provided in a generally cylindrical shape with a tub opening formed on one side, and may be positioned within the housing such that the tub opening corresponds to the inlet.

[0068] The tub may be connected to the housing by a damper. The damper can absorb vibrations generated when the drum rotates, thereby reducing the vibrations transmitted to the housing.

[0069] The washing machine may include a drum configured to accommodate laundry.

[0070] The drum may be positioned within the tub such that the drum opening provided on one side corresponds to the inlet and tub openings. Laundry cloths may be sequentially passed through the inlet, tub opening, and drum opening to be accommodated within the drum or removed from the drum.

[0071] The drum rotates within the tub and can perform each of the washing, rinsing, and / or dehydration operations. The cylindrical wall of the drum is formed with a number of perforations, allowing water stored in the tub to flow into or out of the drum.

[0072] A washing machine may include a drive device configured to rotate a drum. The drive device may include a drive motor and a rotating shaft for transmitting driving force generated by the drive motor to the drum. The rotating shaft may be connected to the drum by penetrating the tub.

[0073] The driving device can rotate the drum forward or backward to perform each operation according to the washing, rinsing, and / or dehydration, or drying cycle.

[0074] A washing machine may include a water supply device configured to supply water to a tub. The water supply device may include a water supply pipe and a water supply valve provided on the water supply pipe. The water supply pipe may be connected to an external water source. The water supply pipe may extend from the external water source to a detergent supply device and / or the tub. Water may be supplied to the tub via the detergent supply device. Water may be supplied to the tub without passing through the detergent supply device.

[0075] The water supply valve can open or close the water supply pipe in response to an electrical signal from the control unit. The water supply valve can allow or block the supply of water to the tub from an external water source. The water supply valve may include, for example, a solenoid valve that opens and closes in response to an electrical signal.

[0076] A washing machine may include a detergent supply device configured to supply detergent to a tub. The detergent supply device may include a manual detergent supply device that requires a user to add detergent for each wash cycle, and an automatic detergent supply device that stores a large amount of detergent and automatically supplies a predetermined amount of detergent during a wash cycle. The detergent supply device may include a detergent compartment for storing detergent. The detergent supply device may be configured to supply detergent into the tub during a water supply process. Water supplied through a water supply pipe may be mixed with detergent via the detergent supply device. The water mixed with detergent may be supplied into the tub. Detergent is used as a comprehensive term for pre-wash detergent, main wash detergent, fabric softener, bleach, etc., and the detergent compartment may be divided into a pre-wash detergent storage area, a main wash detergent storage area, a fabric softener storage area, and a bleach storage area.

[0077] A washing machine may include a drainage device configured to discharge water contained in a tub to the outside. The drainage device may include a drain pipe extending from the bottom of the tub to the outside of the housing, a drain valve provided in the drain pipe to open and close the drain pipe, and a pump provided on the drain pipe. The pump may pump water in the drain pipe to the outside of the housing.

[0078] The washing machine may include a control panel positioned on one side of the housing. The control panel may provide a user interface for a user to interact with the washing machine. The user interface may include at least one input interface and at least one output interface.

[0079] At least one input interface can convert sensory information received from a user into an electrical signal. The at least one input interface can include a power button, an operation button, a course selection dial (or a course selection button), and a wash / rinse / spin setting button. The at least one input interface can include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0080] At least one output interface can visually or audibly convey information related to the operation of the washing machine to the user. For example, at least one output interface can convey information related to the washing cycle, the operating time of the washing machine, and the washing / rinsing / spin settings to the user. Information related to the operation of the washing machine can be output via a screen, an indicator, voice, etc. At least one output interface can include, for example, a liquid crystal display (LCD) panel, a light emitting diode (LED) panel, a speaker, etc.

[0081] The washing machine may include a communication module for communicating with external devices via wires and / or wirelessly.

[0082] The communication module may include at least one of a short-range communication module or a long-range communication module.

[0083] The communication module can transmit data to or receive data from external devices (e.g., a server, a user device, and / or a home appliance). For example, the communication module can establish communication with a server, a user device, and / or a home appliance, and transmit and receive various data.

[0084] To this end, the communication module may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and the performance of communication through the established communication channel. According to one embodiment, the communication module may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with the external device via a first network (e.g., a short-range communication network such as Bluetooth, wireless fidelity (WiFi) direct, or infrared data association (IrDA)) or a second network (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0085] The short-range wireless communication module may include, but is not limited to, a Bluetooth communication module, a BLE (Bluetooth Low Energy) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, a Zigbee communication module, an infrared (IrDA, infrared Data Association) communication module, a WFD (Wi-Fi Direct) communication module, an UWB (ultrawideband) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc.

[0086] The remote communication module may include a communication module that performs various types of remote communication and may include a mobile communication unit. The mobile communication unit transmits and receives wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0087] In one embodiment, the communication module can communicate with external devices such as a server, a user device, and other home appliances through a peripheral access point (AP). The access point (AP) can connect a local area network (LAN) to which the washing machine or the user device is connected to a wide area network (WAN) to which the server is connected. The washing machine or the user device can be connected to the server through the wide area network (WAN). The control unit can control various components of the washing machine, such as a drive motor and a water inlet valve. The control unit can control various components of the washing machine to perform at least one cycle, including water supply, washing, rinsing, and / or spin-drying, according to a user input. For example, the control unit can control the drive motor to adjust the rotation speed of the drum, or control the water inlet valve of the water supply device to supply water to the tub.

[0088] The control unit may include hardware such as a CPU or memory, and software such as a control program. For example, the control unit may include an algorithm for controlling the operation of components within the washing machine, at least one memory storing program-type data, and at least one processor performing the aforementioned operation using data stored in the at least one memory. The memory and the processor may each be implemented as separate chips. The processor may include one or more processor chips or one or more processing cores. The memory may include one or more memory chips or one or more memory blocks. Additionally, the memory and the processor may be implemented as a single chip.

[0089] Below, washing machines according to various embodiments are described in detail with reference to the attached drawings. While a combined washing machine and dryer is described below as an example of a washing machine, the concepts of the present disclosure are not limited to combined washing machines and dryers, and can be applied to various devices for handling and / or managing clothing.

[0090] The terms “front,” “rear,” “left,” and “right” used in the description below are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0091] For example, the X-axis direction can be defined as the front-back direction, the Y-axis direction can be defined as the left-right direction, and the Z-axis direction can be defined as the up-down direction.

[0092] Fig. 1 is an exterior view of a washing machine according to an embodiment of the present invention, and Fig. 2 is a cross-sectional view of the washing machine illustrated in Fig. 1. A front-loading washing machine is described as an example of the washing machine of this embodiment.

[0093] As shown in FIGS. 1 and 2, the washing machine (1) includes a housing (110), a tub (120), a drum (130), a heating device (140), a water supply device (150), a detergent supply device (160), a drain device (170), a driving device (180), and a control panel (190).

[0094] The housing (110) forms the exterior of the washing machine (1) and accommodates various components inside.

[0095] The housing (110) may be provided in a box shape. The housing (110) may include a plurality of frames. For example, the housing (110) may include a front frame, a top frame, a side frame, a rear frame, and a bottom frame. The plurality of frames may be provided so as to be connectable. The housing (110) may be formed by connecting the plurality of frames. Alternatively, the plurality of frames may be formed integrally.

[0096] The housing (110) may be provided with an inlet for inserting and removing laundry. The inlet may be provided so as to face the front of the washing machine.

[0097] The washing machine (1) may include a door (111) for opening and closing the inlet. The door (111) may be rotatably mounted to the housing (110) by a hinge. At least a portion of the door (111) may be transparent or translucent to allow the interior of the housing (110) to be visible. For example, the door (111) may include tempered glass.

[0098] A gasket (112) for sealing between the door (111) and the opening may be provided on the periphery of the inlet of the housing (110).

[0099] The washing machine (1) may include a tub (120) provided inside the housing (110) and fixedly provided inside the housing (110) and receiving water supplied from a water supply device (150).

[0100] The tub (120) may be provided in a roughly cylindrical shape. The tub (120) may include a tub opening. The tub opening may be provided at a position corresponding to the position of the inlet. The tub opening may be provided to face approximately forward. The tub opening may be opened or closed by a door (111).

[0101] The tub (120) can be connected to the housing (110) by a damper (114). The damper (114) can absorb vibration or shock generated when the drum (130) rotates, thereby reducing vibration transmitted to the housing (110).

