Belt fault detection method and apparatus for laundry treatment device, and laundry treatment device

Abstract

Provided in the present application are a belt fault detection method and apparatus for a laundry processing device, and a laundry treatment device. The belt fault detection method for a laundry treatment device comprises: on the basis of first fluctuation data of the operation of an electric motor, determining a first start moment of a fluctuation period of the rotation of a drum; recording at least two first start moments, so as to form a first time sequence; on the basis of electrical angle data of the electric motor, the number of pole pairs of the electric motor and a set transmission ratio, estimating a second start moment of the fluctuation period of the rotation of the drum; recording at least two second start moments, so as to form a second time sequence; and on the basis of the first time sequence and the second time sequence, determining whether a belt is in a fault state. In the belt fault detection method for a laundry treatment device provided in the present application, operation data of an electric motor is collected, such that whether a fault occurs in a belt can be determined, thereby detecting the reliability of the belt.

Description

Belt fault detection method and device of laundry treating apparatus and laundry treating apparatus

[0001] The present application claims priority to the Chinese patent application No. 202411391415.6, filed on September 30, 2024, and entitled "Belt fault detection method and device of laundry treating apparatus and laundry treating apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of laundry treating apparatus, in particular to a belt fault detection method and device of laundry treating apparatus and laundry treating apparatus. BACKGROUND

[0003] In the related art, a washing machine usually adopts a belt transmission mode to realize the driving of a drum by a motor, and a belt transmission needs to pass through a large friction force to ensure the transmission of force, so a large belt tension is usually needed to be ensured. However, in the long-term use process of the belt, the friction of the belt is reduced due to the aging, wear and stretch of the material, so that the belt slip phenomenon occurs, and there is no effective way to detect the belt slip. TECHNICAL SOLUTION

[0004] The present application aims to at least solve or improve the technical problem in the prior art that the belt fault of the laundry treating apparatus cannot be detected.

[0005] To this end, the first aspect of the present application provides a belt fault detection method of a laundry treating apparatus.

[0006] The second aspect of the present application provides a belt fault detection device of a laundry treating apparatus.

[0007] The third aspect of the present application provides a laundry treating apparatus.

[0008] The fourth aspect of the present application provides an electronic device.

[0009] The fifth aspect of the present application provides a storage medium.

[0010] Therefore, according to the first aspect of the present application, the present application provides a belt fault detection method of a laundry treating apparatus, comprising: determining a first starting moment of a fluctuation period of drum rotation according to first fluctuation data of motor operation; recording at least two first starting moments to form a first time sequence; estimating a second starting moment of the fluctuation period of drum rotation according to the electric angle data of the motor, the number of motor pole pairs and the set transmission ratio; recording at least two second starting moments to form a second time sequence; and determining whether the belt is in a fault state according to the first time sequence and the second time sequence.

[0011] The belt fault detection method of the clothes treatment equipment provided in the present application, when the clothes treatment equipment is running, the clothes in the drum will cause the drum to be eccentric, that is, the load of the drum will usually be eccentric, and then when the drum rotates, the rotation speed of the drum will fluctuate. Based on the combination of the control function of the motor and the eccentric load, the first fluctuation data of the motor running presents a periodicity. Since the drum is driven by the belt, the fluctuation of the drum will be reflected on the first fluctuation data of the motor according to the actual transmission ratio of the drum and the motor, that is, the fluctuation period of the drum rotation is consistent with the first fluctuation data of the motor.

[0012] As above, according to the first fluctuation data in the running process of the motor, the first starting time of the fluctuation period of the drum rotation is determined. Due to the eccentricity of the load in the drum, the rotation speed of the drum will form a sine or cosine waveform based on the action of gravity. Therefore, each fluctuation period of the drum rotation has a first starting time. The first starting times of at least two fluctuation periods are determined and recorded to form a first time sequence. The first time sequence can reflect the actual transmission ratio of the drum and the motor.

[0013] The electrical angle data of the motor is obtained. According to the electrical angle data, the number of pole pairs of the motor and the set transmission ratio, the second starting time of the fluctuation period of the drum rotation is estimated. Each fluctuation period of the drum rotation has a second starting time. The second starting times of at least two fluctuation periods are determined and recorded to form a second time sequence. Since the single rotation of the motor is not affected by the actual transmission ratio, the fluctuation period of the drum rotation under the reliable condition of the belt can be estimated through the electrical angle data, the number of pole pairs of the motor and the predetermined transmission ratio. Therefore, the second time sequence can be used as standard data reflecting the predetermined transmission ratio. The electrical angle data can be converted into the rotation angle of the motor through the number of pole pairs of the motor.

[0014] As above, through the first time sequence and the second time sequence, the actual transmission ratio of the drum and the motor can be determined, whether it conforms to the predetermined transmission ratio, so as to determine whether the current belt is in a fault state.

[0015] That is, through the collection of the motor running data, the present application can determine whether the belt is in a fault state, so as to realize the detection of the reliability of the belt and reduce the possibility of the whole machine failure of the clothes treatment equipment caused by the belt fault.

[0016] In addition, the belt fault detection method of the clothes treatment equipment in the above technical solution provided by the present application can also have the following additional technical features:

[0017] In some embodiments, the determining whether the belt is in a fault state according to the first time sequence and the second time sequence includes: comparing a first starting time in the first time sequence and a second starting time in the second time sequence of a same fluctuation period; and determining that the belt is in the fault state when a first difference between the first starting time and the second starting time is greater than or equal to a first threshold value.

[0018] In this embodiment, the determining whether the belt is in a fault state according to the first time sequence and the second time sequence includes: taking a first starting time of a certain fluctuation period in the first time sequence, taking a second starting time of the same fluctuation period in the second time sequence, and obtaining a first difference by subtracting the first starting time from the second starting time; and determining that the belt is in the fault state when the first difference is greater than or equal to a first threshold value, that is, the fluctuation period of the roller is much greater than the estimated fluctuation period, indicating that the current belt transmission reliability is low, thereby prompting the user to repair or replace the belt, thereby reducing the influence of calculation errors and detection errors.

[0019] In some embodiments, the comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period includes: comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period when the motor is rotating at a constant speed; and comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period when the motor is accelerating and the rotating speed falls back to a preset rotating speed.

[0020] In this embodiment, the comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period includes: taking a first starting time of a certain fluctuation period in the first time sequence, taking a second starting time of the same fluctuation period in the second time sequence, and obtaining a first difference by subtracting the first starting time from the second starting time when the motor is rotating at a constant speed; and determining that the belt is in the fault state when the first difference is greater than or equal to a first threshold value, that is, the fluctuation period of the roller is much greater than the estimated fluctuation period, indicating that the current belt transmission reliability is low, thereby prompting the user to repair or replace the belt.

[0021] In the case that the motor is in accelerated rotation, the first starting time and the second starting time recorded before the motor is in accelerated rotation, after the motor completes the acceleration movement, the speed falls to the preset rotating speed, the first starting time and the second starting time are continuously recorded, and in the comparison, the first starting time and the second starting time after the speed falls to the preset rotating speed are compared, so that it can be determined whether the transmission of the belt is reliable in the case that the motor is in high rotating speed, and whether the belt is in a fault state, thereby improving the reliability of the judgment of the fault of the belt.

