CN113186691A - Control method and device for balance degree of washing machine and washing machine - Google Patents
Control method and device for balance degree of washing machine and washing machine Download PDFInfo
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- CN113186691A CN113186691A CN202110471790.1A CN202110471790A CN113186691A CN 113186691 A CN113186691 A CN 113186691A CN 202110471790 A CN202110471790 A CN 202110471790A CN 113186691 A CN113186691 A CN 113186691A
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F33/00—Control of operations performed in washing machines or washer-dryers
- D06F33/30—Control of washing machines characterised by the purpose or target of the control
- D06F33/48—Preventing or reducing imbalance or noise
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/14—Arrangements for detecting or measuring specific parameters
- D06F34/16—Imbalance
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00
- D06F39/12—Casings; Tubs
- D06F39/125—Supporting arrangements for the casing, e.g. rollers or legs
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Abstract
The embodiment of the invention provides a method and a device for controlling the balance degree of a washing machine and the washing machine, wherein the method comprises the following steps: acquiring gyroscope data before starting a washing program of the washing machine; judging whether the washing machine is in a balanced state or not according to the gyroscope data; if the washing machine is in a balanced state, starting a washing program; otherwise, the following steps S1-S3 are executed: s1, acquiring at least two groups of first distance detection data of the washing machine feet acquired by the first distance sensor; wherein, a group of first distance detection data corresponds to a horizontal height value of a washing machine foot; s2, carrying out data processing on the first distance detection data to obtain balance degree adjustment data; and S3, adjusting the feet of the washing machine according to the balance adjustment data, and starting the washing program after the feet of the washing machine are at the same horizontal height. The scheme can realize the balance adjustment of the washing machine, thereby improving the use experience of users.
Description
Technical Field
The invention relates to the technical field of intelligent home furnishing, in particular to a washing machine balance degree control method and device and a washing machine.
Background
With the increasing popularization of smart homes to daily life, washing machine washing becomes an important life style. However, in the using process of the washing machine, if the ground is uneven, the bottom feet of the washing machine are not stably supported, the washing machine greatly shakes, so that the inner barrel of the washing machine easily collides with the outer wall, and the motor and the fixer are damaged. Therefore, the balance adjustment of the washing machine has important practical application value.
Patent application No. CN01610230114.4 discloses a washing machine foot with automatic adjustment function and a washing machine, which are connected by two or more hydraulic feet, and the purpose of balancing the washing machine foot is achieved by adapting different pressures borne by different feet. However, the scheme cannot realize the adjustment of the balance degree of the washing machine in a short time due to slow fluid self-adaptation, so that the use experience of a user is poor.
Therefore, it is desirable to provide a control scheme for the balance of the washing machine to improve the user experience of the washing machine.
Disclosure of Invention
The embodiment of the invention provides a washing machine balance degree control method and device and a washing machine, which can realize balance degree adjustment of the washing machine, thereby improving the use experience of a user.
In a first aspect, an embodiment of the present invention provides a method for controlling a balance of a washing machine, including:
acquiring gyroscope data before starting a washing program of the washing machine;
judging whether the washing machine is in a balanced state or not according to the gyroscope data;
if the washing machine is in a balanced state, starting the washing program; otherwise, the following steps S1-S3 are executed:
s1: acquiring at least two groups of first distance detection data of the washing machine bottom feet acquired by a first distance sensor; wherein a set of said first distance detection data corresponds to a horizontal height value of a foot of said washing machine;
s2: performing data processing on the first distance detection data to obtain balance degree adjustment data;
s3: and adjusting feet of the washing machine according to the balance degree adjusting data, and starting the washing program after all the feet of the washing machine are at the same horizontal height.
In one possible implementation, after the starting the washing program, the method further includes:
acquiring the collision distance detected by the second distance sensor in real time; wherein the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine;
judging whether the collision distance is within a preset safe distance range;
if the collision distance is out of the preset safe distance range, the washing program is suspended, and the steps S1-S3 are performed.
In a possible implementation manner, the performing data processing on the first distance detection data to obtain balance adjustment data includes:
s21: acquiring the maximum value and the minimum value in the at least two groups of first distance detection data;
s22: calculating an average of the maximum and minimum values;
s23: and calculating the difference between the maximum value and the average value to obtain balance degree adjusting data.
