CN114645418A - Clothing processing equipment and eccentricity detection method and device thereof and storage medium - Google Patents
Clothing processing equipment and eccentricity detection method and device thereof and storage medium Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
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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
- D06F33/00—Control of operations performed in washing machines or washer-dryers
- D06F33/50—Control of washer-dryers characterised by the purpose or target of the control
- D06F33/76—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
- D06F34/04—Signal transfer or data transmission arrangements
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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
- D06F58/00—Domestic laundry dryers
- D06F58/32—Control of operations performed in domestic laundry dryers
- D06F58/34—Control of operations performed in domestic laundry dryers characterised by the purpose or target of the control
- D06F58/52—Preventing or reducing 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
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/26—Imbalance; Noise level
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Abstract
The invention discloses a clothes processing device, an eccentricity detection method and device thereof, and a storage medium. The laundry treating apparatus includes: the device comprises a water containing barrel, an inner barrel which is positioned in the water containing barrel and can rotate, a first sensor for detecting the initial phase of the inner barrel and a second sensor for detecting the vibration displacement of the water containing barrel; the method comprises the following steps: acquiring a first detection signal output by a first sensor and a second detection signal output by a second sensor; based on the first detection signal and the second detection signal, an amplitude and a phase angle of eccentricity of the laundry treating apparatus are determined. Whether the eccentricity abnormity occurs can be determined based on the amplitude of the eccentricity, and the specific orientation of the eccentricity abnormity can be determined based on the phase angle of the eccentricity, so that the eccentricity in the operation process of the clothes treatment equipment can be accurately detected.
Description
Technical Field
The invention relates to the field of clothes treatment, in particular to clothes treatment equipment, an eccentricity detection method and device thereof and a storage medium.
Background
The eccentricity detection of the clothes treatment equipment is crucial to the balance control of the clothes treatment equipment, in the related technology, the damage of an eccentric collision barrel to the equipment is usually avoided based on a mechanical anti-collision switch, but the balance control cannot be effectively and actively carried out, even if the eccentricity in the operation process of the equipment is detected through a sensor, only whether the eccentricity is abnormal can be judged, the eccentric direction cannot be accurately positioned, and the active balance control of the equipment cannot be accurately and effectively realized.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a clothes treating apparatus, an eccentricity detecting method and apparatus thereof, and a storage medium, which aim to accurately detect eccentricity during operation of the clothes treating apparatus.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides an eccentricity detection method of a clothes treatment device, wherein the clothes treatment device comprises: the device comprises a water containing barrel, an inner barrel which is positioned in the water containing barrel and can rotate, a first sensor for detecting the initial phase of the inner barrel and a second sensor for detecting the vibration displacement of the water containing barrel; the method comprises the following steps:
acquiring a first detection signal output by a first sensor and a second detection signal output by a second sensor;
based on the first detection signal and the second detection signal, an amplitude and a phase angle of eccentricity of the laundry treating apparatus are determined.
An embodiment of the present invention further provides an eccentricity detecting apparatus of a laundry treating apparatus, the laundry treating apparatus including: the water containing barrel, an inner barrel which is rotatable in the water containing barrel, a first sensor for detecting an initial phase of the inner barrel and a second sensor for detecting vibration displacement of the water containing barrel, the eccentricity detection device comprises:
the acquisition module is used for acquiring a first detection signal output by a first sensor and a second detection signal output by a second sensor;
an eccentricity determination module to determine an amplitude and a phase angle of eccentricity of the laundry treating apparatus based on the first detection signal and the second detection signal.
An embodiment of the present invention further provides a laundry treating apparatus, including: the device comprises a water containing barrel, an inner barrel which is positioned in the water containing barrel and can rotate, a first sensor for detecting the initial phase of the inner barrel and a second sensor for detecting the vibration displacement of the water containing barrel; the laundry treating apparatus further includes: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor, when running the computer program, is adapted to perform the steps of the method of an embodiment of the invention.
The embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a computer program, and the steps of the method of the embodiment of the invention are realized when the computer program is executed by a processor.
