JP7369394B2 - washing machine - Google Patents

Description

The present invention relates to a washing machine having a dehydrating function.

2. Description of the Related Art Some household washing machines or washing machines installed in coin laundries and the like are equipped with a washing/dehydrating function and a washing/dehydrating/drying function.

Washing machines with a dehydrating function generate vibrations and noise due to uneven laundry within the drum. Furthermore, if the laundry is highly uneven, the eccentricity of the drum during rotation will be large, and a large torque will be required for rotation, making it impossible to start the spin-drying operation.

To solve this problem, a washing machine like the one described in Patent Document 1 actively eliminates the unbalanced state of the drum by injecting water into a plurality of balancers evenly provided in the circumferential direction of the drum. There is a washing machine to try. The washing machine disclosed in Patent Document 1 has an acceleration sensor attached to the front end side of the drum, and determines the unbalanced position of the drum based on the acceleration in the horizontal and vertical directions detected by the acceleration sensor. is detected. Thereafter, water is poured into the balancer based on the unbalanced position to try to eliminate the unbalanced state of the drum.

Unexamined Japanese Patent Publication No. 2016-197

There are four possible unbalanced states of the drum, as shown in FIGS. 14(a) to 14(d). Unbalanced state a is a state where the eccentric position is near the front end of the drum, unbalanced state b is a state where the eccentric position is near the center of the drum, and unbalanced state c is a state where the eccentric position is near the center of the drum. The unbalanced state d is a state on the rear end side of the drum, and the unbalanced state d is a state in which two eccentric positions are positioned opposite to the front end side and the rear end side of the drum (opposite eccentric load state).

In the case of unbalanced states a to c, there is one eccentric position in the circumferential direction, and it is thought that the unbalanced state of the drum can be resolved by injecting water into the balancer on the side opposite to that eccentric position. On the other hand, in the case of unbalanced state d, there are two eccentric positions in the circumferential direction, and when water is poured into the balancer on the side opposite to one of the two eccentric positions, the weight of the water-injected balancer is This increases the amount of eccentricity due to the other eccentric position. Therefore, when the unbalanced state is a facing eccentric load state, it is difficult to eliminate the unbalanced state of the drum.

Therefore, the present invention solves such conventional problems, and provides a washing machine that can reliably reduce the imbalance of the washing tub during the spin-drying process even if laundry is unevenly distributed in the washing tub. can be provided.

A washing machine according to the present invention includes a bottomed cylindrical drum configured to be rotatable around an axis extending in a horizontal direction or an inclined direction, and a plurality of drums arranged on an inner circumferential surface of the drum along the axial direction of the drum. a hollow baffle, a water injection device for injecting water into each of the baffles, an acceleration detection means for detecting vibration of the drum, and a drum position detection device for emitting a pulse signal in accordance with rotation of the drum; an eccentricity detecting means for detecting an eccentricity amount and an eccentric position in the drum; and an eccentricity detecting means for detecting an eccentricity amount and an eccentric position in the drum; and an eccentricity detecting means for detecting an eccentricity amount and an eccentricity position in the drum; control means for controlling the water injection device to inject water; the eccentricity detection means is capable of detecting that the vibration state of the drum is a facing eccentric load state ; The core detection means detects that the vibration state of the drum is a counter eccentric load state, and the vibration of the drum is detected based on the amount of change in acceleration data corresponding to the vibration of the drum detected by the acceleration detection means . If it is determined that the vibration is increasing, the water injection device is controlled to stop water injection to the baffle or to change the baffle to which water is poured to a different baffle.

In the washing machine according to the present invention, the control means is configured to provide acceleration data corresponding to the vibration of the drum detected by the acceleration detection means, and a relationship between the acceleration data and the pulse signal detected by the drum position detection device. It is preferable to determine that the vibration state of the drum is a facing eccentric load state based on the characteristics of the drum.

In the washing machine according to the present invention, the acceleration detection means includes an acceleration sensor that detects acceleration in the left-right direction, up-down direction, and front-back direction of the drum, and the acceleration sensor is arranged on the front end side of the drum. It is preferable that

In the washing machine according to the present invention, the control means controls the water injection device based on the amount of change in acceleration data in the horizontal direction or the vertical direction of the drum and the amount of change in acceleration data in the longitudinal direction of the drum. It is preferable to do so.

In the washing machine according to the present invention, the threshold value for the amount of change in acceleration data in the left-right direction or the vertical direction of the drum, and the threshold value for the amount of change in acceleration data in the front-rear direction of the drum are determined by the number of rotations of the drum. It is preferable that it differs depending on the situation.

In the washing machine according to the present invention, the control means controls the water injection device by giving priority to the amount of change in acceleration data in the left-right direction and up-down direction of the drum over the amount of change in acceleration data in the front-rear direction of the drum. It is preferable to do so.

In the washing machine according to the present invention, the acceleration detection means includes two acceleration sensors that detect acceleration in two directions, a left-right direction and an up-down direction of the drum, and the two acceleration sensors are arranged on the front end side of the drum. It is preferable that they are arranged at the rear end side and at the rear end side, respectively.

In the washing machine according to the present invention, the control means is configured to control an amount of change in acceleration data in the left-right direction or the up-down direction on the front end side of the drum, and an amount of change in acceleration data in the left-right direction or up-down direction on the rear end side of the drum. It is preferable to control the water injection device based on the following.

In the washing machine according to the present invention, the threshold value for the amount of change in acceleration data in the left-right direction or the up-down direction on the front end side of the drum, and the amount of change in the acceleration data in the left-right direction or up-down direction on the rear end side of the drum. It is preferable that the threshold value differs depending on the rotation speed of the drum.

In the washing machine according to the present invention, the control means controls the amount of change in acceleration data detected by the acceleration sensor located at the front end of the drum using the acceleration sensor located at the rear end of the drum. It is preferable to control the water injection device with priority given to the amount of change in the detected acceleration data.

According to the present invention, when the unbalanced state of the drum is an opposite eccentric load state, water injection to the baffle is stopped or water is injected to the baffle based on the amount of change in acceleration data corresponding to vibration of the drum. By controlling the water injection device to change the baffle to a different baffle, the vibration state of the drum can be controlled to the optimum vibration state.

According to the present invention, it is possible to easily detect that the vibration state of the drum is a facing eccentric load state based on the acceleration data corresponding to the vibration of the drum and the relationship between the acceleration data and the pulse signal.

According to the present invention, the vibration state of the drum can be detected by one acceleration sensor.

According to the present invention, it is possible to accurately control the vibration state of the drum to an optimal vibration state.

According to the present invention, the vibration state of the drum can be controlled to the optimum vibration state according to the rotation speed of the drum.

According to the present invention, frame vibration of the washing machine can be reduced, and the load on the drum bearing section can be reduced.

According to the present invention, the vibration state of the drum can be detected with high accuracy.

According to the present invention, it is possible to accurately control the vibration state of the drum to an optimal vibration state.

According to the present invention, the vibration state of the drum can be controlled to the optimum vibration state according to the rotation speed of the drum.

According to the present invention, frame vibration of the washing machine can be reduced, and the load on the drum bearing section can be reduced.

1 is a diagram schematically showing a cross section of a washing machine 1 according to an embodiment of the present invention. FIG. 2 is an electrical block diagram of the washing machine 1 shown in FIG. 1. FIG. FIG. 2 is a diagram for explaining the flow of control in a dewatering process of the washing machine 1 in FIG. 1. FIG. It is a parameter table showing the water supply valve 62 to be opened. FIG. 2 is a schematic diagram showing eccentric positions within the drum 2. FIG. 2 is a flowchart showing a control flow in a dewatering process of the washing machine 1 of FIG. 1. FIG. It is a flowchart which shows eccentric position adjustment processing. 5 is a graph showing the relationship between the acceleration obtained from the acceleration sensor 12 and the pulse signal ps obtained from the proximity switch 14. FIG. It is a flowchart which shows the process of measuring eccentricity amount and provisional eccentricity position. 3 is a flowchart illustrating startup determination processing. It is a flow chart showing a dehydration main process. 2 is a graph showing an overview of the dehydration process of the washing machine 1 of FIG. 1. FIG. It is a flowchart which shows processing of a water injection process. 3 is a schematic diagram showing an unbalanced state within the drum 2. FIG. It is a flowchart which shows the calculation process of a formal eccentric position. 5 is a diagram showing a conversion formula according to an unbalanced state within the drum 2. FIG. This is a determination table for calculating the official eccentric position. 7 is a flowchart illustrating processing for determining whether to update the official eccentric position. It is a flowchart which shows processing of a water injection process. It is a flowchart which shows the determination process of opposing eccentric load. It is a flowchart which shows the process of control determination of a water injection process. It is a judgment table for performing control judgment of a water injection process. It is a judgment table for performing control judgment of a water injection process. It is a figure which shows typically the cross section of the washing machine 101 based on the modification of this invention. It is a flowchart which shows the process of control determination of a water injection process.

