CN113699744A

CN113699744A - Clothes treatment equipment, balance control method and device thereof, and storage medium

Info

Publication number: CN113699744A
Application number: CN202111005602.2A
Authority: CN
Inventors: 晏镇星; 夏孟杰; 王昊天; 丁小梅
Original assignee: Wuxi Filin Electronics Co Ltd
Current assignee: Wuxi Filin Electronics Co Ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2021-11-26
Anticipated expiration: 2041-08-30
Also published as: CN113699744B

Abstract

The present application provides a laundry treating apparatus, a balance control method, a device and a storage medium thereof, the method including: determining that a barrel collision event occurs in the dehydration process, and acquiring displacement of the washing barrel at a plurality of moments within a first preset time before the barrel collision event occurs; determining the severity degree corresponding to the barrel collision event according to the displacement of the washing barrel at a plurality of moments; according to the severity, the washing tub is balance-controlled. This application has quantized the severity of hitting the bucket, carries out balance control according to the severity, and the precision is very high, can ensure to adjust the washtub to balanced state, improves the success rate of dehydration, and dewatering effect is fine. And whether the washing barrel is in a balanced state is detected when the washing program is started, and a user is prompted to adjust the support legs of the clothes treatment equipment when the washing program is in an unbalanced state, so that the washing program can be carried out in a balanced state of the equipment, the barrel collision frequency in the washing process is reduced, the noise is reduced, and the service life of a product is prolonged.

Description

Clothes treatment equipment, balance control method and device thereof, and storage medium

Technical Field

The application belongs to the technical field of electrical equipment, and particularly relates to clothes treatment equipment, a balance control method and device thereof, and a storage medium.

Background

The laundry treating apparatus may have a tub collision problem caused by the unbalanced rotation of the washing tub during the operation, and the tub collision may easily cause product damage and generate a loud noise. Therefore, there is a need for a balance control of the laundry treating apparatus to reduce the occurrence of tub collision.

At present, a tub collision switch is usually arranged on a washing tub in the related art, when the tub collision occurs, the tub collision switch is closed, and when a controller detects that the tub collision switch is closed, the tub collision is determined to occur, so that the washing tub is subjected to balance control.

However, the above related technologies can only detect whether the barrel is hit, but cannot detect the severity of the barrel hit, and only perform balance control according to the result of the barrel hit determination, which is poor in accuracy.

Disclosure of Invention

The application provides a clothes treatment device, a balance control method and device thereof, and a storage medium, which quantizes the severity of barrel collision, performs balance control according to the severity, has high precision, can ensure that a washing barrel is adjusted to a balanced state, improves the success rate of dehydration, and has good dehydration effect.

An embodiment of a first aspect of the present application provides a balance control method for a clothes treatment apparatus, including:

determining a barrel collision event in a dehydration process, and acquiring displacement of a washing barrel at a plurality of moments within a first preset time before the barrel collision event occurs;

determining the severity degree corresponding to the barrel collision event according to the displacement of the washing barrel at a plurality of moments;

and performing balance control on the washing tub according to the severity.

In some embodiments of the present application, the determining the severity level corresponding to the tub hitting event according to the displacement of the washing tub at the plurality of times includes:

determining the abnormal times that the displacement exceeds a preset threshold according to the displacement of the washing barrel at a plurality of moments; determining the abnormal times as the severity degree corresponding to the barrel collision event; and/or the presence of a gas in the gas,

determining the maximum displacement from the displacement of the washing tub at the plurality of moments; and determining the maximum displacement as the corresponding severity of the barrel collision event.

In some embodiments of the present application, the determining the number of abnormalities for which the displacement amount exceeds a preset threshold value according to the displacement amounts of the washing tub at the plurality of times includes:

determining that a first displacement exceeds a preset threshold, and adding one to the abnormal times exceeding the preset threshold, wherein the first displacement is the displacement of the washing tub at any moment in the first preset duration;

obtaining a second displacement amount which is spaced by a second preset time after the moment corresponding to the first displacement amount from the displacement amounts of the washing barrel at a plurality of moments;

and judging whether the second displacement exceeds the preset threshold value.

respectively judging whether the displacement of the washing barrels at a plurality of moments exceeds a preset threshold value;

deleting the smallest displacement quantity in the two displacement quantities, wherein the time interval is less than a second preset time length and the displacement quantity exceeds the preset threshold value;

and determining the number of the remaining displacement amounts exceeding the preset threshold as the abnormal times of the displacement amounts exceeding the preset threshold.

In some embodiments of the present application, the balancing control of the washing tub according to the severity degree includes:

determining a frequency interval to which the abnormal frequency included in the severity belongs; controlling to execute a preset balance washing program according to the frequency interval; and/or the presence of a gas in the gas,

calculating the proportion of the maximum displacement quantity included in the severity exceeding the preset threshold value, and determining a proportion interval to which the proportion belongs; and controlling to execute a preset balance washing program according to the proportion interval.

In some embodiments of the present application, the controlling and executing a preset balance washing program according to the time interval includes:

increasing the execution time length of the preset balance washing program by a first time length corresponding to the frequency interval;

and increasing the rotation time included by the washing beat of the preset balance washing program by a second time corresponding to the time interval.

In some embodiments of the present application, the controlling the execution of the preset balance washing program according to the ratio interval includes:

increasing the execution time length of the preset balance washing program by a third time length corresponding to the proportional interval;

and increasing the rotation time included by the washing beat of the preset balance washing program by a fourth time corresponding to the proportional interval.

In some embodiments of the present application, the method further comprises:

determining the shaking direction according to the maximum displacement;

and sending prompt information including the shaking direction to the user terminal.

In some embodiments of the present application, the obtaining displacement amounts of the washing tub at a plurality of times within a first preset time period before the tub collision event occurs includes:

acquiring detection data of displacement detection equipment in a first preset time before the barrel collision event occurs, wherein the displacement detection equipment comprises a gyroscope or camera equipment;

and calculating the displacement of the washing barrel every preset unit time within the first preset time according to the detection data within the first preset time.