According to the technical scheme provided by the embodiment of the invention, the clothes treatment equipment comprises a first sensor for detecting the initial phase of the inner drum and a second sensor for detecting the vibration displacement of the water drum, a first detection signal output by the first sensor and a second detection signal output by the second sensor are obtained, the amplitude and the phase angle of eccentricity of the clothes treatment equipment are determined based on the first detection signal and the second detection signal, whether the eccentricity is abnormal or not can be determined based on the amplitude of the eccentricity, the specific orientation of the eccentricity is determined based on the phase angle of the eccentricity, and the eccentricity in the operation process of the clothes treatment equipment can be accurately detected.
Drawings
FIG. 1 is a schematic view showing a structure of a laundry treating apparatus according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an eccentricity detection method of a laundry treating apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the determination of magnitude and phase angle of eccentricity in an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating an eccentricity detection method of a laundry treating apparatus according to an exemplary embodiment of the present invention;
FIG. 5 is a diagram illustrating a first detection signal, a second detection signal, a sine reference signal and a cosine reference signal according to an exemplary embodiment of the present invention;
FIG. 6 is a schematic configuration diagram of a control device of a laundry treating apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a laundry treating apparatus according to an embodiment of the present invention.
Description of reference numerals:
1. a second sensor; 2. a second magnetic element; 3. an inner barrel; 4. a water containing barrel; 5. an equipment enclosure; 6. a first magnetic element; 7. a first sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The embodiment of the invention provides an eccentricity detection method of a clothes treatment device, and before the method is introduced, the clothes treatment device of the embodiment of the invention is explained. As shown in fig. 1, an exemplary laundry treating apparatus according to an embodiment of the present invention includes: the device comprises an equipment shell 5, a water containing barrel 4, an inner barrel 3, a first sensor 7 and a second sensor 1; wherein, the water barrel 4 is positioned in the equipment housing 5, and the inner barrel 3 is positioned in the water barrel 4 and can rotate under the driving of a driving mechanism (such as a motor). The first sensor 7 is used to detect an initial phase (i.e., a phase zero point) of the inner tub 3, and the second sensor 1 is used to detect a vibration displacement of the tub 4 with respect to the apparatus housing 5.
Illustratively, as shown in fig. 1, the first sensor 7 is a hall switch sensor fixed to the bottom of the tub 4, and accordingly, the bottom of the inner cylinder 3 is fixed with a first magnetic element 6 indicating an initial phase, so that the hall switch sensor outputs a pulse signal when the first magnetic element 6 passes over the hall switch sensor, that is, the hall switch sensor detects the initial phase of the inner cylinder 3 once every time the inner cylinder 3 rotates one turn, and generates a pulse signal. Here, the first magnetic element 6 may be a magnet, magnetic steel, or the like, and may generate a stable magnetic field. It is to be understood that, in other embodiments, the first sensor 7 may also adopt other sensors, and the first sensor 7 may also be disposed at a side wall surface of the tub 4 to detect the initial phase of the inner cylinder 3 at the side wall of the tub 4, and the present application does not specifically limit the type and the disposed position of the first sensor 7 as long as the first sensor 7 can detect the initial phase of the inner cylinder 3.
Illustratively, as shown in fig. 1, the second sensor 1 is a hall displacement sensor fixed to the outer wall surface of the tub 4, and accordingly, the second magnetic element 2 is provided on the apparatus housing 5, and the second magnetic element 2 is disposed opposite to the hall displacement sensor. When the laundry treating apparatus vibrates such that the distance between the hall displacement sensor and the second magnetic element 3 is periodically changed, the hall displacement sensor output voltage value signal is also periodically changed according to the hall law, so that the vibration displacement of the tub can be represented. Here, the second magnetic element 2 may be a magnet, magnetic steel, or the like, and may generate a stable magnetic field. It is to be understood that, in other embodiments, the second sensor 1 may also adopt other sensors capable of detecting the amount of displacement change, and the second sensor 1 may also be disposed on the apparatus housing 5 to detect the vibrational displacement of the tub 4 relative to the apparatus housing 5, i.e., the present application does not specifically limit the type and disposed position of the second sensor 1 as long as the second sensor 1 can detect the vibrational displacement of the tub 4.
In the embodiment of the invention, the clothes treatment equipment can be a washing machine, a clothes dryer or a washing and drying integrated machine with a drying function. It is understood that the laundry treating apparatus may have a drum type structure or a pulsator type structure, which is not limited in the present application.