Hereinafter, a washing machine 1 according to an embodiment of the present invention will be described in detail based on the drawings. FIG. 1 is a schematic cross-sectional view showing the configuration of a washing machine 1 according to the present embodiment. FIG. 2 is a functional block diagram showing the electrical configuration of the washing machine 1 of this embodiment.

The washing machine 1 of this embodiment can be suitably used, for example, in a coin laundry or at home, and is composed of a washing machine main body 1a, an outer tub 3 having an axis S1 extending substantially horizontally, and a drum 2. It is equipped with a washing tub 1b, a water injection device 1c having a water receiving unit 5 and a nozzle unit 6, a driving device 40, and a control means 30 shown only in FIG.

A washing machine main body 1a shown in FIG. 1 has a substantially rectangular parallelepiped shape. An opening 11 for loading and unloading laundry into the drum 2 is formed on the front surface 10a of the washing machine main body 1a, and an opening/closing lid 11a that can open and close this opening 11 is attached. The front surface 10a of the washing machine main body 1a faces slightly upward, so that an opening 11 for loading and unloading laundry into the drum 2 is formed diagonally upward, and this opening 11 can be opened and closed. In this embodiment, the user opens and closes the opening/closing lid 11a diagonally from above. That is, the washing machine 1 according to the present embodiment is a so-called diagonal drum type fully automatic washing machine in which the washing tub 1b is installed diagonally.

The outer tub 3 is a bottomed cylindrical member disposed inside the washing machine main body 1a, and can store washing water therein. As shown in FIG. 1, an acceleration sensor 12 is attached to the outer circumferential surface 3a of the outer tank 3, which is capable of detecting acceleration in three directions: left-right direction, up-down direction, and front-back direction. The drum 2 is a cylindrical member with a bottom that is disposed coaxially with the outer tank 3 within the outer tank 3 and is rotatably supported. The drum 2 can accommodate laundry therein, and has a large number of water passage holes 2b (see FIG. 1) in its wall surface 2a.

As shown in FIG. 1, the drive device 40 applies driving force to the drum 2 by rotating a pulley 15 and a belt 15b using a motor 10, and also rotating a drive shaft 17 extending toward the bottom 2c of the drum 2. and rotate drum 2. Further, near one of the pulleys 15, a proximity switch 14 is provided that can detect passage of a mark 15a formed on the pulley 15. In this embodiment, the proximity switch 14 corresponds to a drum position detection device.

As shown in FIG. 1, three baffles 7 as hollow balancers are provided on the inner circumferential surface 2a1 of the drum 2 at equal intervals (equal angles) in the circumferential direction. Each baffle 7 is hollow, extends in the axial direction of the drum 2 from the base end 2c to the distal end, and is formed to protrude from the inner circumferential surface 2a1 of the drum 2 toward the axis S1.

The water receiving unit 5 has a water guide gutter 5a layered in three layers in the radial direction along the axis S1 of the drum 2, for example, and is fixed to the inner circumferential surface 2a1 of the drum 2 as shown in FIG. . The water guide gutter 5a is provided in the same number as the baffles 7, and a water passageway through which the adjusted water W can flow to any one of the baffles 7 independently is formed inside. A communication member 5a1 is connected to the inside of the baffle 7, as shown in FIG. 1, and the regulated water W is supplied from the water receiving unit 5. The water receiving unit 5 and the baffle 7 are connected to each other by a communication member 5a1.

The nozzle unit 6 is for individually injecting the adjustment water W into such water guide gutter 5a. The nozzle unit 6 includes three water injection nozzles 6a and water supply valves 62a, 62b, and 62c connected to these water injection nozzles 6a, respectively. The water injection nozzles 6a are provided in the same number as the water guide gutter 5a, and are arranged at positions where water can be injected into the respective water guide gutter 5a. Note that in this embodiment, tap water is used as the adjusted water W. Further, it is also possible to employ directional switching water supply valves as the water supply valves 62a, 62b, and 62c.

With such a configuration, in the dewatering process in which the drain valve 50a is opened and the washing water in the outer tub 3 is discharged from the drain port 50, the water in the water receiving unit 5 is drained from any of the water injection nozzles 6a of the nozzle unit 6. The adjusted water W injected into the water guide gutter 5a flows into the baffle 7 via the communication member 5a1. For example, when the adjustment water W is injected from any of the water injection nozzles 6a, the adjustment water W flows into the baffle 7 from the water guide gutter 5a via the communication member 5a1.

The baffle 7 includes a retention part 71 in which the adjusted water W injected from the tip 1d side of the washing tub 1b by the water injection device 1c is retained due to centrifugal force during the dewatering process, and a retention part 71 in which the injected adjusted water W is transferred to the base end of the washing tub 1b. It has an outlet part 72 that can be discharged from the 1e side. When the drum 2 is rotating at high speed, the adjustment water W that has flowed into the baffle 7 sticks to the inner peripheral surface 2a1 of the drum 2 due to centrifugal force and stays there. As a result, the weight of the baffle 7 increases, and the eccentricity (M) of the drum 2 changes. In this way, the baffle 7 has a pocket baffle structure that can store the adjustment water W by centrifugal force. When the rotational speed of the drum 2 decreases as the dewatering process approaches the end, the centrifugal force within the baffle 7 gradually attenuates, and the adjustment water W flows out from the outlet section 72 due to gravity and is drained outside the outer tank 3. . At this time, the adjustment water W flows downwardly and outwardly outside the drum 2 via the outlet portion 72. Therefore, the conditioning water W is drained without wetting the laundry in the drum 2.

FIG. 2 is a block diagram showing the electrical configuration of the washing machine 1 of this embodiment. The operation of the washing machine 1 is controlled by a control means 30 including a microcomputer. The control means 30 includes a central control unit (CPU) 31 that controls the entire system, and the control means 30 has a predetermined rotation speed (lower than the resonance point CP of the drum 2), which is a value described in detail below. N1), an eccentricity threshold (ma), a water injection eccentricity threshold (mb), and a memory 32 in which the dewatering steady rotation speed is stored. Further, the control means 30 causes the microcomputer to execute a program stored in the memory 32, thereby performing a predetermined driving operation, and the memory 32 stores data, etc. used when executing the program. is temporarily stored.

The central control section 31 outputs a control signal to the rotation speed control section 33 and further outputs the control signal to a motor control section (motor control circuit) 34 to control the rotation of the motor 10. Note that the rotational speed control section 33 receives a signal indicating the rotational speed of the motor 10 from the motor control section 34 in real time, and serves as a control element.

The acceleration sensor 12 is connected to the imbalance amount detection section 35 . The acceleration sensor 12 and the proximity switch 14 are connected to the unbalance position detection section 36 . In this embodiment, the imbalance amount detection section 35 and the imbalance position detection section 36 constitute eccentricity detection means.

As a result, when the proximity switch 14 detects the marker 15a (see FIG. 1), the unbalance amount detection unit 35 detects the drum 2 based on the magnitude of the horizontal, vertical, and longitudinal acceleration obtained from the acceleration sensor 12. The amount of eccentricity (M) is calculated, and this amount of eccentricity (M) is output to the unbalance amount determining section 37.

The unbalance position detection unit 36 calculates the angle in the unbalance direction from the signal indicating the position of the marker 15a input from the proximity switch 14, and sends the unbalance position signal, which is the eccentric position (N), to the water injection control unit 38. Output. Here, the angle in the unbalanced direction is the relative angle of the axis S1 to the baffle 7 in the circumferential direction. In this embodiment, as an example, as shown in FIG. To indicate the angle, the intermediate position between baffles 7(B) and 7(C) is set at 0°.

When the water injection control unit 38 receives signals indicating the eccentricity amount (M) and the eccentric position (N) from the unbalance amount determination unit 37 and the unbalance position detection unit 36, the water injection control unit 38 executes a control program stored in advance. Based on this, the baffle 7 to which water should be supplied and its water supply amount are determined. Then, the water injection control unit 38 opens the selected water supply valves 62a, 62b, and 62c and starts injection of the adjustment water W. When the amount of eccentricity (M) exceeding a predetermined standard occurs in the drum 2, the water injection control unit 38 controls the water supply to the water receiving unit 5 from the water injection nozzle 6a selected based on the calculation of the amount of eccentricity (M). Injection of the adjustment water W into the gutter 5a is started, and when the amount of eccentricity (M) becomes less than a predetermined standard, the injection of the adjustment water W is stopped. In the present embodiment, when the unbalanced state of the drum 2 is a counter eccentric load state, the water injection control unit 38 stops the injection of the adjustment water W, or controls the baffle 7 that injects the adjustment water W. Control may be performed to change to a different baffle 7.

For example, as shown in FIG. 3, the water injection control unit 38 controls when a lump of laundry LD (X) causing eccentricity is located between the baffle 7 (B) and the baffle 7 (C) of the drum 2. controls the water injection device 1c to supply the adjustment water W to the baffle 7(A). In addition, when the laundry mass LD (Y) is near the baffle 7 (A), the water injection device 1c is controlled to supply the adjustment water W to both the baffle 7 (B) and the baffle 7 (C). do.