[0102] The damper (114) may be a hydraulic damper filled with fluid inside, or may be a friction damper in which a damping effect can be generated by the frictional force of a friction member provided inside. The type of damper (114) is not limited to the above description.

[0103] The washing machine (1) may include a drum (130) that accommodates laundry.

[0104] The drum (130) can be provided inside the tub (120) in a shape corresponding to the shape of the tub (120).

[0105] The drum (130) may include a drum opening provided on one side of the drum for inserting laundry, a plurality of holes (131) provided on the inner surface of the drum, and at least one lifter (132) provided on the inner surface of the drum but protruding from the inner surface for performing washing by lifting and dropping laundry.

[0106] A plurality of holes provided on the wall of the drum (130) can function as a flow path to allow water in the tub (120) to flow into the interior of the drum (130) or to allow water inside the drum (130) to flow out into the tub (120).

[0107] The drum opening may be provided at a location corresponding to the location of the inlet and the location of the tub opening. The drum opening may be provided so as to face approximately the front of the washing machine.

[0108] The laundry cloth can be accommodated inside the drum (130) or taken out from the drum (130) by passing through the inlet, tub opening, and drum opening in sequence.

[0109] The drum (130) can rotate inside the tub (120) and perform each operation according to the laundry weight recognition, washing, rinsing, and / or spin-drying process.

[0110] The washing machine (1) may further include a heating device (140) provided in the tub (120) to heat water inside the tub (120). The heating device (140) may include at least one heater.

[0111] The washing machine (1) may further include a temperature sensor (not shown) for detecting the temperature of heated water, and may control the operation of the heating device (140) based on the temperature of the water detected by the temperature sensor.

[0112] The water supply device (150) is a device that supplies external water to the tub (120) and includes a water supply pipe (151) and a water supply valve (152).

[0113] The water supply pipe (151) may be connected at one end to an external water pipe (not shown) and at the other end to a detergent supply device (160). The water supply pipe (151) receives water from the external water pipe and guides it into the detergent supply device (160).

[0114] A water supply pipe (151) can be connected between the detergent supply device (160) and the tub (120). The water supply pipe (151) guides water supplied from an external water pipe into the tub (120) and drum (130) together with detergent stored in the detergent supply device (160).

[0115] The water supply pipe (151) may be composed of multiple pipes. At least one of the water supply pipes may guide water from the water supply valve to the tub (120). At least one of the water supply pipes may extend from the water supply valve to the tub (120).

[0116] The water supply pipe (151) can be provided with a flexible hose, plastic pipe, or metal pipe.

[0117] The water supply valve (152) can supply water or block the water supply. The water supply valve (152) can be opened or closed, and the opening degree can be adjusted.

[0118] The water supply valve (152) can allow or block the supply of water from an external water source to the tub (120) or control the amount of water supplied into the tub (120) and drum (130). For example, the water supply valve (152) can include a solenoid valve that opens and closes in response to an electrical signal.

[0119] The water supply valve (152) can be opened and closed during the washing and rinsing cycle.

[0120] Additionally, the washing machine can supply high-temperature water and wash laundry using the supplied hot water. In this case, the washing machine may include a cold water supply pipe that supplies cold water to the tub, a hot water supply pipe that supplies hot water to the tub, a cold water supply valve provided on the cold water supply pipe, and a hot water supply valve provided on the hot water supply pipe.

[0121] The detergent supply device (160) stores detergent supplied by the user. The detergent supply device (160) stores at least one of a synthetic detergent, a fabric softener, and a bleach, but may store them in different spaces.

[0122] The detergent supply device (160) allows water to flow into the water supply pipe (151) together with detergent when water flows into the water supply pipe (151) during the washing cycle.

[0123] The detergent supply device (160) may include a manual detergent supply device that allows the user to add detergent, or an automatic detergent supply device that allows some of the detergent stored in advance to be automatically added.

[0124] The detergent supply device (160) may be connected to the tub (120) via a detergent connection pipe. For example, the detergent supply device (160) may be configured to supply solid detergent and / or fabric softener to the tub (120). However, the types of detergent are not limited to the examples described above.

[0125] The detergent connection pipe may be formed in a U-shape. The detergent connection pipe may be formed using a flexible hose, plastic pipe, or metal pipe. One end of the detergent connection pipe may be connected to a detergent supply device (160), and the other end of the detergent connection pipe may be connected to a tub (120).

[0126] The drainage device (170) is a device that discharges water from the tub (120) and the drum (130) to the outside, and may include a drain pipe (171) and a drain pump (172), and may further include a drain valve provided in the drain pipe.

[0127] A drain pipe (171) is provided at the bottom of the tub (120) and can be connected to an external pipe.

[0128] The drain pump (172) pumps water inside the tub (120) and drum (130) during the drainage and dehydration cycle.

[0129] The drain pump (172) causes water in the tub (120) and drum (130) to flow in through the drain pipe (171) when pumping, and guides the flowed in water to the outside through the drain pipe (171), thereby allowing the water inside the tub (120) and drum (130) to be discharged to the outside.

[0130] The washing machine (1) may further include a circulation pump (not shown) for pumping water in the tub (120) and circulating the pumped water back into the tub (120).

[0131] The washing machine (1) may include a water level sensor (not shown) that detects the water level in the tub (120).

[0132] The washing machine (1) may include a driving device (180) that rotates the drum (30).

[0133] The driving device (180) may include a motor (181) connected to the rear of the tub (120) and a rotation shaft for transmitting the driving force generated from the motor (181) to the drum (130). The rotation shaft may pass through the tub (120) and be connected to the drum (130).

[0134] The motor (181) can rotate the drum (130) forward or backward to perform each operation according to the washing, rinsing, and / or dehydration, or drying cycle.

[0135] The motor (181) is driven when the weight of the laundry is recognized, during the washing cycle, the rinsing cycle, the dehydration cycle, and the drying cycle, and the drum (130) is rotated by the driving force according to the driving, thereby recognizing the weight of the laundry contained in the drum (130), and washing, rinsing, dehydrating, and drying the laundry.

[0136] The motor (181) can generate driving force from power of an external power source and transmit the generated driving force as rotational force to the drum (130) through the rotation shaft (181).

[0137] The motor (181) may include a stator (182) and a rotor (183).

[0138] The stator (182) of the motor (181) can be fixed to the rear of the tub (120).

[0139] One end of the rotor (183) of the motor (181) is fixed to the rotation shaft, and the other end of the rotor (183) can be fixed to the drum (130) by penetrating the tub (120).

[0140] The rotor (183) of the motor is installed on the outside of the stator (182) and rotates by interacting with the stator (182).

[0141] The motor (181) may employ a brushless direct current motor (BLDC motor) or a synchronous motor whose rotation speed is easy to control. In addition, the motor (181) may employ a low-priced direct current motor (DC motor) or induction motor.

[0142] The washing machine (1) may include a control panel (190) provided on one side of the housing (110).

[0143] The control panel (190) may include a user interface for interaction between a user and the washing machine (1). The user interface may include at least one input interface for receiving user input and at least one output interface for outputting information related to the operation of the washing machine.

[0144] For example, at least one input interface may convert sensory information received from a user into an electrical signal.

[0145] At least one input interface may include a power button, an operation button, a course selection dial (or course selection button), and a wash / rinse / spin setting button.

[0146] Courses may include standard, duvet, boil, wool wash, towel, and express.

[0147] Washing and rinsing setting information set by the wash / rinse / spin setting button may include the amount of water, the temperature of the water, the time of the washing cycle, and the number of rinsing cycles, and the spin-drying setting information may include at least one of the intensity of the spin-drying cycle and the time of the spin-drying cycle.

[0148] When a drying process is included, at least one input interface may include a drying setting button. The drying setting information set by the drying setting button may include dryness information and drying time information.

[0149] At least one input interface may include a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone.

[0150] At least one output interface can visually or audibly convey information related to the operation of the washing machine (1) to the user. For example, at least one output interface can convey information related to the washing cycle and the operating time of the washing machine (1), and the washing settings / rinse settings / spin settings to the user.

[0151] At least one output interface can convey information related to the weight of the laundry to the user.

[0152] Information regarding the operation of the washing machine (1) can be output through a screen, indicator, voice, etc.

[0153] At least one output interface may include a liquid crystal display (LCD) panel, a light emitting diode (LED) panel, a speaker, or the like.