In a possible implementation manner, after step S23, the method further includes:
s24: adjusting the washing machine using the balance adjustment data;
s25: acquiring gyroscope data, calculating the difference between the maximum value and the balance adjustment data and calculating the sum of the minimum value and the balance adjustment data when the washing machine is judged not to be in a horizontal state according to the gyroscope data, and obtaining two groups of primary balance adjustment data;
s26: replacing the maximum value and the minimum value with the two groups of primary balance degree adjusting data to determine second distance detection data;
s27: performing steps S21-S26 cyclically with the second distance detection data as first distance detection data until the laundry machine is in a balanced state.
In a second aspect, an embodiment of the present invention provides a device for controlling a balance of a washing machine, including: the device comprises an acquisition module, a first judgment module and a first execution module;
the acquisition module is used for acquiring gyroscope data before starting a washing program of the washing machine;
the first judging module is used for judging whether the washing machine is in a balanced state or not according to the gyroscope data acquired by the acquiring module;
the first execution module is used for starting the washing program when the first judgment module judges that the washing machine is in a balanced state; and performing the following steps S1-S3 when the first judgment module judges that the washing machine is not in the balance state:
s1: acquiring at least two groups of first distance detection data of the washing machine bottom feet acquired by a first distance sensor; wherein a set of said first distance detection data corresponds to a horizontal height value of a foot of said washing machine;
s2: performing data processing on the first distance detection data to obtain balance degree adjustment data;
s3: and adjusting feet of the washing machine according to the balance degree adjusting data, and starting the washing program after all the feet of the washing machine are at the same horizontal height.
In one possible implementation manner, the control device for controlling the balance degree of the washing machine further includes: the real-time acquisition module, the second judgment module and the second execution module;
the real-time acquisition module is used for acquiring the collision distance detected by the second distance sensor in real time; wherein the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine;
the second judgment module is used for judging whether the collision distance acquired by the real-time acquisition module is within a preset safe distance range;
the second executing module is configured to suspend the laundry program and execute the steps S1-S3 if the second determining module determines that the collision distance is outside a preset safe distance range.
In a possible implementation manner, the first execution module and/or the second execution module are configured to perform the following operations:
s21: acquiring the maximum value and the minimum value in the at least two groups of first distance detection data;
s22: calculating an average of the maximum and minimum values;
s23: and calculating the difference between the maximum value and the average value to obtain balance degree adjusting data.
In a possible implementation manner, the first execution module and/or the second execution module is further configured to perform the following operations:
s24: adjusting the washing machine using the balance adjustment data;
s25: acquiring gyroscope data, calculating the difference between the maximum value and the balance adjustment data and calculating the sum of the minimum value and the balance adjustment data when the washing machine is judged not to be in a horizontal state according to the gyroscope data, and obtaining two groups of primary balance adjustment data;
s26: replacing the maximum value and the minimum value with the two groups of primary balance degree adjusting data to determine second distance detection data;
s27: performing steps S21-S26 cyclically with the second distance detection data as first distance detection data until the laundry machine is in a balanced state.
In a third aspect, an embodiment of the present invention further provides a washing machine, including: a gyroscope, at least two first distance sensors, a control device of the balance degree of the washing machine in any embodiment of the second aspect, at least two washing machine feet and a washing machine body;
the gyroscope, the at least two first distance sensors, the control device of the washing machine balance degree and the at least two washing machine feet are all arranged on the washing machine body; the gyroscope is mounted at the center of the washing machine body, and the distance from each gyroscope to each washing machine foot is equal; at least one first distance sensor is arranged on each washing machine foot;
the gyroscope is used for generating gyroscope data according to the horizontal state of the washing machine body;
each first distance sensor is used for collecting first distance detection data; wherein the first distance detection data is used for representing the level of the footing of the washing machine;
the control device of the balance degree of the washing machine is used for judging whether the washing machine body is in a horizontal state or not according to the gyroscope data generated by the gyroscope, and carrying out data processing on each first distance detection data acquired by each first distance sensor when the washing machine body is not in the horizontal state to obtain balance degree adjustment data; and adjusting the washing machine feet according to the balance degree adjusting data, and starting the washing program after all the washing machine feet are at the same horizontal height.
