WO2022001010A1 - 衣物处理设备的控制方法、控制装置和衣物处理设备 - Google Patents

衣物处理设备的控制方法、控制装置和衣物处理设备 Download PDF

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Publication number
WO2022001010A1
WO2022001010A1 PCT/CN2020/135036 CN2020135036W WO2022001010A1 WO 2022001010 A1 WO2022001010 A1 WO 2022001010A1 CN 2020135036 W CN2020135036 W CN 2020135036W WO 2022001010 A1 WO2022001010 A1 WO 2022001010A1
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Prior art keywords
load weight
eccentricity
weight value
treatment device
laundry treatment
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PCT/CN2020/135036
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English (en)
French (fr)
Inventor
付俊永
秦向南
陈辉
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美的威灵电机技术（上海）有限公司
淮安威灵电机制造有限公司
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Publication of WO2022001010A1 publication Critical patent/WO2022001010A1/zh

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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
    • 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 
    • D06F33/32—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry
    • D06F33/40—Control of operational steps, e.g. optimisation or improvement of operational steps depending on the condition of the laundry of centrifugal separation of water from the laundry
    • 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 
    • D06F33/44—Control of the operating time, e.g. reduction of overall operating time
    • 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
    • D06F2103/02—Characteristics of laundry or load
    • D06F2103/04—Quantity, e.g. weight or variation of weight
    • 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
    • D06F2103/24—Spin speed; Drum movements
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • the present application relates to the technical field of clothing treatment equipment, and in particular, to a control method of a clothing treatment equipment, a control apparatus for a clothing treatment equipment, a clothing treatment equipment, and a computer-readable storage medium.
  • variable frequency motor has the function of load unbalance detection. When the load is unbalanced, the speed can be adjusted or the unbalanced state of the load can be changed to reduce the vibration and noise of the system.
  • the sensor is used to detect whether the drum is balanced, but the cost of the sensor is high and it is inconvenient to install, which makes the detection difficult.
  • the present application aims to solve at least one of the technical problems existing in the prior art or related technologies.
  • one aspect of the present application is to provide a control method of a laundry treatment apparatus.
  • Another aspect of the present application is to provide a control device of a laundry treatment apparatus.
  • Yet another aspect of the present application is to propose a laundry treatment apparatus.
  • Yet another aspect of the present application is to propose a computer-readable storage medium.
  • a method for controlling a clothes treatment device including: receiving an eccentricity detection signal, judging whether a load weight value of the clothes treatment device is stored in a memory of the clothes treatment device; load weight value, sense the eccentricity of the laundry treatment device according to the load weight value; determine that the load weight value is not stored in the memory, detect the load weight value of the laundry treatment device, store the detected load weight value in the memory, and according to the detected load weight value The load weight value of the senses the eccentricity of the laundry treatment device.
  • the control method of the clothes processing device provided by the present application, after receiving the eccentricity detection signal, it is judged whether the load weight value is stored in the memory of the clothes processing device, and if the load weight value is stored, the eccentricity perception is directly performed by using the load weight value, There is no need to perform the load weight identification again; if the load weight value is not stored, the load weight identification is performed to obtain the load weight value.
  • it is avoided to perform load weight identification every time the eccentricity is sensed, and the time for sensing the eccentricity can be shortened, thereby shortening the dehydration time of the laundry treatment device.
  • the laundry processing device will perform eccentricity sensing at least once before performing high-speed dehydration (if the eccentricity obtained by the first eccentricity sensing is small enough to enable high-speed dehydration, the eccentricity sensing will not be continued, otherwise, the eccentricity sensing will be continued. eccentric perception).
  • the load weight value needs to be identified for eccentric sensing, that is, the first step of this dehydration stage is performed. A load weight identification.
  • the load weight value of the first load weight identification needs to be stored, and if it is determined that high-speed dehydration cannot be performed according to the result of the current eccentricity sensing, the next eccentricity sensing needs to be performed. Between the current eccentricity sensing and the next eccentricity sensing, the laundry processing device does not perform washing, rinsing, pre-spinning and other procedures, so the load weight does not change, so the stored load weight value can be provided to the current eccentricity sensing device. Next time eccentric perception use. Specifically, if it is determined that the load weight value is stored in the memory during the next eccentricity sensing, the load weight value is directly used, thereby avoiding the extension of the dehydration time due to the load weight identification again in the next eccentricity sensing.
  • the method further includes: controlling the laundry treatment device to dehydrate the load based on the eccentricity of the clothes treatment device being less than or equal to a preset threshold; after the dehydration is completed, clearing the load weight value stored in the memory.
  • the laundry processing equipment when it is judged that the eccentricity of the laundry processing equipment is less than or equal to the preset threshold, it indicates that the eccentricity is small enough to avoid the problem of bucket collision during high-speed dehydration, so the laundry processing equipment is controlled to dehydrate the load. Further, after the dehydration is completed, the load weight value stored in the memory is cleared to zero, so as to avoid applying the stored load weight to the eccentricity sensing process in the next dehydration stage, which can improve the accuracy of eccentricity sensing.
  • the laundry treatment equipment may also perform the functions of washing (or rinsing) and dehydrating again, while washing (or rinsing) (or rinsing) has caused the load weight value to change, so if the load weight value of the last spin is used, the eccentricity perception will be inaccurate, resulting in the risk of hitting the bucket during spin.
  • the completion of dehydration means the completion of the dehydration stage, which includes two situations: in the first case, the laundry treatment device needs to perform eccentricity sensing at least once when executing the dehydration program. If the dehydration requirements are met, the washing tub is rotated to dehydrate the clothes, and the completion of the above dehydration means that the clothes are dried. In the second case, when the eccentricity sensed by the laundry processing device is always large and does not meet the dehydration requirements, and the clothes are not dehydrated until the dehydration program ends, the above dehydration completion means that the dehydration program ends.
  • the method further includes: controlling the clothes treatment device to shake off the load based on the fact that the eccentricity of the clothes treatment device is greater than a preset threshold.
  • the step of sensing the eccentricity of the clothes treating device according to the load weight value, or sensing the eccentricity of the clothes treating device according to the detected load weight value specifically includes: acquiring the current of the motor of the clothes treating device, Calculate the motor operating parameters according to the current; sense the eccentricity of the laundry treatment device according to the load weight value and the fluctuation value of the motor operating parameters; wherein, the motor operating parameters include the speed or torque of the motor, and the fluctuation value of the motor operating parameters includes the maximum speed of the speed. The difference between the value and the minimum value of the speed, or the difference between the maximum value of the torque and the minimum value of the torque.
  • the current of the motor is collected, and then the speed or torque of the motor is calculated, and the motor speed or torque fluctuation value within one rotation of the washing tub is obtained, and the fluctuation value is the maximum speed or torque and the minimum speed or torque.
  • the fluctuation value and the load weight value query the pre-stored two-dimensional data corresponding to the load weight and the fluctuation value, and use two-dimensional linear fitting to calculate the eccentricity of the load in the laundry treatment device. The method does not need to set the sensor to detect the balance state of the load, reduces the detection cost, and improves the detection accuracy and high.
  • a control device for a clothes treatment device including: a memory, where a computer program is stored in the memory; Control Method.
  • control device of the clothes treatment device when the computer program is executed by the processor, the steps of the control method of the clothes treatment device according to any of the above technical solutions are realized. Therefore, the control device of the clothes treatment device includes any of the above technical solutions. All the beneficial effects of the control method of the laundry treatment apparatus.
  • a clothing processing device comprising: a washing tub; a motor, which is used to drive the washing tub to rotate; a memory, where a computer program is stored in the memory; a processor, which realizes when the processor executes the computer program: Receive the eccentricity detection signal, and determine whether the load weight value of the laundry processing device is stored in the memory; determine whether the load weight value is stored in the memory, and sense the eccentricity of the laundry processing device according to the load weight value; determine that the load weight value is not stored in the memory, and control the motor to drive
  • the washing tub rotates to obtain the load weight value of the laundry treatment device, stores the obtained load weight value in the memory, and senses the eccentricity of the clothes treatment device according to the obtained load weight value.
  • the clothing processing device after receiving the eccentricity detection signal, judges whether the load weight value is stored in the memory of the clothing processing device, and if the load weight value is stored, the eccentricity perception is directly performed by using the load weight value, without the need to re-run Carry out load weight identification; if no load weight value is stored, carry out load weight identification to obtain the load weight value.
  • it is avoided to perform load weight identification every time the eccentricity is sensed, the time for sensing the eccentricity can be shortened, and the dehydration time of the laundry treatment equipment can be shortened.
  • the laundry treatment device will perform eccentricity sensing at least once before performing high-speed spin (if the eccentricity obtained by the first eccentricity sensing is small enough to enable high-speed spin-drying, the eccentricity sensing will not be continued, otherwise, the eccentricity sensing will be continued. eccentric perception).