[0154] In FIGS. 1 and 2, the washing machine (1) is exemplified as a washing-only washing machine, but is not limited thereto. The washing machine (1) may correspond to a washing machine with a dryer function, or may correspond to a dryer.

[0155] Fig. 3 is a control configuration diagram of a washing machine according to an embodiment, which is described with reference to Figs. 4 and 5.

[0156] Fig. 4 is an exemplary diagram of a driving unit provided in a washing machine according to an embodiment, and Fig. 5 is an exemplary diagram of a control unit provided in a washing machine according to an embodiment.

[0157] The washing machine (1) includes an input interface (191), an output interface (192), a detection unit (210), a driving unit (220), and a control unit (230).

[0158] The input interface (191) receives user input.

[0159] The output interface (192) outputs information related to the status or operation of the washing machine (1) and a guide related to the use of the washing machine (1), and outputs information related to user input received at the input interface (191).

[0160] The input interface (191) and the output interface (192) are described in FIGS. 1 and 2, and their descriptions are omitted here.

[0161] The detection unit (210) detects an electric signal applied to the motor (181) to recognize information related to the operation of the motor (181) and transmits the detected electric signal to the control unit (230).

[0162] Information related to the operation of the motor (181) may include at least one of current information applied to the motor (181), voltage information applied to the motor (181), torque information of the motor (181), rotational speed information of the motor (181), and power information of the motor (181).

[0163] The electrical signal may include at least one of a current signal, a voltage signal, and a power signal.

[0164] The detection unit (210) may include a current detection unit (211 in FIG. 4) that detects the current applied to the motor (181).

[0165] The current detection unit (211) can detect the current applied to the motor (181) through at least one input terminal among the three-phase input terminals of the motor (181) provided in the driving unit (220) and output a signal corresponding to the detected current. Here, the signal may be a signal corresponding to the value of the current applied to the motor (181).

[0166] The detection unit (210) may include a voltage detection unit (212 in FIG. 4) that detects the voltage applied to both ends of the motor (181). The voltage detection unit (212) may detect the DC voltage at both ends of the DC voltage provided in the driving unit (220).

[0167] The detection unit (210) is for detecting the power of the motor (181), and may include a current detection unit that detects the current applied to the motor (181) and a voltage detection unit that detects the voltage applied to both ends of the motor (181).

[0168] The driving unit (220) drives the motor (181) based on the control command of the control unit (230).

[0169] The driving unit (220) may include an inverter (221). The inverter (221) may generate a current applied to the motor (181) according to a control command of the control unit (230).

[0170] The driving unit (220) can turn on / off a plurality of switching elements (Q11 to Q13, Q21 to Q23) provided in the inverter (221) based on a control signal (VPWM) output from the control unit (230).

[0171] As shown in Fig. 4, the driving unit (220) includes an inverter (221) and may further include a power supply unit (222), a rectifier unit (223), and a smoothing unit (224).

[0172] The power supply unit (222) is connected to an external power supply (not shown) and receives commercial AC power from the outside and transmits the supplied AC power to the rectifier unit (223).

[0173] The rectifier (223) includes at least one diode, rectifies AC power input from the power supply (222), and transmits the rectified power to the smoothing unit (224).

[0174] The rectifier (223) may include a bridge diode.

[0175] The smoothing unit (224) may include at least one capacitor.

[0176] The smoothing unit (224) smoothes the power transmitted from the rectifier (223) to reduce the pulsation of the current of the power rectified from the rectifier (223), converts the smoothed power into a direct current (DC) power of a certain size for driving the motor (181), and transmits the converted DC power to the inverter (221).

[0177] The inverter (221) can apply a voltage corresponding to a target voltage to the motor (181) and can apply a current corresponding to a target current to the motor (181).

[0178] This inverter (221) includes a plurality of switching elements that convert the direct current power transmitted from the smoothing unit (224) into three-phase alternating current (AC) power.

[0179] A plurality of switching elements of the inverter (221) are each driven according to a control command of the control unit (230) to modulate the pulse width transmitted to the motor (181).

[0180] Here, the plurality of switching elements of the inverter (221) may include three upper switching elements (Q11 to Q13) and three lower switching elements (Q21 to Q23).

[0181] Each of the three upper switching elements (Q11 to Q13) and the three lower switching elements (Q21 to Q23) can be connected in series. That is, the first upper switching circuit (Q11) can be connected in series with the first lower switching circuit (Q21) on the U terminal, the second upper switching circuit (Q12) can be connected in series with the second lower switching circuit (Q22) on the V terminal, and the third upper switching circuit (Q13) can be connected in series with the third lower switching circuit (Q23) on the W terminal. In addition, a diode can be connected in parallel with the U terminal, the V terminal, and the W terminal.

[0182] Additionally, three nodes to which three upper switching circuits (Q11 to Q13) and three lower switching circuits (Q21 to Q23) are respectively connected are respectively connected to three input terminals (a, b, c) of the motor (181). Accordingly, current can be supplied to the motor (181) through the three input terminals (a, b, c).

[0183] The voltage detection unit (212) of the washing machine can be connected to both ends of a smoothing unit (224) that outputs DC voltage. This voltage detection unit (212) can detect DC voltage.

[0184] The control unit (230) controls the overall operation of the washing machine (1).

[0185] The control unit (230) can control at least one of the washing process, the rinsing process, and the dehydration process based on the user input received at the input interface (191).

[0186] More specifically, the control unit (230) determines the washing time, the number of rinses, the rinsing time, the dehydration intensity, and the dehydration time based on the user input received at the input interface (191), and controls at least one of the heating device (140), the water supply device (150), the drain device (170), and the driving device (180) based on the determined washing time, the number of rinses, the rinsing time, the dehydration intensity, and the dehydration time, thereby performing the washing cycle, the rinsing cycle, and the dehydration cycle.

[0187] The control unit (230) can control the output interface (192) so that operation information related to the operation of the washing machine is output.

[0188] The control unit (230) controls the motor (181) when a start command is received through the input interface (191), recognizes the weight of the laundry received in the drum (130) based on the current detected by the current detection unit (211), determines the performance information of the washing process, the rinsing process, and the dehydration process based on the recognized weight of the laundry, the course information received through the input interface (191), and the water supply amount information, and controls at least one of the heating device (140), the water supply device (150), the drainage device (170), and the driving device (180) based on the determined performance information of the washing process, the rinsing process, and the dehydration process.

[0189] Information about the performance of the laundry operation may include information about the washing time.

[0190] The performance information of the rinsing operation may include information on at least one of the number of rinsing operations and the rinsing time.

[0191] Information on the performance of the dehydration process may include information on at least one of the dehydration intensity and the dehydration time.

[0192] The control unit (230) determines a first water supply amount for the washing cycle and a second water supply amount for the rinsing cycle based on the weight of the recognized laundry and the course information received at the input interface (191), and controls the water supply device (150) based on the first water supply amount determined during the washing cycle, and controls the water supply device (150) based on the second water supply amount during the rinsing cycle. More specifically, the control unit (230) can control the water supply valve based on the water level detected by the water level sensor and the first water supply amount during the washing cycle, and can control the water supply valve based on the water level detected by the water level sensor and the second water supply amount during the rinsing cycle. Here, the first water supply amount and the second water supply amount may be the same or different.

[0193] The control unit (230) can perform a drainage process by controlling the drain pump of the drainage device based on the completion of the washing process and the rinsing process, and can control the stop of the drainage pump based on the operating time of the drainage pump during the drainage process or the water level detected by the water level sensor.

[0194] The control unit (230) can control the drain pump during the intermediate dehydration process and the final dehydration process, and can also control the drain pump based on the completion of the intermediate dehydration process and the final dehydration process.

[0195] The control unit (230) can increase the accuracy of recognizing the quality of the laundry cloth by recognizing the quality of the laundry cloth based on the recognized weight of the laundry cloth.

[0196] The control unit (230) can also recognize whether the laundry cloth is a waterproof cloth based on the recognized weight of the laundry cloth.

[0197] The control unit (230) can determine a washing course based on the recognized quality of the laundry and can also recommend a washing course to the user.

[0198] The control unit (230) determines the rotation direction, rotation angle, rotation speed, and rotation time of the drum (130) for each stroke based on the weight of the recognized laundry and the course information received at the input interface (191), and can control the motor (181) for each stroke based on the determined rotation direction, rotation speed, rotation angle, and rotation time of the drum (130).