In one possible implementation, the washing machine further includes: a second distance sensor;
the second distance sensor is arranged on the inner cylinder and/or the outer wall of the washing machine body;
the second distance sensor is used for detecting the collision distance in real time; wherein the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine body;
and the control device of the washing machine balance degree is used for judging whether the collision distance is out of a preset safe distance range or not and adjusting the balance degree of each washing machine foot when the collision distance is out of the safe distance range.
According to the technical scheme, before the washing program of the washing machine is started, whether the washing machine is in a balanced state or not can be determined by acquiring gyroscope data, if the washing machine is not in the balanced state, first distance detection data of the bottom feet of the washing machine needs to be acquired, then the first distance detection data is processed to obtain balance degree adjusting data needing to carry out balance adjustment on the washing machine, and then the bottom feet of the washing machine can be adjusted according to the balance degree adjusting data. Therefore, when the washing machine is in an unbalanced state through automatic detection, the data needing to be adjusted of the washing machine can be obtained through processing according to the first distance detection data of the bottom feet, the balance degree of the washing machine can be efficiently adjusted by using accurate data, and therefore the use experience of a user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a balance of a washing machine according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling a balance of a washing machine according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control device for balancing degree of a washing machine according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a washing machine according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be 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, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a balance of a washing machine, which may include the steps of:
step 101: acquiring gyroscope data before starting a washing program of the washing machine;
step 102: judging whether the washing machine is in a balanced state or not according to the gyroscope data;
step 103: if the washing machine is in a balanced state, starting a washing program; otherwise, the following steps S1-S3 are executed:
s1: acquiring at least two groups of first distance detection data of the washing machine bottom feet acquired by a first distance sensor; wherein, a group of first distance detection data corresponds to a horizontal height value of a washing machine foot;
s2: processing the first distance detection data to obtain balance degree adjustment data;
s3: and adjusting the feet of the washing machine according to the balance degree adjusting data, and starting a washing program after all the feet of the washing machine are at the same horizontal height.
In the embodiment of the invention, before starting the washing program of the washing machine, whether the washing machine is in a balanced state can be determined by acquiring gyroscope data, if the washing machine is not in the balanced state, first distance detection data of the bottom feet of the washing machine needs to be acquired, then the first distance detection data is processed to obtain balance degree adjustment data needing to carry out balance adjustment on the washing machine, and then the bottom feet of the washing machine can be adjusted according to the balance degree adjustment data. Therefore, when the washing machine is in an unbalanced state through automatic detection, the data needing to be adjusted of the washing machine can be obtained through processing according to the first distance detection data of the bottom feet, the balance degree of the washing machine can be efficiently adjusted by using accurate data, and the use experience of a user is improved.
In some implementation manners of the embodiment of the present invention, the gyroscope may be a single-axis gyroscope, or may be a dual-axis or tri-axis gyroscope. In addition, in the scheme, the gyroscope mainly plays a role in detecting the balance degree of the washing machine. Therefore, the device and the components capable of realizing the balance degree detection of the washing machine can be used as a gyroscope data acquisition device, and are not limited to the gyroscope specifically.
In some implementations, the first distance sensor of the embodiment of the present invention may include various types of optical distance sensors, infrared distance sensors, ultrasonic distance sensors, etc., as long as it can detect the horizontal distance of the bottom leg of the washing machine, which may be employed to obtain the distance detection data. Of course, the first distance sensor should be installed on each washing machine foot. For example, if there are three feet of the washing machine, at least a first distance sensor should be installed on each foot, i.e. it is ensured that first distance detection data of each foot can be collected. The foot should of course be a foot that can be height adjusted, and may for example comprise a hydraulic adjustment foot.
It should be noted that the second distance sensor mentioned below may also include various types of sensors such as an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, and the like, and the first distance sensor and the second distance sensor may be the same or different.
In one possible implementation, after the starting of the washing program, the method further includes:
acquiring the collision distance detected by the second distance sensor in real time; the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine;
judging whether the collision distance is within a preset safe distance range;
if the collision distance is out of the preset safe distance range, the washing process is suspended and steps S1-S3 are performed.
