CN111206363B

CN111206363B - Method for judging empty barrel of washing machine and washing machine adopting same

Info

Publication number: CN111206363B
Application number: CN202010022379.1A
Authority: CN
Inventors: 蔡诗阳; 周成杰; 林帆; 李雪; 覃显钧; 韦皓
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-11-02
Filing date: 2020-01-09
Publication date: 2020-12-22
Anticipated expiration: 2040-01-09
Also published as: CN111139620A; CN212357692U; CN111235818B; CN212152788U; CN212357688U; CN111235818A; CN111041768A; CN111206364B; CN111197225A; CN111394931A; CN111394932A; CN212152787U; CN111074477A; CN111118810B; CN111041767A; CN111235817A; CN111074475A; CN111118809A; CN111206363A; CN212357689U

Abstract

The invention relates to a method for judging an empty barrel of a washing machine and the washing machine adopting the method, wherein the method comprises the steps of carrying out function operation within a certain threshold range according to OOB values and weighing values measured for multiple times, and comparing the result of multiplying the obtained average percentage with the preset empty barrel value percentage to obtain whether a load exists in the washing barrel, so that the empty barrel of the washing machine can be prevented from running, and a user of the washing machine can be reminded to wash the next time or select other small-capacity washing machines and washing barrels to wash by judging whether a small amount of clothes exist in the washing barrel, so that the control is simple and easy to realize, and the waste of resources can be avoided.

Description

Method for judging empty barrel of washing machine and washing machine adopting same

Technical Field

The invention relates to a method for judging an empty barrel and a washing machine adopting the same, in particular to a method for judging an empty barrel by a washing machine and a washing machine adopting the same.

Background

The washing machine is an electric appliance which converts electric energy into mechanical energy to drive water in a drum to wash clothes. Along with the improvement of the technological level, the intelligent washing machine is more and more commonly applied, and great convenience is provided for the life of people. The function of an empty barrel is not judged in the prior washing machine, a washing button is often started by touching a key by mistake, and whether clothes exist in the washing button is not judged, so that the washing machine can wash the empty barrel.

Disclosure of Invention

The invention provides a method for judging whether a barrel is empty in a washing machine, which can carry out function operation within a certain threshold range according to OOB values and weighing values measured for multiple times, and then compare the result of multiplying the obtained average percentage with the preset empty barrel value percentage, so as to judge whether a load exists in a rolling barrel of the washing machine and avoid the operation of the empty barrel of the washing machine. In particular, the method comprises the following steps of,

a method for judging whether a washing machine is empty, wherein the washing machine is provided with a washing barrel, and before starting washing, the following control is carried out on the washing barrel to be washed:

s1: measuring n groups of OOB values of the barrel to be washed, calculating empty barrel values corresponding to the effective OOB values, and calculating an average value K of the empty barrel values corresponding to the effective OOB values₁Percent; measuring m groups of weighing values of the barrel to be washed, calculating empty barrel rate values corresponding to the effective weighing values, and calculating the average value K of the empty barrel rate values corresponding to the effective weighing values₂％；

S2: calculating the obtained empty value K% of the washing barrel, wherein K% (K)₁％)*(K₂％)；

S3: judging whether the calculated empty value K% of the washing barrel is larger than or equal to a preset empty value K when the washing barrel to be washed is in an empty state₀Percent, if the calculated empty value K% of the washing barrel is more than or equal to K₀Percent, judging that the barrel to be washed is in an empty barrel state; if the calculated empty value K% of the washing barrel is less than K₀And percent, judging that the to-be-washed barrel is in a load state.