The central control unit 31 opens the water supply valves X and Z as described in the parameter table of FIG. In this embodiment, the eccentric position (N) is determined by dividing the drum 2 into six equal parts in the circumferential direction, as shown in FIG. (N), and an eccentric position (N) that specifies the baffle 7 to be injected into two types. The term "eccentric position (N)" in this embodiment is a concept that indicates either or both of the provisional eccentric position θ1 that is temporarily calculated and the official eccentric position θ-fix that is formally determined. . The temporary eccentric position θ1 and the official eccentric position θ-fix will be described in detail later.

The region Y of the eccentric position (N) that specifies one baffle 7 to be injected with water is the regions (P(A)), (P(B)), and (P(C)). Furthermore, the region Y of the eccentric position (N) required to eliminate eccentricity is the regions (P(AB)), (P(BC)), and (P(CA)). Also, the angles of the regions (P(A)), (P(B)) and (P(C)) around the axis S1 are 20°, and the angles of the regions (P(AB)), (P(BC)) and The angle of (P(CA)) about the axis S1 is set to 100°.

(Pre-dehydration process)
The pre-dehydration process related to the first half of the dehydration process will be described based on FIG. 6. FIG. 6 is a flowchart showing a pre-dehydration process related to the first half of the dehydration process.

In this embodiment, when the central control unit 31 receives an input signal from a dehydration button (not shown) or a signal indicating that the dehydration process should be started during the washing course operation, the process proceeds to step SP1 and starts the pre-dehydration process. .

<Step SP1>

In step SP1, the central control unit 31 loosens and reverses the drum 2, and then increases the rotation of the drum 2 to a predetermined rotation speed (N1) lower than the resonance point CP of the drum 2. When the rotational speed of the drum 2 reaches a predetermined rotational speed (N1), the process moves to step SP2. In this embodiment, the predetermined rotation speed (N1) is set to 180 rpm, which is lower than about 300 rpm, which is the resonance point CP of the drum 2.

<Step SP2>

In step SP2, the central control unit 31 executes control to cause the eccentricity detection means to calculate the eccentricity amount (M) and the tentative eccentricity position θ1 based on the acceleration signal given from the acceleration sensor 12. Specifically, the central control unit 31 calculates the eccentricity (M) in each direction based on the acceleration signals in the left-right direction, the up-down direction, and the front-back direction obtained from the acceleration sensor 12, for example.

<Step SP3>

The central control unit 31 compares the eccentricity (M) calculated for each direction with the eccentricity threshold (ma) stored in the memory 32, and determines whether M<ma holds. , performs start-up determination. If the central control unit 31 determines that M<ma holds true, the process proceeds to step SP4, and if it determines that M<ma does not hold, the process proceeds to step SP5. Here, the eccentricity threshold value (ma) is defined as the amount of eccentricity (M) that can be reduced to the extent that the rotational speed of the drum 2 can be increased to the dehydration steady rotational speed even if the adjustment water W is supplied to the baffle 7. This threshold value assumes a case where the laundry is so uneven that it is difficult to do so. That is, when proceeding to step SP5, it means that the amount of eccentricity (M) is so large that it is difficult to complete the dehydration process even if the adjustment water W is supplied to the baffle 7.

The eccentricity threshold (ma) will be further explained. In this embodiment, the acceleration sensor 12 is one that can detect acceleration in the left-right direction, up-down direction, and front-back direction. Different eccentricity amount thresholds (max, ma-z, ma-y) are set for each acceleration signal in the left-right direction, up-down direction, and front-back direction.

<Step SP4>

In step SP4, the central control unit 31 determines that when the eccentricity (M) calculated in step SP2 is smaller than the eccentricity threshold (ma) set for each of the vertical, horizontal, and longitudinal directions, It is determined that M<ma holds true, and the rotation speed of the drum 2 is increased. Further, the central control unit 31 continuously controls eccentricity amount and provisional eccentricity position measurement while increasing the rotational speed of the drum 2. Here, "continuously" does not necessarily mean that it is performed continuously. When the rotational speed of the drum 2 increases to any number of rotational speeds up to the dehydration steady rotational speed, the eccentricity amount/temporary eccentricity position measurement control may be performed intermittently. Of course.

In step SP5, the central control unit 31 moves the laundry in the drum 2 in the vertical direction by stopping the rotation of the drum 2 or lowering the rotation speed of the drum 2 to a rotation speed at which gravity is stronger than centrifugal force. Controls the eccentric position adjustment process for stirring.

The control of the eccentric position adjustment process shown in step SP5 will be explained based on FIG. 7. FIG. 7 is a flowchart showing the procedure of eccentric position adjustment processing.

First, when it is determined in step SP3 that the eccentricity (M) is so large that it is difficult to reduce, the rotation of the drum 2 is stopped (step SP51). Thereafter, the drum 2 is rotated at a rotation speed lower than the centrifugal force, the laundry in the drum 2 is agitated, and the eccentricity (M) is changed (step SP52). After that, the process returns to step SP1.

(Calculation of eccentricity amount and tentative eccentricity position)
The procedure for calculating the tentative eccentric position θ1 shown in step SP2 will be explained based on FIGS. 8 and 9.

In the present embodiment, in the dewatering process, there is a time difference t1 between an arbitrary point in time in a signal related to acceleration that indicates at least one cycle t2 of the drum 2 and which is transmitted from the acceleration sensor 12 and the timing at which the pulse signal ps is transmitted from the proximity switch 14. Calculate the temporary eccentric position θ1 in the circumferential direction within the drum 2 from the relationship between the time difference t1 and the rotational speed of the drum 2, and calculate the eccentricity amount (M) based on the calculated temporary eccentric position θ1. Control is performed to reduce the eccentricity, and one of the signals from the acceleration sensor 12 in a plurality of directions including at least the longitudinal direction is used to calculate the tentative eccentric position θ1.

FIG. 8 is a graph showing the relationship between information indicating the temporal change in acceleration calculated based on the acceleration and the pulse signal ps obtained from the proximity switch 14. In FIG. 8, for convenience, the tentative eccentric position θ1 is calculated from the time difference t1 between the maximum value (Ymax) of the longitudinal acceleration obtained from the acceleration sensor 12 and the pulse signal ps. In addition, in the present embodiment shown in FIG. 8, as an example, a mode is shown in which the temporary eccentric position θ1 is calculated from the local maximum value (Ymax) and the local minimum value (Ymin) of acceleration, but as another example of the present invention, The tentative eccentric position θ1 may be calculated from one or more of the zero point, the maximum acceleration value (Ymax), and the minimum acceleration value (Ymin).

FIG. 9 is a flowchart showing the processing procedure for measuring the amount of eccentricity and the temporary eccentricity position.

<Step SP21>

In step SP21, the central control unit 31 detects acceleration data (MX, MY, MZ) in the left-right direction, front-back direction, and up-down direction from the acceleration sensor 12.

<Step SP22>

In step SP22, the central control unit 31 generates acceleration data (MX, MY, MZ) from the acceleration data (MX, MY, MZ) obtained from the acceleration sensor 12 and the pulse signal ps, which is an interrupt signal from the proximity switch 14. Calculation processing is performed to determine local maximum values (Xmax, Ymax, Zmax) and local minimum values (Xmin, Ymin, Zmin).

<Step SP23>

In step SP23, the central control unit 31 calculates and determines the value of one cycle t2, which is the time it takes for the drum 2 to rotate once, from the intervals between the plurality of pulse signals ps, which are interrupt signals from the proximity switch 14.

<Step SP24>

In step SP24, the central control unit 31 calculates the local maximum values (Xmax, Ymax, Zmax) of the plurality of pulse signals ps, which are interrupt signals from the proximity switch 14, and the acceleration data (MX, MY, MZ) obtained in step SP22. , the time difference t1 is calculated and determined. In step SP24, the central control unit 31 calculates not only the time difference t1Y, which is the time difference t1 in the front-back direction shown in FIG. 8, but also the time differences t1X and t1Z in the left-right direction and the up-down direction.

<Step SP25>

In step SP25, the central control unit 31 determines the amount of eccentricity from the maximum values (Xmax, Ymax, Zmax) and minimum values (Xmin, Ymin, Zmin) of the acceleration data (MX, MY, MZ) obtained in step SP22. (M), which are the eccentricities Mx, My, and Mz in the left-right direction, front-back direction, and up-down direction, respectively, are calculated and determined. In this embodiment, the eccentricities Mx, My, and Mz are determined from the difference between the maximum values (Xmax, Ymax, Zmax) and the minimum values (Xmin, Ymin, Zmin).

<Step SP26>

In step SP26, the central control unit 31 determines provisional eccentric positions θX1, θY1, θZ1 in the left-right direction, front-back direction, and up-down direction from the one period t2 obtained from step SP23 and the time difference t1 obtained from step SP24. is calculated and determined using the following formula.
θX1=t1X×360÷t2
θY1=t1Y×360÷t2
θZ1=t1Z×360÷t2

(Startup judgment)
The startup determination shown in step SP3 will be explained based on FIG. 10. FIG. 10 is a flowchart showing the procedure for startup determination.