[0199] When controlling the motor (181), the control unit (230) recognizes the position of the rotor based on the current detected by the current detection unit (211), recognizes the rotation speed of the motor based on the recognized position of the rotor, recognizes the target current based on the recognized rotation speed of the motor and the target rotation speed, recognizes the target voltage based on the recognized target current and the detected current, and controls the inverter (221) based on the recognized target voltage, thereby controlling the rotation speed of the motor (181).

[0200] The configuration of the control unit (230) for controlling the rotation speed of the motor (181) is described with reference to Fig. 5.

[0201] As shown in Fig. 5, the control unit (230) includes a speed recognition unit (231), an input coordinate conversion unit (232), a speed control unit (233), a current control unit (234), an output coordinate conversion unit (235), a PWM signal generation unit (236), and a position recognition unit (237).

[0202] The speed recognition unit (231) recognizes the rotational speed (ω) of the motor based on the position (θ) of the rotor recognized by the position recognition unit (237).

[0203] The input coordinate conversion unit (232) converts the a, b, and c phase currents detected by the current detection unit (211) into d-axis current and q-axis current based on the position (θ) of the rotor of the recognized motor.

[0204] The speed control unit (233) compares the target rotation speed (or speed command, ω*) input from the outside with the rotation speed (ω) of the motor recognized by the speed recognition unit (231), and outputs the target current (or current command, I*) according to the comparison result.

[0205] The speed control unit (233) may include a proportional controller (P), a proportional integral controller (PI), or a proportional integral derivative controller (PID).

[0206] The current control unit (234) compares the target current (I*) output from the speed control unit (233) with the detected motor current (Iabc), and outputs the target voltage (V*) based on the comparison result.

[0207] This current control unit (234) compares the q-axis target current output from the speed control unit (233) with the q-axis current of the converted motor, outputs the q-axis target voltage according to the comparison result, obtains the d-axis target current based on the recognized rotation speed (ω) of the motor and the recognized rotor position (θ) of the rotor, compares the d-axis target current with the d-axis current of the converted motor, and outputs the d-axis target voltage according to the comparison result.

[0208] Here, the d-axis current can be the current of the magnetic flux component, and the q-axis current can be the current of the torque component.

[0209] The current control unit (234) may also include a proportional controller, a proportional integral controller, or a proportional integral derivative controller.

[0210] The output coordinate conversion unit (235) converts the d-axis target voltage and the q-axis target voltage into a, b, and c-phase target voltages (Vabc*) based on the recognized rotor position (θ).

[0211] The PWM signal generation unit (236) generates a control signal (VPWM) to be provided to the inverter (231) based on the a, b, and c phase target voltages (Vabc*).

[0212] Specifically, the PWM signal generation unit (236) pulse-width modulates each of the a, b, and c-phase target voltages (Vabc*) to output a control signal (VPWM) that turns on / off multiple switching circuits (Q11 to Q13, Q21 to Q23) of the inverter (231).

[0213] The position recognition unit (237) can recognize the position (θ) of the rotor based on the current (Iabc) detected by the current detection unit (211) and the target voltage (Vabc*) output from the output coordinate conversion unit (225). The position (θ) of the rotor may be the rotation angle of the motor.

[0214] In addition, the washing machine can also detect the position of the rotor using a position detection unit (not shown).

[0215] The control unit (230) controls the operation of the motor by converting the a, b, and c phases of the motor into the d and q axes.

[0216] Specifically, the control unit (230) converts the a-phase, b-phase, and c-phase currents of the motor into d-axis and q-axis currents, and converts the a-phase, b-phase, and c-phase voltages into d-axis and q-axis voltages.

[0217] Here, the d-axis refers to an axis whose direction matches the direction of the magnetic field generated by the motor's rotor, and the q-axis refers to an axis whose direction is 90 degrees ahead of the direction of the magnetic field generated by the rotor. Here, 90 degrees refers to an electrical angle converted into 360 degrees, such as the angle between adjacent N poles included in the rotor or the angle between adjacent S poles, rather than the mechanical angle of the rotor.

[0218] The control unit (230) can generate a pulse width modulation signal (VPWM) based on the current (Iabc) detected by the current detection unit (211), the rotational speed (w) of the rotor, and the target voltage (Vabc*) output from the output coordinate conversion unit (235).

[0219] That is, the control unit (230) recognizes the target current to be applied to the motor based on the rotation speed (w) of the motor and the detected current (Iabc), recognizes the target voltage to be applied to the motor (181) based on the recognized target current, and generates a pulse width modulation (PWM) signal (VPWM) based on the recognized target voltage.

[0220] The control unit (230) can control the on / off of the inverter (221) of the driving unit based on a pulse width modulation signal to control the current applied to the motor (181) and cause the motor (181) to rotate at a rotation speed corresponding to the controlled current.

[0221] The control unit (230) can recognize the weight of the laundry based on the current of the motor detected by the current detection unit (211).

[0222] Hereinafter, an example of laundry weight recognition is described with reference to FIGS. 6 and 7.

[0223] The control unit (230) can recognize the weight of the laundry before the washing process.

[0224] The control unit (230) can control the driving unit (220) to apply current to the motor (181) based on the point in time when the weight of the laundry is recognized.

[0225] Controlling the driving unit (220) here may include controlling the inverter (221).

[0226] As shown in Fig. 6a, when controlling the application of current to the motor, the control unit (230) controls the driving unit (220) so that the current applied to the motor (181) gradually increases, and can control the driving unit (220) so that the current increases to the target current (Ct).

[0227] The control unit (230) can increase the rotational speed of the motor (181) by controlling the current application to the motor (181).

[0228] The control unit (230) can recognize the rotation speed of the motor (181) while applying a target current (Ct) to the motor (181).

[0229] The control unit (230) can recognize the position of the rotor based on the current detected by the current detection unit (211) and the target voltage, and can recognize the rotational speed of the motor based on the recognized position of the rotor. Here, the position of the rotor may be the rotational angle of the motor (181).

[0230] The control unit (230) can recognize whether the rotation speed of the recognized motor (181) is the reference rotation speed.

[0231] The control unit (230) can recognize whether the rotation speed of the motor (181) is maintained based on the recognized rotation speed of the motor (181).

[0232] The control unit (230) can also recognize whether the rotation speed of the recognized motor is maintained within the reference rotation speed range.

[0233] The reference rotation speed range may include a first reference rotation speed obtained by subtracting an error from the reference rotation speed to a second reference rotation speed obtained by adding an error to the reference rotation speed.

[0234] The control unit (230) can count the time when the rotation speed of the motor is the reference rotation speed (Vr), and when the counted time reaches the reference time (Ts), it can also recognize that the rotation speed of the motor is maintained at the reference rotation speed (Vr).

[0235] As shown in Fig. 6a, the control unit (230) recognizes the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (Vr), and recognizes whether the recognized rotation angle of the motor (181) is the reference rotation angle (Ar).

[0236] The reference rotation angle (Ar) can be any rotation angle between 0 and 360 degrees. For example, the reference rotation angle can be 0 degrees, 90 degrees, 180 degrees, or 270 degrees.

[0237] The control unit (230) can control the driving unit (220) so that a reference current (Cr) is applied to the motor based on the recognized rotation angle of the motor being the reference rotation angle (Ar).

[0238] When a reference current (Cr) is applied to the motor, the control unit (230) can recognize the rotation speed of the motor, recognize the inertia value based on the recognized rotation speed of the motor and the torque value of the motor, and recognize the weight of the laundry based on the recognized inertia value.

[0239] The control unit (230) can recognize the torque value of the motor based on the reference current and the torque constant, can recognize the reference voltage based on the reference current and the current detected by the current detection unit (211), can recognize the position of the rotor based on the current detected by the current detection unit (211) and the reference voltage, and can recognize the rotation speed of the motor based on the recognized position of the rotor.

[0240] The torque constant may be preset and stored information.

[0241] The control unit (230) can recognize a change value of the rotation speed of the recognized motor when a reference current (Cr) is applied to the motor, and can recognize an inertia value of a drum containing laundry based on a change value of the rotation speed of the motor (dw / dt) and a torque value, and can recognize the weight of the laundry based on the recognized inertia value.