In some embodiments of the present application, the method further comprises:

and determining that a barrel collision event occurs in the last taking-off process, and sending alarm information, wherein the alarm information is used for prompting that the clothes treatment equipment is in an unbalanced state.

In some embodiments of the present application, the method further comprises:

determining the starting of a current washing program, and acquiring detection data of displacement detection equipment;

sending alarm information according to the condition that the detection data meet the preset unbalance condition, wherein the alarm information is used for prompting that the clothes treatment equipment is in an unbalance state; alternatively, the first and second electrodes may be,

and controlling to execute the current washing program according to the condition that the detection data do not meet the preset unbalance condition.

In some embodiments of the present application, sending an alarm message according to that the detection data meets a preset imbalance condition, includes:

determining that the detection data meet a preset unbalance condition, and determining the inclination direction of the clothes treatment equipment according to the detection data;

and sending alarm information comprising the inclination direction.

In some embodiments of the present application, the displacement detecting device is a gyroscope, and the detection data includes roll angle and pitch angle; the determining that the detection data satisfies a preset unbalance condition and determining an inclination direction of the laundry treating apparatus according to the detection data includes:

determining that the roll angle is within a roll angle interval included in a preset unbalance condition, and determining a first inclination direction of the clothes treatment equipment according to the roll angle; alternatively, the first and second electrodes may be,

determining that the pitch angle is within a pitch angle interval included in a preset unbalance condition, and determining a second inclination direction of the laundry treating apparatus according to the pitch angle; alternatively, the first and second electrodes may be,

determining that the sum of the roll angle and the pitch angle is greater than a preset angle threshold included in a preset unbalance condition, and determining a third inclination direction of the laundry treating apparatus according to the roll angle and the pitch angle.

In some embodiments of the present application, the method further comprises:

determining an adjustment direction for adjusting the laundry treating apparatus to a balance according to an inclination direction of the laundry treating apparatus;

and sending the suggestion information comprising the adjustment direction to the user terminal.

An embodiment of a second aspect of the present application provides a balance control device of a laundry treating apparatus, including:

the barrel collision determining module is used for determining that a barrel collision event occurs in the dehydration process;

the displacement acquisition module is used for acquiring displacement of the washing barrel at a plurality of moments within a first preset time before the barrel collision event occurs;

the severity determining module is used for determining the severity corresponding to the barrel collision event according to the displacement of the washing barrel at a plurality of moments;

and the balance control module is used for carrying out balance control on the washing barrel according to the severity.

Embodiments of a third aspect of the present application provide a laundry treatment apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the method of the first aspect described above.

An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, the program being executable by a processor to implement the method of the first aspect.

The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:

in the embodiment of the application, when a barrel collision event occurs in the dehydration process, the severity of the barrel collision is determined according to the displacement of the washing barrel at a plurality of moments within a first preset time before the barrel collision event occurs, and then the washing barrel is subjected to balance control according to the severity. The severity of hitting the bucket is quantified, balance control is carried out according to the severity, the precision is very high, the washing bucket can be adjusted to a balance state, the success rate of dehydration is improved, the dehydration effect is good, and the use experience of a user is improved. And when the washing program is started, whether the washing barrel is in a balanced state is determined according to detection data of the displacement detection equipment, an alarm is given when the washing barrel is in an unbalanced state, and a user is prompted to adjust the support legs of the clothes treatment equipment so as to ensure that the washing program can be carried out in the balanced state of the clothes treatment equipment, so that the barrel collision frequency in the washing process is reduced, the noise is reduced, and the service life of a product is prolonged.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings.

In the drawings:

fig. 1 illustrates a flowchart of a balance control method of a laundry treating apparatus provided in an embodiment of the present application;

fig. 2 is a schematic view illustrating a displacement amount of a washing tub provided in an embodiment of the present application;

fig. 3 is a schematic structural view illustrating a balance control apparatus of a laundry treating apparatus according to an embodiment of the present application;

fig. 4 is a schematic structural view illustrating a laundry treating apparatus according to an embodiment of the present application;

fig. 5 is a schematic diagram of a storage medium provided in an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.

A laundry treating apparatus, a balance control method thereof, a device thereof, and a storage medium according to embodiments of the present application will be described below with reference to the accompanying drawings.

The embodiment of the application provides a balance control method of clothes treatment equipment, which is characterized in that when a barrel collision event occurs in the dehydration process, the severity of the barrel collision is determined according to the displacement of a washing barrel at a plurality of moments within a first preset time before the barrel collision event occurs, and then the washing barrel is subjected to balance control according to the severity. Because the severity of the barrel collision is determined, the balance control is carried out according to the severity, the precision is very high, the washing barrel can be adjusted to a balance state, the dehydration success rate is improved, the dehydration effect is good, and the use experience of a user is improved.

The method is performed by a laundry treating apparatus, which may be a washing machine, a dry cleaning machine, or the like. The displacement detecting device is arranged in the clothes processing device, and the clothes processing device determines the displacement of the washing barrel according to the detection data of the displacement detecting device. The displacement detection device may be a gyroscope, a camera device, a direction sensor, or the like. The gyroscope or the direction sensor may be mounted on an outer sidewall of the washing tub. The image pickup device may be an infrared camera, and the image pickup device may be installed inside a door of the laundry treating apparatus.

When a user washes a load through the laundry treating apparatus, the user places the load in the washing tub and activates the laundry treating apparatus to start washing. When the clothes treatment device detects that the current washing program is started, the detection data of the displacement detection device at the moment are acquired. And judging whether the detection data meet a preset unbalance condition, if the detection data do not meet the preset unbalance condition, indicating that the current clothes treatment equipment is in a balanced state, and controlling to execute the current washing program. If the detected data is judged to meet the preset unbalance condition, the current clothes treatment equipment is in an unbalance state, and if the current washing program is directly executed, a barrel collision event is easy to occur in the washing process, and the noise is large. In this case, therefore, the laundry treating apparatus issues an alarm message for prompting that the laundry treating apparatus is in an unbalanced state. After receiving the alarm information, the user can manually adjust the support legs of the clothes treatment device so as to restore the clothes treatment device to a balanced state.