The eccentricity detecting method of the laundry treating apparatus according to the embodiment of the present invention will be described in detail with reference to fig. 1 and 2. The eccentricity detection method comprises the following steps:
here, the processor of the laundry treating apparatus may acquire a first detection signal output by the first sensor and a second detection signal output by the second sensor. Illustratively, the first detection signal is a pulse signal generated by the hall switch sensor based on the detected initial phase of the inner cylinder, and the second detection signal is a voltage signal which is output by the hall displacement sensor and is used for representing the vibration displacement.
In step 202, based on the first detection signal and the second detection signal, an amplitude and a phase angle of eccentricity of the laundry treating apparatus are determined.
The processor of the laundry treatment apparatus may obtain, through an arithmetic process, a magnitude and a phase angle characterizing eccentricity of the laundry treatment apparatus based on the acquired first detection signal and the second detection signal. It can be understood that the first detection signal may reflect the rotation frequency of the inner drum, and the second detection signal may be a discretized digital signal or a discretized digital signal obtained by a conversion process, and the digital signals are subjected to a cross-correlation process based on the rotation frequency, so as to obtain an amplitude and a phase angle corresponding to the rotation frequency, so as to accurately extract the amplitude and the phase angle of the eccentricity of the laundry treatment apparatus.
In the embodiment of the invention, the processor of the clothes treatment equipment can determine the amplitude and the phase angle of the eccentricity of the clothes treatment equipment based on the first detection signal and the second detection signal, so that whether the eccentricity is abnormal or not can be determined based on the comparison between the amplitude of the eccentricity and the set threshold, and the specific orientation of the eccentricity is determined based on the phase angle of the eccentricity, thereby being beneficial to accurately detecting the eccentricity in the operation process of the clothes treatment equipment.
In practical applications, the processor of the laundry treatment apparatus may acquire a first detection signal output by the first sensor and a second detection signal output by the second sensor at a stage where eccentricity detection is required, and determine the magnitude and phase angle of eccentricity of the laundry treatment apparatus based on the acquired first detection signal and second detection signal. For example, at least one eccentricity detection may be set at a low-speed dehydration stage, a high-speed dehydration stage, etc., so that eccentricity at different rotation speeds can be detected.
In some embodiments, as shown in fig. 3, the step 202 "determining the amplitude and phase angle of eccentricity of the laundry treatment apparatus based on the first detection signal and the second detection signal" specifically comprises:
2021, determining the unit duration of one rotation of the inner cylinder based on the first detection signal;
here, the processor may determine a unit time length of one rotation of the inner cylinder, i.e., a rotation period T of the inner cylinder, based on an interval of two adjacent pulses in the first detection signal.
here, the processor may determine frequencies of the sine reference signal and the cosine reference signal based on the unit time length, thereby generating the respective sine reference signal and cosine reference signal. Illustratively, the frequency f is 1/T, T is the rotation period, the sine reference signal is s (T) sin2 pi ft, and the cosine reference signal is c (T) cos2 pi ft.
here, the calculation period may be at least one unit time length.
It is understood that the execution order of step 2022 and step 2023 can be interchanged or synchronously executed, which is not limited in this application.
here, the processor may perform a cross-correlation operation on the second detection signal in the calculation period and the sine reference signal and the cosine reference signal with the frequency f and the initial phase zero, respectively, to obtain a first reference quantity and a second reference quantity. Cross-correlation is a method of extracting a useful signal. Because the vibration displacement detected by the second sensor often contains a large amount of noise interference, the assignment and the phase angle of the vibration corresponding to the rotation frequency of the inner cylinder can be obtained according to the properties of co-frequency correlation and non-co-frequency correlation of cross-correlation functions, so that the amplitude and the phase angle reflecting the eccentricity of the clothes treatment equipment can be accurately extracted.
For example, the second detection signal obtained by the processor may be a continuous analog signal, for example, the hall displacement sensor directly outputs an analog voltage signal generated based on the vibration displacement to the processor. In another example, the second detection signal obtained by the processor may be a discrete digital signal, for example, the hall displacement sensor may output an analog voltage signal generated based on the vibration displacement to an AD converter (analog-to-digital converter), and the discrete digital signal is output to the processor after the analog signal is converted by the AD converter.