<Step SP31>

In step SP31, the central control unit 31 selects the eccentricity (M) having a larger value from the horizontal eccentricity Mx and the vertical eccentricity Mz determined in step SP25. In this embodiment, for convenience of explanation, the selected eccentricity (M) is referred to as an eccentricity Mxz.

<Step SP32>

In step SP32, the central control unit 31 determines whether the eccentricity Mxz exceeds a threshold mxz that is an eccentricity threshold (ma). If the eccentricity amount Mxz is less than the threshold value mxz, the central control unit 31 moves to step SP33. If the eccentricity Mxz exceeds the threshold mxz, the central control unit 31 determines that startup is not possible, and proceeds to step SP5 to perform eccentricity adjustment processing.

<Step SP33>

In step SP33, the central control unit 31 determines whether or not the eccentricity My in the longitudinal direction exceeds the threshold my that is the eccentricity threshold (ma). The central control unit 31 determines that startup is possible if the eccentricity My is less than the threshold my. In this case, the rotation speed of the drum 2 is increased. If the eccentricity My exceeds the threshold my, the central control unit 31 determines that startup is not possible, and proceeds to step SP5 to perform eccentricity adjustment processing.

(Main dehydration process)
Hereinafter, the control related to the main dehydration process after step SP4 will be explained based on FIG. 11. FIG. 11 is a flowchart showing the procedure of the main dehydration step.

<Step SP51>

In step SP51, the central control unit 31 increases the rotation speed of the drum 2 by 20 rpm per second until the rotation speed of the drum 2 reaches 400 rpm. The central control unit 31 executes step SP6 in parallel while executing step SP51.
<Step SP52>

In step SP52, the central control unit 31 determines whether the rotational speed of the drum 2 has reached 400 rpm. If the rotation speed has not reached 400 rpm, the central control unit 31 moves to step SP51. If the rotation speed has reached 400 rpm, the central control unit 31 moves to step SP63.
<Step SP53>

In step SP53, the central control unit 31 increases the rotation speed of the drum 2 by 5 rpm per second until the rotation speed of the drum 2 reaches 600 rpm. The central control unit 31 executes step SP6 in parallel while performing step SP53.

<Step SP54>

In step SP54, the central control unit 31 determines whether the rotational speed of the drum 2 has reached 600 rpm. If the rotation speed has not reached 600 rpm, the central control unit 31 moves to step SP53. If the rotation speed has reached 600 rpm, the central control unit 31 moves to step SP55. Here, the reason why the acceleration when the rotation speed of the drum 2 increases from 400 to 600 rpm is lower than in other rotation ranges is because the amount of water dehydrated from the laundry is greater in this rotation range than in other rotation ranges. This is to reduce unnecessary noise caused by water being dehydrated.
<Step SP55>

In step SP55, the central control unit 31 increases the rotation speed of the drum 2 by 20 rpm per second until the rotation speed of the drum 2 reaches 800 rpm. The central control unit 31 executes step SP6 in parallel while performing step SP55.
<Step SP56>

In step SP56, the central control unit 31 determines whether the rotational speed of the drum 2 has reached 800 rpm. If the rotation speed has not reached 800 rpm, the central control unit 31 moves to step SP55. If the rotation speed has reached 800 rpm, the central control unit 31 moves to step SP57.

<Step SP57>

In step SP57, when the rotational speed of the drum 2 reaches 800 rpm, which is the steady rotational speed of the drum 2, the central control unit 31 continues the dehydration process, and after confirming that a predetermined time has elapsed, starts washing. finish. In other words, the central control unit 31 performs the dehydration process by rotating the drum 2 at a constant dehydration rotation speed for a predetermined period of time, similar to the dehydration process in normal washing. After that, the dehydration process is finished. Then, when the dehydration is completed and the drum 2 starts to decelerate and the centrifugal force becomes lower than the gravitational acceleration, the adjustment water W in the baffle 7 flows out and is drained.

FIG. 12 is a graph showing an overview of the dewatering process of the washing machine 1 of this embodiment. In FIG. 12, the vertical axis shows the rotation speed of the drum 2, and the horizontal axis shows time. In FIG. 12, the behavior of the rotational speed when the rotational speed of the drum 2 reaches the dehydration steady rotational speed without water being injected into the baffle 7 is shown by a solid line. In addition, in FIG. 12, the upper imaginary line shows the behavior of the rotation speed when the rotation speed reaches the dehydration steady rotation speed after water is injected into the baffle 7 once, and the rotation of the drum 2 related to step SP5 is shown. The behavior of numbers is shown by the lower imaginary line.

(Water injection process)
The water injection process shown in step SP6 will be explained based on FIG. 13. FIG. 13 is a flowchart showing an overview of the water injection process.

In step SP6, the central control unit 31 determines that the eccentricity (M) calculated in step SP2 shown in FIG. Determine whether it is larger than . When the eccentricity amount (M) is lower than the eccentricity amount threshold for water injection (mb), the central control unit 31 moves to the main dewatering step in FIG. 11 without injecting water into the baffle 7. When the eccentricity amount (M) is larger than the water injection eccentricity amount threshold (mb), the central control unit 31 injects water into the baffle 7 in the water injection process so that the eccentricity amount (M) becomes the water injection eccentricity. After the core amount becomes lower than the core amount threshold value (mb), the main dehydration step shown in FIG. 11 is started.

In the water injection process of this embodiment, step SP61 is performed under the process of measuring the amount of eccentricity and the temporary eccentricity position, which is continuously performed after the rotation speed of the drum 2 reaches 180 rpm as described above. The calculation process of the official eccentric position and the water injection process which is step SP64 are mainly performed.

<Step SP61>

In step SP61, the central control unit 31 calculates the official eccentric position θ-fix from the tentative eccentric position θ1. A method for calculating the official eccentric position θ-fix will be explained later.

<Step SP62>

In step SP62, the central control unit 31 determines whether to update the official eccentric position θ-fix to the value calculated in step SP61, and determines the official eccentric position θ-fix.

<Step SP63>

In step SP63, the central control unit 31 determines whether the eccentricity (M) exceeds the eccentricity threshold for water injection (mb). If the eccentricity amount (M) exceeds the eccentricity amount threshold for water injection (mb), the process moves to step SP64. If the eccentricity amount (M) is less than the eccentricity amount threshold for water injection (mb), the water injection process is ended.

<Step SP64>

In step SP64, the central control unit 31 performs water injection processing while maintaining the rotational speed of the drum 2 without increasing it. Thereafter, the process moves to step SP65.

<Step SP65>

In step SP65, the central control unit 31 determines whether the eccentricity (M) exceeds the water injection eccentricity threshold (mb). If the eccentricity amount (M) exceeds the eccentricity amount threshold for water injection (mb), the process moves to step SP61. If the eccentricity amount (M) is less than the eccentricity amount threshold for water injection (mb), the water injection process is ended.

(Formal eccentric position calculation process)
The formal eccentric position calculation process shown in step SP61 will be explained based on FIGS. 14 to 17.

As the unbalanced state of the drum 2, there are four types of unbalanced states as shown in FIG. 14(a) to 14(d) show the eccentric position of the drum 2 in the circumferential direction and the eccentric position in the depth direction in four types of unbalanced states.

Unbalanced state a is a state in which the eccentric position is on the front end side of the drum 2, unbalanced state b is a state in which the eccentric position is near the center of the drum 2, and unbalanced state c is a state in which the eccentric position is near the center of the drum 2. The position is on the rear end side of the drum 2, and the unbalanced state d is a state where the eccentric position is positioned opposite the front end side and the rear end side of the drum 2 (opposite eccentric load state). be. As shown in FIG. 14(d), the facing eccentric load state means that the two eccentric positions are arranged axially symmetrically with respect to the rotation axis of the drum 2, and the two eccentric positions in the depth direction are arranged in the front-rear direction. Refers to a state of deviation.

In the unbalanced state a and the unbalanced state b, the vibrations in the horizontal and vertical directions on the front end side of the drum 2 are larger than the vibrations in the horizontal and vertical directions on the rear end side of the drum 2. In the unbalanced state c and the unbalanced state d, the vibrations in the left-right direction and the vertical direction on the rear end side of the drum 2 are larger than the vibrations in the left-right direction and the vertical direction on the front end side of the drum 2, and in the unbalanced state a and This is larger than the horizontal and vertical vibrations of the rear end side of the drum 2 in the unbalanced state b. That is, in the unbalanced state c and the unbalanced state d, the vibration of the drum 2 in the longitudinal direction is larger than that in the unbalanced state a and the unbalanced state b.

As shown in FIGS. 14(a) to 14(d), when the eccentric position within the drum 2 differs, the vibration state of the drum 2 differs. Therefore, in this embodiment, the official eccentric position θ-fix is calculated taking into account the vibration state of the drum 2, that is, the unbalanced state of the drum 2.