After the detection data are determined to meet the preset unbalanced condition, the clothes treatment device can also determine the inclination direction of the clothes treatment device according to the detection data, and send alarm information comprising the inclination direction, so that a user can know the inclination direction of the clothes treatment device, and the user can conveniently adjust the support legs of the clothes treatment device in the direction opposite to the inclination direction, and the clothes treatment device is restored to a balanced state.

The displacement detecting device is exemplified as a gyroscope. The gyroscope can detect the angle of the washing barrel relative to the ground, and detected detection data at least comprise a roll angle and a pitch angle. When the displacement detection device is a gyroscope, a roll angle section in which a roll angle is located when the clothes treatment device is in an unbalanced state, a pitch angle section in which a pitch angle is located when the clothes treatment device is in the unbalanced state, and a preset angle threshold value which is required to be larger than the sum of the roll angle and the pitch angle when the clothes treatment device is in the unbalanced state are correspondingly specified in the preset unbalanced condition.

Wherein the roll angle is used for detecting whether the clothes treatment device is balanced in the left-right direction, and the pitch angle is used for detecting whether the clothes treatment device is balanced in the front-back direction. The above-mentioned roll angle section may be (-90 °, -15 ° ] £ 15 °, 90 °), the pitch angle section may also be (-90 °, -15 ° ] uber [15 °, 90 °), and the preset angle threshold may be 10 °. The embodiment of the application does not limit the specific values of the roll angle interval, the pitch angle interval and the preset angle threshold, and other values can be set in practical application.

The preset unbalance condition may further specify a mapping relationship between an angle section to which the roll angle belongs and an inclination direction of the laundry treatment apparatus in the left-right direction, and if the roll angle belongs to (-90 °, -15 ° ], the laundry treatment apparatus is inclined to the right, and if the roll angle belongs to [15 °, 90 °), the laundry treatment apparatus is inclined to the left. The preset unbalance condition can also specify a mapping relation between an angle section to which the pitch angle belongs and a tilt direction of the clothes treatment device in the front and back directions, wherein if the pitch angle belongs to (-90 degrees, -15 degrees ], the clothes treatment device tilts backwards, and if the pitch angle belongs to [15 degrees, 90 degrees ], the clothes treatment device tilts forwards. The above-mentioned leftward inclination, rightward inclination, forward inclination, and backward inclination may all be in an inclination direction of the laundry treating apparatus as viewed with the user facing the laundry treating apparatus.

The mapping relationship between the angle section to which the roll angle belongs and the tilt direction, the mapping relationship between the angle section to which the pitch angle belongs and the tilt direction, and each tilt direction are referred to as a positional relationship of the user facing the laundry treatment apparatus, which are examples, and the embodiment of the present application is not limited thereto.

After the current washing program is started and the roll angle and the pitch angle detected by the gyroscope are obtained, whether the roll angle is in a roll angle interval included in a preset unbalance condition is determined, and if the roll angle is in the roll angle interval included in the preset unbalance condition, the clothes treatment equipment is determined to be in an unbalance state. Further, a first inclination direction of the laundry treating apparatus, which is an inclination direction in the left-right direction, is determined according to an angle section to which the current roll angle belongs.

If it is determined that the roll angle is not within the above roll angle section, it is further determined whether the current pitch angle is within a pitch angle section included in the preset unbalance condition, and if so, it is determined that the laundry treating apparatus is in an unbalance state. Further, a second inclination direction of the laundry treating apparatus is determined according to the angle section to which the pitch angle belongs, the second inclination direction being an inclination direction in the front-rear direction.

And if the roll angle is determined not to be in the roll angle interval and the pitch angle is determined not to be in the pitch angle interval, calculating the sum of the current roll angle and the pitch angle. And judging whether the sum is greater than a preset angle threshold included in a preset unbalance condition, and if so, determining that the laundry treating apparatus is in an unbalance state. Further, the tilt direction of the laundry treating apparatus in the left-right direction is determined according to an angle section to which the roll angle belongs, and the tilt direction in the front-rear direction is determined according to an angle section to which the current pitch angle belongs, and the third tilt direction of the laundry treating apparatus is determined according to the tilt direction in the left-right direction and the tilt direction in the front-rear direction.

For example, assuming that the current roll angle is 7 °, the pitch angle is 5 °, and the preset angle threshold is 10 °, the sum of the roll angle and the pitch angle is 12 ° greater than the preset angle threshold of 10 °. And assuming that the roll angle 7 is located at an angle section [0 °, 90 °), the laundry treating apparatus is inclined rightward. The pitch angle of 5 ° is located in the angle interval [0 °, 90 °), the laundry treating apparatus is tilted forward. It may be determined that the laundry treating apparatus is inclined to the right front.

For the case that the laundry treatment apparatus is judged to be in the unbalanced state by the sum of the roll angle and the pitch angle, the inclination direction of the laundry treatment apparatus may not be determined, and only the alarm information indicating the unbalance is issued.

After the inclination direction of the clothes treatment equipment is determined in the above manner, an adjustment direction required for adjusting the clothes treatment equipment to be balanced can be determined according to the inclination direction, and the adjustment direction can be a direction opposite to the inclination direction of the clothes treatment equipment, for example, if the inclination direction of the clothes treatment equipment is inclined to the left, the adjustment direction can be adjusted to the right. After the adjustment direction is determined, if the clothes treatment equipment establishes communication connection with a user terminal such as a mobile phone or a computer of a user, the clothes treatment equipment also sends suggestion information including the adjustment direction to the user terminal. The user terminal displays the suggestion information after receiving the suggestion information, and after seeing the suggestion information, the user can manually adjust the support legs of the clothes treatment equipment according to the adjustment direction suggested by the suggestion information so as to enable the clothes treatment equipment to recover the balance state.

The clothes treatment equipment sends out alarm information after confirming that the clothes treatment equipment is in the unbalanced state through the mode, and the specific lichen treatment equipment can be provided with an indicator lamp for indicating the unbalanced state and can send out the alarm information by lighting the indicator lamp. Further, the clothes treatment device may be provided with indicator lamps corresponding to different tilt directions, and the indicator lamps corresponding to the tilt directions may be turned on when the tilt directions of the clothes treatment device are determined.

