CN106222927A - It is provided with washing machine and the dehydration controlling method thereof of infrared switch - Google Patents

It is provided with washing machine and the dehydration controlling method thereof of infrared switch Download PDF

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Publication number
CN106222927A
CN106222927A CN201610475972.5A CN201610475972A CN106222927A CN 106222927 A CN106222927 A CN 106222927A CN 201610475972 A CN201610475972 A CN 201610475972A CN 106222927 A CN106222927 A CN 106222927A
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CN
China
Prior art keywords
infrared
outer barrel
blocked
interior outer
washing machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610475972.5A
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Chinese (zh)
Inventor
王军
马世辉
师恭贺
何丽萍
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Henan Xinfei Electric Group Co Ltd
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Henan Xinfei Electric Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Henan Xinfei Electric Group Co Ltd filed Critical Henan Xinfei Electric Group Co Ltd
Priority to CN201610475972.5A priority Critical patent/CN106222927A/en
Publication of CN106222927A publication Critical patent/CN106222927A/en
Pending legal-status Critical Current

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    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F23/00Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry 
    • D06F23/04Washing machines with receptacles, e.g. perforated, having a rotary movement, e.g. oscillatory movement, the receptacle serving both for washing and for centrifugally separating water from the laundry  and rotating or oscillating about a vertical axis
    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00Control of operations performed in washing machines or washer-dryers 
    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F34/00Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/14Arrangements for detecting or measuring specific parameters
    • D06F34/18Condition of the laundry, e.g. nature or weight
    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06FLAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F39/00Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00 
    • D06F39/08Liquid supply or discharge arrangements
    • D06F39/088Liquid supply arrangements

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Control Of Washing Machine And Dryer (AREA)

Abstract

The invention discloses a kind of washing machine being provided with infrared safety switch, including rectangular box, be provided with the combination of interior outer barrel, be provided with program controller in casing in casing, cabinet wall is provided with infrared safety switch, including infrared emission unit and infrared receiver;Infrared emission unit and infrared receiver are respectively arranged on the adjacent two sides of cabinet wall, and infrared emission unit and infrared receiver are positioned at same level and are oppositely arranged;The outer wall that infrared emission unit and infrared receiver place straight line and interior outer barrel combine is in an initial condition at a distance of 15 40mm.The invention also discloses the dehydration controlling method of above-mentioned washing machine, including self-inspection step, initialization step, and the persistently eccentricities of outer barrel combination in detection in dehydration, it is adjusted correspondingly process according to testing result.Use the present invention, it is not necessary to for the safety switch that the machine design of different model is different, and safety switch error is little, easy mounting and adjusting, it is possible to carry out respective handling automatically according to eccentricities, it is to avoid high-frequency collision noise.