In this embodiment, the acceleration sensor 12 is a three-axis sensor that can detect acceleration in the left-right direction, up-down direction, and front-back direction. As a result, even if the eccentric position within the drum 2 is different as shown in FIGS. 14(a) to 14(d), the eccentric amount (M) and the eccentric position (N) can be accurately detected. can do.

(Formal eccentric position calculation process)
The formal eccentric position calculation process shown in step SP61 will be explained based on FIG. 15. FIG. 15 is a flowchart showing the calculation process of the official eccentric position.

<Step SP611>

In step SP611, as described above, the central control unit 31 calculates tentative eccentric positions θY1 and θZ1 in the longitudinal direction and the vertical direction, respectively, from the one period t2 and the time difference t1 using the following equations.
θY1=t1Y×360÷t2
θZ1=t1Z×360÷t2

<Step SP612>

In step SP612, the central control unit 31 calculates the determination usage value M1. The determination use value M1 is the difference between the Y-direction acceleration data MY and the Z-direction acceleration data MZ.
M1=MY-MZ

<Step SP613>

In step SP613, the central control unit 31 calculates the determination usage value M2. The determination use value M2 is the difference between the value obtained by doubling the Z-direction acceleration data MZ and the Y-direction acceleration data MY.
M2=2×MZ-MY

<Step SP614>

In step SP614, the central control unit 31 calculates the absolute value of the oncoming load determination value T. The opposing load determination value T is the difference between the tentative eccentric position θY1 in the front-rear direction and the tentative eccentric position θZ1 in the up-down direction.
T=θY1-θZ1

<Step SP615>

In step SP615, the central control unit 31 calculates the official eccentric position θ-fix based on the absolute values of the determination usage value M1, determination usage value M2, and oncoming load determination value T.

That is, in step SP615, the central control unit 31 converts any value of θZ2-1, θZ2-2, θY2-1, θY2-2 calculated by the four conversion formulas A to D shown in FIG. Based on the determination table No. 17, the official eccentric position θ-fix is calculated. In FIG. 16, four conversion equations A to D are conversion equations that use the rotation speed of the drum 2 as a variable. Conversion formula B is a conversion formula that uses the rotational speed and amplitude of the drum 2 as variables.

Specifically, in the judgment table of FIG. 17, conditions are classified into conditions 1 to 5 based on the magnitude of the judgment use values M1 and M2, the Z-direction acceleration data MZ, and the absolute value of the oncoming load judgment value T. The values of θZ2-1, θZ2-2, θY2-1, and θY2-2 calculated by the four conversion formulas A to D correspond to each of Conditions 1 to 5.

The threshold value A for the determination use value M1 in FIG. 17 is a value that changes depending on the rotation speed of the drum 2.
A=-0.18×(drum rotation speed)+68

The threshold value B for the determination use value M2 in FIG. 17 is a value that changes depending on the rotation speed of the drum 2.
B=0.75×(drum rotation speed)-225

(Condition 1):
When the determination use value M1 is less than the threshold value A and the Z-direction acceleration data MZ is less than 130, θZ2-1 calculated by conversion formula A is determined as the official eccentric position θ-fix.

(Condition 2):
If the determination use value M1 is less than the threshold value A and the Z-direction acceleration data MZ is 130 or more, θZ2-2 calculated by conversion formula B is determined as the official eccentric position θ-fix.

(Condition 3):
If the judgment use value M1 is greater than or equal to the threshold value A, the judgment use value M2 is less than the threshold value B, and the absolute value of the oncoming load judgment value T is less than 150, the official eccentric position θ-fix is determined by conversion formula C. The calculated θY2-1 is determined.

(Condition 4):
When the judgment use value M1 is greater than or equal to the threshold value A, the judgment use value M2 is less than the threshold value B, and the absolute value of the oncoming load judgment value T is 150 or more, the official eccentric position θ-fix is determined by conversion formula D. The calculated θY2-2 is determined.

(Condition 5):
If the judgment use value M1 is greater than or equal to the threshold value A, the judgment use value M2 is greater than or equal to the threshold value B, and the absolute value of the oncoming load judgment value T is 150 or more, the official eccentric position θ-fix is determined by conversion formula D. The calculated θY2-2 is determined.

The four conversion equations A to D described above correspond to the different unbalanced states a to d of the drum 2 shown in FIG. 14, respectively. Therefore, when the central control unit 31 calculates the official eccentric position θ-fix based on the determination table shown in FIG. This means that the official eccentric position θ-fix is calculated using any of the conversion formulas A to D corresponding to d.

(Update judgment of official eccentric position)
The update determination of the official eccentric position shown in step SP62 will be explained based on FIG. 18. FIG. 18 is a flowchart showing the procedure for determining whether to update the official eccentric position.

When the official eccentric position θ-fix is calculated in step SP615 as described above, it is determined in step SP62 whether or not to update the official eccentric position θ-fix to the value calculated in step SP615. do.

<Step SP621>

In step SP621, the central control unit 31 stores the previous official eccentric position θ-fix as θ-fix-before.

<Step SP622>

In step SP622, the central control unit 31 stores the official eccentric position θ-fix calculated in step SP615 as θ-fix-after.

<Step SP623>

In step SP623, the central control unit 31 calculates the difference between θ-fix-after stored in step SP622 and θ-fix-before stored in step SP621, and sets it as θ-fix-dif.

<Step SP624>

In step SP624, the central control unit 31 determines whether the absolute value of θ-fix-dif calculated in step SP623 is 150 or more. If the absolute value of θ-fix-dif is 150 or more, the process moves to step SP625. If the absolute value of θ-fix-dif is not 150 degrees or more, the process moves to step SP626.

<Step SP625>

In step SP625, the central control unit 31 determines that since the absolute value of θ-fix-dif is 150 degrees or more in step SP624 and the official eccentric position θ-fix is changing rapidly, the official eccentric position θ- Fix is not updated to θ-fix-after, but is set to θ-fix-before.

<Step SP626>

In step SP626, the central control unit 31 updates the official eccentric position θ-fix from θ-fix-before to θ-fix-after because the absolute value of θ-fix-dif is not 150 degrees or more in step SP624. do.

(Water injection treatment)
The water injection process shown in step SP64 will be explained based on FIG. 19. FIG. 19 is a flowchart showing the procedure of water injection processing.

<Step SP641>

In step SP641, the central control unit 31 acquires the official eccentric position θ-fix calculated in step SP61 as the official eccentric position θ-fix applied to driving the water supply valves 62a, 62b, and 62c. The central control unit 31 determines which baffle 7 should be injected with water based on the official eccentric position θ-fix calculated in step SP61. In this embodiment, the official eccentric position θ-fix is expressed as a relative angle from an arbitrary virtual line extending in the circumferential direction of the axis S1, and is 0° to 359°, as shown in FIG. This is shown in FIG. 19 as any numerical value between 359 and 359.

<Step SP642>

In step SP642, the central control unit 31 determines whether the condition that the formal eccentric position θ-fix is smaller than 10 or larger than 350 is met. If the above conditions are met, the central control unit 31 moves to step SP643. If the above conditions are not met, the central control unit 31 moves to step SP644.

<Step SP643>

In step SP643, the central control unit 31 determines that the official eccentric position θ-fix is within the region P(A) shown in FIG. 5, and drives the water supply valve 62a to supply water to the baffle 7(A). do.

<Step SP644>

In step SP644, the central control unit 31 determines whether the condition that the formal eccentric position θ-fix is a value of 10 or more and 110 or less is met. If the above conditions are met, the central control unit 31 moves to step SP645. If the above conditions are not met, the central control unit 31 moves to step SP646.

<Step SP645>

In step SP645, the central control unit 31 determines that the official eccentric position θ-fix is within the area P (AB) shown in FIG. , 7(B).

<Step SP646>

In step SP646, the central control unit 31 determines whether the condition that the formal eccentric position θ-fix is a value of 110 or more and 130 or less is met. If the above conditions are met, the central control unit 31 moves to step SP647. If the above conditions are not met, the central control unit 31 moves to step SP648.

<Step SP647>

In step SP647, the central control unit 31 determines that the official eccentric position θ-fix is within the region P(B) shown in FIG. 5, and drives the water supply valve 62b to supply water to the baffle 7(B). do.

<Step SP648>

In step SP648, the central control unit 31 determines whether the condition that the formal eccentric position θ-fix is a value of 130 or more and 230 or less is met. If the above conditions are met, the central control unit 31 moves to step SP649. If the above conditions are not met, the central control unit 31 moves to step SP650.

<Step SP649>

In step SP649, the central control unit 31 determines that the official eccentric position θ-fix is within the region P (BC) shown in FIG. , 7(C).

<Step SP650>

In step SP650, the central control unit 31 determines whether the condition that the formal eccentric position θ-fix is a value of 230 or more and 250 or less is met. If the above conditions are met, the central control unit 31 moves to step SP651. If the above conditions are not met, the central control unit 31 moves to step SP652.

<Step SP651>

In step SP651, the central control unit 31 determines that the official eccentric position θ-fix is within the region P(C) shown in FIG. 5, and drives the water supply valve 62c to supply water to the baffle 7(C). do.