In another implementation, the laundry treating apparatus may display an alarm message in the display screen, and the alarm message may be "the laundry treating apparatus is currently in an unbalanced state, please adjust the legs to restore balance". After the inclination direction of the clothes treatment equipment is determined, alarm information comprising the inclination direction is displayed, and further the suggested adjustment direction can be included in the displayed alarm information. For example, the displayed alarm information may be "the laundry treating apparatus is tilted to the right, please adjust to the left to restore the laundry treating apparatus to the balanced state".

In other embodiments, a buzzer may be further disposed on the laundry treating apparatus, and when it is determined that the laundry treating apparatus is in an unbalanced state, an alarm prompt sound may be given through the buzzer. Further, the clothes treatment device can be further provided with a voice playing device, and when the clothes treatment device is determined to be in an unbalanced state, voice prompt information for prompting the unbalance of the device can be played through the voice playing device. If the inclination direction of the clothes processing equipment is determined, the played voice prompt message can also comprise the inclination direction or the inclination direction and the corresponding adjustment direction.

When the fact that the clothes processing equipment is adjusted is detected, the detection data of the adjusted displacement detection equipment are obtained through the method again, whether the clothes processing equipment is still in an unbalanced state or not is determined again according to the detection data, and if the clothes processing equipment is still in the unbalanced state, the alarm information is sent to the user through the method again to prompt the user to continue adjusting the supporting legs of the clothes processing equipment. And controlling the current washing program to start by circularly executing the above mode until the clothes treatment equipment is determined to be in a balanced state.

When the current washing program is started, determining whether the clothes treatment equipment is in an unbalanced state according to detection data of the displacement detection equipment, and sending alarm information when determining that the clothes treatment equipment is in the unbalanced state, so that a user is prompted that the clothes treatment equipment is in the unbalanced state, and the user can adjust the support legs of the clothes treatment equipment. And further, the suggested adjustment direction can be sent to the user, so that the adjustment efficiency of the user is improved. By the mode, the clothes treatment equipment is in a balanced state when the current washing program is executed, the problem that the barrel is collided in the washing process due to the unbalance of the clothes treatment equipment is avoided, the equipment loss caused by collision of the barrel is reduced, and the noise in the washing process is reduced.

In the operation process of the current washing program, when the dehydration process is executed, as shown in fig. 1, the balancing control of the laundry treating apparatus is performed through the following operations of

steps

101 and 103, which specifically include:

step 101: determining the occurrence of a barrel collision event in the dehydration process, and acquiring the displacement of the washing barrel at a plurality of moments within a first preset time before the occurrence of the barrel collision event.

The first preset time period may be 8s, 10s, 12s, or the like. The embodiment of the application does not limit the specific value of the first preset duration, and the specific value can be set according to requirements in practical application.

The above-mentioned dehydrating course may be a first dehydrating course or a second dehydrating course in the current washing course, etc. When the current washing program is detected to be executed to the dewatering process, whether a tub collision event occurs is detected in real time through a tub collision switch arranged on the washing tub. When a tub collision event occurs, the tub collision switch is closed under the influence of the impact force of the washing tub, a high level is output, and the controller of the laundry treatment apparatus receives the high level output by the tub collision switch and determines that the tub collision event occurs at present.

And after the barrel collision event is determined to occur, acquiring detection data of the displacement detection equipment within a first preset time before the barrel collision event occurs. And calculating the displacement of the washing barrel every preset unit time length in the first preset time length according to the detection data in the first preset time length.

The displacement detection device may be a gyroscope or an imaging device. When the displacement detection device is a gyroscope, the detection data of the gyroscope within a first preset time before the occurrence of the barrel collision event is acquired, and specifically, the detection data of every other preset unit time within the first preset time can be acquired. And then, calculating the displacement of the washing tub every preset unit time according to the acquired detection data. The detection data of the gyroscope at least comprises a roll angle and a pitch angle. The preset unit time length may be 20ms or 30ms, etc. The embodiment of the application does not limit the specific value of the preset unit time length, and the specific value can be set according to requirements in practical application.

In other embodiments, the displacement detection device may also be a camera device, such as an infrared camera. The method comprises the steps of obtaining image data shot by camera equipment in a first preset time before a barrel collision event occurs, and specifically obtaining image data shot every other preset unit time in the first preset time. Then, the displacement amount of the washing tub is calculated every preset unit time according to the acquired image data. Specifically, the distance of the washing barrel from the center position in the image is analyzed through an image processing technology, and the distance is the displacement of the washing barrel.

The displacement of the washing barrel in every preset unit time length in the first preset time length before the occurrence of the barrel collision event, such as the displacement of the washing barrel in every 20ms in 10s before the occurrence of the barrel collision event, is obtained in the above manner. The severity corresponding to the current barrel crash event is then determined by the following operation of step 102.

Step 102: and determining the severity degree corresponding to the tub collision event according to the displacement of the washing tub at a plurality of moments.

As shown in fig. 2, a circle a represents an outer tub of the laundry treating apparatus, a circle b represents an inner tub of the laundry treating apparatus, and a circle b is a washing tub of the laundry treating apparatus in the embodiment of the present application. The circle center of the washing barrel circle b is o when the washing barrel circle b is in a balanced state, and when the washing barrel is dehydrated, the washing barrel rotates to shake, so that outward centrifugal force exists, and the washing barrel is caused to displace. The distance between the center of the circle b when it deviates from its center position and the center o in the equilibrium state is the displacement of the washing tub. The embodiment of the present application tests, through a large number of tests, the maximum displacement of the washing tub allowed under the condition of ensuring that the washing tub does not collide with the tub, i.e., the distance L between the circle center o' and the circle center o in fig. 2. The maximum displacement tested in the clothes processing equipment is configured as a preset threshold value, and the severity degree corresponding to the barrel collision event is determined according to the preset threshold value when the barrel collision event is determined to occur.

After obtaining the displacement of the washing tub every preset unit time within the first preset time before the occurrence of the tub collision event through step 101, determining the abnormal times that the displacement exceeds the preset threshold according to the obtained displacement of the washing tub at a plurality of moments.