Description

It is provided with washing machine and the dehydration controlling method thereof of infrared switch
Technical field
The present invention relates to household electrical appliance technical field, particularly relate to a kind of washing machine and dehydration controlling method thereof.
Background technology
The unbalance loading of existing rotary drum washing machine monitoring washer bucket, uses the frame for movement formula safety arranged in surface frame Switch.When the unbalance loading of washing machine inner tub is excessive, when the driving lever of shake-up safety switch is moved to certain distance, with driving lever linkage Copper sheet contact leaves fixes end contact, thus disconnecting circuit, run when preventing washing machine inner tub medicated clothing unbalance loading excessive and cause laundry Machine displacement is excessive.
But the drawback that the control mode of this frame for movement formula exists has: the washing machine of (1) different capabilities different model Safety switch is generally not capable of general.(2) the more difficult adjustment of the stroke of the safety switch of frame for movement formula, cumulative errors are bigger.(3) single The displacement (in i.e., whether bucket unbalance loading amount reaches limit amount) being solely touched with safety switch driving lever carrys out the break-make of control circuit.When reaching During to unbalance loading limit amount, i.e. disconnecting circuit, in program controller controls after water intake valve opened by washing machine, bucket positive and negative rotation is rectified a deviation.When Unbalance loading amount beyond limit amount few time, even if the rotation of interior bucket can produce the effect of automatic deviation correction, also again to intake with adjust Unbalance loading, the most time-consuming, water wasting, takes electricity.(4) safety switch of frame for movement formula, when unbalance loading amount close to but not When reaching limit amount, the interior bucket caused because of the stroke of not up to disconnecting circuit bumps against with driving lever but high frequency that power-off does not causes Collision noise.
Summary of the invention
It is an object of the invention to provide a kind of it can be avoided that the washing machine being provided with infrared switch of drawbacks described above, it is not necessary to For the safety switch that the machine design of different model is different, and safety switch error is little, easy mounting and adjusting, it is possible to automatically according to Eccentricities carries out respective handling, it is to avoid high-frequency collision noise.
For achieving the above object, the washing machine that the invention is provided with infrared safety switch includes rectangular box, sets in casing There is interior outer barrel to combine, between lateral wall and the box inside wall of interior outer barrel combination, be provided with gap;Being provided with program controller in casing, it is special Levying and be: cabinet wall is provided with infrared safety switch, infrared safety switch includes infrared emission unit and infrared receiver, journey Control device is provided with two binding posts, respectively transmitter unit binding post and receives unit connection terminal;
Infrared emission unit is connected with transmitter unit binding post by the first wire, and infrared receiver passes through the second wire It is connected with receiving unit connection terminal;
Infrared emission unit and infrared receiver are respectively arranged on the adjacent two sides of cabinet wall, infrared emission unit and red Outer reception unit is positioned at same level and is oppositely arranged;Infrared emission unit and infrared receiver place straight line and interior outer barrel The reinforcement that the outer wall of combination is arranged on 15-40mm or the outer wall that combines with interior outer barrel is at a distance of 15-40mm.
Described infrared emission unit and infrared receiver place horizontal plane combine 5 centimetres, upper end less than interior outer barrel.
The present invention also aims to provide the dehydration controlling method of a kind of above-mentioned washing machine being provided with infrared safety switch.
For achieving the above object, the dehydration controlling method of the present invention sequentially includes the following steps:
The first step of this dehydration controlling method is washing machine self-inspection, and program controller controls infrared emission unit and starts to launch infrared letter Number, it is judged that whether infrared signal is blocked by the combination of interior outer barrel;As infrared signal is not blocked, carry out second step;Such as infrared letter Number being blocked by the combination of interior outer barrel, program controller performs to report an error action, and washing machine is keeped in repair by prompting user;
Second step is carried out being dehydrated initialization action draining, until the water emptying in interior outer barrel;
Third step is to judge whether infrared signal is blocked by the combination of interior outer barrel, if infrared signal is hidden by the combination of interior outer barrel Gear, then perform to cover the operation that water balance adjusts;If infrared signal is not blocked, then timing time resets and starts to perform meter Time step, start simultaneously at dehydration rate-determining steps;
Timed process is that program controller starts timing, and after timing time was more than 60 seconds, program controller controls infrared emission unit and stops sending out Penetrate infrared signal, stopping performing dehydration rate-determining steps, keeping the state of washing machine until being dehydrated;