<Step SP652>

In step SP652, the central control unit 31 determines that the formal eccentric position θ-fix satisfies the condition that it is a value of 250 or more and 350 or less, and proceeds to step SP653.

<Step SP653>

In step SP653, the central control unit 31 determines that the official eccentric position θ-fix is within the area P (CA) shown in FIG. , 7(A).

In this embodiment, while performing the process of driving the water supply valve shown in FIG. 19, the temporary eccentric position θ1 and the official eccentric position θ-fix are always calculated, and the official eccentric position θ-fix is determined. There is.

<Step SP66>

After the water supply to one or two of the baffles 7(A), 7(B), and 7(C) is started as described above, in step SP66, the central control unit 31 controls the biasing of the drum 2. It is determined whether the core state is a facing eccentric load state (unbalanced state d in FIG. 14(d)). When the eccentric state of the drum 2 is the opposing eccentric load state, the process moves to step SP67. If the eccentric state of the drum 2 is not the opposing eccentric load state, the process moves to step SP673.

<Step SP67>

When the eccentric state of the drum 2 is the opposite eccentric load state, in step SP67, the central control unit 31 determines whether to change the water injection position or stop the water injection based on the vibration state of the drum 2. . If it is determined that the water injection position is to be changed, the process moves to step SP671. If it is determined that the water injection is to be stopped, the process moves to step SP672. If it is determined that the water injection position will not be changed and the water injection will not be stopped, the process moves to step SP673.

<Step SP671>

In step SP671, the central control unit 31 controls the water injection device 1c to change the water injection position to the opposite side.

<Step SP672>

In step SP672, the central control unit 31 controls the water injection device 1c to stop water injection.

<Step SP673>

In step SP673, the central control unit 31 controls the water injection device 1c so that water injection is continued.

(Determination of opposing eccentric load)
The determination of the opposing eccentric load shown in step SP66 will be explained based on FIG. 20. FIG. 20 is a flowchart showing the procedure for determining the opposing eccentric load.

<Step SP661>

In step SP661, the central control unit 31 calculates the determination usage value M1. The determination use value M1 is the difference between the Y-direction acceleration data MY and the Z-direction acceleration data MZ.
M1=MY-MZ

<Step SP662>

In step SP662, the central control unit 31 determines whether the condition that the determination usage value M1 is equal to or greater than the threshold value A is met. If the above conditions are met, the central control unit 31 moves to step SP663. If the above conditions are not met, the central control unit 31 moves to step SP667.

The threshold value A for the determination use value M1 is a value that changes depending on the rotation speed of the drum 2.
A=-0.18×(drum rotation speed)+68

<Step SP663>

In step SP663, the central control unit 31 determines that the eccentric position of the drum 2 is a single eccentric load state or a counter eccentric load state at the back of the drum.

<Step SP664>

In step SP664, the central control unit 31 calculates the oncoming load determination value T. The opposing load determination value T is the difference between the tentative eccentric position θY1 in the front-rear direction and the tentative eccentric position θZ1 in the up-down direction.
T=θY1-θZ1

<Step SP665>

In step SP665, the central control unit 31 determines whether the condition that the absolute value of the oncoming load determination value T is 150 or more is met. The condition that the absolute value of the opposing load determination value T is 150 or more means that the phase difference between the temporary eccentric position θY1 in the longitudinal direction and the temporary eccentric position θZ1 in the vertical direction is 150 degrees or more. . That is, since the phase difference between the tentative eccentric position θY1 and the tentative eccentric position θZ1 is close to 180 degrees, the tentative eccentric position θY1 and the tentative eccentric position θZ1 are in a state where they are substantially opposed to each other (opposing eccentric load state). . When determining whether or not there is a counter eccentric load state, the threshold value of the phase difference between the tentative eccentric position θY1 and the tentative eccentric position θZ1 is not limited to 150. If the above conditions are met, the central control unit 31 moves to step SP666. If the above conditions are not met, the central control unit 31 moves to step SP667.

<Step SP666>

In step SP666, the central control unit 31 determines that the eccentric position of the drum 2 is in a facing eccentric load state.

<Step SP667>

In step SP667, the central control unit 31 determines that the eccentric position of the drum 2 is not in a facing eccentric load state.

In the washing machine 1 of the present invention, when the eccentric position of the drum 2 is in a facing eccentric load state, the vibration state of the drum 2 is determined based on acceleration data (MX, MY, MZ) detected by the acceleration sensor 12. A water injection control determination is made based on.

(Water injection control judgment based on the vibration state of the drum)
The water injection control determination shown in step SP67 will be explained based on FIG. 21. FIG. 21 is a flowchart showing the procedure of water injection control determination processing.

In step SP67, after determining that the unbalanced state of the drum 2 is a facing eccentric load state in step SP66, the central control unit 31 changes the water injection position or stops the water injection based on the vibration state of the drum 2. Determine whether to continue water injection.

<Step SP671>

In step SP671, the central control unit 31 measures the average value A1 of the horizontal and vertical vibrations, that is, the average value A1 of the X-direction acceleration data MX and the Z-direction acceleration data MZ.

<Step SP672>

In step SP672, the central control unit 31 measures the amount of change A2 for one second in the average value A1 of the horizontal and vertical vibrations.

<Step SP673>

In step SP673, the central control unit 31 measures the average value A3 of the longitudinal vibration, that is, the average value A3 of the Y-direction acceleration data MY.

<Step SP674>

In step SP674, the central control unit 31 measures the amount of change A4 in one second in the average value A3 of the longitudinal vibration.

<Step SP675>

In step SP675, the central control unit 31 calculates the average value A1 of the horizontal and vertical vibrations, the amount of change A2 in one second of the average value A1, the average value A3 of the longitudinal vibrations, and the amount of change A4 in one second of the average value A3. Based on this and the determination table, it is determined whether to change the water injection position, stop the water injection process, or continue water injection.

FIG. 22 shows a determination table when the rotation speed of the drum 2 is 200 to 250 rpm, and FIG. 23 shows a determination table when the rotation speed of the drum 2 is 450 to 500 rpm. In the judgment tables of FIGS. 22 and 23, conditions are classified into conditions 1 to 4 based on the above-mentioned A1, A2, A3, and A4, and for each of conditions 1 to 4, control to change the water injection position, or , or a control that stops the water injection process.

In this embodiment, when the central control unit 31 determines that either condition 1 or 2 of the determination table is met, the central control unit 31 changes the baffle 7 to the baffle 7 on the opposite side of the baffle 7 that is being injected with water. That is, when changing the water injection position to the opposite side when one baffle 7 is being injected with water, the central control unit 31 stops the water infusion to the one baffle 7 that is being injected with water, and Water is poured into one baffle 7 and two baffles 7 on the opposite side. When changing the water injection position to the opposite side when two baffles 7 are being injected with water, the central control unit 31 stops the water infusion to the two baffles 7 that are being injected with water, and replaces the two baffles 7 with water. Water is poured into one baffle 7 on the opposite side of the baffle 7.

For example, when changing the water injection position to the opposite side while water is being poured into the baffle 7 (A), the central control unit 31 changes the water injection position from the state where water is being poured into the baffle 7 (A) to the baffle 7 (B) and the water injection position. The state is changed to water injection into baffle 7 (C). When changing the water injection position to the opposite side while water is being poured into the baffle 7 (B), the central control unit 31 changes the water injection position from the state in which water is being poured into the baffle 7 (B) to the baffle 7 (A) and the baffle 7. (C) Change the state to water injection. When changing the water injection position to the opposite side while water is being poured into the baffle 7 (C), the central control unit 31 changes the position from the state where water is being poured into the baffle 7 (C) to the baffle 7 (A) and the baffle 7. (B) Change the state to water injection.

Further, for example, when changing the water injection position to the opposite side when water is injected into the baffle 7 (B) and the baffle 7 (C), the central control unit 31 injects water into the baffle 7 (B) and the baffle 7 (C). The state in which water is poured into the baffle 7(A) is changed from the state in which water is poured into the baffle 7(A). When changing the water injection position to the opposite side when water is poured into baffle 7 (A) and baffle 7 (C), the central control unit 31 changes the state in which water is poured into baffle 7 (A) and baffle 7 (C). Then, the state is changed to a state where water is injected into the baffle 7 (B). When changing the water injection position to the opposite side when water is injected into baffle 7 (A) and baffle 7 (B), the central control unit 31 changes the state in which water is injected into baffle 7 (A) and baffle 7 (B). Then, the state is changed to a state where water is injected into the baffle 7 (C).

In the dewatering step, when the rotation speed of the drum 2 is 200 to 250 rpm, the determination table shown in FIG. 22 is applied.

(Condition 1):
If the average value A1 of the horizontal and vertical vibrations is less than 100, the amount of change A2 of the horizontal and vertical vibrations is 10 or more, and the amount of change A4 of the longitudinal vibrations is -5 or less, control to change the water injection position to the opposite side. determined.