In one implementation, one displacement amount is randomly selected from the obtained plurality of displacement amounts, and the displacement amount is referred to as a first displacement amount. And judging whether the first displacement exceeds a preset threshold value, and if so, adding one to the abnormal times exceeding the preset threshold value. Since the displacement of the washing tub may exceed the preset threshold in a short time when the displacement of the washing tub exceeds the preset threshold, if it is continuously determined whether the displacement of the washing tub exceeds the preset threshold at intervals of a preset unit duration, it is likely that the determination is repeated, resulting in a large number of finally determined abnormalities. Therefore, in the embodiment of the present application, after it is determined that the first displacement amount exceeds the preset threshold, the second displacement amount spaced by the second preset time after the time corresponding to the first displacement amount is obtained from the obtained displacement amounts of the washing tub at multiple times, and it is determined whether the second displacement amount exceeds the preset threshold.

The second preset time period may be 2s or 2.5s, etc. The embodiment of the application does not limit the specific value of the second preset duration, and the setting can be performed according to the requirement in practical application.

Further, in order to avoid repeated judgment of the displacement amount with a shorter interval event, the displacement amount of the washing tub within the first preset time before the tub hitting event occurs can be judged according to the time sequence. Specifically, it is determined whether the displacement amount of the earliest time within the first preset time period exceeds a preset threshold, and if so, the number of abnormality is increased by one, and then it is determined whether the displacement amount of the earliest time after the second preset time period exceeds the preset threshold. If the displacement quantity of the earliest time does not exceed the preset threshold, whether the displacement quantity of the earliest time interval preset unit duration exceeds the preset threshold is continuously judged. And judging in sequence from front to back according to the time to obtain the abnormal times of the displacement exceeding the preset threshold. The judgment is carried out according to the time sequence, so that repeated judgment can be effectively avoided, and the accuracy of the obtained abnormal times is higher.

In another implementation manner, it may also be determined whether the displacement amounts of the washing tubs at multiple times exceed a preset threshold, respectively, that is, whether the displacement amounts of every preset unit time within the first preset time period exceed the preset threshold is determined. Deleting the displacement with the time interval smaller than the second preset duration and the displacement exceeding the minimum of the two displacements of the preset threshold, namely, for all the displacements exceeding the preset threshold, comparing the time interval of any two displacements with each other to determine whether the time interval of any two displacements is smaller than the second preset duration, deleting the smaller displacement of the two displacements with the time interval smaller than the second preset duration, and repeatedly comparing until no displacement with the time interval smaller than the second preset duration exists in all the finally remaining displacements exceeding the preset threshold. And finally, determining the number of the residual displacement exceeding the preset threshold as the abnormal times of the displacement exceeding the preset threshold.

Through the implementation mode, whether the displacement at multiple moments exceeds the preset threshold value can be judged simultaneously in parallel, the efficiency of determining the abnormal times is higher, and the smaller displacement with the deletion interval time smaller than the second preset duration can effectively avoid repeated judgment, so that the accuracy of the obtained abnormal times is higher.

The abnormal times that the displacement of the washing barrel exceeds the preset threshold value within the first preset time before the occurrence of the barrel collision event can be obtained by judging the obtained displacement of the washing barrel at a plurality of moments through any one of the implementation modes. And determining the abnormal times as the severity degree corresponding to the bucket collision event. I.e., the more times the displacement amount of the washing tub exceeds the preset threshold, the higher the degree of severity of the tub collision.

In still other embodiments of the present application, the greatest displacement amount among the displacement amounts of the washing tub every predetermined unit time period within the first predetermined time period may be further determined as the severity of the tub crash event.

The severity of the barrel crash determined in this step may only include the number of anomalies whose displacement exceeds a preset threshold, or the severity may only include the maximum displacement within a first preset time period before the barrel crash. Or, the severity may include the number of abnormalities and the maximum displacement, in which case, the number of abnormalities that the displacement exceeds the preset threshold value within the first preset time period before the occurrence of the barrel collision may be determined in any of the above manners, and then the maximum displacement may be determined from the determined plurality of displacement exceeding the preset threshold value, so as to shorten the time taken to determine the maximum displacement and improve the determination efficiency of the severity.

According to the displacement of the washing barrel in the first preset time interval before the barrel collision event occurs, the severity of barrel collision is quantified, balance control is subsequently performed on the washing barrel according to the quantified severity, the barrel collision frequency in the dehydration process is reduced, the dehydration efficiency is improved, and a better dehydration effect is obtained.

Step 103: and performing balance control on the washing tub according to the determined severity.

In the embodiment of the application, after the tub collision event occurs in the washing tub, the laundry treatment device controls to execute the preset balance washing program, water is injected into the washing tub in the preset balance washing program, and the washing is carried out for a certain time through a certain washing beat, so that the load in the washing tub is shaken and dispersed, the load is uniformly distributed in the washing tub, and the washing tub cannot be collided due to the influence of a larger centrifugal force when rotating.

Wherein, the washing beat of the balance washing can be 800RPM, and the washing barrel rotates forwards for 0.5s, stops for 0.5s and rotates backwards for 0.5 s. The default execution time period of the equilibration wash may be 60 s. The embodiment of the application does not limit the specific values of the washing beat and the default execution time length of the balance washing, and can be set according to requirements in practical application.

After the washing barrel has a barrel collision event and the severity of the barrel collision is determined, the washing beat and the execution duration of the preset balance washing program are adjusted according to the determined severity, the rotation duration of the washing barrel in the washing beat is increased by corresponding duration, and the execution duration of the preset balance washing program is increased by corresponding duration, so that the aim of accurately and balancedly controlling the washing barrel is fulfilled.

In an application scenario in which the severity includes the number of anomalies whose displacement exceeds a preset threshold, the greater the number of anomalies, the higher the severity of a barrel crash. And for different abnormal times, the adjusting force for the washing rhythm and the execution duration of the preset balance washing program is different. According to the embodiment of the application, different frequency intervals are divided in advance, and the added value of the rotation time length in the washing beat corresponding to the different frequency intervals and the added value of the execution time length of the preset balance washing program are configured in advance in the clothes treatment equipment.