In the embodiment of the invention, after the washing machine program is started, namely the washing machine is in a washing state, the collision distance detected by the second distance sensor is collected in real time, and when the collision distance is out of the safe distance range, the inner drum and the outer wall of the washing machine collide when the washing machine executes the washing program, which may be caused by the fact that the washing machine is in an unbalanced state. Considering the suspension of the washing course at this time, the balance of the washing machine is adjusted by performing the processes of S1-S3 in step 103. Therefore, the scheme can realize the detection and adjustment of the balance degree of the washing machine in a static state before the washing program is executed, and can also detect the balance state of the washing machine in real time and adjust the balance degree in the washing process, so that the possibility of abrasion of components of the washing machine such as a motor and the like can be reduced, and the service life of the washing machine is prolonged.
In a possible implementation manner, the step S2 of performing data processing on the first distance detection data to obtain the balance adjustment data includes:
s21: acquiring the maximum value and the minimum value in at least two groups of first distance detection data;
s22: calculating the average value of the maximum value and the minimum value;
s23: and calculating the difference between the maximum value and the average value to obtain balance degree adjusting data.
In the embodiment of the invention, when the data processing is performed on the first distance detection data to obtain the balance degree adjustment data, the average value between the maximum values is obtained, and the difference between the maximum value and the average value is used as the amount to be adjusted, so that the accurate balance degree adjustment data can be obtained, and the rapid and accurate balance degree adjustment is realized.
For example, by collecting A, B, C, D the first distance detection data of four washing machine feet are respectively 10mm, 9mm, 16mm and 8mm, it can be seen that the maximum value and the minimum value in the group of data are respectively 16 and 8, and the average value is 12, so that the C washing machine foot needs to adjust the foot 12-16 to-4, i.e. the foot needs to be contracted by 4mm, and the D washing machine foot needs to adjust the foot 12-8 to 4, i.e. the foot needs to be elongated by 4 mm.
In a possible implementation manner, after step S23, that is, after obtaining the balance adjustment data, the method further includes:
s24: adjusting the washing machine using the balance adjustment data;
s25: acquiring gyroscope data, calculating the difference between the maximum value and the balance adjustment data and the sum of the minimum value and the balance adjustment data when the washing machine is judged not to be in a horizontal state according to the gyroscope data, and obtaining two groups of primary balance adjustment data;
s26: replacing the maximum value and the minimum value with the two groups of primary balance degree adjusting data to determine second distance detection data;
s27: the steps S21-S26 are performed in a loop with the second distance detection data as the first distance detection data until the washing machine is in a balanced state.
In the embodiment of the invention, after the balance degree is adjusted for the first time by using the balance degree adjusting data obtained in the step S23, the condition that the washing machine is unbalanced may exist, so that the balance degree is judged again according to the gyroscope data, new second distance detection data after adjustment is obtained through the balance adjusting data in the unbalanced state, and then the second distance detection data is used as the first distance detection data to circularly execute the steps S21-S26 until the washing machine reaches the balanced state.
For example, after the feet of the C and D washing machines are adjusted, the washing machines are still in an unbalanced state through gyroscope detection, and thus two sets of primary balance adjustment data corresponding to C and D are respectively 12mm and 12mm through calculation. That is, the second distance detection data is formed as follows: A. b, C, D the second distance detection data of the four washing machine feet are respectively 10mm, 9mm, 12mm, and the second distance detection data is calculated and adjusted again as the new first distance detection data. Namely, the maximum value and the minimum value in the new first distance detection data are 12mm and 9mm corresponding to C and B, respectively, or 12mm and 9mm corresponding to D and B, respectively, and either one of the groups is taken for calculation and adjustment, and C and B are taken as an example below. The average of C and B was 10.5, so the balance adjustment data was 1.5, i.e., the C foot was contracted by 1.5mm and the B foot was elongated by 1.5 mm. Further, the balance degree is judged again through the gyroscope, and new second distance detection data are obtained: A. b, C, D the second distance detection data of the four washing machine feet are respectively 10mm, 10.5mm, 12mm, and then the second distance detection data is calculated and adjusted again as the first distance detection data until the washing machine is in a balanced state.