[0242] Inertia value = torque value / rotational speed change value

[0243] Weight = Inertia value / Torque value

[0244] As illustrated in Fig. 6b, when the motor is in a balanced state and free from frictional influences from internal components of the washing machine, the motor can rotate stably. In this case, by applying a reference current to the motor at a predetermined time, the motor's rotational speed can be recognized, and the weight of the laundry can be detected based on the recognized motor rotational speed. In this way, by applying a reference current to the motor at a predetermined time and causing it to rotate, the accuracy of laundry weight recognition can be improved.

[0245] However, friction and imbalance within the washing machine's components are unavoidable, affecting the actual motor rotation speed. In this case, the perceived instability of the motor's actual rotation speed led to low accuracy in the recognition of rotation speed changes, inertia estimation based on rotation speed changes, and recognition of laundry weight.

[0246] This embodiment considers imbalance and applies a reference current to the motor when the motor's rotation angle is equal to the reference rotation angle, thereby ensuring that the environment in which the reference current is applied to the motor is the same. In this case, the weight of the laundry is recognized based on the motor's rotation speed recognized at the same location, thereby increasing the accuracy of laundry weight recognition.

[0247] That is, the control unit (230) can improve weight recognition dispersion due to imbalance by applying a reference current (Cr) to the motor when the rotational angle of the motor is the reference rotational angle (Ar) while the rotational speed of the motor is maintained at the reference rotational speed (Vr), and then recognizing the weight of the laundry based on the change in the rotational speed of the motor.

[0248] As illustrated in Fig. 7, if the control unit (230) recognizes that the rotation speed of the motor is maintained at the reference rotation speed (Vr), it can filter the current detected by the current detection unit (211) using a low pass filter (LPF), and recognize the compensation current based on the difference between the filtered current (Cf) and the target current.

[0249] Here, the target current may be a current applied to the motor to make the rotational speed of the motor reach a reference rotational speed.

[0250] The current detected by the current detection unit (211) may include noise. Here, the noise may be a signal generated by mechanical friction between the motor and the drum.

[0251] The filtered current may be information corresponding to the mechanical friction between the motor and the drum.

[0252] The control unit (230) can eliminate noise by compensating the reference current based on the recognized compensation current and recognizing the torque value of the motor based on the compensated reference current and the torque constant.

[0253] The filtered current may be direct current (DC).

[0254] The control unit (230) can control the driving unit to apply a reference current after filtering the current detected by the current detection unit (211) using a low pass filter (LPF).

[0255] The control unit (230) can improve the weight recognition dispersion due to friction by recognizing the weight of the laundry based on the torque value recognized by friction compensation.

[0256] The control unit (230) can improve the accuracy of weight recognition of the laundry cloth by improving weight recognition dispersion due to imbalance and friction.

[0257] Another example of laundry weight recognition is described with reference to FIGS. 8 and 9.

[0258] As illustrated in FIG. 8, the control unit (230) controls the driving unit (220) to first apply a target current (Ct) to the motor (181) based on the point in time when the weight of the laundry is recognized, and in a state where the target current (Ct) is first applied to the motor (181), the position of the rotor is recognized based on the current detected by the current detection unit (211) and the target voltage, and the rotation speed of the motor is recognized based on the recognized position of the rotor, and whether the recognized rotation speed of the motor (181) is the reference rotation speed (Vr) can be recognized.

[0259] Here, the position of the rotor may be the rotation angle of the motor (181).

[0260] The control unit (230) can filter the current detected by the current detection unit (211) using a low pass filter (LPF) when the rotation speed of the motor is maintained at the reference rotation speed (Vr), recognize the first compensation current based on the difference between the filtered current (Cf) and the target current, and store the recognized first compensation current.

[0261] The control unit (230) can also filter the current detected by the current detection unit (211) using a low pass filter (LPF) based on the fact that the rotation speed of the motor is maintained at the reference rotation speed (Vr) and the recognized rotation angle of the motor is the reference rotation angle (Ar).

[0262] The control unit (230) recognizes the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (Vr), recognizes whether the recognized rotation angle of the motor is the reference rotation angle (Ar), and controls the driving unit (220) so that the reference current (Cr) is first applied to the motor based on the recognized rotation angle of the motor being the reference rotation angle (Ar).

[0263] The reference rotation angle can be any rotation angle between 0 and 360 degrees. For example, the reference rotation angle can be 0 degrees, 90 degrees, 180 degrees, or 270 degrees.

[0264] The control unit (230) recognizes a change value (dw1 / dt1) of the first rotation speed of the motor based on the rotation speed of the motor when a reference current (Cr) is first applied to the motor, compensates for the reference current based on the stored first compensation current, recognizes the first torque value of the motor based on the compensated reference current and the torque constant, recognizes the first inertia value based on the recognized change value of the first rotation speed of the motor and the first torque value of the motor, and recognizes the first weight based on the recognized first inertia value and the first torque value.

[0265] The control unit (230) can control the driving unit to first apply a reference current to the motor and then, after a preset time has elapsed, second apply a target current to the motor.

[0266] The control unit (230) recognizes the position of the rotor based on the current detected by the current detection unit (211) and the target voltage while applying the target current to the motor (181) in the second stage, recognizes the rotation speed of the motor based on the recognized position of the rotor, and can recognize whether the recognized rotation speed of the motor (181) is the reference rotation speed.

[0267] The control unit (230) can filter the current detected by the current detection unit (211) using a low pass filter (LPF) when the rotation speed of the motor is maintained at the reference rotation speed, recognize the second compensation current based on the difference between the filtered current and the target current, and store the recognized second compensation current.

[0268] The control unit (230) can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed, recognize whether the recognized rotation angle of the motor is the reference rotation angle, and control the driving unit (220) to secondarily apply the reference current (Cr) to the motor based on the recognition that the rotation angle of the motor is the reference rotation angle.

[0269] The reference rotation angle can be any rotation angle between 0 and 360 degrees. For example, the reference rotation angle can be 0 degrees, 90 degrees, 180 degrees, or 270 degrees.

[0270] The control unit (230) recognizes a change value (dw2 / dt2) of the second rotation speed of the motor based on the rotation speed of the motor when a reference current (Cr) is applied to the motor secondarily, compensates for the reference current based on the stored second compensation current, recognizes a second torque value of the motor based on the compensated reference current and the torque constant, recognizes a second inertia value based on the recognized change value of the second rotation speed of the motor and the second torque value of the motor, and recognizes a second weight based on the recognized second inertia value and the second torque value.

[0271] The control unit (230) can control the driving unit (220) to apply a target current to the motor in a third stage after a preset time has elapsed after applying a reference current to the motor in a second stage.

[0272] The control unit (230) recognizes the third compensation current and the third rotation speed change value (dw3 / dt3) by the same method as the method of recognizing the second weight, compensates the reference current based on the second compensation current, recognizes the third torque value of the motor based on the compensated reference current and the torque constant, recognizes the third inertia value based on the recognized change value of the third rotation speed of the motor and the third torque value of the motor, and can recognize the third weight based on the recognized third inertia value and the third torque value.

[0273] As illustrated in Fig. 9, the control unit (230) can recognize the filtered current (Cf) by filtering the current (Cs) detected by the current detection unit (211) using a low pass filter (LPF) whenever the rotation speed of the motor is maintained at the reference rotation speed. The filtered current may be a direct current.

[0274] The control unit (230) can perform a cycle for weight recognition whenever the rotation speed of the motor is maintained at a reference rotation speed. The control unit (230) can recognize the change value of the rotation speed of the motor for each cycle, and can recognize the weight of the laundry based on the filtered current recognized for each cycle and the change value of the rotation speed of the motor.

[0275] The control unit (230) can recognize n weights during n cycles, where n is a natural number.

[0276] The control unit (230) can recognize the final weight based on the recognized multiple weights. For example, the control unit (230) can recognize the average weight of the multiple weights as the final weight. For another example, the control unit (230) can recognize the minimum weight among the multiple weights as the final weight. For another example, the control unit (230) can recognize the maximum weight among the multiple weights as the final weight. For another example, the control unit (230) can recognize the middle weight among the multiple weights as the final weight.

[0277] In this way, by recognizing the compensation current when the rotation speed of the motor is maintained at the reference rotation speed and applying the reference current when the rotation angle of the motor is the reference rotation angle, and recognizing the weight of the laundry based on the change value of the rotation speed of the motor and the compensation current when the reference current is applied, it is possible to minimize misrecognition of the weight of the laundry due to imbalance or friction between internal parts of the washing machine.