And when the determined severity comprises the abnormal times of which the displacement exceeds a preset threshold, determining a time interval to which the abnormal times belong. And controlling to execute a preset balance washing program according to the time interval. Specifically, according to the number of times interval, the added value of the execution time length of the balance washing corresponding to the number of times interval is obtained from the preconfigured information, and the added value is referred to as a first time length. And acquiring the added value of the rotation time length in the washing beat of the balance washing corresponding to the frequency interval, and calling the added value as a second time length. And increasing the execution time length of the preset balance washing program by a first time length corresponding to the time interval, and increasing the rotation time length included by the washing beat of the preset balance washing program by a second time length corresponding to the time interval.

For example, it is assumed that a mapping relationship between the number of times interval and the first time period for which the balance washing execution time period is increased and the second time period for which the rotation time period is increased in the washing step is configured in advance is as shown in table 1. Assuming that the washing cycle of the preset balance washing program is 800RPM, and the washing tub rotates forward for 0.5s, stops for 0.5s, and rotates backward for 0.5s, the default execution time of the balance washing is 60 s. If the determined severity includes 4 abnormal times, the washing cycle of the preset balance washing program is changed to 800RPM after adjustment, the washing tub rotates forwards for 0.7s, stops for 0.5s, and rotates backwards for 0.7s, and the execution time of the balance washing is adjusted to 75 s.

TABLE 1

The above time interval and the corresponding first duration and second duration are only used as an example, and the values of these parameters are not specifically limited in the embodiments of the present application, and may be set according to requirements in practical applications.

According to the above mode, the rotation time length in the washing beat of the preset balance washing program and the execution time length of the preset balance washing program are adjusted according to the times that the displacement of the washing barrel exceeds the preset threshold value in the first preset time length before the barrel collision occurs, the preset balance washing program is accurately adjusted according to the quantized severity degree, and the washing barrel can be enabled to recover the balance state through the adjusted preset balance washing program.

In an application scenario where the severity includes the maximum displacement amount exceeding a preset threshold, the greater the maximum displacement amount, the higher the severity of the barrel crash. For different maximum displacement, the adjusting force for the washing beat and the execution time length of the preset balance washing program is different. The embodiment of the application divides different proportion intervals in advance aiming at the proportion that the maximum displacement exceeding the preset threshold exceeds the preset threshold, and the added value of the rotation time length in the washing beats corresponding to the different proportion intervals and the added value of the execution time length of the preset balance washing program are configured in advance in the clothes treatment equipment.

When the determined severity includes the maximum displacement exceeding the preset threshold, calculating the proportion of the maximum displacement exceeding the preset threshold included in the severity, and determining the proportion interval to which the proportion belongs. And controlling to execute a preset balance washing program according to the proportion interval. Specifically, according to the proportional interval, the added value of the execution time length of the balance washing corresponding to the proportional interval is obtained from the preconfigured information, and the added value is referred to as a third time length. And acquiring the added value of the rotation time length in the washing beat of the balance washing corresponding to the frequency interval, and calling the added value as the fourth time length. And increasing the execution time length of the preset balance washing program by a third time length corresponding to the proportional interval. And increasing the rotation time included by the washing beat of the preset balance washing program by a fourth time corresponding to the proportional interval.

For example, it is assumed that a mapping relationship of the proportional band with the third time period for which the balance washing execution time period is increased and the fourth time period for which the rotation time period is increased in the washing step is configured in advance is as shown in table 2. Assuming that the washing cycle of the preset balance washing program is 800RPM, and the washing tub rotates forward for 0.5s, stops for 0.5s, and rotates backward for 0.5s, the default execution time of the balance washing is 60 s. The determined severity comprises that the maximum displacement is 7cm, and if the maximum displacement exceeds a preset threshold value by 5cm, the proportion that the maximum displacement exceeds the preset threshold value is 40%. As shown in table 2, the ratio section to which the ratio belongs is [ 30%, + ∞), the third time period for which the execution time period of the balance washing is increased is 30s, and the fourth time period for which the rotation time period in the washing cycle is increased is 0.2 s. The washing rhythm of the preset balance washing program after adjustment is changed to 800RPM, the washing barrel rotates forwards for 0.6s, stops for 0.5s, rotates backwards for 0.6s, and the execution time length of the balance washing is adjusted to 90 s.

TABLE 2

The preset threshold, the proportional interval, and the corresponding third duration and fourth duration are only used as an example, and the values of these parameters are not specifically limited in the embodiment of the present application, and may be set according to requirements in practical applications.

According to the mode, the rotation time length in the washing rhythm of the preset balance washing program and the execution time length of the preset balance washing program are adjusted according to the maximum displacement of the washing barrel in the first preset time length before the barrel collision occurs, the preset balance washing program is accurately adjusted according to the quantized severity degree, and the washing barrel can be enabled to recover the balance state through the adjusted preset balance washing program.

In other embodiments of the present application, the determined severity may include both the number of exceptions whose displacement exceeds the preset threshold and the maximum displacement, and in this application scenario, the added value of the execution duration of the preset balanced washing program is the sum of the added value of the execution duration determined based on the number of exceptions and the added value of the execution duration determined based on the maximum displacement. Likewise, the increase value of the rotation time period in the washing cycle of the preset balance washing program is the sum of the increase value of the rotation time period determined based on the number of abnormalities and the increase value of the rotation time period determined based on the maximum displacement amount.

For example, assuming that the washing cycle of the preset balance washing program is 800RPM, and the washing tub is rotated forward for 0.5s, stopped for 0.5s, and rotated backward for 0.5s, the default execution time period of the balance washing is 60 s. The severity was determined to include a maximum displacement of 6cm and a number of anomalies of 1. It is found from table 1 that the execution time period of the balance washing is increased by 10s based on the abnormality number 4 and the rotation time period in the washing cycle is increased by 0.2 s. Assuming that the preset threshold is 5cm, the proportion of the maximum displacement exceeding the preset threshold is 20%, and the proportion section belongs to [ 20%, 30%), the execution time length of the balance washing is increased by 20s, and the rotation time length in the washing cycle is increased by 0.1s, which are obtained from table 2 based on the maximum displacement. The execution time period of the balance washing is increased by 30s in total and the rotation time period in the washing cycle is increased by 0.3s in total. After the adjustment, the washing rhythm of the preset balance washing program is changed into 800RPM, the washing barrel rotates forwards for 0.65s, stops for 0.5s, rotates backwards for 0.65s, and the execution time length of the balance washing is adjusted to be 90 s.