  • the load weight value needs to be identified for eccentric sensing, that is, the first step of this dehydration stage is performed. A load weight identification.
  • the load weight value of the first load weight identification needs to be stored, and if it is determined that high-speed dehydration cannot be performed according to the result of the current eccentricity sensing, the next eccentricity sensing needs to be performed. Between the current eccentricity sensing and the next eccentricity sensing, the laundry processing device does not perform washing, rinsing, pre-spinning and other procedures, so the load weight does not change, so the stored load weight value can be provided to the current eccentricity sensing device. Next time eccentric perception use. Specifically, if it is determined that the load weight value is stored in the memory during the next eccentricity sensing, the load weight value is directly used, thereby avoiding the extension of the dehydration time due to the load weight identification again in the next eccentricity sensing.
  • the above-mentioned clothes treating apparatus according to the present application may also have the following technical features:
  • the processor when the processor executes the computer program, the processor also implements: based on the fact that the eccentricity of the laundry processing equipment is less than or equal to a preset threshold, the motor is controlled to drive the washing tub to rotate to dehydrate the load; load weight value.
  • the laundry processing equipment when it is judged that the eccentricity of the laundry processing equipment is less than or equal to the preset threshold, it indicates that the eccentricity is small enough to avoid the problem of hitting the bucket during high-speed dehydration, so the laundry processing equipment is controlled to dehydrate the load. Further, after the dehydration is completed, the load weight value stored in the memory is cleared to zero, so as to avoid applying the stored load weight to the eccentricity sensing process in the next dehydration stage, which can improve the accuracy of eccentricity sensing.
  • the laundry treatment equipment may also perform the functions of washing (or rinsing) and dehydrating again, while washing (or rinsing) (or rinsing) has caused the load weight value to change, so if the load weight value of the last spin is used, the eccentricity perception will be inaccurate, resulting in the risk of hitting the bucket during spin.
  • the completion of dehydration means the completion of the dehydration stage, which includes two situations: in the first case, the laundry treatment device needs to perform eccentricity sensing at least once when executing the dehydration program. If the dehydration requirements are met, the washing tub is rotated to dehydrate the clothes, and the completion of the above dehydration means that the clothes are dried. In the second case, when the eccentricity sensed by the laundry treatment device is always large, the dehydration requirement is not met, and the clothes are not dehydrated until the dehydration program ends, then the above dehydration completion means that the dehydration program ends.
  • the processor when the processor executes the computer program, the processor further implements: based on the fact that the eccentricity of the laundry treatment device is greater than a preset threshold, the motor is controlled to drive the washing tub to rotate to shake off the load.
  • the clothes treatment device further includes: a current detection device connected to the processor, and the current detection device is used to detect the current of the motor; when the processor executes the computer program, it also realizes: when the motor is controlled to drive the washing tub to rotate, In the process of obtaining the load weight value of the clothes treatment device, the current of the motor is obtained, and the motor operation parameters are calculated according to the current; the eccentricity of the clothes treatment device is sensed according to the load weight value and the fluctuation value of the motor operation parameters; wherein, the motor operation parameters include The speed or torque of the motor, the fluctuation value of the motor operating parameters includes the difference between the maximum value of the speed and the minimum value of the speed, or the difference between the maximum value of the torque and the minimum value of the torque.
  • the current of the motor is collected, and then the speed or torque of the motor is calculated, and the motor speed or torque fluctuation value within one rotation of the washing tub is obtained, and the fluctuation value is the maximum speed or torque and the minimum speed or torque.
  • the fluctuation value and the load weight value query the pre-stored two-dimensional data corresponding to the load weight and the fluctuation value, and use two-dimensional linear fitting to calculate the eccentricity of the load in the laundry treatment device. There is no need to set the sensor to detect the balance state of the load, the detection cost is reduced, and the detection accuracy is improved.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the control method for a laundry treatment device according to any of the above technical solutions.
  • the computer-readable storage medium provided by the present application when the computer program is executed by the processor, implements the steps of the control method of the laundry treatment device according to any of the above technical solutions, so the computer-readable storage medium includes the laundry treatment of any of the above-mentioned technical solutions.
  • the full benefit of the control method of the device when the computer program is executed by the processor, implements the steps of the control method of the laundry treatment device according to any of the above technical solutions, so the computer-readable storage medium includes the laundry treatment of any of the above-mentioned technical solutions.
  • FIG. 1 shows a schematic flowchart of a control method of a laundry treatment device according to a first embodiment of the present application
  • FIG. 2 shows a schematic flowchart of a control method of a laundry treatment device according to a second embodiment of the present application
  • FIG. 3 shows a schematic flowchart of a control method of a laundry treatment device according to a third embodiment of the present application
  • Fig. 4 shows a schematic block diagram of the control device of the laundry treatment apparatus according to the first embodiment of the present application
  • Fig. 5 shows a schematic block diagram of a control device of a laundry treatment apparatus according to a second embodiment of the present application
  • FIG. 6 shows a schematic diagram of the work flow of the control device of the clothes treating apparatus according to the embodiment of the present application
  • Fig. 7 shows a schematic block diagram of a laundry treatment apparatus according to an embodiment of the present application.
  • An embodiment of the first aspect of the present application provides a method for controlling a laundry treatment device, and the control method for the laundry treatment device will be described in detail through the following embodiments.
  • FIG. 1 shows a schematic flowchart of a control method of a laundry treatment apparatus according to a first embodiment of the present application. Among them, the method includes:
  • Step 102 receiving an eccentricity detection signal
  • Step 104 determine whether the load weight value of the clothes treatment device is stored in the memory of the clothes treatment device, determine whether the load weight value of the clothes treatment device is stored in the memory, go to step 106, otherwise go to step 108;
  • Step 106 sensing the eccentricity of the clothes treatment device according to the load weight value
  • Step 108 Detect the load weight value of the laundry treatment apparatus, store the detected load weight value in a memory, and sense the eccentricity of the laundry treatment apparatus according to the detected load weight value.
  • the control method of the clothes processing device provided by the present application, after receiving the eccentricity detection signal, it is judged whether the load weight value is stored in the memory of the clothes processing device, and if the load weight value is stored, the eccentricity perception is directly performed by using the load weight value, There is no need to perform the load weight identification again; if the load weight value is not stored, the load weight identification is performed to obtain the load weight value.
  • it is avoided to perform load weight identification every time the eccentricity is sensed the time for sensing the eccentricity can be shortened, and the dehydration time of the laundry treatment equipment can be shortened.
  • the laundry processing device will perform eccentricity sensing at least once before performing high-speed dehydration (if the eccentricity obtained by the first eccentricity sensing is small enough to enable high-speed dehydration, the eccentricity sensing will not be continued, otherwise, the eccentricity sensing will be continued. eccentric perception).
  • the load weight value needs to be identified for eccentric sensing, that is, the first step of this dehydration stage is performed. A load weight identification.
  • the load weight value of the first load weight identification needs to be stored, and if it is determined that high-speed dehydration cannot be performed according to the result of the current eccentricity sensing, the next eccentricity sensing needs to be performed. Between the current eccentricity sensing and the next eccentricity sensing, the laundry processing device does not perform washing, rinsing, pre-spinning and other procedures, so the load weight does not change, so the stored load weight value can be provided to the current eccentricity sensing device. Next time eccentric perception use. Specifically, if it is determined that the load weight value is stored in the memory during the next eccentricity sensing, the load weight value is directly used, thereby avoiding the extension of the dehydration time due to the load weight identification again in the next eccentricity sensing.
  • the laundry processing equipment performs load weight identification, that is, controlling the motor of the laundry processing equipment to drive the washing tub of the laundry processing equipment to rotate to a preset speed, and then measuring the load inertia by accelerating or decelerating, and then using the load inertia and The load weight mapping relationship is obtained by looking up the table to obtain the load weight.
  • the clothes treatment device includes a washing machine and a clothes dryer, and the washing machine may be a drum washing machine.
  • FIG. 2 shows a schematic flowchart of a control method of a laundry treatment device according to a second embodiment of the present application. Among them, the method includes:
  • Step 202 receiving an eccentricity detection signal
  • Step 204 determine whether the load weight value of the clothes treatment device is stored in the memory of the clothes treatment device, determine whether the load weight value of the clothes treatment device is stored in the memory, go to step 206, otherwise go to step 208;
  • Step 206 sensing the eccentricity of the clothes treating device according to the load weight value
  • Step 208 Detect the load weight value of the clothes treatment device, store the detected load weight value in the memory, and sense the eccentricity of the clothes treatment device according to the detected load weight value;
  • Step 210 determine whether the eccentricity of the clothes treatment device is less than or equal to a preset threshold, and determine that the eccentricity of the clothes treatment device is less than or equal to the preset threshold, then go to step 212, otherwise go to step 214;
  • Step 212 controlling the laundry treatment equipment to dehydrate the load, and after the dehydration is completed, clear the load weight value stored in the memory;
  • Step 214 controlling the laundry treatment device to shake off the load.