[0022] In some embodiments, for example, according to the first fluctuation data of the motor operation, the first starting time of the fluctuation period of the drum rotation is determined, including: according to the first fluctuation data of the motor operation, determining the maximum fluctuation value of the rotating speed; in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, adjusting the operation parameter of the motor; in the case that the maximum fluctuation value of the rotating speed is outside the preset fluctuation value range, according to the first fluctuation data, determining the first starting time of the fluctuation period of the drum rotation.

[0023] In this embodiment, according to the first fluctuation data of the motor operation, the first starting time of the fluctuation period of the drum rotation is determined, including: analyzing the first fluctuation data, extracting the maximum fluctuation value of the rotating speed, and judging the maximum fluctuation value of the rotating speed, in the case that the maximum fluctuation value of the rotating speed is outside the preset fluctuation value range, it indicates that the eccentricity degree of the current load of the drum is too large or too small, which causes the rotating speed fluctuation to be too large or too small, and the fluctuation period cannot be accurately determined, in this case, the operation parameter of the motor can be adjusted to adjust the eccentricity degree of the load until the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, the determination of the first starting time is started again, thereby improving the accuracy and reliability of the determination of the first starting time.

[0024] In some embodiments, for example, in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, according to the first fluctuation data, the first starting time of the fluctuation period of the drum rotation is determined, including: in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, according to the first fluctuation data, the average value of the rotating speed of the drum rotation is determined; in the case that the data point of the first fluctuation data is equal to the average value of the rotating speed and the rotating speed shows an upward trend, the time corresponding to the data point is recorded as the first starting time.

[0025] In the embodiment, in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, the first starting moment of the fluctuation period of the drum rotation is determined according to the first fluctuation data, comprising: in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, the first fluctuation data is analyzed, and the average value of the rotating speed is determined, if a data point of the first fluctuation data is equal to the average value of the rotating speed, and the rotating speed at the data point is in an upward trend, the moment corresponding to the data point is determined as the first starting moment, and the moment is recorded, based on the characteristics of the load eccentricity in the drum, the rotating speed of the drum changes from small to large, and then from large to small, and thus the definition of the position of the first starting moment in the above manner can improve the accuracy of the determination of the fluctuation period.

[0026] In some embodiments, for example, the second starting moment of the fluctuation period of the drum rotation is estimated according to the electric angle data of the motor, the pole pair number of the motor and the set transmission ratio, comprising: the electric angle change amount of the motor is calculated according to the electric angle data and the pole pair number of the motor; the electric angle change period corresponding to the fluctuation period of the drum is estimated by accumulating the electric angle change amount; in the case that the electric angle change period meets the set transmission ratio, it is determined that the electric angle change period enters the next period; and the second starting moment of the fluctuation period of the drum rotation is determined according to the electric angle change period.

[0027] In the embodiment, the second starting moment of the fluctuation period of the drum rotation is estimated according to the electric angle data of the motor, the pole pair number of the motor and the set transmission ratio, comprising: the electric angle change amount of the motor is calculated according to the electric angle data and the pole pair number of the motor, the electric angle in the motor changes over time during the rotation of the motor, and the electric angle change amount can be determined by combining the electric angle data and the pole pair number of the motor, the electric angle change amount can reflect the number of revolutions of the motor, and in the case that the belt transmission is reliable, the number of revolutions of the motor and the number of revolutions of the drum should meet the set transmission ratio of the belt, therefore, the electric angle change period corresponding to the fluctuation period of the drum can be estimated by the electric angle change amount, that is, the electric angle change period is determined by accumulating the electric angle change amount.

[0028] Then, in the case that the accumulated electric angle change amount in the electric angle change period meets the set transmission ratio, it is determined that the electric angle change period enters the next period, so as to obtain the waveform data of an electric angle change period, and the starting moment of the electric angle change period is taken as the second starting moment, so as to improve the accuracy of the estimation of the fluctuation period of the drum.

[0029] In some embodiments, for example, the first starting moment and the second starting moment are initialized at the same time.

[0030] In this embodiment, the first starting time and the second starting time are initialized at the same time, so that the first starting time in the first time sequence and the second starting time in the second time sequence are one-to-one correspondence, which is more convenient for comparison of the first starting time and the second starting time.

[0031] In some embodiments, the first fluctuation data is at least one of the following: rotation speed data, torque instruction data, torque estimation data, torque current instruction data, torque current detection data, power output data and power input data.

[0032] In this embodiment, the rotation speed data, the torque instruction data, the torque estimation data, the torque current instruction data, the torque current detection data, the power output data and the power input data are all affected by the load in the drum, so that the fluctuation period of the drum can be determined by analyzing the above data.

[0033] According to the second aspect of the present application, a belt fault detection device of a clothes treatment apparatus is provided, comprising: a first determination module configured to determine a first starting time of a fluctuation period of drum rotation according to first fluctuation data of motor operation; a first recording module configured to record at least two first starting times to form a first time sequence; an estimation module configured to estimate a second starting time of the fluctuation period of drum rotation according to the electrical angle data of the motor and the set transmission ratio; a second recording module configured to record at least two second starting times to form a second time sequence; and a second determination module configured to determine whether the belt is in a fault state according to the first time sequence and the second time sequence.

[0034] The belt fault detection device of the clothes treatment apparatus provided by the present application, when the clothes treatment apparatus is running, the clothes in the drum will cause the drum to be unbalanced, that is, the load of the drum will usually be eccentric, which will cause the rotation speed of the drum to fluctuate when the drum rotates. Based on the combination of the control function of the motor and the eccentric load, the first fluctuation data of the motor operation presents a periodicity. Since the drum is driven by the belt, the fluctuation of the drum will be reflected on the first fluctuation data of the motor according to the actual transmission ratio of the drum and the motor, that is, the fluctuation period of the drum rotation is consistent with the first fluctuation data of the motor.

[0035] As described above, the first starting time of the fluctuation period of drum rotation is determined according to the first fluctuation data during the operation of the motor. Due to the eccentricity of the load in the drum, the rotation speed of the drum will form a sine or cosine waveform based on the action of gravity. Therefore, each fluctuation period of the drum rotation has a first starting time. At least two first starting times of the fluctuation period are determined, and at least two first starting times of the fluctuation period are recorded to form a first time sequence. The first time sequence can reflect the actual transmission ratio of the drum and the motor.

[0036] The electric angle data of the motor is acquired, and a second starting time of a fluctuation period of the drum rotation is estimated according to the electric angle data and the set transmission ratio. Each fluctuation period of the drum rotation has a second starting time, and the second starting times of at least two fluctuation periods are determined and recorded to form a second time sequence. Since the single rotation of the motor is not affected by the actual transmission ratio, the second starting time of the fluctuation period of the drum rotation under the reliable belt condition can be estimated according to the electric angle data and the predetermined transmission ratio. Therefore, the second time sequence can be used as the standard data reflecting the predetermined transmission ratio.

[0037] As described above, the actual transmission ratio of the drum and the motor can be determined according to the first time sequence and the second time sequence, and whether the actual transmission ratio meets the predetermined transmission ratio can be determined, so as to determine whether the current belt is in a fault state.

[0038] That is, the belt fault can be determined according to the motor operation data, so as to realize the detection of the belt reliability and reduce the possibility of the whole machine fault caused by the belt fault of the clothes treatment equipment.