[0278] Due to imbalance, the dispersion of the weight value of the laundry may increase depending on the rotation angle of the motor. However, since the present embodiment recognizes the weight value of the laundry at a reference rotation angle and averages it, the dispersion of the weight value of the laundry can be minimized.

[0279] In addition, the friction between internal parts of the washing machine is different for each washing machine, and accordingly, the dispersion of the weight value for the same laundry for each washing machine may be large. However, the present embodiment recognizes the weight value of the laundry by compensating for friction and averages it, so that the dispersion of the weight value of the laundry can be minimized.

[0280] This embodiment can minimize the difference in weight recognition of laundry for each washing machine.

[0281] This embodiment can reduce water usage and energy consumption by improving the performance of weight recognition of laundry cloth, and can improve the accuracy of various operations of the washing machine by improving waterproof cloth recognition and laundry quality recognition.

[0282] Another example of laundry weight recognition is described with reference to FIGS. 10a and 10b.

[0283] As illustrated in FIG. 10a, the control unit (230) controls the driving unit (220) to first apply a target current (Ct) to the motor (181) based on the point in time when the weight of the laundry is recognized, and in a state where the target current (Ct) is first applied to the motor (181), the position of the rotor is recognized based on the current detected by the current detection unit (211) and the target voltage, and the rotation speed of the motor is recognized based on the recognized position of the rotor, and whether the recognized rotation speed of the motor (181) is the reference rotation speed (Vr) can be recognized.

[0284] Here, the position of the rotor may be the rotation angle of the motor (181).

[0285] The control unit (230) can filter the current detected by the current detection unit (211) using a low pass filter (LPF) when the rotation speed of the motor is maintained at the reference rotation speed (Vr), recognize the first compensation current based on the difference between the filtered current (Cf) and the target current, and store the recognized first compensation current.

[0286] The control unit (230) can also filter the current detected by the current detection unit (211) using a low pass filter (LPF) based on the fact that the rotation speed of the motor is maintained at the reference rotation speed (Vr) and the recognized rotation angle of the motor is the first reference rotation angle (Ar1).

[0287] The control unit (230) recognizes the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (Vr), recognizes whether the recognized rotation angle of the motor is the first reference rotation angle (Ar1), and controls the driving unit (220) to first apply the reference current (Cr) to the motor based on the recognition that the rotation angle of the motor is the first reference rotation angle (Ar1).

[0288] The first reference rotation angle (Ar1) may be any rotation angle between 0 degrees and 360 degrees. For example, the first reference rotation angle (Ar1) may be 0 degrees, 90 degrees, 180 degrees, or 270 degrees.

[0289] The control unit (230) recognizes a change value (dw1 / dt1) of the first rotation speed of the motor based on the rotation speed of the motor when a reference current (Cr) is first applied to the motor, compensates for the reference current based on the stored first compensation current, recognizes the first torque value of the motor based on the compensated reference current and the torque constant, recognizes the first inertia value based on the recognized change value of the first rotation speed of the motor and the first torque value of the motor, and recognizes the first weight based on the recognized first inertia value and the first torque value.

[0290] The control unit (230) can control the driving unit (220) to first apply a reference current to the motor and then, after a preset time has elapsed, secondly apply a target current to the motor.

[0291] The control unit (230) recognizes the position of the rotor based on the current detected by the current detection unit (211) and the target voltage while applying the target current to the motor (181) in the second stage, recognizes the rotation speed of the motor based on the recognized position of the rotor, and can recognize whether the recognized rotation speed of the motor (181) is the reference rotation speed.

[0292] The control unit (230) can filter the current detected by the current detection unit (211) using a low pass filter (LPF) when the rotation speed of the motor is maintained at the reference rotation speed, recognize the second compensation current based on the difference between the filtered current and the target current, and store the recognized second compensation current.

[0293] The control unit (230) can also filter the current detected by the current detection unit (211) using a low pass filter (LPF) based on the fact that the rotation speed of the motor is maintained at the reference rotation speed (Vr) and the recognized rotation angle of the motor is the second reference rotation angle (Ar2).

[0294] The control unit (230) can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed, recognize whether the recognized rotation angle of the motor is the second reference rotation angle, and control the driving unit (220) to apply the reference current (Cr) to the motor secondarily based on the recognized rotation angle of the motor being the second reference rotation angle.

[0295] The second reference rotation angle is any rotation angle between 0 and 360 degrees, but may be a rotation angle that is 180 degrees added to the first reference rotation angle.

[0296] For example, if the first reference rotation angle is 0 degrees, the second reference rotation angle may be 180 degrees. As another example, if the first reference rotation angle is 90 degrees, the second reference rotation angle may be 270 degrees. As yet another example, if the first reference rotation angle is 180 degrees, the second reference rotation angle may be 0 degrees.

[0297] As shown in Fig. 10b, if the first reference rotation angle (θ) is 120 degrees, the second reference rotation angle (θ +180) can be 300 degrees.

[0298] When the rotation angle of the motor is the first reference rotation angle (θ), the error between the average of the first weight of the laundry recognized by the rotation speed of the motor after applying the reference current to the motor, and the average of the second weight of the laundry recognized by applying the reference current to the motor when the rotation angle of the motor is the second reference rotation angle (θ+180) may be 0.

[0299] When the first weight is recognized at the first rotation angle and the second weight is recognized after a rotation of 180 degrees from the first rotation angle, the phase difference for the rotation angles when recognizing the first and second weights differs by 180 degrees. As a result, the average error of the two weights becomes 0.

[0300] The control unit (230) recognizes a change value (dw2 / dt2) of the second rotation speed of the motor based on the rotation speed of the motor when a reference current (Cr) is applied to the motor secondarily, compensates for the reference current based on the stored second compensation current, recognizes a second torque value of the motor based on the compensated reference current and the torque constant, recognizes a second inertia value based on the recognized change value of the second rotation speed of the motor and the second torque value of the motor, and recognizes a second weight based on the recognized second inertia value and the second torque value.

[0301] The control unit (230) can recognize the average weight between the first weight and the second weight and recognize the final weight of the laundry based on the recognized average weight.

[0302] The control unit (230) can recognize the weight of the laundry by recognizing the inertia values ​​at two points facing each other on the surface of the drum, thereby increasing the accuracy of recognizing the weight of the laundry.

[0303] Another example of laundry weight recognition is described with reference to Fig. 11.

[0304] As illustrated in FIG. 11, the control unit (230) filters the current detected by the current detection unit (211) using a low pass filter (LPF) whenever the rotation speed of the motor is maintained at the reference rotation speed (Vr), recognizes a compensation current based on the difference between the filtered current (Cf) and the target current, and compensates for the reference current based on the recognized compensation current.

[0305] That is, the control unit can recognize the compensation current for each cycle and compensate the reference current for each cycle based on the recognized compensation current for each cycle.

[0306] The control unit (230) can repeat the process of recognizing the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (Vr), controlling the driving unit (220) so that the reference current (Cr) is applied to the motor when the recognized rotation angle of the motor is the first reference rotation angle (Ar1), and controlling the driving unit (220) so that the reference current (Cr) is applied to the motor when the recognized rotation angle of the motor is the second reference rotation angle (Ar2).

[0307] The first reference rotation angle (Ar1) can be any rotation angle between 0 degrees and 360 degrees.

[0308] The second reference rotation angle (Ar2) may be a rotation angle that is 180 degrees added to the first reference rotation angle (Ar1).

[0309] The control unit (230) can recognize the change value (dw11 / dt11, dw12 / dt12) of the rotation speed of the motor corresponding to the first reference rotation angle (Ar1) per cycle, and can recognize the change value (dw21 / dt21, dw22 / dt22) of the rotation speed of the motor corresponding to the second reference rotation angle (Ar2) per cycle.

[0310] The control unit (230) can recognize the weight of the laundry based on the change values ​​of the reference current and rotation speed compensated for each cycle, recognize the average weight of the weight of the laundry recognized for each cycle, and recognize the final weight of the laundry based on the recognized average weight.

[0311] The control unit (230) can recognize the final weight based on multiple weights per cycle. Here, the number of cycles may be 2*n. N may be a natural number.

[0312] The number of values ​​of the rotation speed recognized by applying the reference current when the rotation angle of the motor is the first reference rotation angle and the number of values ​​of the rotation speed recognized by applying the reference current when the rotation angle of the motor is the second reference rotation angle may be the same.