  • the laundry processing device when it is judged that the eccentricity of the laundry processing device is less than or equal to the preset threshold, it indicates that the eccentricity is small enough to avoid the problem of bucket collision during high-speed dehydration, so the laundry processing device is controlled to dehydrate the load. Further, after the dehydration is completed, the load weight value stored in the memory is cleared to zero, so as to avoid applying the stored load weight to the eccentricity sensing process in the next dehydration stage, which can improve the accuracy of eccentricity sensing. When the eccentricity is greater than the preset threshold, it indicates that the eccentricity is large.
  • the clothes processing equipment is controlled to shake and disperse the load, so that the load is distributed as evenly as possible in the washing tub, and the eccentricity is sensed again after the shaking is dispersed, so as to avoid the collision of the bucket during dehydration. problem.
  • the laundry treatment equipment may also perform the functions of washing (or rinsing) and dehydrating again, while washing (or rinsing) (or rinsing) has caused the load weight value to change, so if the load weight value of the last spin is used, the eccentricity perception will be inaccurate, resulting in the risk of hitting the bucket during spin.
  • the completion of dehydration means the completion of the dehydration stage, which includes two situations: in the first case, the laundry treatment device needs to perform eccentricity sensing at least once when executing the dehydration program. If the dehydration requirements are met, the washing tub is rotated to dehydrate the clothes, and the completion of the above dehydration means that the clothes are dried. In the second case, when the eccentricity sensed by the laundry processing device is always large and does not meet the dehydration requirements, and the clothes are not dehydrated until the dehydration program ends, the above dehydration completion means that the dehydration program ends.
  • the step of sensing the eccentricity of the clothes treating device according to the load weight value, or sensing the eccentricity of the clothes treating device according to the detected load weight value specifically includes: acquiring the current of the motor of the clothes treating device, Calculate the motor operating parameters according to the current; sense the eccentricity of the laundry treatment device according to the load weight value and the fluctuation value of the motor operating parameters; wherein, the motor operating parameters include the speed or torque of the motor, and the fluctuation value of the motor operating parameters includes the maximum speed of the speed. The difference between the value and the minimum value of the speed, or the difference between the maximum value of the torque and the minimum value of the torque.
  • the current of the motor is collected to calculate the speed or torque of the motor, and the fluctuation value of the motor speed or torque within one rotation of the washing tub is obtained, and the fluctuation value is the maximum speed or torque and the minimum speed or torque.
  • the fluctuation value and the load weight value query the pre-stored two-dimensional data corresponding to the load weight and the fluctuation value, and use two-dimensional linear fitting to calculate the eccentricity of the load in the laundry treatment device. The method does not need to set the sensor to detect the balance state of the load, reduces the detection cost, and improves the detection accuracy and high.
  • FIG. 3 shows a schematic flowchart of a control method of a laundry treatment device according to a third embodiment of the present application. Among them, the method includes:
  • Step 302 receiving an eccentricity detection signal
  • Step 304 determine whether the laundry treatment device has executed the washing program, determine that the laundry treatment device has not executed the washing program, go to step 306, otherwise go to step 310;
  • Step 306 determine whether the laundry treatment equipment has performed the pre-drying procedure, determine that the laundry processing equipment has not performed the pre-drying procedure, and go to step 308, otherwise, go to step 310;
  • Step 308 sensing the eccentricity of the laundry treatment device according to the pre-stored load weight, wherein the pre-stored load weight is the load weight value detected when the laundry treatment device performs load weight detection for the first time in the current dehydration stage;
  • Step 310 Detect the load weight value of the clothes treatment device and sense the eccentricity of the clothes treatment device according to the load weight value.
  • each eccentricity sensing it is determined whether the laundry processing equipment has performed the washing process and the pre-spinning process between the previous eccentricity sensing and the current eccentricity sensing. That is, it is determined whether the load weight has changed, if not, the eccentricity of the laundry treatment device is sensed according to the pre-stored load weight value, and if at least one of the washing program and the pre-spinning program is executed, the current load weight value is detected, The eccentric amount of the laundry treating apparatus is sensed according to the current load weight value.
  • judging whether the laundry treatment device has executed the washing program is to determine whether the dehydration program has just entered, and judging whether the clothes treatment device has executed the pre-dehydration program is to determine whether the load state has changed.
  • This embodiment does not limit the judging sequence of the washing program and the pre-spinning program.
  • the laundry processing apparatus when the laundry processing apparatus performs a washing program and a high-speed spin program, it may be necessary to try the eccentricity sensing several times before the high-speed spin program.
  • the first eccentric sensing it is determined that the washing program has been executed, and it is determined that the weight of the clothes has changed due to the injection of water during the washing process, and then the first eccentric sensing needs to re-detect the clothes weight and store the clothes weight. Then, the eccentricity of the load is obtained according to the detected laundry weight and motor operating parameters.
  • the eccentricity of the load is obtained according to the motor operating parameters and the clothes weight detected during the first eccentric sensing. If the amount of eccentricity obtained by the second eccentricity perception is large, and the high-speed dehydration still cannot be entered, shake the clothes away and perform the third eccentricity perception, and determine between the third eccentricity perception and the second eccentricity perception (or in the third eccentricity perception).
  • the eccentric amount of the load is obtained according to the motor operating parameters and the detected laundry weight during the first eccentric sensing. If the amount of eccentricity sensed by the third eccentricity is small, enter high-speed dehydration.
  • the laundry processing apparatus performs a pre-spinning program and a high-speed spin-drying program, and before the high-speed spin-drying program, it may be necessary to try to sense the eccentricity multiple times.
  • the first eccentric sensing it is determined that the pre-spinning procedure has been executed, and it is determined that the laundry weight has changed due to the dehydration of the laundry during the pre-spinning process, and the laundry weight needs to be re-detected for the first eccentric sensing. Then, the eccentricity of the load is obtained according to the detected laundry weight and motor operating parameters.
  • the eccentricity of the load is obtained according to the motor operating parameters and the clothes weight detected during the first eccentric sensing. If the amount of eccentricity obtained by the second eccentricity perception is large, and the high-speed dehydration still cannot be entered, shake the clothes away and perform the third eccentricity perception, and determine between the third eccentricity perception and the second eccentricity perception (or in the third eccentricity perception).
  • the eccentricity of the load is obtained according to the motor operating parameters and the clothes weight detected during the first eccentricity sensing. If the amount of eccentricity sensed by the third eccentricity is small, enter high-speed dehydration.
  • An embodiment of the second aspect of the present application provides a control device for a clothes treatment device, and the control device for the clothes treatment device will be described in detail through the following embodiments.
  • FIG. 4 shows a schematic block diagram of a control apparatus 400 of a laundry treatment apparatus according to the first embodiment of the present application.
  • the control device 400 of the clothes treatment equipment includes:
  • the memory 402 stores a computer program
  • the processor 404 when the processor 404 executes the computer program, implements the control method of the clothes treating apparatus according to any of the foregoing embodiments.
  • control device 400 of the clothes treatment device when the computer program is executed by the processor 404, the steps of the control method of the clothes treatment device according to any of the above-mentioned embodiments are realized, so the control device 400 of the clothes treatment device includes any of the above-mentioned steps. All the beneficial effects of the control method of the laundry treating apparatus of the embodiment.
  • the execution body may be the control device 400 of the clothes treatment device, or the control device 400 of the clothes treatment device for executing the control of loading the clothes treatment device.
  • the method's control module may be the control device 400 of the clothes treatment device, or the control device 400 of the clothes treatment device for executing the control of loading the clothes treatment device.
  • the control device of the clothes treating apparatus in the embodiment of the present application may be a device, and may also be a component, an integrated circuit, or a chip in the clothes treating apparatus.
  • FIG. 5 shows a schematic block diagram of a control device 500 of a laundry treatment apparatus according to the second embodiment of the present application.
  • the control device 500 of the clothes treatment equipment includes: a load weight identification module 502 , an eccentricity sensing module 504 , and an eccentricity sensing logic control module 506 .
  • the eccentricity sensing logic control module 506 controls the operation of the load weight identification module 502 and the eccentricity sensing module 504 according to the current load state in the laundry processing device (whether the load has undergone high-speed dehydration and whether the load has undergone washing).