[0039] According to a third aspect of the present application, a clothes treatment equipment is provided. The clothes treatment equipment comprises a controller. The controller is configured to store and execute a program or an instruction. The program or the instruction is executed to implement the steps of the belt fault detection method of the clothes treatment equipment according to the first aspect.

[0040] The clothes treatment equipment according to the present application comprises the program or the instruction which is executed by the controller to implement the steps of the belt fault detection method of the clothes treatment equipment according to the first aspect. Therefore, the clothes treatment equipment has all the beneficial effects of the belt fault detection method of the clothes treatment equipment according to the first aspect, which will not be repeated here.

[0041] According to a fourth aspect of the present application, an electronic device is provided. The electronic device comprises a processor and a memory. The memory stores a program or an instruction which can be executed on the processor. The program or the instruction is executed by the processor to implement the steps of the belt fault detection method of the clothes treatment equipment according to the first aspect.

[0042] The electronic device according to the present application comprises the program or the instruction which is executed by the processor to implement the steps of the belt fault detection method of the clothes treatment equipment according to the first aspect. Therefore, the electronic device has all the beneficial effects of the belt fault detection method of the clothes treatment equipment according to the first aspect, which will not be repeated here.

[0043] According to a fifth aspect of the present application, the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for detecting a belt fault of a clothes treatment apparatus according to the first aspect.

[0044] The storage medium according to the present application has all the advantages of the method for detecting a belt fault of a clothes treatment apparatus according to the first aspect, and will not be repeated here.

[0045] Additional aspects and advantages of the present application will become apparent from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0046] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0047] Fig. 1 shows one of flowcharts of a method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the present application;

[0048] Fig. 2 shows another of flowcharts of a method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the present application;

[0049] Fig. 3 shows a control object and a transfer function of a control system of a motor speed in a method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the present application;

[0050] Fig. 4 shows a correspondence between an actual fluctuation period and an estimated fluctuation period of a drum in a method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the present application;

[0051] Fig. 5 shows another correspondence between an actual fluctuation period and an estimated fluctuation period of a drum in a method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the present application;

[0052] Fig. 6 shows a block diagram of a belt fault detection apparatus of a clothes treatment apparatus according to an embodiment of the present application;

[0053] Fig. 7 shows a block diagram of a clothes treatment apparatus according to an embodiment of the present application;

[0054] Fig. 8 shows a schematic diagram of a part of a structure of a clothes treatment apparatus according to an embodiment of the present application;

[0055] Fig. 9 shows a schematic diagram of a part of a structure of a clothes treatment apparatus according to an embodiment of the present application.

[0056] Correspondence between reference signs and component names in FIG. 8 and FIG. 9 is as follows:

[0057] 810 motor, 812 motor shaft, 820 first pulley, 830 second pulley, 840 drum, 850 belt, 860 load, 870 support wheel. Embodiments of the present application

[0058] In order to enable a more complete understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0059] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and therefore the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0060] A belt failure detection method, device and laundry treating apparatus according to some embodiments of the present application will be described below with reference to FIG. 1 to FIG. 9.

[0061] According to a first aspect of the present application, the present application provides a belt failure detection method of a laundry treating apparatus. FIG. 1 shows one of flowcharts of a belt failure detection method of a laundry treating apparatus according to one embodiment of the present application. As shown in FIG. 1, the flow of the belt failure detection method of a laundry treating apparatus according to one embodiment of the present application is as follows:

[0062] Step 102: determining a first start time of a fluctuation period of drum rotation according to first fluctuation data of motor operation;

[0063] Step 104: recording at least two first start times to form a first time sequence;

[0064] Step 106: estimating a second start time of a fluctuation period of drum rotation according to electrical angle data of motor, number of motor pole pairs and set transmission ratio;

[0065] Step 118: recording at least two second start times to form a second time sequence;

[0066] Step 110: determining whether the belt is in a failure state according to the first time sequence and the second time sequence.

[0067] The belt fault detection method of the clothes treatment equipment provided in the present application, when the clothes treatment equipment is running, the clothes in the drum will cause the drum to be eccentric, that is, the load of the drum will usually be eccentric, and then when the drum rotates, the rotation speed of the drum will fluctuate, based on the combination of the control function of the motor and the eccentric load, the first fluctuation data of the motor running presents a periodicity, and the drum is driven by the motor through the belt, therefore, the fluctuation of the drum will be reflected on the first fluctuation data of the motor according to the actual transmission ratio of the drum and the motor, that is, the fluctuation period of the drum rotation is consistent with the first fluctuation data of the motor.

[0068] As above, according to the first fluctuation data in the running process of the motor, the first starting time of the fluctuation period of the drum rotation is determined, due to the eccentricity of the load in the drum, based on the action of gravity, the rotation speed of the drum will form a sine or cosine waveform, therefore, each fluctuation period of the drum rotation has a first starting time, the first starting times of at least two fluctuation periods are determined, and the first starting times of at least two fluctuation periods are recorded to form a first time sequence, which can reflect the actual transmission ratio of the drum and the motor.

[0069] The electrical angle data of the motor is obtained, and according to the electrical angle data, the number of pole pairs of the motor and the set transmission ratio, the second starting time of the fluctuation period of the drum rotation is estimated, each fluctuation period of the drum rotation has a second starting time, the second starting times of at least two fluctuation periods are determined, and the second starting times of at least two fluctuation periods are recorded to form a second time sequence, since the single rotation of the motor and the actual transmission ratio will not be affected, therefore, through the electrical angle data and the predetermined transmission ratio, the fluctuation period of the drum rotation under the reliable condition of the belt can be estimated, so the second time sequence can be used as standard data reflecting the predetermined transmission ratio. Wherein, the electrical angle data can be converted into the rotation angle of the motor through the number of pole pairs of the motor.

[0070] As above, through the first time sequence and the second time sequence, the actual transmission ratio of the drum and the motor can be determined, whether it conforms to the predetermined transmission ratio, so as to determine whether the current belt is in a fault state.

[0071] That is, through the collection of the motor running data, the present application can determine whether the belt is in a fault state, so as to realize the detection of the reliability of the belt and reduce the possibility of the whole machine failure of the clothes treatment equipment caused by the belt fault.

[0072] Wherein, the belt failure can be belt slip, loosening or jamming, etc. The belt slip, loosening or jamming will cause the change of the transmission ratio between the drum and the motor, thereby causing the difference between the actual transmission ratio and the preset transmission ratio, that is, the present application utilizes the load eccentricity phenomenon occurred when the clothes are unevenly distributed when the clothes treatment apparatus is working, and the position estimation relationship of the control system itself, to quantitatively estimate the failure of the belt slip.

[0073] The belt failure detection method of the clothes treatment apparatus provided by the present application first calculates the fluctuation period of the drum and the fluctuation amount thereof through the first fluctuation data of the motor, to obtain the fluctuation period of the drum and the first starting time thereof. And taking this point as the reference time, the first starting time of the subsequent fluctuation period is continuously valued, to obtain the first time sequence including the two first starting times.

[0074] Wherein, the first fluctuation data can be the rotation speed data, torque instruction data, torque estimation data, torque current instruction data, torque current detection data, power output data or power input data, etc. As long as the data of the physical quantity reflecting the load fluctuation of the drum can be used to calculate the first starting time of the fluctuation period of the drum.