Therefore, if the accuracy of judging the balance state through the gyroscope data is determined to be very high, the accuracy of the adjusted balance degree can be made to be very high by calculating and adjusting the data through the scheme.
The method for controlling the balance of the washing machine provided by the embodiment of the invention is further explained in the case of four hydraulic feet.
The application scenario of the present invention can be summarized into two states, a static state and an operating state. Here, the stationary state may be understood as performing balance adjustment before a washing program of the washing machine is started, and the operating state may be understood as a state in which an unbalance of the washing machine is detected during the operation of the washing program, thereby performing balance adjustment. As shown in fig. 2, the following process may be specifically included:
a static state: starting a power supply, starting a washing machine main control program to run, asking for gyroscope data by a main control chip, and directly entering a washing program if the gyroscope data indicates that the washing machine is in a horizontal state; if the sensor is not in the horizontal state, the main control chip sends a detection instruction to the distance sensor, the distance sensor detects the horizontal heights of the four automatic adjusting feet, and a detection value X, Y, Z, W is transmitted back to the main control chip. The main control chip compares the returned data with the gyroscope data, the main control program divides the maximum value and the minimum value in the data into two equal parts, the maximum value and the second equal value are respectively divided into differences, the main control program respectively sends the differences to the automatic adjusting bottom feet corresponding to the maximum value and the minimum value, the automatic adjusting bottom feet contract and extend according to the data, and after the adjustment is finished, the main control chip re-requests the gyroscope data. If the clothes washing machine is in the horizontal state, starting a clothes washing program; if the four feet are not in the horizontal state, the horizontal heights of the four feet are detected, and the four feet are reciprocated until the four feet are at the same horizontal height.
The operation state is as follows: and starting the power supply and judging whether the washing machine is in a horizontal state. Otherwise, entering an initial adjusting stage. And starting the washing machine program in the horizontal stage. When the washing program is operated, a tub collision signal is detected, and the main control chip sends out a washing stopping instruction and a horizontal height detection instruction. The distance sensors detect the level of the four automatically adjusted feet and transmit a detected value X, Y, Z, W back to the main control chip. The main control chip compares the returned data with the gyroscope data, the main control program divides the maximum value and the minimum value in the data into two equal parts, the maximum value and the second equal value are respectively divided into differences, the main control program respectively sends the differences to the automatic adjusting bottom feet corresponding to the maximum value and the minimum value, the automatic adjusting bottom feet contract and extend according to the data, and after the adjustment is finished, the main control chip re-requests the gyroscope data. If the clothes washing machine is in a horizontal state, starting a clothes washing program; if the four feet are not in the horizontal state, the horizontal heights of the four feet are detected, and the four feet are reciprocated until the four feet are at the same horizontal height. The washing program is started again.
In one embodiment, this may be achieved by:
starting a power supply, starting a washing machine main control program to run, asking for gyroscope data by a main control chip, and directly entering a washing program if two angle data returned by a gyroscope are 0 degrees and 0 degrees, which indicates that the washing machine is in a horizontal state; if the gyroscope returns angle data of 3 degrees and 1 degrees, the washing machine is indicated to be in a non-horizontal state, the main control program sends a detection instruction to the distance sensor, the distance sensor detects the horizontal heights of four automatic adjusting feet, the distance sensor detects X, Y, Z, W values which are 126mm, 122mm, 130mm and 118mm respectively, the sensor returns the values to the main control chip, and the main control program compares the maximum value with the minimum value: 130mm and 118 mm. The master program confirms that the feet corresponding to 130mm and 118mm correspond to feet with an angle of 15 deg.. The main control program divides data 130mm and 118mm into 124mm in half, and then divides the difference between the maximum value and the half value into +/-6 mm, the main control program respectively sends +/-6 mm to the automatic adjusting feet corresponding to the maximum value and the minimum value, and the automatic adjusting feet contract and extend +/-6 mm according to the data. After the first adjustment is finished, the main control chip starts up the data of the gyroscope again, the return angle data of the gyroscope is 0 degrees and 1 degree, the main control program divides the data 126mm and 122mm into 124mm in halving mode, the difference between the maximum value and the halving value is +/-2 mm, the main control program sends +/-2 mm to the automatic adjusting bottom feet corresponding to the maximum value and the minimum value respectively, and the automatic adjusting bottom feet contract and extend +/-2 mm according to the data. At this time, the main control program asks for the gyroscope data of 0 degrees and 0 degrees again, which indicates that the washing machine is in a horizontal state, and starts the washing program.