  • Figure 6 including:
  • Step 602 start to perceive eccentricity. That is, after the eccentricity sensing logic control module 706 receives the sensing eccentricity instruction, it starts to run the sensing eccentricity program;
  • Step 604 determine whether the load has been washed. That is, it is judged whether the dehydration program has just been entered, if the condition is not established, go to step 606, and if the condition is established, go to step 608;
  • Step 606 determine whether the load has undergone high-speed dehydration. That is, it is judged whether the load state has changed, if the condition is not satisfied, go to step 610; if the condition is satisfied, go to step 608;
  • Step 608 clear the weighing flag
  • Step 610 determine whether the weighing flag is 1. That is, it is judged whether the weighing flag is set, if the weighing flag is not set, then go to step 612, if the weighing flag is set, output the last load weight value, and then go to step 614;
  • step 612 the load is weighed, and the weighing flag is set at the same time, and the process goes to step 614 . That is, the load weight identification module 502 is run, and after the load weight identification is completed, the current load weight is output while the weighing flag is set;
  • step 614 the rotational speed or torque fluctuation value is identified, and the eccentricity is sensed. That is, the eccentricity sensing module 504 is operated to obtain the eccentricity amount according to the load weight value and the periodic variation of the rotational speed or torque of the motor.
  • FIG. 7 shows a schematic block diagram of a laundry treatment device 700 according to an embodiment of the present application.
  • the clothes treatment device 700 includes:
  • washing tub 702
  • a motor 704, the motor 704 is used to drive the washing tub 702 to rotate;
  • the memory 706, the memory 706 stores a computer program
  • Receive the eccentricity detection signal and determine whether the load weight value of the laundry treatment device 700 is stored in the memory 706; determine whether the load weight value is stored in the memory 706, and sense the eccentricity of the laundry treatment device according to the load weight value; determine that the load weight value is not stored in the memory 706 , and control the motor 704 to drive the washing tub 702 to rotate to obtain the load weight value of the laundry treatment device 700, store the obtained load weight value in the memory 706, and sense the eccentricity of the clothes treatment device according to the obtained load weight value.
  • the laundry treatment device 700 after receiving the eccentricity detection signal, determines whether a load weight value is stored in the memory of the laundry treatment device, and if the load weight value is stored, the load weight value is directly used for eccentricity sensing without the need for Perform load weighing again; if there is no load weight value stored, perform load weight identification to obtain the load weight value.
  • it is avoided to perform load weight identification every time the eccentricity is sensed, the time for sensing the eccentricity can be shortened, and the dehydration time of the clothes processing equipment can be saved.
  • the laundry processing apparatus 700 will perform eccentricity sensing at least once before performing high-speed dehydration (if the eccentricity obtained by the first eccentricity sensing is small enough to enable high-speed dehydration, the eccentricity sensing will not be continued, otherwise, the eccentricity sensing will be continued. eccentric perception).
  • the load weight value if it is judged that the load weight value is not stored, it indicates that the overload weight identification is not performed in this dehydration stage, so the load weight value needs to be identified for eccentric sensing, that is, the first step of this dehydration stage is performed. A load weight identification.
  • the load weight value of the first load weight identification needs to be stored, and if it is determined that high-speed dehydration cannot be performed according to the result of the current eccentricity sensing, the next eccentricity sensing needs to be performed. However, between the current eccentricity sensing and the next eccentricity sensing, the laundry processing apparatus 700 does not perform procedures such as washing, rinsing, pre-spinning, etc., so the load weight does not change, so the stored load weight value can be provided to the current eccentricity Perceived next use of eccentric perception. Specifically, if it is determined that the load weight value is stored in the memory during the next eccentricity sensing, it will be used directly, so as to avoid the extension of the dehydration time caused by the load weight identification again in the next eccentricity sensing.
  • the processor 708 performs load weight identification, that is, controls the motor 704 to drive the washing tub 702 to rotate to a preset rotational speed, then measures the load inertia by means of acceleration or deceleration, and then checks the mapping relationship between the load inertia and the load weight. Table to get the load weight.
  • the clothes processing apparatus 700 includes a washing machine and a clothes dryer, and the washing machine may be a drum washing machine.
  • the processor 708 when the processor 708 executes the computer program, it also realizes: based on the eccentricity of the laundry treatment device 700 being less than or equal to the preset threshold, the motor 704 is controlled to drive the washing tub 702 to rotate to dehydrate the load; after the dehydration is completed, The load weight value stored in memory 706 is cleared.
  • the laundry processing device when it is judged that the eccentricity of the laundry processing device is less than or equal to the preset threshold, it indicates that the eccentricity is small enough to avoid the problem of bucket collision during high-speed dehydration, so the laundry processing device is controlled to dehydrate the load. Further, after the dehydration is completed, the load weight value stored in the memory is cleared to zero, so as to avoid applying the stored load weight to the eccentricity sensing process in the next dehydration stage, which can improve the accuracy of eccentricity sensing.
  • the load weight value of this dehydration stage should be cleared, because after a dehydration, the laundry treatment equipment may also perform the functions of washing (or rinsing) and dehydration again, while washing. (or rinsing) has caused the load weight value to change, so if the load weight value of the last spin is used, the eccentricity perception will be inaccurate, resulting in the risk of hitting the bucket during spin.
  • the completion of dehydration means the completion of the dehydration stage, which includes two situations: in the first case, the laundry treatment device needs to perform eccentricity sensing at least once when executing the dehydration program. If the dehydration requirements are met, the washing tub is rotated to dehydrate the clothes, and the completion of the above dehydration means that the clothes are dried. In the second case, when the eccentricity sensed by the laundry processing device is always large and does not meet the dehydration requirements, and the clothes are not dehydrated until the dehydration program ends, the above dehydration completion means that the dehydration program ends.
  • the processor 708 when the processor 708 executes the computer program, the processor 708 further realizes that: based on the eccentricity of the laundry treatment device 700 being greater than a preset threshold, the motor 704 is controlled to drive the washing tub 702 to rotate to shake off the load.
  • the clothes processing device 700 is controlled to shake and disperse the load, so that the load is distributed as evenly as possible in the washing tub, and the eccentricity is sensed again after the shaking is dissipated. Avoid the problem of hitting the bucket when dehydrating.
  • the clothes treating apparatus 700 further includes:
  • a current detection device 710 connected to the processor 708, and the current detection device 710 is used to detect the current of the motor 704;
  • processor 708 executes the computer program, it also implements:
  • the current of the motor is obtained, and the motor operating parameters are calculated according to the current;
  • the eccentricity of the device 700 wherein, the motor operating parameter includes the rotational speed or torque of the motor, and the fluctuation value of the motor operating parameter includes the difference between the maximum value of the rotational speed and the minimum value of the rotational speed, or the maximum value of the torque and the minimum value of the torque difference in value.
  • the current of the motor is collected to calculate the speed or torque of the motor, and the fluctuation value of the motor speed or torque within one rotation of the washing tub is obtained, and the fluctuation value is the maximum speed or torque and the minimum speed or torque.
  • the fluctuation value and the load weight value query the pre-stored two-dimensional data corresponding to the load weight and the fluctuation value, and use two-dimensional linear fitting to calculate the eccentricity of the load in the laundry treatment device. There is no need to set the sensor to detect the balance state of the load, the detection cost is reduced, and the detection accuracy is improved.
  • An embodiment of the fourth aspect of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the control method for a laundry treatment device according to any of the foregoing embodiments.
  • the computer-readable storage medium when the computer program is executed by the processor, the steps of the control method of the laundry treatment device according to any of the above embodiments are implemented, so the computer-readable storage medium includes the laundry treatment in any of the above-mentioned embodiments.
  • the full benefit of the control method of the device when the computer program is executed by the processor, the steps of the control method of the laundry treatment device according to any of the above embodiments are implemented, so the computer-readable storage medium includes the laundry treatment in any of the above-mentioned embodiments.
  • the computer-readable storage medium includes a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • magnetic disk or an optical disk and the like.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium.