In an embodiment, if the obtained second detection signal is a discrete digital signal, respectively obtaining a first reference quantity generated by the second detection signal and the sine reference signal based on cross-correlation and a second reference quantity generated by the second detection signal and the cosine reference signal based on cross-correlation in the calculation period, includes:
calculating the accumulated sum of products of the signal value of each data point of the discretized second detection signal in the calculation period and the signal value of the corresponding data point in the sinusoidal reference signal to obtain a first reference quantity;
and solving the accumulated sum of the products of the signal value of each data point of the discretized second detection signal in the calculation period and the signal value of the corresponding data point in the cosine reference signal to obtain a second reference quantity.
In an embodiment, if the obtained second detection signal is a continuous analog signal, respectively obtaining a first reference quantity generated by the second detection signal and the sine reference signal based on cross-correlation and a second reference quantity generated by the second detection signal and the cosine reference signal based on cross-correlation in the calculation period, includes:
converting the second detection signal in the calculation period into a discrete digital signal;
the signal value of each data point of the digital signal and the accumulated sum of the products of the signal values of the corresponding data points in the sinusoidal reference signal are calculated to obtain a first reference quantity;
and calculating the accumulated sum of the products of the signal value of each data point of the digital signal and the signal value of the corresponding data point in the cosine reference signal to obtain a second reference quantity.
It can be understood that, if the second detection signal obtained by the processor is a continuous analog signal, the processor needs to perform AD conversion processing on the second detection signal in the calculation period to obtain a discrete digital signal, and then generate a first reference quantity based on cross-correlation between the signal value of each data point of the digital signal and the sine reference signal, and generate a second reference quantity based on cross-correlation between the cosine reference signal and the sine reference signal.
In some embodiments, determining the magnitude and phase angle of eccentricity of the laundry treating apparatus based on the first reference amount and the second reference amount includes:
based on the formula
Calculating the eccentric amplitude;
based on the formula
Calculating an eccentric phase angle;
wherein, A is the eccentric amplitude which can reflect the eccentric amount; phi is the phase angle of eccentricity and can represent the phase difference between the eccentric position and the initial phase of the inner barrel. RxsIs a first reference quantity, RxcFor the second reference, N is the number of data points sampled within the computation period, which may be determined based on the computation period and the discretized sampling frequency.
In some embodiments, the eccentricity detection method further comprises:
and determining the acquired first detection signal as an interference signal based on the unit time length, and then re-determining the unit time length based on the newly acquired first detection signal so as to ignore the unit time length corresponding to the interference signal.
Here, the processor may perform eccentricity detection while the inner tube is maintained at the set rotation speed. Correspondingly, the processor determines unit time length based on the acquired first detection signal, can judge whether the unit time length is in a threshold interval of a rotating speed period corresponding to the set rotating speed, and if the unit time length does not fall into the threshold interval, the acquired first detection signal is an interference signal, namely, the rotating speed of the inner cylinder calculated based on the first detection signal does not accord with the actual rotating speed of the inner cylinder, the unit time length corresponding to the interference signal is ignored, and the extraction of the eccentric amplitude and phase angle based on the frequency corresponding to the unit time length is avoided. Therefore, the influence of interference signals on eccentric calculation can be avoided, and the calculation accuracy of the eccentric amplitude and the phase angle is improved.
In some embodiments, the eccentricity detection method further comprises:
the set number is determined based on the unit time length, and the set number is a value obtained by rounding the sum of the reciprocal of the unit time length and 1, wherein the unit time length is in seconds.
Here, the calculation period may correspond to a plurality of rotation periods, so that the number of data points in the cross-correlation calculation is increased, which is beneficial to improving the calculation accuracy of the amplitude and the phase angle of the eccentricity.
The following describes embodiments of the present invention in further detail with reference to the application examples.
As shown in fig. 5, in this application example, the first detection signal is a pulse signal y (t), and the second detection signal is a discrete vibration signal x (i). As shown in fig. 4, taking the washing machine as an example, the eccentricity detection method includes:
in step 401, a period T of one rotation of the washing machine is determined based on the first detection signal.
Here, the processor of the washing machine determines a period T of one rotation of the inner tub, i.e., the aforementioned unit time length, based on the pulse signal y (T).