As shown in fig. 3, an embodiment of the present invention further provides a device for controlling a balance degree of a washing machine, which is used for executing the method for controlling a balance degree of a washing machine provided in any of the above embodiments, and the device may include: an acquisition module 301, a first judgment module 302 and a first execution module 303;
an obtaining module 301, configured to obtain gyroscope data before starting a washing program of the washing machine;
a first judging module 302, configured to judge whether the washing machine is in a balanced state according to the gyroscope data acquired by the acquiring module 301;
a first executing module 303, configured to start a washing program when the first determining module 302 determines that the washing machine is in a balanced state; and, when the first judgment module 302 judges that the washing machine is not in the balance state, performing the following steps S1-S3:
s1: acquiring at least two groups of first distance detection data of the washing machine bottom feet acquired by a first distance sensor; wherein, a group of first distance detection data corresponds to a horizontal height value of a washing machine foot;
s2: processing the first distance detection data to obtain balance degree adjustment data;
s3: and adjusting the feet of the washing machine according to the balance degree adjusting data, and starting a washing program after all the feet of the washing machine are at the same horizontal height.
In a possible implementation manner, the control device for controlling the balance degree of the washing machine may further include: the real-time acquisition module, the second judgment module and the second execution module;
the real-time acquisition module is used for acquiring the collision distance detected by the second distance sensor in real time; the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine;
the second judgment module is used for judging whether the collision distance acquired by the real-time acquisition module is within a preset safe distance range;
and a second execution module for suspending the washing program and executing the steps S1-S3 if the second judgment module judges that the collision distance is outside the preset safe distance range.
In one possible implementation manner, the first execution module 303 and/or the second execution module are configured to perform the following operations:
s21: acquiring the maximum value and the minimum value in at least two groups of first distance detection data;
s22: calculating the average value of the maximum value and the minimum value;
s23: and calculating the difference between the maximum value and the average value to obtain balance degree adjusting data.
In a possible implementation manner, the first execution module 303 and/or the second execution module are further configured to perform the following operations:
s24: adjusting the washing machine by using the balance degree adjusting data;
s25: acquiring gyroscope data, calculating the difference between the maximum value and the balance adjustment data and the sum of the minimum value and the balance adjustment data when the washing machine is judged not to be in a horizontal state according to the gyroscope data, and obtaining two groups of primary balance adjustment data;
s26: replacing the maximum value and the minimum value with the two groups of primary balance degree adjusting data to determine second distance detection data;
s27: the steps S21-S26 are performed in a loop with the second distance detection data as the first distance detection data until the washing machine is in a balanced state.
It is understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation to the control device for the degree of balance of the washing machine. In other embodiments of the present invention, the control device for the degree of balance of the washing machine may include more or less components than those shown, or combine some components, or separate some components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the content of information interaction, execution process, and the like among the modules in the device is based on the same concept as the method embodiment of the present invention, specific content can be referred to the description in the method embodiment of the present invention, and is not described herein again.
The embodiment of the invention also provides a control device for the balance degree of the washing machine, which comprises: at least one memory and at least one processor;
at least one memory for storing a machine readable program;
at least one processor for calling a machine readable program to perform a method for controlling a balance of a washing machine according to any one of the embodiments of the present invention.