In the embodiment of the present application, in order to avoid that the time for the adjusted preset balance washing is too long, a preset value may be preset in the laundry treating apparatus, and when the execution time of the adjusted preset balance washing program is greater than the preset value, it is determined to adjust the execution time of the preset balance washing program to the preset value. The preset value may be 100s or 110s, and the specific value of the preset value is not limited in the embodiment of the present application, and may be set according to requirements in practical applications.

By setting the preset value, the execution time of the preset balance washing program is limited to be not more than the preset value after the execution time of the preset balance washing program is adjusted based on the severity of barrel collision, so that the phenomenon that the total time of the current washing program is too long due to balance control is avoided, the phenomenon that a user waits for too long time is avoided, and unnecessary electric energy consumption is reduced.

After the execution time length of the preset balance washing program and the rotation time length in the washing beat are adjusted according to the severity degree corresponding to the current barrel collision event in the mode, the preset balance washing program is executed, so that the load in the washing barrel is uniformly distributed in the washing barrel, the washing barrel is restored to a balance state, and then the subsequent washing process of the current washing program is continuously operated.

In other embodiments, after the laundry treating apparatus determines the maximum displacement amount within the first preset time period before the tub is hit in step 102, a shaking direction may be determined according to the maximum displacement amount, and the shaking direction may be a direction opposite to the maximum displacement amount, for example, if the direction of the maximum displacement amount is rightward, the determined shaking direction may be leftward. The clothes treatment equipment can send prompt information including the shaking direction to a user terminal through communication connection with the user terminal such as a mobile phone, a computer and the like of the user. The user terminal displays the prompt information to prompt the user to manually drag the load to the shaking direction, so that the load is uniformly distributed in the washing tub through the intervention of the user, and the washing tub is restored to a balanced state.

In other implementations, after the clothes treating apparatus determines the shaking direction, a prompt message including the shaking direction may be displayed on the display panel to prompt the user to shake the load. Alternatively, the clothes treating apparatus may first give an alarm sound through the buzzer to attract the attention of the user and then display the prompt message, so that the user can see the prompt message when hearing the alarm sound comes near the clothes treating apparatus, preventing the user from missing the prompt message. Or, the clothes treating apparatus may also play a prompt voice including the shaking direction through a voice player to prompt a user to shake the load.

The washing program of the laundry treating apparatus generally includes three dehydration processes: a first dehydration process, a second dehydration process and a final dehydration process (i.e. a last dehydration process). The balance control of the washing tub is performed according to the operations of the above-mentioned steps 101-103 in both the first and second dehydration processes. When the current dehydration process is determined to be the last dehydration process, if the barrel collision event occurs in the last dehydration process, alarm information can be directly sent out, and the alarm information is used for prompting that the clothes treatment equipment is in an unbalanced state. If the current washing program includes more than three dehydration processes, the dehydration processes before the last dehydration process are all balance-controlled by the operations of the steps 101-103.

If the barrel collision event happens in the end-off process, alarm information is directly sent out, the sudden extension of the end time in the end-off process can be avoided, and a user cannot feel the situation that the washing time is prolonged again when the washing is about to end suddenly. And the moisture content of the load object in the last process of taking off may have been lower, detect and hit and directly send alarm information after the bucket, can avoid carrying out the condition that predetermines the balanced program of washing again and lead to the load object to be soaked again.

An embodiment of the present application provides a balance control device of a laundry treatment apparatus, the device being configured to perform a balance control method of the laundry treatment apparatus provided in any one of the above embodiments, as shown in fig. 3, the device including:

a barrel collision determination module 201, configured to determine that a barrel collision event occurs in the dehydration process;

a displacement obtaining module 202, configured to obtain displacement amounts of the washing tub at multiple times within a first preset time period before a tub collision event occurs;

the severity determining module 203 is used for determining the severity corresponding to the barrel collision event according to the displacement of the washing barrel at a plurality of moments;

and a balance control module 204 for performing balance control on the washing tub according to the severity.

A severity determining module 203 for determining the abnormal times that the displacement exceeds a preset threshold according to the displacement of the washing tub at a plurality of times; determining the abnormal times as the severity corresponding to the barrel collision event; and/or, determining the maximum displacement from the displacement of the washing barrel at a plurality of times; the maximum displacement is determined as the severity of the barrel hit event.

The severity determining module 203 is configured to determine that the first displacement exceeds a preset threshold, and add one to the abnormal times exceeding the preset threshold, where the first displacement is a displacement of the washing tub at any time within a first preset duration; acquiring a second displacement amount which is spaced by a second preset time after the moment corresponding to the first displacement amount from the displacement amounts of the washing barrel at a plurality of moments; and judging whether the second displacement exceeds a preset threshold value.

A severity determining module 203 for respectively determining whether the displacement of the washing tub at a plurality of times exceeds a preset threshold; deleting the minimum displacement quantity in the two displacement quantities, wherein the time interval is less than a second preset time length and the displacement quantity exceeds a preset threshold value; the number of remaining displacement amounts exceeding the preset threshold is determined as the number of abnormalities for which the displacement amount exceeds the preset threshold.

The balance control module 204 is configured to determine a frequency interval to which the abnormal frequency included in the severity belongs; controlling to execute a preset balance washing program according to the frequency interval; and/or calculating the proportion that the maximum displacement included in the severity exceeds a preset threshold value, and determining the proportion interval to which the proportion belongs; and controlling to execute a preset balance washing program according to the proportion interval.

The balance control module 204 is configured to increase the execution duration of the preset balance washing program by a first duration corresponding to the time interval; and increasing the rotation time length included by the washing beat of the preset balance washing program by a second time length corresponding to the time interval.