Dehydration rate-determining steps is that program controller makes interior bucket rotate, and starts dehydration, blocks number of times and be initially zero when starting to be dehydrated;Dehydrated Journey judging, whether infrared signal is blocked by the combination of interior outer barrel, as not being blocked, continues dehydration, as being blocked, judge to hide Whether the gear time is less than 3 seconds;Within such as less than 3 seconds, then continue dehydration, be such as larger than equal within 3 seconds, then block number of times and add 1, and judgement is blocked secondary Whether number is less than 5 times after adding 1;If less than 5 times, then continue dehydration;If blocking number of times to be more than or equal to 5 times, then stop performing Timed process, and start to perform to cover the operation that water balance adjusts;
In this method, it is judged that the method whether infrared signal is blocked by the combination of interior outer barrel is: if infrared receiver can Receive infrared signal, then infrared signal is not blocked;If infrared receiver does not receives infrared signal, then infrared signal Blocked by the combination of interior outer barrel;
In this method, the operation covering water balance adjustment is: equilibration times is initially zero, performs to cover water balance action;Cover Water balance action is that program controller controls washing machine inflow, and impeller rotating simultaneously is balanced adjusting;
After execution covers water balance action, if still uneven, then equilibration times is added 1;If equilibration times is less than after adding 1 Equal to 3 times, then program controller control washing machine re-executes execution and covers water balance action;If equilibration times is more than 3 after adding 1 Secondary, then remind manual intervention;
If balance, then start simultaneously at execution timed process and dehydration rate-determining steps after being made zero by equilibration times.
Present invention have the advantage that:
1. the infrared safety switch that the present invention uses can apply on the washing machine of all models easily, without for different The safety mechanical switch of the individually designed applicable size of washing machine of model.Therefore, use the present invention, be provided with traditional with use The washing machine of safety mechanical switch is compared, and has saved design efforts would, has improve design efficiency.
2. installation infrared safety switch on washing machine, compares installation mechanical type safety switch, and error installation little, easy is easily adjusted Whole.
3. use the infrared safety switch can the frequency blocked of integrated signal and the break-make of time intelligent decision control circuit. When unbalance loading amount beyond limit amount few time, the rotation of interior bucket generally can produce the effect of automatic deviation correction, can save tune of again intaking The process of whole unbalance loading, power saving of saving trouble compared with the past saves time water-saving.
The most infrared safety switch, compared with safety mechanical, has non-contacting characteristic, when unbalance loading amount is close but is not up to During limit amount, it is possible to avoid using safety mechanical to switch the high-frequency collision noise caused.
5. infrared emission unit and infrared receiver place horizontal plane combine 5 centimetres, upper end less than interior outer barrel, make infrared The sensitivity of safety switch is in optimal state, both avoided position too high cause unbalance loading bucket less, interior rotate can be automatic Again intake during correction, when avoiding again that position is too low causes unbalance loading bigger infrared switch can't detect, can not automatic feeding water correction.
6. the dehydration controlling method of the present invention, can either report an error in time when interior outer barrel combination beat is bigger, remind artificial Intervene, the rotational automatic correction of bucket in can utilizing when interior outer barrel combination beat is less again.Dehydration rate-determining steps starts 60 seconds In, if interior outer barrel combination beat is relatively big, return to perform to cover the operation that water balance adjusts, then cover after water balance again When starting to be dehydrated rate-determining steps and timed process, timer is started from scratch again timing.If dehydration rate-determining steps started in 60 seconds Do not cover water balance operation, the then inevitable the most stably high speed rotating of interior bucket, now there is no need to be further continued for monitoring inside and outside The eccentricities of bucket combination, the most just stops performing dehydration rate-determining steps, keeps the shape of the normal rotary dehydration of washing machine State is to being dehydrated.Therefore the dehydration controlling method of the present invention is the most succinct efficiently, need not the combination of internal outer barrel Eccentricities stop monitoring when being monitored in time.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the flow chart of the control method of the present invention.
Detailed description of the invention