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Abstract

一种衣物处理设备的控制方法、控制装置和衣物处理设备。其中，衣物处理设备的控制方法包括：接收偏心检测信号（102），判断衣物处理设备的存储器中是否存储衣物处理设备的负载重量值（104）；判定存储器中存储负载重量值，根据负载重量值感知衣物处理设备的偏心量（106）；判定存储器中未存储负载重量值，检测衣物处理设备的负载重量值，并将检测到的负载重量值存储至存储器，以及根据检测到的负载重量值感知衣物处理设备的偏心量（108）。通过该技术方案，避免每次感知偏心时都进行负载重量辨识，能够缩短感知偏心的时间，缩短衣物处理设备的脱水时间。

Description

衣物处理设备的控制方法、控制装置和衣物处理设备
本申请要求于2020年06月30日提交到中国国家知识产权局、申请号为“202010609983.4”、申请名称为“衣物处理设备的控制方法、控制装置和衣物处理设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及衣物处理设备技术领域，具体而言，涉及一种衣物处理设备的控制方法、衣物处理设备的控制装置、衣物处理设备和计算机可读存储介质。
背景技术
在滚筒洗衣机中，当变频电机所带动的滚筒不平衡时，变频电机的转速越高，则***的振动和噪声就会越大，从而会降低滚筒洗衣机的使用寿命。变频电机具有负载不平衡检测功能，在发现负载不平衡时，可通过调整转速或者对负载的不平衡状态进行改变，以达到减小***的振动和噪声的目的。
相关技术中提供了以下两种不平衡感知方法：
(1)通过采用传感器对滚筒是否平衡进行检测，但传感器的成本较高且不便于安装，从而导致检测难度大。
(2)通过变频电机的转速或转矩信息，感知出滚筒内负载的偏心值。但是，目前该方法会导致洗衣机脱水总时间延长，浪费电能，且用户使用体验不佳。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的一个方面在于提出了一种衣物处理设备的控制方法。
本申请的另一个方面在于提出了一种衣物处理设备的控制装置。
本申请的再一个方面在于提出了一种衣物处理设备。
本申请的又一个方面在于提出了一种计算机可读存储介质。
有鉴于此，根据本申请的一个方面，提出了一种衣物处理设备的控制方法，包括：接收偏心检测信号，判断衣物处理设备的存储器中是否存储衣物处理设备的负载重量值；判定存储器中存储负载重量值，根据负载重量值感知衣物处理设备的偏心量；判定存储器中未存储负载重量值，检测衣物处理设备的负载重量值，并将检测到的负载重量值存储至存储器，以及根据检测到的负载重量值感知衣物处理设备的偏心量。
本申请提供的衣物处理设备的控制方法，当接收到偏心检测信号后，判断衣物处理设备的存储器中是否存储有负载重量值，如果存储有负载重量值则直接利用该负载重量值进行偏心感知，而无需重新进行负载重量辨识；如果未存储有负载重量值则进行负载重量辨识，获取负载重量值。通过本申请的技术方案，避免每次感知偏心时都进行负载重量辨识，能够缩短感知偏心的时间，进而缩短衣物处理设备的脱水时间。
可以理解的是，衣物处理设备在需要执行高速脱水前会进行至少一次偏心感知(如果第一次偏心感知得到的偏心量足够小，能够进行高速脱水，则不再继续偏心感知，否则会继续进行偏心感知)。在当前偏心感知时，判断未存储有负载重量值的情况下，表明本次脱水阶段中没有进行过负载重量辨识，所以需要辨识负载重量值以进行偏心感知，也就是进行本次脱水阶段的第一次负载重量辨识。并且，需要将第一次负载重量辨识的负载重量值进行存储，如果根据当前偏心感知的结果确定不能够进行高速脱水，则需要进行下一次偏心感知。而在当前偏心感知与下一次偏心感知之间，衣物处理设备并没有执行洗涤、漂洗、预脱水等程序，所以负载重量并未发生变化，因此能够将存储的负载重量值提供给当前偏心感知的下一次偏心感知使用。具体地，进行下一次偏心感知时若判断存储器中存储有负载重量值则直接使用，从而避免下一次偏心感知再次进行负载重量辨识而导致脱水时间延长。
根据本申请的上述衣物处理设备的控制方法，还可以具有以下技术特征：
在上述技术方案中，还包括：基于衣物处理设备的偏心量小于或等于 预设阈值，控制衣物处理设备对负载进行脱水；在脱水完成后，清除存储器存储的负载重量值。
在该技术方案中，当判断衣物处理设备的偏心量小于或等于预设阈值时，表明偏心足够小，在进行高速脱水时不会出现撞桶的问题，所以控制衣物处理设备对负载进行脱水。进一步地，在脱水完成后将存储器存储的负载重量值清零，避免将存储的负载重量应用到下一个脱水阶段的偏心感知过程中，能够提高偏心感知的精度。
可以理解的是，每个脱水阶段完成后都要把本次脱水阶段的负载重量值清零，因为一次脱水后衣物处理设备还可能会进行洗涤(或漂洗)、再次脱水的功能，而洗涤(或漂洗)已经引起负载重量值发生了变化，所以如果沿用上次脱水的负载重量值会使得偏心感知不准确，导致脱水过程中撞桶的风险。
需要说明的是，脱水完成即脱水阶段完成，其包括两种情况：第一种情况，衣物处理设备在执行脱水程序时需要进行至少一次偏心感知，当衣物处理设备感知到的偏心量足够小，满足脱水要求，则转动洗涤桶对衣物脱水，上述脱水完成即表示将衣物甩干完成。第二种情况，当衣物处理设备感知到的偏心量一直很大，一直不满足脱水要求，直至脱水程序运行结束也未对衣物脱水，那么上述脱水完成即表示脱水程序运行结束。在上述任一技术方案中，还包括：基于衣物处理设备的偏心量大于预设阈值，控制衣物处理设备对负载进行抖散。
在该技术方案中，当偏心量大于预设阈值时，表明偏心较大，因此控制衣物处理设备对负载进行抖散，使负载在洗涤桶内分布尽量均匀，抖散后再次进行偏心感知，避免脱水时出现撞桶的问题。
在上述任一技术方案中，根据负载重量值感知衣物处理设备的偏心量，或根据检测到的负载重量值感知衣物处理设备的偏心量的步骤，具体包括：获取衣物处理设备的电机的电流，根据电流计算电机运行参数；根据负载重量值和电机运行参数的波动值，感知衣物处理设备的偏心量；其中，电机运行参数包括电机的转速或转矩，电机运行参数的波动值包括转速的最大值与转速的最小值的差值，或转矩的最大值与转矩的最小值的差值。
在该技术方案中，采集电机的电流，进而计算电机的转速或转矩，获取到洗涤桶旋转一周内的电机转速或转矩波动值，波动值即最大转速或转矩与最小转速或转矩的差值，最后通过该波动值和负载重量值，查询预存储的负载重量与波动值对应的二维数据，采用二维线性拟合计算得到衣物处理设备内负载的偏心量。该方法无需设置传感器检测负载的平衡状态，降低了检测成本，且提高了检测精度高。
根据本申请的另一个方面，提出了一种衣物处理设备的控制装置，包括：存储器，存储器存储有计算机程序；处理器，处理器执行计算机程序时实现如上述任一技术方案的衣物处理设备的控制方法。
本申请提供的衣物处理设备的控制装置，计算机程序被处理器执行时实现如上述任一技术方案的衣物处理设备的控制方法的步骤，因此该衣物处理设备的控制装置包括上述任一技术方案的衣物处理设备的控制方法的全部有益效果。
根据本申请的再一个方面，提出了一种衣物处理设备，包括：洗涤桶；电机，电机用于带动洗涤桶转动；存储器，存储器存储有计算机程序；处理器，处理器执行计算机程序时实现：接收偏心检测信号，判断存储器中是否存储衣物处理设备的负载重量值；判定存储器中存储负载重量值，根据负载重量值感知衣物处理设备的偏心量；判定存储器中未存储负载重量值，控制电机带动洗涤桶转动以获取衣物处理设备的负载重量值，并将获取到的负载重量值存储至存储器，以及根据获取到的负载重量值感知衣物处理设备的偏心量。
本申请提供的衣物处理设备，当接收到偏心检测信号后，判断衣物处理设备的存储器中是否存储有负载重量值，如果存储有负载重量值则直接利用该负载重量值进行偏心感知，而无需重新进行负载重量辨识；如果未存储有负载重量值则进行负载重量辨识，获取负载重量值。通过本申请的技术方案，避免每次感知偏心时都进行负载重量辨识，能够缩短感知偏心的时间，缩短衣物处理设备的脱水时间。
可以理解的是，衣物处理设备在需要执行高速脱水前会进行至少一次偏心感知(如果第一次偏心感知得到的偏心量足够小，能够进行高速脱水， 则不再继续偏心感知，否则会继续进行偏心感知)。在当前偏心感知时，判断未存储有负载重量值的情况下，表明本次脱水阶段中没有进行过负载重量辨识，所以需要辨识负载重量值以进行偏心感知，也就是进行本次脱水阶段的第一次负载重量辨识。并且，需要将第一次负载重量辨识的负载重量值进行存储，如果根据当前偏心感知的结果确定不能够进行高速脱水，则需要进行下一次偏心感知。而在当前偏心感知与下一次偏心感知之间，衣物处理设备并没有执行洗涤、漂洗、预脱水等程序，所以负载重量并未发生变化，因此能够将存储的负载重量值提供给当前偏心感知的下一次偏心感知使用。具体地，进行下一次偏心感知时若判断存储器中存储有负载重量值则直接使用，从而避免下一次偏心感知再次进行负载重量辨识而导致脱水时间延长。