[0075] Secondly, according to the angle position of the motor itself and the set transmission ratio, the second starting time of the fluctuation period of the drum is estimated, and the second time sequence is established.

[0076] Finally, the first time sequence and the second time sequence are compared, and according to certain rules, it is determined whether the belt appears slip or other failures.

[0077] In some embodiments, for example, according to the first time sequence and the second time sequence, it is determined whether the belt is in a failure state, including: comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period; in the case that the first difference between the first starting time and the second starting time is greater than or equal to the first threshold value, it is determined that the belt is in a failure state.

[0078] In this embodiment, according to the first time sequence and the second time sequence, it is determined whether the belt is in a failure state, including: taking the first starting time of a certain fluctuation period in the first time sequence, and taking the second starting time of the same fluctuation period in the second time sequence, and the first difference between the first starting time and the second starting time is obtained, if the first difference is greater than or equal to the first threshold value, that is, the fluctuation period of the drum is much larger than the estimated fluctuation period, which indicates that the current belt transmission reliability is low, thereby determining that the current belt is in a failure state, which can remind the user to repair or replace the belt, thereby reducing the influence of calculation error and detection error.

[0079] In some embodiments, the comparison between the first starting time in the first time sequence and the second starting time in the second time sequence in the same fluctuation period includes: in the case that the motor rotates at a constant speed, comparing the first starting time in the first time sequence and the second starting time in the second time sequence in the same fluctuation period; in the case that the motor rotates at an accelerated speed, comparing the first starting time in the first time sequence and the second starting time in the second time sequence in the fluctuation period when the rotating speed falls to a preset rotating speed to determine whether the belt is in a fault state.

[0080] In this embodiment, the comparison between the first starting time in the first time sequence and the second starting time in the second time sequence in the same fluctuation period includes: in the case that the motor rotates at a constant speed, taking the first starting time in the first time sequence and the second starting time in the second time sequence in the same fluctuation period, and then taking the difference between the first starting time and the second starting time to obtain a first difference value; if the first difference value is greater than or equal to a first threshold value, that is, the fluctuation period of the drum is much greater than the estimated fluctuation period, it indicates that the current belt transmission reliability is low, thereby determining that the current belt is in a fault state, and the user can be reminded to repair or replace the belt.

[0081] In the case that the motor rotates at an accelerated speed, the first starting time and the second starting time recorded before the motor rotates at an accelerated speed, and the first starting time and the second starting time recorded after the speed falls to a preset speed after the motor completes the accelerated motion, are compared, thereby determining whether the belt transmission is reliable when the motor rotates at a high speed, thereby determining whether the belt is in a fault state, and thereby improving the reliability of the belt fault judgment.

[0082] In some embodiments, the determination of the first starting time of the fluctuation period of the drum rotation according to the first fluctuation data of the motor operation includes: determining a maximum fluctuation value of the rotating speed according to the first fluctuation data of the motor operation; in the case that the maximum fluctuation value of the rotating speed is outside a preset fluctuation value range, adjusting the operation parameters of the motor; in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, determining the first starting time of the fluctuation period of the drum rotation according to the first fluctuation data.

[0083] In the embodiment, the first starting moment of the fluctuation period of the drum rotation is determined according to the first fluctuation data of the motor operation, including: analyzing the first fluctuation data, extracting the maximum fluctuation value of the rotating speed, and judging the maximum fluctuation value of the rotating speed, in the case that the maximum fluctuation value of the rotating speed is out of the preset fluctuation value range, it is indicated that the load eccentricity degree of the current drum is too large or too small, which produces too large or too small rotating speed fluctuation, and the fluctuation period cannot be accurately determined, in this case, the running parameters of the motor can be adjusted to adjust the eccentricity degree of the load until the maximum fluctuation value of the rotating speed is in the maximum fluctuation value range of the rotating speed, and in the case that the maximum fluctuation value of the rotating speed is in the preset fluctuation value range, the determination of the first starting moment is started again, thereby improving the accuracy and reliability of the determination of the first starting moment.

[0084] In the case that the maximum fluctuation value of the rotating speed is greater than the upper limit of the preset fluctuation value range, it is indicated that the load eccentricity degree of the current drum is too large, which produces too large rotating speed fluctuation, and the fluctuation period cannot be accurately determined, in this case, the running parameters of the motor can be adjusted to reduce the eccentricity degree of the load; in the case that the maximum fluctuation value of the rotating speed is less than the lower limit of the preset fluctuation value range, it is indicated that the load eccentricity degree of the current drum is too small, which produces too small rotating speed fluctuation, and the fluctuation period cannot be accurately determined, in this case, the running parameters of the motor can be adjusted to reduce the eccentricity degree of the load.

[0085] Exemplarily, the preset fluctuation value range can be less than or equal to a first preset fluctuation value, the preset fluctuation value range can be greater than or equal to a second preset fluctuation value, the preset fluctuation value range can also be less than or equal to a third fluctuation threshold value, and greater than or equal to a fourth preset fluctuation value, the third fluctuation threshold value is greater than the fourth fluctuation threshold value.

[0086] In some embodiments, exemplarily, in the case that the maximum fluctuation value of the rotating speed is in the preset fluctuation value range, the first starting moment of the fluctuation period of the drum rotation is determined according to the first fluctuation data, including: in the case that the maximum fluctuation value of the rotating speed is in the preset fluctuation value range, the average value of the rotating speed of the drum rotation is determined according to the first fluctuation data; in the case that the data point of the first fluctuation data is equal to the average value of the rotating speed, and the rotating speed presents an upward trend, the moment corresponding to the data point is recorded as the first starting moment.

[0087] In the embodiment, in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, the first starting moment of the fluctuation period of the drum rotation is determined according to the first fluctuation data, comprising: in the case that the maximum fluctuation value of the rotating speed is within the preset fluctuation value range, the first fluctuation data is analyzed, and the average value of the rotating speed is determined, if a data point of the first fluctuation data is equal to the average value of the rotating speed, and the rotating speed at the data point is in an upward trend, the moment corresponding to the data point is determined as the first starting moment, and the moment is recorded, based on the characteristic of the load eccentricity in the drum, the rotating speed of the drum is from small to large, and then from large to small, and thus the definition of the position of the first starting moment in the above manner can improve the accuracy of the determination of the fluctuation period.

[0088] In some embodiments, for example, the second starting moment of the fluctuation period of the drum rotation is estimated according to the electric angle data of the motor, the pole pair number of the motor and the set transmission ratio, comprising: the electric angle change amount of the motor is calculated according to the electric angle data and the pole pair number of the motor; the electric angle change period conforming to the fluctuation period of the drum is estimated by accumulating the electric angle change amount; in the case that the electric angle change period conforms to the set transmission ratio, it is determined that the electric angle change period enters the next period; and the second starting moment of the fluctuation period of the drum rotation is determined according to the electric angle change period.