When (condition 1) is satisfied, the average value A1 of the horizontal and vertical vibrations is relatively small, but the amount of change A2 of the horizontal and vertical vibrations is large, and the horizontal and vertical vibrations of the drum 2 are increasing, so the water injection position is Can be changed to the opposite side. Note that the amount of change A4 in the longitudinal vibration is -5 or less, and the longitudinal vibration of the drum 2 is reduced. Therefore, the amount of change A2 in the horizontal and vertical vibrations is compared with the amount of change A4 in the longitudinal vibration, and it is determined whether or not to change the water injection position to the opposite side. That is, whether or not to change the water injection position to the opposite side is determined based on the relationship between the amount of change A2 in the horizontal and vertical vibrations and the amount of change A4 in the longitudinal vibrations.

(Condition 2):
If the average value A1 of the horizontal and vertical vibrations is 100 or more, the amount of change A2 of the horizontal and vertical vibrations is 5 or more, and the amount of change A4 of the longitudinal vibrations is -5 or less, control to change the water injection position to the opposite side. determined.

When (condition 2) is satisfied, the average value A1 of the horizontal and vertical vibrations is relatively large, and the amount of change A2 of the horizontal and vertical vibrations is not large, but the horizontal and vertical vibrations of the drum 2 are increasing, so the water injection position can be changed to the opposite side. Note that the amount of change A4 in the longitudinal vibration is -5 or less, and the longitudinal vibration of the drum 2 is reduced. Therefore, the amount of change A2 in the horizontal and vertical vibrations is compared with the amount of change A4 in the longitudinal vibration, and it is determined whether or not to change the water injection position to the opposite side. That is, whether or not to change the water injection position to the opposite side is determined based on the relationship between the amount of change A2 in the horizontal and vertical vibrations and the amount of change A4 in the longitudinal vibrations.

(Condition 3):
When the amount of change A2 in the horizontal and vertical vibrations is 0 or more, control is determined to stop water injection.

When (condition 3) is satisfied, the amount of change A2 in the left-right and vertical vibrations is 0 or more, and the left-right and vertical vibrations of the drum 2 are increasing, so water injection is stopped.

(Condition 4):
When the average value A3 of the longitudinal vibration is 150 or more and the change amount A4 of the longitudinal vibration is 10 or more, control is determined to stop water injection.

When (condition 4) is satisfied, the average value A3 of the longitudinal vibration is large, the amount of change A4 of the longitudinal vibration is 10 or more, and the longitudinal vibration of the drum 2 is increasing, so water injection is stopped.

Note that the determination table performs determination in the order of condition 1 to condition 4. If none of conditions 1 to 4 apply, the water injection process is continued without changing the water injection position.

In the dewatering process, when the rotation speed of the drum 2 is 450 to 500 rpm, the determination table shown in FIG. 23 is applied.

(Condition 1):
If the average value A1 of horizontal and vertical vibrations is less than 200, the amount of change A2 of horizontal and vertical vibrations is 20 or more, and the amount of change A4 of longitudinal vibrations is -10 or less, change the water injection position to the opposite side. determined.

(Condition 2):
If the average value A1 of horizontal and vertical vibrations is 200 or more, the amount of change A2 of horizontal and vertical vibrations is 10 or more, and the amount of change A4 of longitudinal vibrations is -10 or less, change the water injection position to the opposite side. determined.

(Condition 3):
If the amount of change A2 in the horizontal and vertical vibrations is greater than or equal to 0, it is determined to stop water injection.

(Condition 4):
If the average value A3 of the longitudinal vibration is 300 or more and the amount of change A4 of the longitudinal vibration is 20 or more, it is determined to stop water injection.

Note that the determination table performs determination in the order of condition 1 to condition 4. If none of conditions 1 to 4 apply, the water injection process is continued without changing the water injection position.

As described above, the threshold values in the determination tables of FIGS. 22 and 23 change depending on the number of rotations of the drum 2 during the dewatering process. For example, when the rotation speed of the drum 2 increases from 250 rpm to 500 rpm, assuming the same amplitude, the acceleration at 500 rpm will be four times that at 250 rpm. Normally, it is difficult to maintain the same amplitude when the rotational speed of the drum 2 increases, so if the amplitude at 500 rpm is 1/2 of the amplitude at 250 rpm, the acceleration will be doubled. Thresholds are set for conditions 1 to 4 in the determination tables of FIGS. 22 and 23.

The washing machine 1 of the present embodiment includes a bottomed cylindrical drum 2 configured to be rotatable around an axis extending in a horizontal direction or an inclined direction, and a plurality of drums arranged on the inner peripheral surface of the drum 2 along the axial direction of the drum 2. A hollow baffle 7 provided, a water injection device 1c for injecting water into each of the baffles 7, an acceleration sensor 12 which is an acceleration detection means for detecting the vibration of the drum 2, and a pulse signal according to the rotation of the drum 2. The proximity switch 14 is a drum position detecting device that transmits a signal, the unbalance amount detecting section 35 and the unbalance position detecting section 36 are eccentric detecting means for detecting the eccentric amount and eccentric position in the drum 2, and the dehydration In the process, when the amount of eccentricity (M) reaches a predetermined eccentricity amount threshold for water injection (mb), the central control means that controls the water injection device 1c to inject water into the baffle 7 corresponding to the eccentric position. and a control unit 31, the central control unit 31 operates based on the amount of change in acceleration data corresponding to the vibration of the drum 2 detected by the acceleration sensor 12 when the vibration state of the drum 2 is a facing eccentric load state. Then, the water injection device 1c is controlled to stop water injection into the baffle 7 or to change the baffle 7 to which water is poured into a different baffle 7.

As a result, according to the washing machine 1 of the present embodiment, when the unbalanced state of the drum 2 is the opposed eccentric load state, the amount of change in the acceleration data corresponding to the vibration of the drum 2 is applied to the baffle 7. By controlling the water injection device 1c to stop water injection or to change the baffle 7 to which water is poured to a different baffle 7, the vibration state of the drum 2 can be controlled to an optimal vibration state.

In the washing machine 1 of this embodiment, the central control unit 31, which is a control means, collects acceleration data corresponding to the vibration of the drum 2 detected by the acceleration sensor 12, which is an acceleration detection means, and the acceleration data and the drum position detection device. Based on the relationship with the pulse signal detected by a certain proximity switch 14, it is determined that the vibration state of the drum 2 is a facing eccentric load state.

As a result, according to the present invention, the vibration state of the drum 2 is determined by the facing eccentric load based on the acceleration data corresponding to the vibration of the drum 2 and the relationship between the acceleration data and the pulse signal according to the rotation of the drum 2. The condition can be easily detected.

In the washing machine 1 of this embodiment, the acceleration sensor 12, which is an acceleration detection means, includes an acceleration sensor that detects the acceleration of the drum 2 in the left-right direction, the up-down direction, and the front-back direction. It is placed on the front end side.

Thereby, according to the present invention, the vibration state of the drum 2 can be detected by one acceleration sensor 12.

In the washing machine 1 of the present embodiment, the central control unit 31, which is a control means, controls the amount of change based on the amount of change in the acceleration data of the drum 2 in the left-right direction or the up-down direction, and the amount of change in the acceleration data of the drum 2 in the front-rear direction. , controls the water injection device 1c.

Thereby, according to the washing machine 1 of this embodiment, the vibration state of the drum 2 can be accurately controlled to the optimal vibration state.

In the washing machine 1 of the present embodiment, the threshold value for the amount of change in acceleration data in the horizontal or vertical direction of the drum 2 and the threshold value for the amount of change in acceleration data in the longitudinal direction of the drum 2 are determined by the number of revolutions of the drum 2. Varies depending on.

Thereby, according to the washing machine 1 of this embodiment, the vibration state of the drum 2 can be controlled to the optimal vibration state according to the rotation speed of the drum 2.

In the washing machine 1 of the present embodiment, the central control unit 31, which is a control means, gives priority to the amount of change in the acceleration data in the horizontal and vertical directions of the drum 2 over the amount of change in the acceleration data in the longitudinal direction of the drum 2. , controls the water injection device 1c.

Thereby, according to the washing machine 1 of this embodiment, frame vibration of the washing machine 1 can be reduced, and the load on the drum bearing section can be reduced.

Although the embodiment of the present invention has been described above, the configuration of the present embodiment is not limited to that described above, and various modifications are possible.

In the embodiment described above, one triaxial acceleration sensor 12 capable of detecting acceleration in the left-right direction, up-down direction, and front-back direction is arranged as the acceleration detection means, but the present invention is not limited thereto. Therefore, the acceleration detection means of the present invention includes an acceleration sensor that detects acceleration in two directions, lateral and vertical directions, on the front end side of the drum 2, and an acceleration sensor that detects acceleration in two directions, lateral and vertical directions, on the rear end side of the drum 2. and an acceleration sensor that detects.