根据本申请的上述衣物处理设备，还可以具有以下技术特征：
在上述技术方案中，处理器执行计算机程序时还实现：基于衣物处理设备的偏心量小于或等于预设阈值，控制电机带动洗涤桶转动进而对负载进行脱水；在脱水完成后，清除存储器存储的负载重量值。
在该技术方案中，当判断衣物处理设备的偏心量小于或等于预设阈值，表明偏心足够小，在进行高速脱水时不会出现撞桶的问题，所以控制衣物处理设备对负载进行脱水。进一步地，在脱水完成后将存储器存储的负载重量值清零，避免将存储的负载重量应用到下一个脱水阶段的偏心感知过程中，能够提高偏心感知的精度。
可以理解的是，每个脱水阶段完成后都要把本次脱水阶段的负载重量值清零，因为一次脱水后衣物处理设备还可能会进行洗涤(或漂洗)、再次脱水的功能，而洗涤(或漂洗)已经引起负载重量值发生了变化，所以如果沿用上次脱水的负载重量值会使得偏心感知不准确，导致脱水过程中撞桶的风险。
需要说明的是，脱水完成即脱水阶段完成，其包括两种情况：第一种情况，衣物处理设备在执行脱水程序时需要进行至少一次偏心感知，当衣物处理设备感知到的偏心量足够小，满足脱水要求，则转动洗涤桶对衣物脱水，上述脱水完成即表示将衣物甩干完成。第二种情况，当衣物处理设 备感知到的偏心量一直很大，一直不满足脱水要求，直至脱水程序运行结束也未对衣物脱水，那么上述脱水完成即表示脱水程序运行结束。
在上述任一技术方案中，处理器执行计算机程序时还实现：基于衣物处理设备的偏心量大于预设阈值，控制电机带动洗涤桶转动进而对负载进行抖散。
在该技术方案中，当偏心量大于预设阈值时，表明偏心较大，因此控制衣物处理设备对负载进行抖散，使负载在洗涤桶内分布尽量均匀，抖散后再次进行偏心感知，避免脱水时出现撞桶的问题。
在上述任一技术方案中，衣物处理设备还包括：电流检测装置，与处理器连接，电流检测装置用于检测电机的电流；处理器执行计算机程序时还实现：在控制电机带动洗涤桶转动以获取衣物处理设备的负载重量值的过程中，获取电机的电流，根据电流计算电机运行参数；根据负载重量值和电机运行参数的波动值，感知衣物处理设备的偏心量；其中，电机运行参数包括电机的转速或转矩，电机运行参数的波动值包括转速的最大值与转速的最小值的差值，或转矩的最大值与转矩的最小值的差值。
在该技术方案中，采集电机的电流，进而计算电机的转速或转矩，获取到洗涤桶旋转一周内的电机转速或转矩波动值，波动值即最大转速或转矩与最小转速或转矩的差值，最后通过该波动值和负载重量值，查询预存储的负载重量与波动值对应的二维数据，采用二维线性拟合计算得到衣物处理设备内负载的偏心量。无需设置传感器检测负载的平衡状态，降低了检测成本，且提高了检测精度高。
根据本申请的又一个方面，提出了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上述任一技术方案的衣物处理设备的控制方法。
本申请提供的计算机可读存储介质，计算机程序被处理器执行时实现如上述任一技术方案的衣物处理设备的控制方法的步骤，因此该计算机可读存储介质包括上述任一技术方案的衣物处理设备的控制方法的全部有益效果。
本申请的附加方面和优点将在下面的描述部分中变得明显，或通过本 申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了本申请的第一个实施例的衣物处理设备的控制方法的流程示意图；
图2示出了本申请的第二个实施例的衣物处理设备的控制方法的流程示意图；
图3示出了本申请的第三个实施例的衣物处理设备的控制方法的流程示意图；
图4示出了本申请的第一个实施例的衣物处理设备的控制装置的示意框图；
图5示出了本申请的第二个实施例的衣物处理设备的控制装置的示意框图；
图6示出了本申请实施例的衣物处理设备的控制装置的工作流程示意图；
图7示出了本申请的一个实施例的衣物处理设备的示意框图。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不限于下面公开的具体实施例的限制。
本申请第一方面的实施例，提出一种衣物处理设备的控制方法，通过 以下实施例对该衣物处理设备的控制方法进行详细说明。
实施例一，图1示出了本申请的第一个实施例的衣物处理设备的控制方法的流程示意图。其中，该方法包括：
步骤102，接收偏心检测信号；
步骤104，判断衣物处理设备的存储器中是否存储衣物处理设备的负载重量值，判定存储器中存储负载重量值进入步骤106，否则进入步骤108；
步骤106，根据负载重量值感知衣物处理设备的偏心量；
步骤108，检测衣物处理设备的负载重量值，并将检测到的负载重量值存储至存储器，以及根据检测到的负载重量值感知衣物处理设备的偏心量。
本申请提供的衣物处理设备的控制方法，当接收到偏心检测信号后，判断衣物处理设备的存储器中是否存储有负载重量值，如果存储有负载重量值则直接利用该负载重量值进行偏心感知，而无需重新进行负载重量辨识；如果未存储有负载重量值则进行负载重量辨识，获取负载重量值。通过本申请的技术方案，避免每次感知偏心时都进行负载重量辨识，能够缩短感知偏心的时间，缩短衣物处理设备的脱水时间。
可以理解的是，衣物处理设备在需要执行高速脱水前会进行至少一次偏心感知(如果第一次偏心感知得到的偏心量足够小，能够进行高速脱水，则不再继续偏心感知，否则会继续进行偏心感知)。在当前偏心感知时，判断未存储有负载重量值的情况下，表明本次脱水阶段中没有进行过负载重量辨识，所以需要辨识负载重量值以进行偏心感知，也就是进行本次脱水阶段的第一次负载重量辨识。并且，需要将第一次负载重量辨识的负载重量值进行存储，如果根据当前偏心感知的结果确定不能够进行高速脱水，则需要进行下一次偏心感知。而在当前偏心感知与下一次偏心感知之间，衣物处理设备并没有执行洗涤、漂洗、预脱水等程序，所以负载重量并未发生变化，因此能够将存储的负载重量值提供给当前偏心感知的下一次偏心感知使用。具体地，进行下一次偏心感知时若判断存储器中存储有负载重量值则直接使用，从而避免下一次偏心感知再次进行负载重量辨识而导致脱水时间延长。
需要说明的是，衣物处理设备进行负载重量辨识，即控制衣物处理设备的电机带动衣物处理设备的洗涤桶转动到预设转速，然后通过加速或减速的方法测出负载惯量，然后通过负载惯量与负载重量的映射关系查表得到负载重量。
该衣物处理设备包括洗衣机、干衣机，洗衣机可以为滚筒洗衣机。
实施例二，图2示出了本申请的第二个实施例的衣物处理设备的控制方法的流程示意图。其中，该方法包括：
步骤202，接收偏心检测信号；
步骤204，判断衣物处理设备的存储器中是否存储衣物处理设备的负载重量值，判定存储器中存储负载重量值进入步骤206，否则进入步骤208；
步骤206，根据负载重量值感知衣物处理设备的偏心量；
步骤208，检测衣物处理设备的负载重量值，并将检测到的负载重量值存储至存储器，以及根据检测到的负载重量值感知衣物处理设备的偏心量；
步骤210，判断衣物处理设备的偏心量是否小于或等于预设阈值，判定衣物处理设备的偏心量小于或等于预设阈值，则进入步骤212，否则进入步骤214；
步骤212，控制衣物处理设备对负载进行脱水，并在脱水完成后，清除存储器存储的负载重量值；
步骤214，控制衣物处理设备对负载进行抖散。
在该实施例中，当判断衣物处理设备的偏心量小于或等于预设阈值，表明偏心足够小，在进行高速脱水时不会出现撞桶的问题，所以控制衣物处理设备对负载进行脱水。进一步地，在脱水完成后将存储器存储的负载重量值清零，避免将存储的负载重量应用到下一个脱水阶段的偏心感知过程中，能够提高偏心感知的精度。当偏心量大于预设阈值时，表明偏心较大，因此控制衣物处理设备对负载进行抖散，使负载在洗涤桶内分布尽量均匀，抖散后再次进行偏心感知，避免脱水时出现撞桶的问题。
可以理解的是，每个脱水阶段完成后都要把本次脱水阶段的负载重量值清零，因为一次脱水后衣物处理设备还可能会进行洗涤(或漂洗)、再 次脱水的功能，而洗涤(或漂洗)已经引起负载重量值发生了变化，所以如果沿用上次脱水的负载重量值会使得偏心感知不准确，导致脱水过程中撞桶的风险。