The invention also provides another method for judging the empty barrel of the washing machine, the washing machine is provided with a plurality of washing barrels, and the plurality of washing barrels are controlled as follows before the washing is started:

s1: rotating multiple washing barrels of the washing machine according to a preset rotating speed, measuring n groups of OOB values of each barrel to be washed, calculating empty barrel values corresponding to effective OOB values, and calculating an average value K of the empty barrel values corresponding to the effective OOB values₁Percent; measuring m groups of weighing values of the barrel to be washed, calculating empty barrel rate values corresponding to the effective weighing values, and calculating the average value K of the empty barrel rate values corresponding to the effective weighing values₂％；

S2: calculating the empty value K% of each washing barrel to be washed, wherein K% (K)₁％)*(K₂％)；

S3: judging whether the calculated empty value K% of the washing barrel is larger than or equal to a preset empty value K when the washing barrel to be washed is in an empty state₀Percent, if the calculated empty value K% of the washing barrel is more than or equal to K₀Percent, judging that the barrel to be washed is in an empty barrel state; if it is calculatedThe empty value K% of the washing barrel is less than K₀And percent, judging that the to-be-washed barrel is in a load state.

Preferably, in step S1, an average value K of empty bucket rate values corresponding to the effective OOB values of the tub to be washed is calculated₁% of the steps comprising:

s11: n sets of OOB values of a₁、a₂...a_nJudgment of a₁、a₂...a_nWhether within a threshold range (A, B), a_iIs a₁、a₂...a_n1 is not less than i not more than n, if a_iWithin the threshold value range (A, B), the value is considered as a_iIs a valid value, and a_iSubstitution function y1 ═ ax²+ bx + c, calculating a_iCorresponding OOB value empty bucket rate K_1iPercent; if a_iIf not, a is considered to be_iInvalid, let a_iThe corresponding OOB value bucket empty rate is 0, wherein a is a first proportional parameter, b is a second proportional parameter, and c is a third proportional parameter;

s12: calculating K₁%, wherein, if a₁、a₂...a_nAre all within the threshold range (A, B), then K₁％＝(K₁₁％+K₁₂％+...+K_1n%)/n; if a₁、a₂...a_nIf e is not within the threshold range (A, B), K is₁％＝(K₁₁％+K₁₂％+...+K_1n%)/(n-e), wherein e is more than or equal to 0 and less than or equal to n.

Preferably, in step S1, an average value K of empty tub rate values corresponding to the weight value of the tub to be washed is calculated₂% of the steps comprising:

s13: m groups of weighing values of b₁、b₂...b_mJudgment of b₁、b₂...b_mWhether within a threshold range (C, D), b_jIs b is₁、b₂...b_m1 is not less than j not more than m, if b is any one of_jWithin the threshold value range (C, D), b is considered to be_jIs a valid value, and b is_jSubstituting the function y2 ═ dx + h, calculate b_jCorresponding weighing value empty bucket rate K_2jPercent; if b is_jIf not, b is considered to be_jInvalid, let b_jThe corresponding weighing value empty bucket rate is 0, wherein d is a fourth proportional parameter, and h is a fifth proportional parameter;

s14: calculating K₂%, wherein, if b₁、b₂...b_mAre all within the threshold range (C, D), then K₂％＝(K₂₁％+K₂₂％+...+K_2m%)/m; if b is₁、b₂...b_mIf the number of g is not within the threshold range (C, D), K is₂％＝(K₂₁％+K₂₂％+...+K_2m%)/(m-g), wherein g is more than or equal to 0 and less than or equal to m.

Preferably, the OOB value and the weighing value M1 of the washing machine measured in the step S1 are as follows: OOB value and weighing value M1 of the washing machine were measured through a motor and a driving board.

Preferably, step S2 further includes:

s21: judging whether the calculated empty value K% of the washing barrel is close to the preset empty value K when the washing barrel to be washed is in an empty state₀% if K% is close to K₀Percent, judging that a small amount of clothes exist in the washing machine, and reminding a user whether to continue to carry out a washing program; if K% does not approach K₀% does not remind the user and directly run the washing program, wherein, if K% is in the range K₀％-0.5％≤K％≤K₀In% to +0.5%, the calculated empty tub value K% is considered to be close to K₀Percent, otherwise, the calculated empty value K% of the washing barrel is not close to K₀％。

Preferably, n is in a range of n greater than 1, and n is a natural number m is in a range of m greater than 1, and m is a natural number; the threshold value (A, B) is 10-50 and comprises end point values at two sides; the threshold value (C, D) is 100-200 and includes both side end points.