[0313] As shown in Fig. 12, when the weight of the laundry cloth is recognized as large, medium, and small, it can be seen that the dispersion range of the large, medium, and small recognized weights of the laundry cloth is reduced, and it can be seen that the ranges corresponding to large, medium, and small do not overlap with each other.

[0314] As shown in Figure 13, it can be seen that the resolution for distinguishing between the weight of a 'medium' laundry cloth and the weight of a 'small' laundry cloth, as well as the resolution for distinguishing between the weight of a 'medium' laundry cloth and the weight of a 'large' laundry cloth, have improved.

[0315] That is, while previously the weight was distinguished in units of 1.71 kg between the weight of the laundry cloth ‘medium’ and the weight of the laundry cloth ‘small’, in this embodiment the weight can be distinguished in units of 0.73 kg between the weight of the laundry cloth ‘medium’ and the weight of the laundry cloth ‘small’.

[0316] Previously, the weight was divided into 3.49 kg units between the weight of the laundry cloth 'medium' and the weight of the laundry cloth 'large', but in this embodiment, the weight can be divided into 1.55 kg units between the weight of the laundry cloth 'medium' and the weight of the laundry cloth 'large'.

[0317] In this way, the present embodiment can improve the precision of weight recognition of a laundry bag.

[0318] The control unit (230) may include a processor and a memory. In addition, the control unit (230) may include a plurality of processors and a plurality of memories.

[0319] The control unit (230) may be implemented as a memory storing data regarding an algorithm for controlling the operation of components within the washing machine or a program reproducing the algorithm, and a processor performing the aforementioned operations using the data stored in the memory. In this case, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

[0320] A processor may include hardware such as a CPU or memory, and software such as a control program. For example, a processor may include one or more processor chips that perform the aforementioned operations using data stored in the at least one memory, an algorithm for controlling the operation of components within a washing machine, and one or more processing cores.

[0321] A processor can process various data and various signals using instructions, data, programs and / or software stored in memory.

[0322] The processor can generate control signals for controlling components of the washing machine (1).

[0323] The processor may include a separate NPU that performs the operations of the artificial intelligence model, and may include a dedicated graphics processor (GPU).

[0324] The memory can store information about the reference rotation speed, reference rotation angle, reference current, and target current, and can further store information about the torque constant and reference time.

[0325] The memory can store the compensation current.

[0326] The memory can further store information about the first and second reference rotation angles.

[0327] The memory may be implemented as at least one of non-volatile memory devices such as cache, ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and flash memory, or volatile memory devices such as RAM (Random Access Memory), or storage media such as a hard disk drive (HDD) or CD-ROM, but is not limited thereto. The storage unit (220a) may be a memory implemented as a separate chip from the processor described above in relation to the control unit (230), or may be implemented as a single chip with the processor.

[0328] The memory (320) may include one or more memory chips or one or more memory blocks.

[0329] At least one component may be added or deleted to correspond to the performance of the components of the washing machine illustrated in FIGS. 3, 4, and 5. Furthermore, it will be readily apparent to those skilled in the art that the relative positions of the components may be altered to correspond to the performance or structure of the washing machine.

[0330] Meanwhile, each component illustrated in FIGS. 3, 4, and 5 refers to software and / or hardware components such as Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

[0331] Fig. 14 is a control flowchart of a washing machine according to an embodiment.

[0332] The washing machine can recognize the weight of the laundry when a start command is received via the input interface. The washing machine can perform weight recognition of the laundry before performing the washing cycle.

[0333] The washing machine can apply a target current to the motor (181) based on the point of recognition of the weight of the laundry (301) (302).

[0334] Applying a target current to the motor may include controlling the drive unit (220). Here, controlling the drive unit may include controlling an inverter.

[0335] The washing machine can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage while applying the target current to the motor (181), and can recognize the rotation speed of the motor based on the recognized rotation angle of the motor.

[0336] The washing machine can recognize whether the rotation speed of the recognized motor (181) is the reference rotation speed (303).

[0337] The washing machine can recognize whether the rotation speed of the motor is maintained at the reference rotation speed (304).

[0338] Recognizing whether the rotation speed of the motor is maintained at the reference rotation speed may include counting the time during which the rotation speed of the motor is the reference rotation speed, and recognizing that the rotation speed of the motor is maintained at the reference rotation speed when the counted time reaches the reference time.

[0339] Recognizing whether the rotation speed of the motor is maintained at the reference rotation speed may include counting the time for which the rotation speed of the motor is maintained within the reference rotation speed range, and recognizing that the rotation speed of the motor is maintained at the reference rotation speed when the counted time reaches the reference time.

[0340] When the rotation speed of the motor is maintained at the reference rotation speed, the washing machine can filter the current detected by the current detection unit (211) using a low pass filter (LPF) (305), recognize a compensation current based on the difference between the filtered current and the target current, and store the recognized compensation current (306).

[0341] The washing machine can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (307), and can recognize whether the recognized rotation angle of the motor is the reference rotation angle (308).

[0342] The reference rotation angle can be any rotation angle between 0 and 360 degrees. For example, the reference rotation angle can be 0 degrees, 90 degrees, 180 degrees, or 270 degrees.

[0343] The washing machine can first apply a reference current to the motor (181) based on the recognized rotation angle of the motor being the reference rotation angle (309).

[0344] The washing machine can recognize a reference voltage based on the reference current and the current detected by the current detection unit (211) after applying a reference current to the motor (181), recognize a rotation angle of the motor based on the current detected by the current detection unit (211) and the reference voltage, and recognize a rotation speed of the motor based on the recognized rotation angle of the motor.

[0345] The washing machine can recognize the change value of the rotation speed of the motor based on the rotation speed of the motor (310).

[0346] The washing machine compensates for the reference current based on the stored compensation current (311), recognizes the torque value of the motor based on the compensated reference current and the torque constant (312), recognizes the inertia value based on the recognized change value of the rotation speed of the motor and the torque value of the motor, and recognizes the weight of the laundry based on the recognized inertia value and torque value (313).

[0347] In addition, the washing machine can repeatedly recognize the weight of the laundry through operations 302 to 313 after adjusting the current applied to the motor to the target current.

[0348] A washing machine can recognize n weights during n cycles, where n is a natural number.

[0349] The washing machine can determine the final weight based on multiple recognized weights. For example, the washing machine can determine the average weight of the multiple recognized weights as the final weight.

[0350] In this way, when the rotation speed of the motor is maintained at the reference rotation speed, the compensation current is recognized, and when the rotation angle of the motor is the reference rotation angle, the reference current is applied, and when the reference current is applied, the weight of the laundry is recognized based on the change value of the rotation speed of the motor and the compensation current, thereby minimizing the dispersion in the recognition of the weight of the laundry due to imbalance or friction between internal parts of the washing machine.

[0351] This embodiment can minimize the difference in weight recognition of laundry for each washing machine.

[0352] This embodiment can reduce water usage and energy consumption by improving the performance of weight recognition of laundry cloth, and can improve the accuracy of various operations of the washing machine by improving waterproof cloth recognition and laundry quality recognition.

[0353] Figures 15a and 15b are control flowcharts of a washing machine according to an embodiment.

[0354] The washing machine can recognize the weight of the laundry when a start command is received via the input interface. The washing machine can perform weight recognition of the laundry before performing the washing cycle.

[0355] The washing machine can apply a target current to the motor (181) based on the point of recognition of the weight of the laundry (321) (322).

[0356] Applying a target current to the motor may include controlling the drive unit (220). Here, controlling the drive unit may include controlling the inverter (221).

[0357] The washing machine can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage while applying the target current to the motor (181), and can recognize the rotation speed of the motor based on the recognized rotation angle of the motor.

[0358] The washing machine can recognize whether the rotation speed of the recognized motor (181) is the reference rotation speed (323).

[0359] The washing machine can recognize whether the rotation speed of the motor is maintained at the reference rotation speed (324).

[0360] When the rotation speed of the motor is maintained at the reference rotation speed, the washing machine can filter the current detected by the current detection unit (211) using a low pass filter (LPF) (325), recognize the first compensation current based on the difference between the filtered current and the target current, and store the recognized first compensation current (326).

[0361] The washing machine can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (327), and can recognize whether the recognized rotation angle of the motor is the first reference rotation angle (328).

[0362] The first reference rotation angle may be any rotation angle between 0 degrees and 360 degrees. For example, the first reference rotation angle may be 0 degrees, 90 degrees, 180 degrees, or 270 degrees.