需要说明的是，脱水完成即脱水阶段完成，其包括两种情况：第一种情况，衣物处理设备在执行脱水程序时需要进行至少一次偏心感知，当衣物处理设备感知到的偏心量足够小，满足脱水要求，则转动洗涤桶对衣物脱水，上述脱水完成即表示将衣物甩干完成。第二种情况，当衣物处理设备感知到的偏心量一直很大，一直不满足脱水要求，直至脱水程序运行结束也未对衣物脱水，那么上述脱水完成即表示脱水程序运行结束。
在上述任一实施例中，根据负载重量值感知衣物处理设备的偏心量，或根据检测到的负载重量值感知衣物处理设备的偏心量的步骤，具体包括：获取衣物处理设备的电机的电流，根据电流计算电机运行参数；根据负载重量值和电机运行参数的波动值，感知衣物处理设备的偏心量；其中，电机运行参数包括电机的转速或转矩，电机运行参数的波动值包括转速的最大值与转速的最小值的差值，或转矩的最大值与转矩的最小值的差值。
在该实施例中，采集电机的电流，进而计算电机的转速或转矩，获取到洗涤桶旋转一周内的电机转速或转矩波动值，波动值即最大转速或转矩与最小转速或转矩的差值，最后通过该波动值和负载重量值，查询预存储的负载重量与波动值对应的二维数据，采用二维线性拟合计算得到衣物处理设备内负载的偏心量。该方法无需设置传感器检测负载的平衡状态，降低了检测成本，且提高了检测精度高。
实施例三，图3示出了本申请的第三个实施例的衣物处理设备的控制方法的流程示意图。其中，该方法包括：
步骤302，接收偏心检测信号；
步骤304，判断衣物处理设备是否已执行洗涤程序，判定衣物处理设备未执行洗涤程序进入步骤306，否则进入步骤310；
步骤306，判断衣物处理设备是否已执行预脱水程序，判定衣物处理设备未执行预脱水程序进入步骤308，否则进入步骤310；
步骤308，根据预存的负载重量感知衣物处理设备的偏心量，其中预 存的负载重量为衣物处理设备在当前脱水阶段第一次进行负载重量检测时所检测到的负载重量值；
步骤310，检测衣物处理设备的负载重量值并根据负载重量值感知衣物处理设备的偏心量。
例如，在高速脱水程序前可能需要尝试多次偏心感知，在每一次偏心感知时，均判断在上一次偏心感知与本次偏心感知之间，衣物处理设备是否进行了洗涤程序和预脱水程序，即确定负载重量是否发生了变化，如果均未执行，则根据预存的负载重量值感知衣物处理设备的偏心量，如果执行了洗涤程序和预脱水程序中的至少一个，则检测当前负载重量值，根据当前负载重量值感知衣物处理设备的偏心量。
需要说明的是，判断衣物处理设备是否已执行洗涤程序即判断是否刚进入脱水程序，判断衣物处理设备是否已执行预脱水程序即判断负载状态是否发生变化。本实施例对洗涤程序和预脱水程序的判断顺序不作限定。
例如，衣物处理设备执行洗涤程序、高速脱水程序，高速脱水程序前可能需要尝试多次偏心感知。在第一次偏心感知时，确定已执行了洗涤程序，确定在洗涤过程中由于注入水导致衣物重量发生了变化，则第一次偏心感知就需要重新检测衣物重量并将衣物重量进行存储。进而根据检测的衣物重量和电机运行参数得到负载的偏心量。如果第一次偏心感知得到的偏心量较大，不能进入高速脱水则将衣物抖散后进行第二次偏心感知，确定在第一次偏心感知与第二次偏心感知之间未执行洗涤程序(且存储有上一次偏心感知时检测到的衣物重量)，则根据电机运行参数和第一次偏心感知时到检测的衣物重量得到负载的偏心量。如果第二次偏心感知得到的偏心量较大，仍然不能进入高速脱水则将衣物抖散后进行第三次偏心感知，确定在第三次偏心感知与第二次偏心感知(或者在第三次偏心感知与第一次偏心感知)之间未执行洗涤程序，则根据电机运行参数和第一次偏心感知时到检测的衣物重量得到负载的偏心量。如果第三次偏心感知得到的偏心量较小，则进入高速脱水。
再如，衣物处理设备执行预脱水程序、高速脱水程序，高速脱水程序前可能需要尝试多次偏心感知。在第一次偏心感知时，确定已执行了预脱 水程序，确定在预脱水过程中由于衣物脱水导致衣物重量发生了变化，则第一次偏心感知就需要重新检测衣物重量。进而根据检测的衣物重量和电机运行参数得到负载的偏心量。如果第一次偏心感知得到的偏心量较大，不能进入高速脱水程序则将衣物抖散后进行第二次偏心感知，确定在第一次偏心感知与第二次偏心感知之间未执行预脱水程序(且存储有上一次偏心感知时检测到的衣物重量)，则根据电机运行参数和第一次偏心感知时到检测的衣物重量得到负载的偏心量。如果第二次偏心感知得到的偏心量较大，仍然不能进入高速脱水则将衣物抖散后进行第三次偏心感知，确定在第三次偏心感知与第二次偏心感知(或者在第三次偏心感知与第一次偏心感知)之间未执行预脱水程序，则根据电机运行参数和第一次偏心感知时到检测的衣物重量得到负载的偏心量。如果第三次偏心感知得到的偏心量较小，则进入高速脱水。
本申请第二方面的实施例，提出一种衣物处理设备的控制装置，通过以下实施例对该衣物处理设备的控制装置进行详细说明。
实施例一，图4示出了本申请的第一个实施例的衣物处理设备的控制装置400的示意框图。其中，该衣物处理设备的控制装置400包括：
存储器402，存储器402存储有计算机程序；
处理器404，处理器404执行计算机程序时实现上述任一实施例的衣物处理设备的控制方法。
本申请提供的衣物处理设备的控制装置400，计算机程序被处理器404执行时实现如上述任一实施例的衣物处理设备的控制方法的步骤，因此该衣物处理设备的控制装置400包括上述任一实施例的衣物处理设备的控制方法的全部有益效果。
需要说明的是，本申请实施例提供的衣物处理设备的控制方法，执行主体可以为衣物处理设备的控制装置400，或者该衣物处理设备的控制装置400中的用于执行加载衣物处理设备的控制方法的控制模块。
本申请实施例中的衣物处理设备的控制装置可以是装置，也可以是衣物处理设备中的部件、集成电路、或芯片。
实施例二，图5示出了本申请的第二个实施例的衣物处理设备的控制 装置500的示意框图。其中，该衣物处理设备的控制装置500包括：负载重量辨识模块502，偏心感知模块504，偏心感知逻辑控制模块506。在衣物处理设备进入脱水模式后，偏心感知逻辑控制模块506根据当前衣物处理设备内的负载状态(负载是否过经过高速脱水和是否过经过洗涤)控制负载重量辨识模块502和偏心感知模块504的运行，具体工作方法如图6所示，包括：
步骤602，开始感知偏心。即偏心感知逻辑控制模块706接收到感知偏心指令后，开始运行感知偏心程序；
步骤604，判断负载是否经过洗涤。即，判断是否刚进入脱水程序，如果条件不成立，则进入步骤606，如果条件成立，则进入步骤608；
步骤606，判断负载是否经过高速脱水。即，判断负载状态是否发生变化，如果条件不成立，则进入步骤610，如果条件成立，则进入步骤608；
步骤608，清空称重标志位；
步骤610，判断称重标志位是否为1。即，判断称重标志位是否置位，如果称重标志位没有置位，则进入步骤612，如果称重标志位已置位，则输出上一次负载重量值，然后进入步骤614；
步骤612，负载称重，同时置位称重标志位，并进入步骤614。也就是，运行负载重量辨识模块502，待负载重量辨识完成后输出当前负载重量同时置位称重标志位；
步骤614，辨识转速或转矩波动值，感知偏心。也就是，运行偏心感知模块504，根据负载重量值以及电机的转速或转矩的周期变化量得出偏心量。
本申请第三方面的实施例，提出一种衣物处理设备，图7示出了本申请的一个实施例的衣物处理设备700的示意框图。其中，该衣物处理设备700包括：
洗涤桶702；
电机704，电机704用于带动洗涤桶702转动；
存储器706，存储器706存储有计算机程序；
处理器708，处理器708执行计算机程序时实现：
接收偏心检测信号，判断存储器706中是否存储衣物处理设备700的负载重量值；判定存储器706中存储负载重量值，根据负载重量值感知衣物处理设备的偏心量；判定存储器706中未存储负载重量值，控制电机704带动洗涤桶702转动以获取衣物处理设备700的负载重量值，并将获取到的负载重量值存储至存储器706，以及根据获取到的负载重量值感知衣物处理设备的偏心量。
本申请提供的衣物处理设备700，当接收到偏心检测信号后，判断衣物处理设备的存储器中是否存储有负载重量值，如果存储有负载重量值则直接利用该负载重量值进行偏心感知，而无需重新进行负载称重；如果未存储有负载重量值则进行负载重量辨识，获取负载重量值。通过本申请的技术方案，避免每次感知偏心时都进行负载重量辨识，能够缩短感知偏心的时间，节约衣物处理设备的脱水时间。