Here, the processor may determine whether the currently acquired first detection signal is an interference signal based on the period T, for example, if the period T is less than a certain threshold and the currently operating rotation speed stage cannot be reached, determine that the currently acquired first detection signal is an interference signal, ignore the period and return to step 401, so as to determine the period T based on the acquired first detection signal again.
In step 403, the rotational speed and frequency are calculated.
Here, the corresponding rotational speed and frequency are determined on the basis of the effective period. For example, the rotation speed Ω is 60/T, and the frequency f is 1/T; the period T is in seconds, i.e., the rotation speed Ω is in minutes.
Here, it is assumed that the period T is calculatedsMT, where M is the number of cycles, and M is [ Ω/60+1 ═ of cycles]I.e. the number obtained by dividing the rotation speed omega by 60 and then adding 1.
In step 405, a sine signal and a cosine signal are generated based on the frequency.
Here, the processor may generate a sine signal s (i) ═ sin2 pi fi and a cosine signal c (i) ═ cos2 pi fi based on the frequency f, as shown in fig. 5.
It is understood that the execution order of step 404 and step 405 may be interchanged or performed synchronously.
Here, the period T is calculated by the cross-correlation methodsMultiplying all data point discrete vibration signal values x (i) by sine signals s (i) and cosine signals c (i) and accumulating and summing
Wherein N is a calculation period TsThe number of data points that are internally sampled.
In step 407, the magnitude and phase angle of eccentricity of the laundry treating apparatus are determined based on the first reference amount and the second reference amount.
Here, based on the formula
Solving the eccentric amplitude A; based on the formula
An eccentric phase angle phi is obtained.
In order to implement the method of the embodiment of the present invention, an embodiment of the present invention further provides an eccentricity detecting device of a laundry processing apparatus, which corresponds to the eccentricity detecting method of the laundry processing apparatus, and each step in the eccentricity detecting method of the laundry processing apparatus is also fully applicable to the eccentricity detecting device of the laundry processing apparatus.
As shown in fig. 6, the eccentricity amount detecting device of the laundry treating apparatus includes: an acquisition module 601 and an eccentricity determination module 602. The acquiring module 601 is configured to acquire a first detection signal output by a first sensor and a second detection signal output by a second sensor; the eccentricity determination module 602 is configured to determine an amplitude and a phase angle of eccentricity of the laundry treating apparatus based on the first detection signal and the second detection signal.
In some embodiments, the eccentricity determination module 602 is specifically configured to:
determining unit time length of one circle of rotation of the inner cylinder based on the first detection signal;
generating a sine reference signal and a cosine reference signal based on the unit time length;
determining a calculation period for eccentricity calculation based on the unit time lengths, wherein the calculation period is a set number of unit time lengths;
respectively calculating a first reference quantity generated by a second detection signal and a sine reference signal based on cross correlation in a calculation period, and a second reference quantity generated by a second detection signal and a cosine reference signal based on cross correlation;
the magnitude and phase angle of eccentricity of the laundry treating apparatus are determined based on the first reference amount and the second reference amount.
In some embodiments, the eccentricity determination module 602 is further configured to:
and determining the acquired first detection signal as an interference signal based on the unit time length, and then re-determining the unit time length based on the newly acquired first detection signal so as to ignore the unit time length corresponding to the interference signal.
In some embodiments, the eccentricity determination module 602 is further configured to:
the set number is determined based on the unit time length, and the set number is a value obtained by rounding the sum of the reciprocal of the unit time length and 1, wherein the unit time length is in seconds.
In some embodiments, if the obtained second detection signal is a discrete digital signal, the eccentricity determination module 602 separately obtains a first reference quantity generated by the second detection signal and the sine reference signal based on cross-correlation and a second reference quantity generated by the second detection signal and the cosine reference signal based on cross-correlation in the calculation period, including:
calculating the accumulated sum of products of the signal value of each data point of the discretized second detection signal in the calculation period and the signal value of the corresponding data point in the sinusoidal reference signal to obtain a first reference quantity;
and solving the accumulated sum of the products of the signal value of each data point of the discretized second detection signal in the calculation period and the signal value of the corresponding data point in the cosine reference signal to obtain a second reference quantity.