[0089] In the embodiment, the second starting moment of the fluctuation period of the drum rotation is estimated according to the electric angle data of the motor, the pole pair number of the motor and the set transmission ratio, comprising: the electric angle change amount of the motor is calculated according to the electric angle data and the pole pair number of the motor, the electric angle in the motor changes over time during the rotation of the motor, and the electric angle change amount can be determined by combining the electric angle data and the pole pair number of the motor, the electric angle change amount can reflect the number of revolutions of the motor, and in the case that the belt transmission is reliable, the number of revolutions of the motor and the number of revolutions of the drum should conform to the set transmission ratio of the belt, therefore, the electric angle change period conforming to the fluctuation period of the drum can be estimated by the electric angle change amount, that is, the electric angle change period is determined by accumulating the electric angle change amount.

[0090] Then, in the case that the accumulated electric angle change amount in the electric angle change period conforms to the set transmission ratio, it is determined that the electric angle change period enters the next period, so as to obtain the waveform data of an electric angle change period, and the starting moment of the electric angle change period is taken as the second starting moment, so as to improve the accuracy of the estimation of the fluctuation period of the drum.

[0091] In some embodiments, for example, the first starting moment and the second starting moment are initialized at the same time.

[0092] In this embodiment, the first starting time and the second starting time are initialized at the same time, so that the first starting time in the first time sequence and the second starting time in the second time sequence are one-to-one corresponding, and the comparison of the first starting time and the second starting time is more convenient.

[0093] In some embodiments, the first fluctuation data is exemplarily at least one of the following: rotation speed data, torque instruction data, torque estimation data, torque current instruction data, torque current detection data, power output data and power input data.

[0094] In this embodiment, the rotation speed data, the torque instruction data, the torque estimation data, the torque current instruction data, the torque current detection data, the power output data and the power input data are all affected by the load in the drum, so that the fluctuation period of the drum can be determined by analyzing the above data.

[0095] Exemplarily, taking the rotation speed data as the first fluctuation data, as shown in FIG. 3, the control system of the motor driving the load is shown in the figure, wherein w* is the rotation speed instruction, w is the rotation speed of the motor, TL is the load torque, Te represents the electromagnetic torque of the motor, and - and + represent the calculation of signals, that is, the torque caused by the load eccentricity. When the clothes in the drum are evenly distributed in the drum, the clothes behave as the load inertia of the motor, and the inertia of these clothes and the inertia of the drum together behave as a transfer function P(s), which can be simplified as an inertia and an integral element P(s)=1 / (J×s), wherein P(s) represents the transfer function of the inertia of the clothes and the inertia of the drum together, J represents the inertia of the load, and s represents the differential operation. 1 / s represents the integral operation. The unbalance in the clothes can be described by a periodic eccentric load (such as the load 860 in FIG. 8), and the influence of the eccentric load on the rotation speed control system of the motor can be expressed as TL=a×sin(θ), wherein TL represents the load torque, a represents the amplitude of the load, and θ represents the eccentric position. The influence of the load is theoretically a sine or cosine function, and the period thereof is the mechanical period of the drum, that is, the fluctuation period.

[0096] C(s) is the transfer function of the rotation speed control system of the motor, wherein the simplest control method is a PI (Proportional-Integral) controller, that is, C(s)=Kp+Ki / s, C(s) represents the transfer function of the rotation speed control system of the motor, Ki is the integral gain, Kp is the proportional gain, s represents the differential operation, and 1 / s represents the integral operation.

[0097] The transfer function from the rotation speed instruction w* to the rotation speed w is Gw=C(s)×P(s) / (1+C(s)P(s))=(Kp×s+Ki) / (J×s 2+ Kp x s + Ki), where Gw represents a transfer function of a rotational speed command w* to a rotational speed w, C(s) represents a transfer function of a rotational speed control system of the motor, Ki is an integral gain, Kp is a proportional gain, s represents a differential operation, P(s) represents a transfer function common to an inertia of the laundry and an inertia of the drum, and J represents an inertia of the load.

[0098] A transfer function of the load torque TL of the load disturbance to the rotational speed is GL = -P(s) / (1 + C(s)P(s)) = -s / (J x s 2 + Kp x s + Ki). Where GL represents a transfer function of the load torque TL of the load disturbance to the rotational speed, C(s) represents a transfer function of a rotational speed control system of the motor, Ki is an integral gain, Kp is a proportional gain, s represents a differential operation, P(s) represents a transfer function common to an inertia of the laundry and an inertia of the drum, and J represents an inertia of the load.

[0099] When the load torque TL is a disturbance in a sinusoidal waveform shape varying with a mechanical angle of the drum, a corresponding influence on the rotational speed of the drum is also in a sinusoidal waveform.

[0100] Since the diameters of the first pulley provided on the motor and the second pulley provided on the drum are related, that is, a transmission ratio is set, the rotational speed of the drum and the rotational speed of the motor have a ratio relationship, that is, the transmission ratio is equal to the rotational speed ratio, that is, nr = R / r, where nr represents the transmission ratio, R represents the radius of the second pulley, r represents the radius of the first pulley, and " / " represents "÷".

[0101] Therefore, the influence of the load in the drum is reflected on the rotational speed of the motor and the fluctuation of the rotational speed, and the above conversion relationship also exists. That is, the influence of the load torque on the motor is TL / nr, where TL represents the load torque, nr represents the transmission ratio, and the fluctuation period is w g x nr, where w g represents the fluctuation period of the drum, nr represents the transmission ratio, and " / " represents "÷".

[0102] In addition, the rotational speed data of the motor can be obtained by an encoder of the motor.

[0103] In some embodiments, the acquisition period of the first fluctuation data is exemplarily determined according to a control period of the rotational speed loop of the motor.

[0104] In this embodiment, the control system of the motor is controlled by an MCU (Micro Control Unit), which generally operates according to a certain fixed algorithm with a certain time period, for example, the control period of the current loop can be a first time length, and the control period of the speed loop can be a second time length, wherein the first time length can be in the range of 50us to 200us, and the first time length can be 50us, 100us, 150us or 200us, for example, and the second time length can be in the range of 300us to 500us, and the first time length can be 300us, 400us or 500us, for example.

[0105] Taking the speed loop control period as 400us and the first fluctuation data as the speed data as an example, the basic operation period of the collected data is Ts, that is, the calculation of the first starting time is performed once every period Ts. When each calculation period is increased, the time tag can be represented by an integer i. The physical quantity obtained in each calculation period is distinguished by (i), for example: the speed data of the motor at the current time is wm(i), and the speed data of the motor at the previous period is wm(i-1), and the speed data of the motor at the next period is wm(i+1). The value of i can be set to 0 at the starting point of the first fluctuation period to facilitate calculation.

[0106] For convenience of calculation and judgment, i can be initialized to 0 at the first starting time of the first fluctuation period, and thereafter, i=i+1 is calculated in the next fluctuation period, and the first time sequence based on the period Ts interval is obtained.

[0107] In some embodiments, the first starting time of the fluctuation period of the drum rotation is determined according to the first fluctuation data of the motor operation, including: collecting the operation data of the motor; filtering the operation data to obtain the first fluctuation data.

[0108] FIG. 2 shows a flowchart of a method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the disclosure. As shown in FIG. 2, the method for detecting a belt fault of a clothes treatment apparatus according to an embodiment of the disclosure includes the following steps.

[0109] Step 202: The motor drives the drum to rotate, so that the clothes are stably attached to the inner wall of the drum, the speed of the motor is determined, and the speed is filtered to obtain the filtered speed wf.