可以理解的是，衣物处理设备700在需要执行高速脱水前会进行至少一次偏心感知(如果第一次偏心感知得到的偏心量足够小，能够进行高速脱水，则不再继续偏心感知，否则会继续进行偏心感知)。在当前偏心感知时，判断未存储有负载重量值的情况下，表明本次脱水阶段中没有进行过负载重量辨识，所以需要辨识负载重量值以进行偏心感知，也就是进行本次脱水阶段的第一次负载重量辨识。并且，需要将第一次负载重量辨识的负载重量值进行存储，如果根据当前偏心感知的结果确定不能够进行高速脱水，则需要进行下一次偏心感知。而在当前偏心感知与该下一次偏心感知之间，衣物处理设备700并没有执行洗涤、漂洗、预脱水等程序，所以负载重量并未发生变化，因此能够将存储的负载重量值提供给当前偏心感知的下一次偏心感知使用。具体地，进行下一次偏心感知时若判断存储器中存储有负载重量值则直接使用，从而避免下一次偏心感知再次进行负载重量辨识而导致脱水时间延长。
需要说明的是，处理器708进行负载重量辨识，即控制电机704带动洗涤桶702转动到预设转速，然后通过加速或减速的方法测出负载惯量，然后通过负载惯量与负载重量的映射关系查表得到负载重量。
该衣物处理设备700包括洗衣机、干衣机，洗衣机可以为滚筒洗衣机。
在上述实施例中，处理器708执行计算机程序时还实现：基于衣物处理设备700的偏心量小于或等于预设阈值，控制电机704带动洗涤桶702转动进而对负载进行脱水；在脱水完成后，清除存储器706存储的负载重量值。
在该实施例中，当判断衣物处理设备的偏心量小于或等于预设阈值，表明偏心足够小，在进行高速脱水时不会出现撞桶的问题，所以控制衣物处理设备对负载进行脱水。进一步地，在脱水完成后将存储器存储的负载重量值清零，避免将存储的负载重量应用到下一个脱水阶段的偏心感知过程中，能够提高偏心感知的精度。
可以理解的是，每个脱水阶段完成后都要把本次脱水阶段的负载重量值清零，因为，一次脱水后衣物处理设备还可能会进行洗涤(或漂洗)、再次脱水的功能，而洗涤(或漂洗)已经引起负载重量值发生了变化，所以如果沿用上次脱水的负载重量值会使得偏心感知不准确，导致脱水过程中撞桶的风险。
需要说明的是，脱水完成即脱水阶段完成，其包括两种情况：第一种情况，衣物处理设备在执行脱水程序时需要进行至少一次偏心感知，当衣物处理设备感知到的偏心量足够小，满足脱水要求，则转动洗涤桶对衣物脱水，上述脱水完成即表示将衣物甩干完成。第二种情况，当衣物处理设备感知到的偏心量一直很大，一直不满足脱水要求，直至脱水程序运行结束也未对衣物脱水，那么上述脱水完成即表示脱水程序运行结束。
在上述任一实施例中，处理器708执行计算机程序时还实现：基于衣物处理设备700的偏心量大于预设阈值，控制电机704带动洗涤桶702转动进而对负载进行抖散。
在该实施例中，当偏心量大于预设阈值时，表明偏心较大，因此控制衣物处理设备700对负载进行抖散，使负载在洗涤桶内分布尽量均匀，抖散后再次进行偏心感知，避免脱水时出现撞桶的问题。
在上述任一实施例中，如图7所示，衣物处理设备700还包括：
电流检测装置710，与处理器708连接，电流检测装置710用于检测电机704的电流；
处理器708执行计算机程序时还实现：
在控制电机704带动洗涤桶702转动以获取衣物处理设备700的负载重量值的过程中，获取电机的电流，根据电流计算电机运行参数；根据负载重量值和电机运行参数的波动值，感知衣物处理设备700的偏心量；其中，电机运行参数包括电机的转速或转矩，电机运行参数的波动值包括转速的最大值与转速的最小值的差值，或转矩的最大值与转矩的最小值的差值。
在该实施例中，采集电机的电流，进而计算电机的转速或转矩，获取到洗涤桶旋转一周内的电机转速或转矩波动值，波动值即最大转速或转矩与最小转速或转矩的差值，最后通过该波动值和负载重量值，查询预存储的负载重量与波动值对应的二维数据，采用二维线性拟合计算得到衣物处理设备内负载的偏心量。无需设置传感器检测负载的平衡状态，降低了检测成本，且提高了检测精度高。
本申请第四方面的实施例，提出了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如上述任一实施例的衣物处理设备的控制方法。
本申请提供的计算机可读存储介质，计算机程序被处理器执行时实现如上述任一实施例的衣物处理设备的控制方法的步骤，因此该计算机可读存储介质包括上述任一实施例的衣物处理设备的控制方法的全部有益效果。
其中，计算机可读存储介质包括只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
在本说明书的描述中，术语“第一”、“第二”仅用于描述的目的，而不能理解为指示或暗示相对重要性，除非另有明确的规定和限定；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施 例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种衣物处理设备的控制方法，其中，包括：
    接收偏心检测信号，判断所述衣物处理设备的存储器中是否存储所述衣物处理设备的负载重量值；
    判定所述存储器中存储所述负载重量值，根据所述负载重量值感知所述衣物处理设备的偏心量；
    判定所述存储器中未存储所述负载重量值，检测所述衣物处理设备的负载重量值，并将检测到的所述负载重量值存储至所述存储器，以及根据检测到的所述负载重量值感知所述衣物处理设备的偏心量。
  2. 根据权利要求1所述的衣物处理设备的控制方法，其中，还包括：
    基于所述衣物处理设备的偏心量小于或等于预设阈值，控制所述衣物处理设备对负载进行脱水；
    在脱水完成后，清除所述存储器存储的所述负载重量值。
  3. 根据权利要求2所述的衣物处理设备的控制方法，其中，还包括：
    基于所述衣物处理设备的偏心量大于所述预设阈值，控制所述衣物处理设备对所述负载进行抖散。
  4. 根据权利要求1至3中任一项所述的衣物处理设备的控制方法，其中，根据所述负载重量值感知所述衣物处理设备的偏心量，或根据检测到的所述负载重量值感知所述衣物处理设备的偏心量的步骤，具体包括：
    获取所述衣物处理设备的电机的电流，根据所述电流计算电机运行参数；
    根据所述负载重量值和所述电机运行参数的波动值，感知所述衣物处理设备的偏心量；
    其中，所述电机运行参数包括所述电机的转速或转矩，所述电机运行参数的波动值包括所述转速的最大值与所述转速的最小值的差值，或所述转矩的最大值与所述转矩的最小值的差值。
  5. 一种衣物处理设备的控制装置，其中，包括：
    存储器，所述存储器存储有计算机程序；
    处理器，所述处理器执行所述计算机程序时实现如权利要求1至4中任一项所述的衣物处理设备的控制方法。
  6. 一种衣物处理设备，其中，包括：
    洗涤桶；
    电机，所述电机用于带动所述洗涤桶转动；
    存储器，所述存储器存储有计算机程序；
    处理器，所述处理器执行所述计算机程序时实现：
    接收偏心检测信号，判断所述存储器中是否存储所述衣物处理设备的负载重量值；
    判定所述存储器中存储所述负载重量值，根据所述负载重量值感知所述衣物处理设备的偏心量；
    判定所述存储器中未存储所述负载重量值，控制所述电机带动所述洗涤桶转动以获取所述衣物处理设备的负载重量值，并将获取到的所述负载重量值存储至所述存储器，以及根据获取到的所述负载重量值感知所述衣物处理设备的偏心量。
  7. 根据权利要求6所述的衣物处理设备，其中，所述处理器执行所述计算机程序时还实现：
    基于所述衣物处理设备的偏心量小于或等于预设阈值，控制所述电机带动所述洗涤桶转动进而对负载进行脱水；
    在脱水完成后，清除所述存储器存储的所述负载重量值。
  8. 根据权利要求7所述的衣物处理设备，其中，所述处理器执行所述计算机程序时还实现：
    基于所述衣物处理设备的偏心量大于所述预设阈值，控制所述电机带动所述洗涤桶转动进而对所述负载进行抖散。
  9. 根据权利要求6至8中任一项所述的衣物处理设备，其中，还包括：
    电流检测装置，与所述处理器连接，所述电流检测装置用于检测所述电机的电流；
    所述处理器执行所述计算机程序时还实现：
    在控制所述电机带动所述洗涤桶转动以获取所述衣物处理设备的负载 重量值的过程中，获取所述电机的电流，根据所述电流计算电机运行参数；
    根据所述负载重量值和所述电机运行参数的波动值，感知所述衣物处理设备的偏心量；
    其中，所述电机运行参数包括所述电机的转速或转矩，所述电机运行参数的波动值包括所述转速的最大值与所述转速的最小值的差值，或所述转矩的最大值与所述转矩的最小值的差值。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至4中任一项所述的衣物处理设备的控制方法。
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