As shown in fig. 4, an embodiment of the present invention further provides a washing machine, including: the control device 401 for the balance degree of the washing machine, the washing machine body 402, the gyroscope 403, at least two washing machine feet 404 and at least two first distance sensors 405 provided by any of the embodiments;
the gyroscope 403, the at least two first distance sensors 405, the control device 401 for the washing machine balance degree and the at least two washing machine feet 404 are all arranged on the washing machine body 402; wherein, the gyroscope 403 is installed at the center of the washing machine body 402, and the distance from each washing machine foot 404 is equal; at least one first distance sensor 405 is mounted on each washing machine foot 404;
a gyroscope 403 for generating gyroscope 403 data according to a horizontal state of the washing machine body 402;
each first distance sensor 405 for collecting first distance detection data; wherein the first distance detection data is used for representing the horizontal height of the foot 404 of the washing machine;
a control device 401 for the balance degree of the washing machine, configured to determine whether the washing machine body 402 is in a horizontal state according to data of the gyroscope 403 generated by the gyroscope 403, and perform data processing on each first distance detection data acquired by each first distance sensor 405 when the washing machine body 402 is not in the horizontal state, so as to obtain balance degree adjustment data; and adjusting the washing machine feet 404 according to the balance degree adjusting data, and starting a washing program after the washing machine feet 404 are at the same horizontal height.
In one possible implementation, the washing machine may further include: a second distance sensor;
the second distance sensor is mounted on the inner drum and/or the outer wall of the washing machine body 402;
the second distance sensor is used for detecting the collision distance in real time; wherein, the collision distance is used for representing the distance between the inner cylinder and the outer wall of the washing machine body 402;
and a control device 401 for controlling the balance degree of the washing machine, configured to determine whether the collision distance is outside a preset safe distance range, and adjust the balance degree of each washing machine foot 404 when the collision distance is outside the safe distance range.
The above information interaction and execution process between the modules in the washing machine are based on the same concept as the method embodiment and the device embodiment of the present invention, and specific contents can be referred to the description of the method embodiment of the present invention, and are not described herein again.
Embodiments of the present invention also provide a computer-readable medium storing instructions for causing a computer to perform a control method of a balance of a washing machine as described herein. Specifically, a method or an apparatus equipped with a storage medium on which a software program code that realizes the functions of any of the above-described embodiments is stored may be provided, and a computer (or a CPU or MPU) of the method or the apparatus is caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments can be implemented not only by executing the program code read out by the computer, but also by performing a part or all of the actual operations by an operation method or the like operating on the computer based on instructions of the program code.
The foregoing description of specific embodiments of the present invention has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The above embodiments are only for illustrating the embodiments of the present invention and are not to be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the embodiments of the present invention shall be included in the scope of the present invention.
Claims (10)
1. The control method of the balance degree of the washing machine is characterized by comprising the following steps:
acquiring gyroscope data before starting a washing program of the washing machine;
judging whether the washing machine is in a balanced state or not according to the gyroscope data;
if the washing machine is in a balanced state, starting the washing program; otherwise, the following steps S1-S3 are executed:
s1: acquiring at least two groups of first distance detection data of the washing machine bottom feet acquired by a first distance sensor; wherein a set of said first distance detection data corresponds to a horizontal height value of a foot of said washing machine;
s2: performing data processing on the first distance detection data to obtain balance degree adjustment data;
s3: and adjusting feet of the washing machine according to the balance degree adjusting data, and starting the washing program after all the feet of the washing machine are at the same horizontal height.
2. The method according to claim 1, further comprising, after the starting the laundry program:
acquiring the collision distance detected by the second distance sensor in real time; wherein the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine;
judging whether the collision distance is within a preset safe distance range;
if the collision distance is out of the preset safe distance range, the washing program is suspended, and the steps S1-S3 are performed.
3. The method of claim 2, wherein the performing data processing on the first distance detection data to obtain balance adjustment data comprises:
s21: acquiring the maximum value and the minimum value in the at least two groups of first distance detection data;
s22: calculating an average of the maximum and minimum values;
s23: and calculating the difference between the maximum value and the average value to obtain balance degree adjusting data.
4. The method according to claim 3, after step S23, further comprising:
s24: adjusting the washing machine using the balance adjustment data;
s25: acquiring gyroscope data, calculating the difference between the maximum value and the balance adjustment data and calculating the sum of the minimum value and the balance adjustment data when the washing machine is judged not to be in a horizontal state according to the gyroscope data, and obtaining two groups of primary balance adjustment data;
s26: replacing the maximum value and the minimum value with the two groups of primary balance degree adjusting data to determine second distance detection data;
s27: performing steps S21-S26 cyclically with the second distance detection data as first distance detection data until the laundry machine is in a balanced state.