[0110] Step 204: The fluctuation period of the drum is determined, and the average speed of the drum wmavg and the maximum fluctuation value of the speed Δwmax are determined.

[0111] Step 206: judge whether the Δwmax is in the preset fluctuation value range; if the Δwmax is out of the preset fluctuation value range, execute step 208; if the Δwmax is in the preset fluctuation value range, execute step 210.

[0112] Step 208: control the motor to change speed or reverse, etc., to adjust the clothes distribution and adjust the eccentricity of the load.

[0113] Step 210: calculate the first starting time of the fluctuation period of the drum according to the first fluctuation data of the motor, and form a first time sequence.

[0114] Step 212: estimate the second starting time of the fluctuation period of the drum through the motor's electrical angle data, the number of motor pole pairs, and the set transmission ratio, and form a second time sequence.

[0115] Step 214: compare the first time sequence and the second time sequence to determine whether the transmission error of the belt exceeds the first threshold value, so as to judge whether the belt is slipping.

[0116] Exemplarily, taking the first fluctuation data as the rotational speed data as an example, in each calculation, first obtain the rotational speed data wm(i) of the motor, which can be obtained through the position sensor such as the encoder installed at the shaft end of the motor, or estimated through the Hall switch, or estimated through various algorithms in the position sensorless technology.

[0117] First, obtain the rotational speed data wm(i), and the length of the data is greater than one fluctuation period of the cosine waveform, and the data is updated in a rolling manner.

[0118] The length n of the determined first time sequence should cover one fluctuation period of the drum. For example: according to the rotational speed data wm(i) (r / min) of the motor and the set transmission ratio nr (nr=the radius R of the second belt pulley / the radius r of the first belt pulley), the period Ts (s), it can be obtained from the above that the rotational speed of the drum is wm(i) / nr (r / min), and the time of one fluctuation period of the drum is about TsL=nr×60 / wm(i) (s), the length n of the first time sequence is n=TsL / Ts (dimensionless number, and take an integer), and " / " represents "÷". From the convenience of calculation, the length n of the first time sequence should cover the time TsL of the fluctuation period, and can be about 1.1 times of the time TsL of the fluctuation period, so as to ensure that the initial time of the fluctuation period can be stably obtained.

[0119] Then, perform a filtering operation, and the above data can be digitally filtered as needed to eliminate high-frequency noise in the data.

[0120] For example, the data sequence of the above-mentioned rotating speed wm(i) is [wm(1), wm(2), …, wm(i), …, wm(n)] after low-pass filtering, and the sequence of the first fluctuation data [wf(1), wf(2), …, wf(i), …, wf(n)] is obtained. Considering the transition process of the filter, a part of the early data is usually discarded, and the later calculation is performed after the data is stable.

[0121] As shown in FIGS. 4 and 5, the rotating speed average value wfavg of the rotating speed wf(i) is calculated, and whether to perform the calculation of the fluctuation period of the belt is determined according to the rotating speed maximum fluctuation value wferrmax, wherein the average value wfavg = [wf(1) + wf(2) + … + wf(n)] / n, wherein wf(1), wf(2), …, wf(n) represent the peak-to-valley values of the plurality of first fluctuation data, n represents the total amount of data, and “ / ” represents “÷”.

[0122] The rotating speed maximum fluctuation value wferrmax = max(abs(wf(1)-wfavg), …, (wf(n)-wfavg)), wherein max represents the maximum value, abs represents the absolute value function, and wfavg represents the rotating speed average value.

[0123] The rotating speed maximum fluctuation value is proportional to the size of the eccentric torque, and an excessively large eccentric torque can cause abnormal control, and an excessively small eccentric torque can cause the load period to be unable to be accurately determined. Therefore, after the rotating speed maximum fluctuation value is calculated, when the rotating speed deviation range meets the specified threshold value, the determination of the first starting time is performed, otherwise, the determination of the first starting time is not performed, or the rotating speed maximum fluctuation value and the rotating speed average value are calculated again after the eccentric load is reconstructed through reacceleration or deceleration.

[0124] The point wf(i) closest to the rotating speed average value wfavg is calculated, and according to the trend of the data before and after the point, when the point is in the upward direction, the time of the point is defined as the first starting time of the mechanical period of the eccentric torque of the drum.

[0125] At this moment, i is initialized, and i = 0 is defined. For the convenience of calculation and description, i is initialized only once in a belt slip judgment program.

[0126] Accordingly, the first starting times of a plurality of fluctuation periods can be obtained, and the respective times can be recorded as [T0, T1, T2, T3, …]. For example, the numerical characteristics of the time sequence can be [0, 100, 201, 299, …], which indicates that the first fluctuation period is 100Ts, and the second load period is 101Ts calculated by 201-100. It can be seen that the first starting time and the fluctuation period interval of each fluctuation period can be obtained by the difference between the data before and after the point.

[0127] After that, let the motor's electrical angle data be θe(i), the electrical angle time is the absolute value of the motor's electrical angle data, and its value range is 0-360°.

[0128] For simplicity of description, only the rotation direction is described as the angle increasing direction here, and the same calculation can be performed for the decreasing direction.

[0129] The calculation relationship between the electrical angle change period θesum(i) and the electrical angle data θe(i) is as follows:

[0130] For simplicity of calculation and description, i in the above wf(i) is initialized synchronously, at this time, θesum(i)=0, i=0; θe(i-1)=θe(i), θesum(i-1)=0, i represents a fluctuation period, and i-1 represents the last fluctuation period.

[0131] After that, in each calculation period Ts, the electrical angle change Δθe(i)=θe(i)-θe(i-1) is calculated, and if Δθe(i)<0, it is judged that a period crossing from 360° has occurred, and Δθe(i)=θe(i)-θe(i-1)+360°.

[0132] θesum(i)=θesum(i-1)+Δθe(i) is calculated normally.

[0133] If θesum(i)-θe(0)≥R / r×Pp×360°, then θesum(i)=θesum(i)-R / r×Pp×360°, that is, θesum(i) is reduced by R / r×Pp×360° and recorded as the current θesum(i) value to obtain the θesum(i) waveform as shown in FIG. 4, wherein R represents the radius of the second pulley, r represents the radius of the first pulley, Pp represents the number of pole pairs of the motor, and " / " represents "÷", and it is judged that the fluctuation period of the drum is reached, and the time at this moment is recorded as the second starting time. The above algorithm is repeated to obtain the second time sequence of the fluctuation period of the drum estimated by the motor's electrical angle data, for example: the numerical example of the time sequence [E0, E1, E2, …] of the starting time can be [0, 100, 200, 300, …].

[0134] The first fluctuation sequence is the first time sequence [T0, T1, T2, T3, …] of the first starting time of the fluctuation period of the drum obtained by the motor's speed data; and the second fluctuation sequence is the second time sequence [E0, E1, E2, E3, …] of the second starting time of the fluctuation period of the drum obtained by the motor's speed data.

[0135] In the case that the belt is not in failure, the first time sequence and the second time sequence should be the same or similar. Therefore, by comparing T3 and E3, whether the belt slip occurs from the time T0 to the time T3 can be obtained. When the slip occurs, T3>E3, and the slip amount is proportional to (T3-E3). According to this principle, in engineering, a certain calculation error can be considered, and by setting a suitable threshold, the determination of whether the belt slips can be obtained. The belt slip in the third fluctuation period can also be determined by comparing T3-T2 and E3-E2.