Preferably, in step S21, after the washing machine determines that there is a small amount of laundry in the washing tub and reminds the user, if the user performs a process according to the reminder of the washing machine within f seconds, the washing machine is controlled to perform the process according to the user' S selection; if the user does not process within f seconds, the washing machine is controlled to automatically wash.

The invention also provides a washing machine which is provided with a washing barrel and adopts the first method for judging the empty barrel.

The invention also provides a multi-barrel washing machine which is provided with a plurality of washing barrels, and whether each washing barrel is an empty barrel is judged by adopting the second method for judging the empty barrel provided by the invention.

According to the method for judging the empty tub of the washing machine and the washing machine adopting the method, function operation is carried out within a certain threshold range according to the OOB value and the weighing value which are measured for many times, and then the result of multiplying the obtained average percentage is compared with the preset empty tub value percentage, so that whether the washing machine has a load or not or whether a small amount of load exists or not is judged, the empty tub of the washing machine is prevented from running, and energy waste is avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.

FIG. 1 is a schematic view of a process for determining an empty tub in a single-tub washing machine according to embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of the OOB value function in embodiment 1 of the present invention;

FIG. 3 is a diagram showing a function of a weighing value in example 1 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

According to the invention, function operation is carried out within a certain threshold range of each OOB value and weighing value which are measured for many times, the result obtained by multiplying the obtained average percentage is compared with the preset empty barrel value percentage, whether the washing machine has a load or has a small load or not is judged, and then the next operation is carried out according to the judgment result, so that the control is simple, the operability is strong, the empty barrel operation of the washing machine can be avoided, and the energy is saved.

Example 1:

as shown in fig. 1 to 3, the present embodiment provides a method for judging an empty tub in a washing machine, which can be applied to a pulsator type washing machine or a drum type washing machine, which is a single washing tub, and performs the following control when judging whether it is an empty tub:

s1: rotating a washing barrel of the washing machine according to a preset rotating speed, measuring n groups of OOB values of the washing barrel to be washed, wherein n is greater than 1 and is a natural number, preferably, n is greater than or equal to 3 and less than or equal to 10, calculating empty barrel value corresponding to effective OOB value, and calculating average value K of the empty barrel value corresponding to effective OOB value₁Percent; measuring m groups of weighing values of the barrel to be washed, wherein m is more than 1 and is a natural number, preferably, m is more than or equal to 3 and less than or equal to 10, calculating empty barrel rate values corresponding to the effective weighing values, and calculating an average value K of the empty barrel rate values corresponding to the effective weighing values₂％。

The OOB value of the washing machine specifically means that the washing machine is likely to cause large eccentricity of a system due to uneven distribution of loads in a barrel in a dehydration process, so that the centrifugal force of the system is large, the outer barrel impacts a box body or the whole machine is displaced, and the like.

Preferably, the OOB value of the washing machine is measured by a motor and a driving board in the washing machine.

Preferably, the washing machine has a first preset rotation speed and a third preset rotation speed in the process of measuring the OOB value and the weighing value, wherein in the process of measuring the OOB value of the washing machine, the washing tub of the washing machine rotates according to the first preset rotation speed N1, the range of N1 is 80 rpm-110 rpm, in this embodiment, N1 is preferably 93 rpm, and further, 97 rpm or 100 rpm may be selected according to the type of the washing machine.

Preferably, in the process of measuring the weighing value of the washing machine, the washing machine washing barrel rotates according to a third preset rotating speed N3, the rotating speed N3 ranges from 100 revolutions per minute to 200 revolutions per minute, wherein N3 is not less than N1, and N3 is preferably 120 revolutions per minute on the basis that N1 is preferably 93 revolutions per minute in the embodiment.