5. The control device of the washing machine balance degree is characterized by comprising: the device comprises an acquisition module, a first judgment module and a first execution module;
the acquisition module is used for acquiring gyroscope data before starting a washing program of the washing machine;
the first judging module is used for judging whether the washing machine is in a balanced state or not according to the gyroscope data acquired by the acquiring module;
the first execution module is used for starting the washing program when the first judgment module judges that the washing machine is in a balanced state; and performing the following steps S1-S3 when the first judgment module judges that the washing machine is not in the balance state:
s1: acquiring at least two groups of first distance detection data of the washing machine bottom feet acquired by a first distance sensor; wherein a set of said first distance detection data corresponds to a horizontal height value of a foot of said washing machine;
s2: performing data processing on the first distance detection data to obtain balance degree adjustment data;
s3: and adjusting feet of the washing machine according to the balance degree adjusting data, and starting the washing program after all the feet of the washing machine are at the same horizontal height.
6. The apparatus of claim 5, further comprising: the real-time acquisition module, the second judgment module and the second execution module;
the real-time acquisition module is used for acquiring the collision distance detected by the second distance sensor in real time; wherein the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine;
the second judgment module is used for judging whether the collision distance acquired by the real-time acquisition module is within a preset safe distance range;
the second executing module is configured to suspend the laundry program and execute the steps S1-S3 if the second determining module determines that the collision distance is outside a preset safe distance range.
7. The apparatus of claim 6, wherein the first execution module and/or the second execution module are configured to:
s21: acquiring the maximum value and the minimum value in the at least two groups of first distance detection data;
s22: calculating an average of the maximum and minimum values;
s23: and calculating the difference between the maximum value and the average value to obtain balance degree adjusting data.
8. The apparatus of claim 7, wherein the first execution module and/or the second execution module is further configured to:
s24: adjusting the washing machine using the balance adjustment data;
s25: acquiring gyroscope data, calculating the difference between the maximum value and the balance adjustment data and calculating the sum of the minimum value and the balance adjustment data when the washing machine is judged not to be in a horizontal state according to the gyroscope data, and obtaining two groups of primary balance adjustment data;
s26: replacing the maximum value and the minimum value with the two groups of primary balance degree adjusting data to determine second distance detection data;
s27: performing steps S21-S26 cyclically with the second distance detection data as first distance detection data until the laundry machine is in a balanced state.
9. A washing machine, characterized by comprising: -a gyroscope, -at least two first distance sensors, -a control device of the washing machine balance according to any of claims 5-8, -at least two washing machine feet and-a washing machine body;
the gyroscope, the at least two first distance sensors, the control device of the washing machine balance degree and the at least two washing machine feet are all arranged on the washing machine body; the gyroscope is mounted at the center of the washing machine body, and the distance from each gyroscope to each washing machine foot is equal; at least one first distance sensor is arranged on each washing machine foot;
the gyroscope is used for generating gyroscope data according to the horizontal state of the washing machine body;
each first distance sensor is used for collecting first distance detection data; wherein the first distance detection data is used for representing the level of the footing of the washing machine;
the control device of the balance degree of the washing machine is used for judging whether the washing machine body is in a horizontal state or not according to the gyroscope data generated by the gyroscope, and carrying out data processing on each first distance detection data acquired by each first distance sensor when the washing machine body is not in the horizontal state to obtain balance degree adjustment data; and adjusting the washing machine feet according to the balance degree adjusting data, and starting the washing program after all the washing machine feet are at the same horizontal height.
10. The washing machine as claimed in claim 9, further comprising: a second distance sensor;
the second distance sensor is arranged on the inner cylinder and/or the outer wall of the washing machine body;
the second distance sensor is used for detecting the collision distance in real time; wherein the collision distance is used for representing the distance between the inner drum and the outer wall of the washing machine body;
and the control device of the washing machine balance degree is used for judging whether the collision distance is out of a preset safe distance range or not and adjusting the balance degree of each washing machine foot when the collision distance is out of the safe distance range.
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