[0136] As shown in FIG. 4, in the case that the motor rotates at a uniform speed, T1 and E1, T2 and E2, T3 and E3, etc. can be compared.

[0137] As shown in FIG. 5, in the case that the motor rotates at an accelerated speed, T7 and E7, T8 and E8 can be compared.

[0138] The above methods can be implemented in various different ways according to specific features and / or example applications. For example, the methods can be implemented by a combination of hardware, firmware, and / or software. For example, in a hardware implementation, the processor can be implemented in one or more Application-Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other device units for performing the above functions, and / or combinations thereof.

[0139] As shown in FIG. 6, according to the second aspect of the present application, the present application provides a belt failure detection device 600 of a clothes processing apparatus, comprising: a first determination module 602, configured to determine a first starting time of a fluctuation period of drum rotation according to first fluctuation data of motor operation; a first recording module 604, configured to record at least two first starting times to form a first time sequence; an estimation module 606, configured to estimate a second starting time of a fluctuation period of drum rotation according to motor electric angle data, motor pole pair number and set transmission ratio; a second recording module 608, configured to record at least two second starting times to form a second time sequence; and a second determination module 610, configured to determine whether the belt is in a failure state according to the first time sequence and the second time sequence.

[0140] The belt fault detection device of the laundry treating apparatus provided in the present application, when the laundry treating apparatus is running, the laundry in the drum will cause the drum to be unbalanced, that is, the load of the drum will usually be eccentric, and then when the drum rotates, the rotation speed of the drum will fluctuate, based on the combination of the control function of the motor and the eccentric load, the first fluctuation data of the motor running presents a periodicity, and the drum is driven by the motor through the belt, therefore, the fluctuation of the drum will be reflected on the first fluctuation data of the motor according to the actual transmission ratio of the drum and the motor, that is, the fluctuation period of the drum rotation is consistent with the first fluctuation data of the motor.

[0141] As above, according to the first fluctuation data in the running process of the motor, the first starting time of the fluctuation period of the drum rotation is determined, due to the eccentricity of the load in the drum, based on the action of gravity, the rotation speed of the drum will form a sine or cosine waveform, therefore, each fluctuation period of the drum rotation has a first starting time, the first starting times of at least two fluctuation periods are determined, and the first starting times of at least two fluctuation periods are recorded to form a first time sequence, which can reflect the actual transmission ratio of the drum and the motor.

[0142] The electrical angle data of the motor is obtained, and according to the electrical angle data, the number of pole pairs of the motor and the set transmission ratio, the second starting time of the fluctuation period of the drum rotation is estimated, each fluctuation period of the drum rotation has a second starting time, the second starting times of at least two fluctuation periods are determined, and the second starting times of at least two fluctuation periods are recorded to form a second time sequence, since the single rotation of the motor and the actual transmission ratio will not be affected, therefore, through the electrical angle data and the predetermined transmission ratio, the fluctuation period of the drum rotation under the reliable condition of the belt can be estimated, so the second time sequence can be used as standard data reflecting the predetermined transmission ratio. Wherein, the electrical angle data can be converted into the rotation angle of the motor through the number of pole pairs of the motor.

[0143] As above, through the first time sequence and the second time sequence, the actual transmission ratio of the drum and the motor can be determined, whether it is consistent with the predetermined transmission ratio, so as to determine whether the current belt is in a fault state.

[0144] That is, through the collection of the motor running data, the present application can determine whether the belt is in a fault state, so as to realize the detection of the reliability of the belt, and reduce the possibility of the whole machine failure of the laundry treating apparatus caused by the belt fault.

[0145] In some embodiments, the second determining module comprises: a comparison sub-module, configured to compare the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period; and a first determining sub-module, configured to determine that the belt is in a fault state when the first difference between the first starting time and the second starting time is greater than or equal to the first threshold value.

[0146] In this embodiment, the first starting time of a certain fluctuation period in the first time sequence and the second starting time of the same fluctuation period in the second time sequence are compared, and the first difference between the first starting time and the second starting time is obtained. If the first difference is greater than or equal to the first threshold value, that is, the fluctuation period of the roller is much greater than the estimated fluctuation period, it indicates that the current belt transmission reliability is low, and thus it is determined that the current belt is in a fault state, which can remind the user to repair or replace the belt, thereby reducing the influence of calculation errors and detection errors.

[0147] In some embodiments, the comparison sub-module comprises: a first comparison unit, configured to compare the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period when the motor is rotating at a constant speed; and a second comparison unit, configured to compare the first starting time in the first time sequence and the second starting time in the second time sequence of the fluctuation period when the speed of the motor falls to a preset speed when the motor is accelerating, to determine whether the belt is in a fault state.

[0148] In this embodiment, comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period comprises: when the motor is rotating at a constant speed, taking the first starting time of a certain fluctuation period in the first time sequence and the second starting time of the same fluctuation period in the second time sequence, and obtaining the first difference between the first starting time and the second starting time. If the first difference is greater than or equal to the first threshold value, that is, the fluctuation period of the roller is much greater than the estimated fluctuation period, it indicates that the current belt transmission reliability is low, and thus it is determined that the current belt is in a fault state, which can remind the user to repair or replace the belt.

[0149] In the case where the motor is accelerating, the first starting time and the second starting time recorded before the motor starts accelerating, and the first starting time and the second starting time recorded after the speed of the motor falls to a preset speed after the motor completes the acceleration, are compared. Thus, it can be determined whether the belt is reliably driven when the motor is at a high speed, thereby determining whether the belt is in a fault state, and thus improving the reliability of the belt fault determination.

[0150] In some embodiments, the first determining module includes: a second determining submodule configured to determine a maximum fluctuation value of the rotational speed according to the first fluctuation data of the motor; an adjusting submodule configured to adjust the operation parameter of the motor when the maximum fluctuation value of the rotational speed is outside a preset fluctuation value range; and a third determining submodule configured to determine a first starting time of the fluctuation period of the drum rotation according to the first fluctuation data when the maximum fluctuation value of the rotational speed is within the preset fluctuation value range.

[0151] In some embodiments, the third determining submodule includes: a first determining unit configured to determine an average value of the rotational speed of the drum rotation according to the first fluctuation data when the maximum fluctuation value of the rotational speed is within the preset fluctuation value range; and a first recording unit configured to record a time corresponding to a data point of the first fluctuation data as the first starting time when the data point and the average value of the rotational speed are equal and the rotational speed is in an upward trend.

[0152] In some embodiments, the estimating module includes: a first calculating submodule configured to calculate an electrical angle change amount of the motor according to the electrical angle data and the number of pole pairs of the motor; an estimating submodule configured to accumulate the electrical angle change amount to estimate an electrical angle change period of the fluctuation period of the drum; a fourth determining submodule configured to determine that the electrical angle change period enters a next period when the electrical angle change period meets a set transmission ratio; and a fifth determining submodule configured to determine a second starting time of the fluctuation period of the drum rotation according to the electrical angle change period.

[0153] In some embodiments, the first starting time and the second starting time are initialized at the same time.