[0363] The washing machine can apply a reference current to the motor (181) based on the recognized rotation angle of the motor being the first reference rotation angle (329).

[0364] The washing machine can recognize a reference voltage based on the reference current and the current detected by the current detection unit (211) after applying a reference current to the motor (181), recognize a rotation angle of the motor based on the current detected by the current detection unit (211) and the reference voltage, and recognize a rotation speed of the motor based on the recognized rotation angle of the motor.

[0365] The washing machine can recognize the change value of the first rotation speed of the motor based on the rotation speed of the motor (330).

[0366] The washing machine compensates for the reference current based on the stored first compensation current (331), recognizes the first torque value of the motor based on the compensated reference current and the torque constant (332), recognizes the first inertia value based on the recognized change value of the first rotational speed of the motor and the first torque value of the motor, and recognizes the first weight of the laundry based on the recognized first inertia value and the first torque value (333).

[0367] The washing machine can apply a reference current to the motor for a certain period of time, and when the certain period of time has elapsed, apply a target current to the motor (334).

[0368] The washing machine can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage while applying the target current to the motor (181), and can recognize the rotation speed of the motor based on the recognized rotation angle of the motor.

[0369] The washing machine can recognize whether the rotation speed of the recognized motor (181) is the reference rotation speed (335).

[0370] The washing machine can recognize whether the rotation speed of the motor is maintained at the reference rotation speed (336).

[0371] When the rotation speed of the motor is maintained at the reference rotation speed, the washing machine can filter the current detected by the current detection unit (211) using a low pass filter (LPF) (337), recognize the second compensation current based on the difference between the filtered current and the target current, and store the recognized second compensation current (338).

[0372] The washing machine can recognize the rotation angle of the motor based on the current detected by the current detection unit (211) and the target voltage when the rotation speed of the motor is maintained at the reference rotation speed (339), and can recognize whether the recognized rotation angle of the motor is the second reference rotation angle (340).

[0373] The second reference rotation angle may be different from the first reference rotation angle.

[0374] The second reference rotation angle is any rotation angle between 0 and 360 degrees, but may be a rotation angle that is 180 degrees added to the first reference rotation angle.

[0375] For example, if the first reference rotation angle is 0 degrees, the second reference rotation angle may be 180 degrees. As another example, if the first reference rotation angle is 90 degrees, the second reference rotation angle may be 270 degrees. As yet another example, if the first reference rotation angle is 180 degrees, the second reference rotation angle may be 0 degrees.

[0376] The washing machine can apply a reference current to the motor (181) based on the recognized rotation angle of the motor being the second reference rotation angle (341).

[0377] The washing machine can recognize a reference voltage based on the reference current and the current detected by the current detection unit (211) after applying a reference current to the motor (181), recognize a rotation angle of the motor based on the current detected by the current detection unit (211) and the reference voltage, and recognize a rotation speed of the motor based on the recognized rotation angle of the motor.

[0378] The washing machine can recognize the change value of the second rotation speed of the motor based on the rotation speed of the motor (342).

[0379] The washing machine compensates for the reference current based on the stored second compensation current (343), recognizes the second torque value of the motor based on the compensated reference current and the torque constant (344), recognizes the second inertia value based on the recognized change value of the second rotational speed of the motor and the second torque value of the motor, and recognizes the second weight of the laundry based on the recognized second inertia value and the second torque value (345).

[0380] The washing machine can recognize an average weight between the first weight and the second weight and recognize the final weight of the laundry based on the recognized average weight (346).

[0381] The washing machine can increase the accuracy of recognizing the weight of laundry by recognizing the inertia values ​​at two points facing each other on the surface of the drum to recognize the weight of the laundry.

[0382] In addition, the washing machine can recognize the weight of the laundry multiple times (2*n) through operations 322 to 345 after adjusting the current applied to the motor back to the target current, where n is a natural number.

[0383] The washing machine can determine the final weight based on multiple recognized weights. For example, the washing machine can determine the average weight of the multiple recognized weights as the final weight.

[0384] Meanwhile, the disclosed embodiments may be implemented in the form of a storage medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments.

[0385] 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.

[0386] The methods according to various embodiments disclosed in this document may be provided as included in 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) via an application store (e.g., Play 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.

[0387] The disclosed embodiments have been described with reference to the attached drawings as described above. Those skilled in the art will understand that the present invention can be implemented in forms other than the disclosed embodiments without altering the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

Claims

1. Housing; A drum provided inside the housing and accommodating a laundry cloth; a motor that rotates the drum; and A washing machine including a control unit that applies a reference current to the motor based on the rotation speed of the motor being maintained at a reference rotation speed and the rotation angle of the motor being a reference rotation angle, and recognizes the weight of the laundry based on the rotation speed of the motor corresponding to the application of the reference current.

2. In the first paragraph, the control unit, A washing machine that recognizes a change in rotation speed based on the recognized rotation speed of the motor while applying the reference current to the motor, recognizes a torque value of the motor based on the reference current and a torque constant, and recognizes the weight of the laundry based on the change in rotation speed and the torque value.

3. In paragraph 1, Further comprising a current detection unit for detecting the current flowing in the above motor; A washing machine in which the control unit filters the current detected by the current detection unit when the rotation speed of the motor is maintained at the reference rotation speed, recognizes a compensation current based on the filtered current and the target current applied to the motor, and compensates for the reference current based on the recognized compensation current.

4. In the third paragraph, the control unit, A washing machine that recognizes a change in rotation speed based on the recognized rotation speed of the motor while applying the reference current to the motor, recognizes a torque value of the motor based on the compensated reference current and torque constant, and recognizes the weight of the laundry based on the recognized change in rotation speed and the torque value.

5. In paragraph 4, the control unit, A washing machine that recognizes the rotation speed of the motor based on the current detected by the current detection unit and the reference voltage while applying the reference current to the motor.

6. In paragraph 4, the control unit, A washing machine that recognizes the inertia value of the drum based on the change value of the recognized rotation speed and the torque value, and recognizes the weight of the laundry based on the inertia value and the torque value.

7. In paragraph 1, Further comprising a current detection unit for detecting the current flowing in the above motor; A washing machine in which the control unit recognizes the rotation angle of the motor based on the current detected by the current detection unit and the target voltage.

8. Applying a reference current to the motor based on the rotation speed of the motor connected to the drum being maintained at a reference rotation speed and the rotation angle of the motor being a first reference rotation angle; Recognize the first weight of the laundry based on the change value of the first rotation speed of the motor while applying the above reference current, Applying the reference current to the motor based on the rotation speed of the motor being maintained at a reference rotation speed and the rotation angle of the motor being a second reference rotation angle, Recognize the second weight of the laundry based on the change value of the second rotation speed of the motor while applying the above reference current, A control method for a washing machine that recognizes the final weight of laundry based on the first and second weights above.

9. In paragraph 8, recognizing the first weight comprises: If the rotation speed of the above motor is maintained at the reference rotation speed and the rotation angle of the above motor is the first reference rotation angle, the current detected by the current detection unit is filtered to recognize the first compensation current, Recognize the first torque value of the motor based on the first compensation current, the reference current and the torque constant, A control method for a washing machine, comprising recognizing a first weight of the laundry based on a change value of the recognized first rotation speed and the first torque value.

10. In paragraph 8, recognizing the second weight comprises: If the rotation speed of the above motor is maintained at the reference rotation speed and the rotation angle of the above motor is the second reference rotation angle, the current detected by the current detection unit is filtered to recognize the second compensation current, Recognize the second torque value of the motor based on the second compensation current, the reference current and the torque constant, A control method for a washing machine, comprising recognizing a second weight of the laundry based on the change value of the recognized second rotation speed and the second torque value.

11. In paragraph 8, A control method for a washing machine in which the first reference rotation angle is the same rotation angle as the second reference rotation angle.

12. In paragraph 8, A washing machine control method wherein the first reference rotation angle is different from the second reference rotation angle and is a rotation angle that is 180 degrees different from the second reference rotation angle.

13. In paragraph 8, A control method for a washing machine further comprising recognizing the rotation speed of the motor based on the current detected by the current detection unit and the reference voltage while applying a reference current to the motor.

14. In paragraph 8, A control method for a washing machine further comprising recognizing a rotation angle of a motor based on a current detected by a current detection unit and a target voltage.

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