Preferably, the average value K of the empty bucket rate values corresponding to the effective OOB values of the bucket to be washed is calculated₁% of the steps comprising:

s11: n sets of OOB values of a₁、a₂...a_nJudgment of a₁、a₂...a_nWhether within a threshold range (A, B), a_iIs a₁、a₂...a_n1 is not less than i not more than n, if a_iWithin the threshold value range (A, B), the value is considered as a_iIs a valid value, and a_iSubstitution function y1 ═ ax²+ bx + c, calculating a_iCorresponding OOB value empty bucket rate K_1iPercent; if a_iIf not, a is considered to be_iInvalid, let a_iThe corresponding OOB value empty bucket rate is 0, wherein the threshold value (A, B) is 10-50 and comprises end point values at two sides, a is a first proportion parameter, B is a second proportion parameter, and c is a third proportion parameter. The first proportional parameter a > 0 indicates that the barrel empty rate is larger as the OOB value is smaller and smaller; the first proportional parameter a < 0 shows that the space-time bucket rate is larger when the OOB value is larger and larger; the second proportion parameter b determines whether the OOB value and the empty bucket rate are in direct proportion or inverse proportion; the larger the third proportion parameter c is, the smaller the change of the empty bucket rate with the OOB value is, and the smaller c is, the larger the change of the empty bucket rate with the OOB value is.

In this embodiment, it is further preferable that the threshold value [ a, B ] of the OOB value is set to 20-35 and includes two side end points, that is, in this embodiment, a is 20 and B is 35.

Preferably, in this embodiment, the OOB value measurement count n is 3; the number of times m of weighing is 3.

Preferably, the three measured weighing values a are₁、a₂、a₃A and a₃Is not within the threshold value [ A, B ], and therefore the effective OOB value measured is a₁、a₂And substituted into the function y1 ═ ax²The empty bucket rate value K obtained after + bx + c_1i% of each group E₁99.21% and E₂98.27%, calculating K₁% is 98.74%, and Table 1 shows the results of two effective OOB values and the calculated empty bucket rate.

Preferably, the average value K of empty tub rate values corresponding to the weight value of the tub to be washed is calculated₂% of the steps comprising:

s13: m groups of weighing values of b₁、b₂...b_mJudgment of b₁、b₂...b_mWhether within a threshold range (C, D), b_jIs b is₁、b₂...b_m1 is not less than j not more than m, if b is any one of_jWithin the threshold range (C, D), b is considered to be_jIs a valid value, and b is_jSubstituting the function y2 ═ dx + h, calculate b_jCorresponding weighing value empty bucket rate K_2jPercent; if b is_jIf not, b is considered to be_jInvalid, let b_jThe corresponding weighing value empty bucket rate is 0, wherein the threshold value (C, D) is 100-200 and comprises end point values at two sides, D is a fourth proportion parameter, and h is a fifth proportion parameter. The fourth proportion parameter d determines whether the weighing value and the weighing value empty barrel rate are in a positive proportion or an inverse proportion, and if d is larger than 0, the weighing value and the weighing value empty barrel rate are in a positive proportion; if d is less than 0, the weighing value and the empty bucket rate of the weighing value are in inverse proportion; the larger the fifth proportional parameter h is, the smaller the change of the empty bucket rate with the OOB value is, and the smaller h is, the larger the change of the empty bucket rate with the OOB value is.

In this embodiment, it is further preferable that the threshold value [ C, D ] of the weighting value is set to be 140 to 160 and includes two side end values, i.e., in this embodiment, C is 140 and D is 160.

S14: calculating K₂%, wherein, if b₁、b₂...b_mAre all within the threshold range (C, D), then K₂％＝(K₂₁％+K₂₂％+...+K_2m%)/m; if b is₁、b₂...b_mIn the middle, g areIf the number is not within the threshold range (C, D), K is₂％＝(K₂₁％+K₂₂％+...+K_2m%)/(m-g), wherein g is more than or equal to 0 and less than or equal to m.

Preferably, the three measured weighing values b are₁、b₂、b₃And b is₂Is not within the threshold value [ C, D ], so the effective weighting value is b₁、b₃The empty bucket rate values K obtained by substituting the values into the function y2 ═ dx + h_2j% of each are F₁99.31% and F₃98.46%, calculating K₂The% is 98.89%, and Table 2 shows the results of two effective weighing values and the calculated empty barrel rate.