[0154] In this embodiment, the first starting time and the second starting time are initialized at the same time, so that the first starting time in the first time sequence and the second starting time in the second time sequence are one-to-one corresponding, and the comparison between the first starting time and the second starting time is more convenient.

[0155] In some embodiments, the first fluctuation data is at least one of the following: rotational speed data, torque instruction data, torque estimation data, torque current instruction data, torque current detection data, power output data, and power input data.

[0156] In this embodiment, the rotational speed data, the torque instruction data, the torque estimation data, the torque current instruction data, the torque current detection data, the power output data, and the power input data are all affected by the load in the drum, so that the fluctuation period of the drum can be determined by analyzing the above data.

[0157] As shown in FIG. 7, according to the third aspect of the present application, the present application provides a laundry treating apparatus 700, comprising a controller 702, the controller 702 is configured to store and run a program or an instruction, the program or the instruction is executed to implement the steps of the method for detecting belt failure of the laundry treating apparatus according to the first aspect of the present application.

[0158] The laundry treating apparatus provided by the present application has all the beneficial effects of the method for detecting belt failure of the laundry treating apparatus according to the first aspect of the present application, which will not be repeated here.

[0159] As shown in FIG. 8 and FIG. 9, the laundry treating apparatus comprises a motor 810, a first pulley 820, a second pulley 830, a drum 840, a belt 850 and a support wheel 870, the first pulley 820 is arranged on a motor shaft 812 of the motor 810, the second pulley 830 is arranged on the drum 840, the belt 850 is arranged on the first pulley 820 and the second pulley 830, the support wheel 870 supports the drum 840, and the drum 840 can place a load 860, i.e. laundry, inside.

[0160] According to the fourth aspect of the present application, the present application provides an electronic device, comprising a processor and a memory, the memory stores a program or an instruction executable on the processor, the program or the instruction is executed by the processor to implement the steps of the method for detecting belt failure of the laundry treating apparatus according to the first aspect of the present application.

[0161] The electronic device provided by the present application has all the beneficial effects of the method for detecting belt failure of the laundry treating apparatus according to the first aspect of the present application, which will not be repeated here.

[0162] According to the fifth aspect of the present application, the present application provides a storage medium, the storage medium stores a computer program, the computer program is executed by the processor to implement the steps of the method for detecting belt failure of the laundry treating apparatus according to the first aspect of the present application.

[0163] The storage medium provided by the present application has all the beneficial effects of the method for detecting belt failure of the laundry treating apparatus according to the first aspect of the present application, which will not be repeated here.

[0164] Wherein, the program or instruction is stored in the storage medium of the controller, the storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any appropriate combination of the above devices, but is not limited to this. A non-exhaustive list of more specific examples of computer storage media includes a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital video disc (DVD), a memory card, a floppy disk, an encoded mechanical device (such as a punch card or a groove with protruding structures recording instructions), and any appropriate combination of the above devices. The computer storage medium used herein should not be understood as a transmission signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires, etc.

[0165] In this application, the terms "first", "second", "third" are only used for descriptive purposes, and should not be understood as indicating or implying relative importance; the term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mount", "connect", "connect", "fix" and other terms should be broadly understood, for example, "connect" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through intermediate media. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0166] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the components or units referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0167] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0168] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of detecting a belt failure of a laundry treating apparatus, wherein, The method comprises: determining a first starting time of a fluctuation period of the drum rotation according to first fluctuation data of the motor operation; recording at least two of the first starting times to form a first time sequence; estimating a second starting time of the fluctuation period of the drum rotation according to the motor electrical angle data, the motor pole pair number and the set transmission ratio; recording at least two of the second starting times to form a second time sequence; determining whether the belt is in a fault state according to the first time sequence and the second time sequence. 2.The belt failure detection method of a laundry treating apparatus according to claim 1, wherein, The method of determining whether the belt is in a fault state according to the first time sequence and the second time sequence comprises: comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period; determining that the belt is in a fault state when a first difference between the first starting time and the second starting time is greater than or equal to a first threshold value. 3.The belt failure detection method of a laundry treating apparatus according to claim 2, wherein, The method of comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period comprises: comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period when the motor is in uniform rotation; comparing the first starting time in the first time sequence and the second starting time in the second time sequence of the same fluctuation period when the motor is in accelerated rotation, and determining whether the belt is in a fault state. 4.The belt failure detection method of a laundry treating apparatus according to any one of claims 1 to 3, wherein, The method of determining a first starting time of a fluctuation period of the drum rotation according to first fluctuation data of the motor operation comprises: determining a maximum fluctuation value of the rotation speed according to the first fluctuation data of the motor operation; adjusting the operation parameters of the motor when the maximum fluctuation value of the rotation speed is outside a preset fluctuation value range; determining the first starting time of the fluctuation period of the drum rotation according to the first fluctuation data when the maximum fluctuation value of the rotation speed is within the preset fluctuation value range. 5.The belt failure detection method of a laundry treating apparatus according to claim 4, wherein, The method of determining the first starting time of the fluctuation period of the drum rotation according to the first fluctuation data when the maximum fluctuation value of the rotation speed is within the preset fluctuation value range comprises: determining an average value of the rotation speed according to the first fluctuation data when the maximum fluctuation value of the rotation speed is within the preset fluctuation value range; recording a time corresponding to a data point of the first fluctuation data as the first starting time when the data point and the average value of the rotation speed are equal and the rotation speed shows an upward trend. 6.The belt failure detection method of a laundry treating apparatus according to any one of claims 1 to 3, wherein, The method of estimating a second starting time of the fluctuation period of the drum rotation according to the motor electrical angle data, the motor pole pair number and the set transmission ratio comprises: calculating an electrical angle change amount of the motor according to the motor electrical angle data and the motor pole pair number; accumulating the electrical angle change amount to estimate an electrical angle change period corresponding to the fluctuation period of the drum; determining that the electrical angle change period enters a next period when the electrical angle change period corresponds to the set transmission ratio; The second starting time of the fluctuation period of the drum rotation is determined according to the electric angle change period. 7.The method of claim 1 to 3, wherein, The first starting time and the second starting time are initialized at the same time. 8.The belt failure detection method of a laundry treating apparatus according to any one of claims 1 to 3, wherein, The first fluctuation data is at least one of: Speed data, torque command data, torque estimation data, torque current command data, torque current detection data, power output data, and power input data. 9.A belt failure detection apparatus of a laundry treating apparatus, wherein, Comprising: A first determining module configured to determine a first starting time of a fluctuation period of the drum rotation according to first fluctuation data of the motor operation; A first recording module configured to record at least two of the first starting times to form a first time sequence; An estimating module configured to estimate a second starting time of the fluctuation period of the drum rotation according to electric angle data of the motor and a set gear ratio; A second recording module configured to record at least two of the second starting times to form a second time sequence; A second determining module configured to determine whether the belt is in a fault state according to the first time sequence and the second time sequence. 10.A laundry treating apparatus, wherein, A controller configured to store and run a program or instructions, the program or instructions being executed to implement the steps of the method of claim 1 to 8.

11. An electronic device, comprising: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions being executed by the processor to implement the steps of the method of claim 1 to 8.

12. A storage medium having stored thereon a computer program, wherein, The computer program being executed by the processor to implement the steps of the method of claim 1 to 8.

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