As shown in FIG. 24, a washing machine 101 according to a modification of the present invention includes, as acceleration detection means, an acceleration sensor 112a disposed on the front end side of the drum 2, and an acceleration sensor 112b disposed on the rear end side of the drum 2. It is good to have the following. The acceleration sensor 112a and the acceleration sensor 112b are acceleration sensors that detect the acceleration of the drum 2 in two directions, ie, the left-right direction and the up-down direction, respectively.

In the washing machine 101 of this modified example, when the eccentric position of the drum 2 is in the opposing eccentric load state, the vibration state of the drum is determined based on the acceleration data (MX, MZ) detected by the acceleration sensors 112a and 112b. A water injection control determination is made based on.

(Water injection control judgment based on the vibration state of the drum)
The water injection control determination shown in step SP167 will be explained based on FIG. 25. FIG. 25 is a flowchart showing the procedure of water injection control determination processing.

In step SP167, similarly to step SP67 in the above-described embodiment, the central control unit 31 determines that the unbalanced state of the drum 2 is a facing eccentric load state in step SP66, and then based on the vibration state of the drum 2. Then, determine whether to change the water injection position, stop water injection, or continue water injection.

<Step SP1671>

In step SP1671, the central control unit 31 calculates the average value A1 of the horizontal and vertical vibrations on the front end side of the drum 2, that is, the average value of the X-direction acceleration data MX and the Z-direction acceleration data MZ on the front end side of the drum 2. Measure A1.

<Step SP1672>

In step SP1672, the central control unit 31 measures the amount of change A2 for one second in the average value A1 of the horizontal and vertical vibrations on the front end side of the drum 2.

<Step SP1673>

In step SP1673, the central control unit 31 calculates the average value A3 of the horizontal and vertical vibrations on the rear end side of the drum 2, that is, the difference between the X-direction acceleration data MX and the Z-direction acceleration data MZ on the rear end side of the drum 2. Measure the average value A3.

<Step SP1674>

In step SP1674, the central control unit 31 measures the amount of change A4 for one second in the average value A3 of the horizontal and vertical vibrations on the rear end side of the drum 2.

<Step SP1675>

In step SP1675, the central control unit 31 calculates the average value A1 of the horizontal and vertical vibrations on the front end side of the drum 2, the amount of change A2 of the average value A1 per second, and the horizontal and vertical vibrations on the rear end side of the drum 2. Based on the average value A3, the amount of change A4 of the average value A3 per second, and the determination table, it is determined whether to change the water injection position, stop the water injection process, or continue the water injection.

In the washing machine 101, the judgment table when the rotation speed of the drum 2 is 200 to 250 rpm and the judgment table when the rotation speed of the drum 2 is 450 to 500 rpm are the same as the judgment table for the washing machine 1 of the above-described embodiment (Fig. 22 and FIG. 23) are used.

In the washing machine 101 of this modification, the acceleration sensors 112a and 112b, which are acceleration detection means, are two acceleration sensors that respectively detect acceleration in two directions among the left-right direction, the up-down direction, and the front-back direction of the drum 2, The two acceleration sensors 112a and 112b are arranged at the front end and rear end of the drum 2, respectively.

Thereby, according to the washing machine 101 of this modification, the vibration state of the drum 2 can be detected with high accuracy.

In the washing machine 101 of this modification, the central control unit 31, which is a control means, controls the amount of change in acceleration data in the left-right direction or up-down direction on the front end side of the drum 2, and the change amount in the left-right direction or up-down direction on the rear end side of the drum 2. The water injection device 1c is controlled based on the amount of change in the acceleration data.

Thereby, according to the washing machine 101 of this modification, the vibration state of the drum can be controlled to the optimum vibration state with high precision.

In the washing machine 101 of this modification, the threshold value for the amount of change in acceleration data in the left-right direction or the up-down direction on the front end side of the drum 2, and the amount of change in the acceleration data in the left-right direction or up-down direction on the rear end side of the drum 2. The threshold value differs depending on the rotation speed of the drum 2.

Thereby, according to the washing machine 101 of this modification, the vibration state of the drum 2 can be controlled to the optimal vibration state according to the rotation speed of the drum 2.

In the washing machine 101 of this modified example, the central control unit 31, which is a control means, determines the amount of change in acceleration data detected by the acceleration sensor 112a arranged on the front end side of the drum 2, and arranges it on the rear end side of the drum 2. The water injection device 1c is controlled with priority given to the amount of change in acceleration data detected by the acceleration sensor 112b.

Thereby, according to the washing machine 101 of this modification, frame vibration of the washing machine 101 can be reduced, and the load on the drum bearing section can be reduced.

The acceleration detection means of the present invention is capable of detecting acceleration in any two of the vertical direction, left-right direction, and front-back direction on the front end side of the drum 2, and can detect acceleration in any two directions among the vertical direction, left-right direction, and front-back direction on the rear end side of the drum 2. The effects of the present invention can be obtained as long as the acceleration in any two of the directions can be detected.

In the above embodiment, an example was disclosed in which the present invention was applied to a so-called diagonal drum type fully automatic washing machine that can be suitably used for household use. The control method according to the present invention can be suitably applied even to washing/drying machines.

In the above embodiment, a mode in which three baffles 7 are provided is disclosed, but of course a configuration may be provided in which four or more baffles 7 are provided. Furthermore, it is needless to say that the baffles 7 do not necessarily need to be arranged at equal angular intervals in the circumferential direction of the drum 2, nor do they need to have the same shape.

Other configurations can also be modified in various ways without departing from the spirit of the present invention.

1 Washing machine 1c Water injection device 2 Drum 7 Baffle 12 Acceleration sensor (acceleration detection means)
14 Proximity switch (drum position detection device)
31 Central control unit (control means)
35 Unbalance amount detection section (eccentricity detection means)
36 Unbalance position detection section (eccentricity detection means)
101 Washing machine 112a, 112b Acceleration sensor (acceleration detection means)

Claims (10)

a bottomed cylindrical drum configured to be rotatable around an axis extending in a horizontal direction or an inclined direction;
a plurality of hollow baffles arranged on the inner peripheral surface of the drum along the axial direction of the drum;
a water injection device for injecting water into each of the baffles;
acceleration detection means for detecting vibrations of the drum;
a drum position detection device that transmits a pulse signal in accordance with rotation of the drum;
Eccentricity detection means for detecting an eccentricity amount and an eccentric position within the drum;
In the dewatering step, when the eccentricity amount reaches a predetermined eccentricity amount threshold for water injection, a control means for controlling the water injection device to inject water into the baffle corresponding to the eccentric position,
The eccentricity detection means is capable of detecting that the vibration state of the drum is a facing eccentric load state,
The control means detects that the vibration state of the drum is a counter eccentric load state by the eccentricity detection means , and changes the acceleration data corresponding to the vibration of the drum detected by the acceleration detection means. A feature of controlling the water injection device to stop water injection to the baffle or change the baffle to be injected with water to a different baffle when it is determined that the vibration of the drum is increasing based on the amount of water. washing machine. The control means controls the speed of the drum based on acceleration data corresponding to the vibration of the drum detected by the acceleration detection means and a relationship between the acceleration data and the pulse signal detected by the drum position detection device. The washing machine according to claim 1, wherein the washing machine determines that the vibration state is a facing eccentric load state. The acceleration detection means includes an acceleration sensor that detects acceleration of the drum in the left-right direction, the up-down direction, and the front-back direction,
The washing machine according to claim 1 or 2, wherein the acceleration sensor is arranged on a front end side of the drum. 2. The control means controls the water injection device based on the amount of change in acceleration data in the horizontal direction or the vertical direction of the drum, and the amount of change in acceleration data in the longitudinal direction of the drum. The washing machine according to any one of 1 to 3. The threshold value for the amount of change in acceleration data in the left-right direction or the vertical direction of the drum and the threshold value for the amount of change in acceleration data in the front-rear direction of the drum differ depending on the rotational speed of the drum. The washing machine according to claim 4. The control means controls the water injection device by giving priority to the amount of change in the acceleration data in the horizontal direction and the vertical direction of the drum over the amount of change in the acceleration data in the longitudinal direction of the drum. The washing machine according to 4 or 5. The acceleration detection means includes two acceleration sensors that detect acceleration in two directions, a horizontal direction and a vertical direction of the drum,
The washing machine according to claim 1, wherein the two acceleration sensors are arranged at a front end side and a rear end side of the drum, respectively. The control means controls the water injection device based on the amount of change in acceleration data in the left-right direction or the up-down direction on the front end side of the drum and the amount of change in the acceleration data in the left-right direction or up-down direction on the rear end side of the drum. The washing machine according to claim 7, wherein the washing machine controls: A threshold value for the amount of change in acceleration data in the left-right direction or vertical direction on the front end side of the drum, and a threshold value for the amount of change in acceleration data in the left-right direction or up-down direction on the rear end side of the drum are set as follows: The washing machine according to claim 8, characterized in that the washing machine differs depending on the number. The control means controls the amount of change in acceleration data detected by the acceleration sensor located at the front end of the drum to the amount of change in acceleration data detected by the acceleration sensor located at the rear end of the drum. The washing machine according to claim 8 or 9, characterized in that the water injection device is controlled with higher priority.

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