S2: calculating the obtained empty value K% of the washing barrel, wherein K% (K)₁％)*(K₂%) to judge whether the calculated empty tub value K% of the washing tub is larger than or equal to the preset empty tub value K when the washing tub is in an empty state₀% if K% is greater than or equal to K₀Percent, judging that the barrel to be washed is in an empty barrel state; if K% is less than K₀Percent, judging that the to-be-washed barrel is in a load state, wherein K₀% ranges from 95% to 100%.

According to the calculation, K is obtained₁% of 98.74%, K₂% is 98.89%, and therefore, K% ((K))₁％)*(K₂％)＝98.74％x 98.89％＝98.81％。

Preferably, K₀% of the total amount of K is in the range of 95% to 100%, and K is more preferably K in this example₀% preset is 97%, and the calculated empty tub value K% is 98.81%, the calculated empty tub value K% is greater than K₀%, the washing tub in this embodiment is empty.

Step S2 further includes:

s21: judging whether the calculated empty value K% of the washing barrel is close to the preset empty value K when the washing barrel to be washed is in an empty state₀% if K% is close to K₀Percent, judging that a small amount of clothes exist in the washing machine, and reminding a user whether to continue to carry out a washing program; if K% does not approach K₀% not reminding user but directly running washing program, whereinIf K% is in the range K₀％-0.5％≤K％≤K₀In% to +0.5%, the calculated empty tub value K% is considered to be close to K₀Percent, otherwise, the calculated empty value K% of the washing barrel is not close to K₀％。

In a further preferred embodiment, the value range of K% is preferably K₀％-0.3％≤K％≤K₀% + 0.3%, whereas K is present in this example₀% is preset to 97%, so in this example, when K% is in the range 96.7% ≦ K% ≦ 97.3%, the calculated empty tub value K% is considered to be close to K₀Percent, otherwise, the calculated empty value K% of the washing barrel is not close to K₀％。

Preferably, the small garment is an undergarment, vest, sock or lightweight garment having a small number of pieces.

Preferably, the mode of reminding the user includes screen display and/or voice broadcast, and specifically, the content of the screen display and/or voice broadcast may be "only a small amount of clothes in the washing machine, please confirm whether to continue washing", or "only a small amount of clothes in the washing machine, please confirm whether to replace the washing tub".

Preferably, in step S21, after the washing machine determines that there is a small amount of laundry in the washing tub and reminds the user, if the user performs processing according to the reminder of the washing machine within f seconds, i.e. the user determines to continue washing, or stop washing, or replace the washing tub, the washing machine performs processing according to the selection mode of the user; if the user does not process within f seconds, the default is that a small amount of clothes in the washing barrel is washed in the barrel, and the washing program is started to automatically wash.

Preferably, the value of the time f for the washing machine to wait for the user to continuously wash a small amount of laundry is in the range of 0 to 60 seconds, and in this embodiment, f is preferably 10 seconds.

TABLE 1 effective OOB values and calculated empty bucket Rate results

OOB value	E₁	E₂	K₁％
				Empty rate of barrel	99.21％	98.27％	98.74％

TABLE 2 effective weighing values and calculated empty bucket Rate results

Value of weighing	F₁	F₃	K₂％
				Empty rate of barrel	99.31％	98.46％	98.89％

According to the method provided by the embodiment, function operation is carried out within a certain threshold range according to the OOB value and the weighing value which are measured for many times, the result obtained by multiplying the average percentage is compared with the preset empty-tub value percentage, whether the washing machine is an empty tub is judged, the empty tub of the washing machine can be prevented from being started, a small amount of clothes in the washing machine can be judged and prompted, a user can be prompted to wash the next time, or the small amount of clothes are replaced into the washing machine with smaller capacity for washing, and energy waste is avoided.