In some embodiments, if the obtained second detection signal is a continuous analog signal, the eccentricity determination module 602 respectively obtains a first reference quantity generated by the second detection signal and the sine reference signal based on cross-correlation and a second reference quantity generated by the second detection signal and the cosine reference signal based on cross-correlation in the calculation period, including:
converting the second detection signal in the calculation period into a discrete digital signal;
the signal value of each data point of the digital signal and the accumulated sum of the products of the signal values of the corresponding data points in the sinusoidal reference signal are calculated to obtain a first reference quantity;
and calculating the accumulated sum of the products of the signal value of each data point of the digital signal and the signal value of the corresponding data point in the cosine reference signal to obtain a second reference quantity.
In some embodiments, the eccentricity determination module 602 determines the magnitude and phase angle of eccentricity of the laundry treating apparatus based on the first reference amount and the second reference amount, including:
based on the formula
Calculating the eccentric amplitude;
based on the formula
Calculating an eccentric phase angle;
wherein A is the amplitude of eccentricity, phi is the phase angle of eccentricity, RxsIs a first reference quantity, RxcFor the second reference, N is the number of data points sampled during the calculation period.
In practical applications, the obtaining module 601 and the eccentricity determining module 602 may be implemented by a processor of the laundry treating apparatus. Of course, the processor needs to run a computer program in memory to implement its functions.
It should be noted that: the eccentricity detecting device of the clothes treating apparatus provided in the above embodiment is only exemplified by the division of the program modules when the clothes treating apparatus is controlled, and in practical applications, the treatment distribution may be completed by different program modules according to needs, that is, the internal structure of the device may be divided into different program modules to complete all or part of the treatment described above. In addition, the eccentricity detecting device of the clothes treating apparatus provided by the above embodiment and the eccentricity detecting method embodiment of the clothes treating apparatus belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.
Based on the hardware implementation of the program module, in order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides a clothes treatment apparatus. Fig. 7 shows only an exemplary structure of the laundry treating apparatus, not the entire structure, and a part of or the entire structure shown in fig. 7 may be implemented as necessary.
As shown in fig. 7, the laundry treating apparatus 700 according to the embodiment of the present invention includes: at least one processor 701, a memory 702, and a user interface 703. The various components in the laundry treating apparatus 700 are coupled together by a bus system 704. It will be appreciated that the bus system 704 is used to enable communications among the components. The bus system 704 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled in fig. 7 as the bus system 704.
The clothes treatment apparatus of the embodiment of the present invention further includes: the water containing barrel, an inner barrel which is positioned in the water containing barrel and can rotate, a first sensor for detecting the initial phase of the inner barrel and a second sensor for detecting the vibration displacement of the water containing barrel. Reference may be made to fig. 1 and the foregoing description, which are not repeated herein.
The user interface 703 in embodiments of the present invention may include a display, keyboard, mouse, trackball, click wheel, keys, buttons, touch pad, touch screen, or the like.
The memory 702 in the embodiment of the present invention is used to store various types of data to support the operation of the laundry treating apparatus. Examples of such data include: any computer program for operating on a laundry treatment apparatus.
The eccentricity detection method of the laundry treatment apparatus according to the embodiment of the present invention may be applied to the processor 701, or implemented by the processor 701. The processor 701 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the eccentricity amount detection method of the laundry treating apparatus may be accomplished by an integrated logic circuit of hardware in the processor 701 or instructions in the form of software. The Processor 701 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 701 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software module may be located in a storage medium located in the memory 702, and the processor 701 reads the information in the memory 702, and completes the steps of the eccentricity detection method of the laundry treatment apparatus provided by the embodiment of the present invention in combination with hardware thereof.
In an exemplary embodiment, the laundry treating apparatus may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), FPGAs, general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.
It will be appreciated that the memory 702 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
In an exemplary embodiment, the embodiment of the present invention further provides a storage medium, i.e., a computer storage medium, which may be a computer readable storage medium, for example, including a memory 702 storing a computer program, which is executable by a processor 701 of a laundry treatment apparatus to perform the steps of the method of the embodiment of the present invention. The computer readable storage medium may be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM, among others.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An eccentricity detection method of a laundry treatment apparatus, characterized in that the laundry treatment apparatus comprises: the device comprises a water containing barrel, an inner barrel which is positioned in the water containing barrel and can rotate, a first sensor for detecting the initial phase of the inner barrel and a second sensor for detecting the vibration displacement of the water containing barrel; the method comprises the following steps:
acquiring a first detection signal output by the first sensor and a second detection signal output by the second sensor;
determining an amplitude and a phase angle of eccentricity of the laundry treating apparatus based on the first and second detection signals.