The balance control module 204 is configured to increase the execution duration of the preset balance washing program by a third duration corresponding to the proportional interval; and increasing the rotation time length included by the washing beat of the preset balance washing program by a fourth time length corresponding to the proportional interval.

The device also includes: the sending module is used for determining the shaking direction according to the maximum displacement; and sending prompt information including the shaking direction to the user terminal.

The displacement acquisition module 202 is configured to acquire detection data of displacement detection equipment within a first preset time before a barrel collision event occurs, where the displacement detection equipment includes a gyroscope or a camera; and calculating the displacement of the washing barrel every preset unit time length in the first preset time length according to the detection data in the first preset time length.

The device also includes: and the alarm module is used for determining that a barrel collision event occurs in the last taking-off process and sending alarm information, and the alarm information is used for prompting that the clothes treatment equipment is in an unbalanced state.

The device also includes: the balance state detection module is used for determining the starting of the current washing program and acquiring the detection data of the displacement detection equipment; sending alarm information according to the condition that the detection data meet the preset unbalance condition, wherein the alarm information is used for prompting that the clothes treatment equipment is in an unbalance state; or, controlling to execute the current washing program according to the fact that the detection data do not meet the preset unbalance condition.

The balance state detection module is used for determining that the detection data meet a preset unbalance condition and determining the inclination direction of the clothes treatment equipment according to the detection data; and sending alarm information including the inclination direction.

The displacement detection equipment is a gyroscope, and detection data comprise a roll angle and a pitch angle; the balance state detection module is used for determining that the roll angle is located in a roll angle interval included by a preset unbalance condition and determining a first inclination direction of the clothes treatment equipment according to the roll angle; or determining that the pitch angle is within a pitch angle interval included in the preset unbalance condition, and determining a second inclination direction of the clothes treatment equipment according to the pitch angle; or determining that the sum of the roll angle and the pitch angle is greater than a preset angle threshold included in a preset unbalance condition, and determining a third inclination direction of the laundry treating apparatus according to the roll angle and the pitch angle.

The sending module is also used for determining an adjusting direction for adjusting the clothes treating equipment to be balanced according to the inclination direction of the clothes treating equipment; and sending suggestion information comprising the adjustment direction to the user terminal.

The balance control device of the clothes treatment equipment provided by the embodiment of the application and the balance control method of the clothes treatment equipment provided by the embodiment of the application have the same beneficial effects as the adopted, operated or realized method.

The embodiment of the application also provides a clothes treatment device to execute the balance control method of the clothes treatment device. Referring to fig. 4, there is shown a schematic view of a laundry treating apparatus provided in some embodiments of the present application. As shown in fig. 4, the laundry treating apparatus 4 includes: a processor 400, a memory 401, a bus 402 and a communication interface 403, wherein the processor 400, the communication interface 403 and the memory 401 are connected through the bus 402; the memory 401 stores a computer program operable on the processor 400, and the processor 400 executes the computer program to execute the balance control method of the laundry treatment apparatus according to any one of the foregoing embodiments.

The Memory 401 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the apparatus and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.

Bus 402 can be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 401 is used for storing a program, the processor 400 executes the program after receiving an execution instruction, and the balance control method of the laundry treatment apparatus disclosed in any of the embodiments of the present application may be applied to the processor 400, or implemented by the processor 400.

Processor 400 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 400. The Processor 400 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 401, and the processor 400 reads the information in the memory 401 and completes the steps of the method in combination with the hardware.

The clothes treatment equipment provided by the embodiment of the application and the balance control method of the clothes treatment equipment provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the equipment.

Referring to fig. 5, the computer readable storage medium is an optical disc 30, on which a computer program (i.e., a program product) is stored, and when the computer program is executed by a processor, the computer program performs the balance control method of the clothes treatment apparatus provided in any of the foregoing embodiments.

It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.

The computer-readable storage medium provided by the above-mentioned embodiments of the present application has the same beneficial effects as the method adopted, operated or implemented by the stored application program, based on the same inventive concept as the balance control method of the laundry treatment apparatus provided by the embodiments of the present application.

It should be noted that:

in the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted to reflect the following schematic: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A balance control method of a laundry treating apparatus, comprising:

and performing balance control on the washing tub according to the severity.

2. The method of claim 1, wherein determining the severity of the tub crash event according to the displacement of the washing tub at the plurality of times comprises:

3. The method according to claim 2, wherein said determining the number of abnormality that the displacement exceeds a preset threshold value according to the displacement of the washing tub at the plurality of times comprises:

and judging whether the second displacement exceeds the preset threshold value.

4. The method according to claim 2, wherein said determining the number of abnormality that the displacement exceeds a preset threshold value according to the displacement of the washing tub at the plurality of times comprises:

5. The method of claim 2, wherein said balancing said washing tub according to said severity comprises:

6. The method according to claim 5, wherein the controlling of executing a preset balance washing program according to the time interval comprises:

7. The method according to claim 5, wherein the controlling of the execution of the preset equilibrium washing program according to the proportional interval comprises:

8. The method according to any one of claims 2-7, further comprising:

determining the shaking direction according to the maximum displacement;

9. The method of claim 1, wherein said obtaining the displacement of the tub at a plurality of times within a first predetermined time period before the occurrence of the tub crash event comprises:

10. The method according to any one of claims 1-7, 9, further comprising:

11. The method according to any one of claims 1-7, 9, further comprising:

12. The method according to claim 11, wherein, according to the detection data meeting a preset imbalance condition, sending out an alarm message comprises:

and sending alarm information comprising the inclination direction.

13. The method of claim 12, wherein the displacement detection device is a gyroscope, and the detection data includes roll and pitch angles; the determining that the detection data satisfies a preset unbalance condition and determining an inclination direction of the laundry treating apparatus according to the detection data includes:

14. The method of claim 12, further comprising:

15. A balance control device of a laundry treating apparatus, comprising:

16. A laundry treatment apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method according to any of claims 1-14.

17. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor to implement the method according to any of claims 1-14.