Example 2:

the present embodiment provides a method for determining an empty tub in a multi-tub washing machine, which is a drum-type washing machine, and may have two or more washing tubs, and the present embodiment preferably has two washing tubs, an upper tub and a lower tub, and the method for determining an empty tub in embodiment 1 may be respectively adopted, and the present embodiment is different from embodiment 1 in that the first preset rotation speed N1 and the third preset rotation speed N3 of the upper tub in the OOB value measurement and weighing value measurement process are the same as those in embodiment 1, but the second preset rotation speed N2 of the lower tub in the OOB value measurement and the fourth preset rotation speed N4 of the weighing value measurement are the same as those in embodiment 1.

Preferably, the preset rotating speeds when the plurality of barrels measure the OOB values simultaneously can be the same or different, and the preset rotating speeds when the plurality of barrels measure the weighing values simultaneously can be the same or different, and further preferably, the preset rotating speeds when the weighing values are measured are greater than or equal to the preset rotating speeds when the OOB values are measured.

Preferably, the OOB value and the weighing value of the washing tub are measured in the order of: the OOB value is measured first, and then the weighing value is measured.

In this embodiment, the range of N2 is preferably 90 rpm to 110 rpm, and in this embodiment, N2 is more preferably 110 rpm.

In the present embodiment, the range of N4 is preferably 110 rpm to 200 rpm, and in the present embodiment, N4 is more preferably 180 rpm.

The embodiment provides a method for judging empty tub of a multi-tub washing machine, which can perform function operation within a certain threshold range according to OOB values and weighing values measured for multiple times, and then compare the result of multiplying the obtained average percentage with the preset empty tub value percentage.

Example 3:

the present embodiment provides a multi-tub washing machine, which uses the method of determining an empty tub in embodiment 2, wherein the multi-tub washing machine is a double-tub washing machine, and washes laundry through an upper tub and a lower tub, determines whether each of the washing tubs is an empty tub, performs function operation within a certain threshold range according to OOB values and weighing values measured many times, and compares a result of multiplying the obtained average percentage with a preset empty tub value percentage to determine whether the washing tub is an empty tub.

Preferably, the multi-tub washing machine in this embodiment includes a motor and a driving board for measuring the OOB value and the weighing value of the washing machine.

In summary, the invention performs function operation within a certain threshold range according to the OOB value and the weighing value measured for many times, and then compares the result of multiplying the obtained average percentage with the preset empty tub value percentage to obtain whether a load exists in the washing tub, so as to prevent the empty tub of the washing machine from operating.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method for judging whether a washing machine is empty, wherein the washing machine is provided with a washing barrel, and is characterized in that before starting washing, the following control is carried out on the washing barrel to be washed:

s1: rotating a washing barrel of the washing machine according to a preset rotating speed, measuring n groups of OOB values of the barrel to be washed, calculating a barrel empty value corresponding to the effective OOB value, and calculating an average value K1% of the barrel empty values corresponding to the effective OOB value; measuring m groups of weighing values of the barrel to be washed, calculating empty barrel rate values corresponding to the effective weighing values, and calculating an average value K2% of the empty barrel rate values corresponding to the effective weighing values;

s2: calculating the resulting tub empty value K%, wherein K% = (K1%) = (K2%);

s3: judging whether the calculated empty value K% of the washing barrel is larger than or equal to a preset empty value K0% when the barrel to be washed is in an empty state, and if the calculated empty value K% of the washing barrel is larger than or equal to K0%, judging that the barrel to be washed is in an empty state; and if the calculated empty value K% of the washing barrel is less than K0%, determining that the washing barrel to be washed is in a load state.

2. A method for judging whether a washing machine is empty, wherein the washing machine is provided with a plurality of washing barrels, and is characterized in that the following control is carried out on the plurality of washing barrels before the washing is started:

s1: enabling a plurality of washing barrels of the washing machine to rotate according to a preset rotating speed, measuring n groups of OOB values of each barrel to be washed, calculating empty barrel values corresponding to effective OOB values, and then calculating an average value K1 of the empty barrel values corresponding to the effective OOB values; measuring m groups of weighing values of the barrel to be washed, calculating empty barrel rate values corresponding to the effective weighing values, and calculating an average value K2% of the empty barrel rate values corresponding to the effective weighing values;

s2: calculating a calculated tub empty value K% for each tub to be washed, wherein K% = (K1%) × (K2%);