2. The method of claim 1, wherein the determining a magnitude and a phase angle of eccentricity of the laundry treatment apparatus based on the first detection signal and the second detection signal comprises:
determining the unit time length of one circle of rotation of the inner cylinder based on the first detection signal;
generating a sine reference signal and a cosine reference signal based on the unit duration;
determining a calculation period for eccentricity calculation based on the unit time lengths, the calculation period being a set number of the unit time lengths;
respectively calculating a first reference quantity generated by the second detection signal and the sine reference signal based on cross correlation and a second reference quantity generated by the second detection signal and the cosine reference signal based on cross correlation in the calculation period;
determining a magnitude and a phase angle of eccentricity of the laundry treating apparatus based on the first reference amount and the second reference amount.
3. The method of claim 2, further comprising:
and determining the acquired first detection signal as an interference signal based on the unit time length, and then re-determining the unit time length based on the newly acquired first detection signal so as to ignore the unit time length corresponding to the interference signal.
4. The method of claim 2, further comprising:
determining the set number based on the unit time length, wherein the set number is a value obtained by rounding the sum of the reciprocal of the unit time length and 1, and the unit time length is in seconds.
5. The method according to claim 2, wherein if the second detection signal is obtained as a discrete digital signal, said respectively obtaining a first reference quantity generated by cross-correlation between the second detection signal and the sine reference signal and a second reference quantity generated by cross-correlation between the second detection signal and the cosine reference signal in the calculation period comprises:
calculating the sum of the summations of the products of the signal values of the data points of the discretized second detection signal in the calculation period and the signal values of the corresponding data points in the sinusoidal reference signal to obtain the first reference quantity;
and calculating the sum of the accumulation of the products of the signal value of each data point of the discretized second detection signal in the calculation period and the signal value of the corresponding data point in the cosine reference signal to obtain the second reference quantity.
6. The method according to claim 2, wherein if the second detected signal is a continuous analog signal, the respectively obtaining a first reference quantity generated by cross-correlation between the second detected signal and the sine reference signal and a second reference quantity generated by cross-correlation between the second detected signal and the cosine reference signal in the calculation period comprises:
converting the second detection signal in the calculation period into a discrete digital signal;
calculating the sum of the summations of the products of the signal values of the data points of the digital signal and the signal values of the corresponding data points in the sinusoidal reference signal to obtain the first reference quantity;
and calculating the sum of the accumulation of the products of the signal value of each data point of the digital signal and the signal value of the corresponding data point in the cosine reference signal to obtain the second reference quantity.
7. The method according to claim 2, wherein the determining a magnitude and a phase angle of eccentricity of the laundry treating apparatus based on the first reference amount and the second reference amount comprises:
based on the formula
Calculating the eccentric amplitude;
based on the formula
Calculating an eccentric phase angle;
wherein A is the amplitude of the eccentricity,
being eccentric phase angle, RxsIs said first reference amount, RxcFor the second reference, N is the number of data points sampled during the calculation period.
8. An eccentricity detecting device of a laundry treating apparatus, characterized in that the laundry treating apparatus comprises: the water containing barrel, be located water containing barrel rotatable inner tube, be used for detecting the initial phase of inner tube first sensor and be used for detecting the vibration displacement's of water containing barrel second sensor, the eccentricity detection device includes:
the acquisition module is used for acquiring a first detection signal output by the first sensor and a second detection signal output by the second sensor;
an eccentricity determination module to determine an amplitude and a phase angle of eccentricity of the laundry treating apparatus based on the first and second detection signals.
9. A laundry treating apparatus, characterized in that the laundry treating apparatus comprises: the device comprises a water containing barrel, an inner barrel which is positioned in the water containing barrel and can rotate, a first sensor for detecting the initial phase of the inner barrel and a second sensor for detecting the vibration displacement of the water containing barrel; the laundry treating apparatus further includes: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor, when executing the computer program, is adapted to perform the steps of the method of any of claims 1 to 7.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method of any one of claims 1 to 7.
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