3. The method of claim 1 or 2, wherein the step of calculating the average value K1% of the empty tub value corresponding to the effective OOB value of the tub to be washed in the step S1 comprises:

s11: n groups of OOB values are a1 and a2.. an, whether a1 and a2.. an are within a threshold range [ A, B ], ai is any number of a1 and a2.. an, i is larger than or equal to 1 and smaller than or equal to n, if ai is within the threshold range [ A, B ], ai is considered to be an effective value, and ai is substituted into a function y1= ax + bx + c, and the OOB value empty bucket rate K1i% corresponding to ai is calculated; if ai is not in the range, the ai is considered invalid, and the OOB value empty bucket rate corresponding to the ai is made to be 0, wherein a is a first proportion parameter, b is a second proportion parameter, and c is a third proportion parameter;

s12: calculating K1%, wherein, if a1, a2.. an are both within the threshold range [ a, B ], then K1% = (K11% + K12% +. K1 n%)/n; if the number e of a1 and a2.. an is not within the threshold range [ A, B ], K1% = (K11% + K12% +. K1 n%)/(n-e), wherein 0 ≦ e ≦ n.

4. The method of claim 3, wherein n is in a range of n greater than 1, and n is a natural number; the threshold value (A, B) is 10-50 and comprises two side endpoint values.

5. The method of claim 1 or 2, wherein the step of calculating the average value K2% of the empty tub value corresponding to the weight value of the tub to be washed in the step S1 comprises:

s13: m groups of weighing values are b1 and b2... bm, whether b1 and b2... bm are within a threshold range [ C and D ], bj is any number of b1 and b2... bm, j is more than or equal to 1 and less than or equal to m, if bj is within the threshold range [ C and D ], bj is considered to be an effective value, bj is substituted into a function y2= dx + h, and the weighing value empty bucket rate K2j% corresponding to bj is calculated; if bj is not in the range, determining that bj is invalid, and enabling the empty bucket rate of the weighing value corresponding to bj to be 0, wherein d is a fourth proportional parameter, and h is a fifth proportional parameter;

s14: calculating K2%, wherein, if b1, b2... bm are both within the threshold range [ C, D ], then K2% = (K21% + K22% +. + K2 m%)/m; if the number of g in b1 and b2... bm is not within the threshold range [ C, D ], K2% = (K21% + K22% +. K2 m%)/(m-g), wherein, g is not less than 0 and not more than m.

6. The method of claim 5, wherein m is in a range of m greater than 1, and m is a natural number; the threshold value (C, D) is 100-200 and comprises two side endpoint values.

7. The method of claim 1 or 2, wherein the OOB value and the weighing value M1 of the washing machine are measured in the step S1 by: OOB value and weighing value M1 of the washing machine were measured through a motor and a driving board.

8. The method of determining an empty tub of a washing machine as set forth in claim 1 or 2, wherein the step S2 further comprises:

s21: judging whether the calculated empty tub value K% of the washing tub is close to a preset empty tub value K0 when the tub to be washed is in an empty tub state, and if the K% is close to K0%, judging that a small amount of clothes exist in the washing machine and reminding a user whether to continue to carry out a washing program; and if the K% is not close to K0%, directly running the washing program without reminding the user, wherein if the K% is within the range of K0% -0.5% ≦ K0% +0.5%, the calculated empty tub value K% is considered to be close to K0%, otherwise the calculated empty tub value K% is considered not to be close to K0%.

9. The method of claim 8, wherein in the step S21, after the washing machine determines that there is a small amount of laundry in the washing tub and reminds the user, if the user processes according to the reminder of the washing machine within f seconds, the washing machine is controlled to process according to the user' S selection; if the user does not process within f seconds, the washing machine is controlled to automatically wash.

10. A washing machine, characterized in that it employs the method of any one of claims 1-9.

11. A multiple tub washing machine characterized in that it determines whether each washing tub is empty by the method of any of claims 2-9.