As it is shown in figure 1, the washing machine that the invention is provided with infrared safety switch includes rectangular box 1, in being provided with in casing 1 The outer barrel combination 2(i.e. combinative structure of inner barrel and outer barrel), between being provided with between lateral wall and casing 1 medial wall of interior outer barrel combination 2 Gap;Being provided with program controller 3 in casing 1, casing 1 inwall is provided with infrared safety switch, and infrared safety switch includes infrared emission unit 4 With infrared receiver 5, program controller 3 is provided with two binding posts, respectively transmitter unit binding post 7 and reception unit connection Terminal 6;
Infrared emission unit 4 is connected with transmitter unit binding post 7 by the first wire, and infrared receiver 5 is by second Wire is connected with receiving unit connection terminal 6;
Infrared emission unit 4 and infrared receiver 5 are respectively arranged on the adjacent two sides of casing 1 inwall, infrared emission unit 4 It is positioned at same level with infrared receiver 5 and is oppositely arranged;Infrared emission unit 4 and infrared receiver 5 place straight line The reinforcement arranged on 15-40mm or the outer wall that combines with interior outer barrel with the outer wall of interior outer barrel combination 2 is at a distance of 15-40mm (circumferentially arranged with reinforcement, have is then not provided with the outer wall of the interior outer barrel combination of the washing machine having;The feelings of reinforcement are being set Under condition, infrared emission unit 4 and infrared receiver 5 place straight line and reinforcement 15-40mm apart).
Described infrared emission unit 4 and infrared receiver 5 place horizontal plane combine 5 centimetres, 2 upper end less than interior outer barrel.
When there is unbalance loading, the beat amplitude of interior outer barrel combination 2 is gradually increased from the bottom to top, and therefore interior outer barrel combines 2 tops Beat amplitude maximum, and bottom beat amplitude is minimum.If described infrared emission unit 4 and infrared receiver 5 place water Plane is too low, when unbalance loading can be caused to occur, and the situation (sensitivity is too low) that infrared safety switch can't detect;If it is described infrared Transmitter unit 4 and infrared receiver 5 place horizontal plane are too high, then the rotation the most serious, interior bucket of unbalance loading situation can be caused oneself Also trigger infrared safety switch during dynamic correction, cause adjustment unbalance loading (sensitivity is too high) of again intaking.Infrared emission unit 4 and red Outer reception unit 5 place horizontal plane combines 5 centimetres, 2 upper end less than interior outer barrel, makes the sensitivity of infrared safety switch be in the suitableeest The state closed, both having avoided unbalance loading bucket less, interior to rotate can intake during automatic deviation correction again, infrared when avoiding again unbalance loading bigger opens Pass can't detect, can not rectify a deviation by automatic feeding water.
Infrared safety switch in the present invention, in detecting washing machine, outer barrel combines the unbalance loading situation of 2 and is occurring partially Send, to laundry machine programmer controlled system 3, frequency information and the temporal information that signal is blocked during load.
As in figure 2 it is shown, the invention also discloses the dehydration controlling party using the above-mentioned washing machine being provided with infrared safety switch Method, sequentially includes the following steps:
The first step of this dehydration controlling method is washing machine self-inspection, and program controller 3 controls infrared emission unit 4 and starts to launch infrared Signal, it is judged that whether infrared signal is blocked by interior outer barrel combination 2;As infrared signal is not blocked, carry out second step;As red External signal 2 is blocked by the combination of interior outer barrel, and program controller 3 performs to report an error action, and washing machine is keeped in repair by prompting user;
Second step is carried out being dehydrated initialization action draining, until the water emptying in interior outer barrel;
Third step is to judge whether infrared signal is blocked, if infrared signal is combined 2 institutes by interior outer barrel by interior outer barrel combination 2 Block, then perform to cover the operation that water balance adjusts;If infrared signal is not blocked, then timing time resets and starts to perform Timed process, starts simultaneously at dehydration rate-determining steps;
Timed process is that program controller 3 starts timing, and after timing time was more than 60 seconds, program controller 3 controls infrared emission unit 4 and stops Launch infrared signal, stopping performing dehydration rate-determining steps, keeping the state of washing machine until being dehydrated;(the most no longer take off Water management, but keep the state of rotary dehydration to being dehydrated)
Dehydration rate-determining steps is that program controller 3 makes interior bucket rotate, and starts dehydration, blocks number of times and be initially zero when starting to be dehydrated;Dehydration During judge that whether infrared signal is blocked by interior outer barrel combination 2, as not being blocked, continue dehydration, as being blocked, judge Whether the time of blocking is less than 3 seconds;Within such as less than 3 seconds, then continue dehydration, be such as larger than equal within 3 seconds, then block number of times and add 1, and judge to block Whether number of times is less than 5 times after adding 1;If less than 5 times, then continue dehydration;If blocking number of times to be more than or equal to 5 times, then stop holding Row timed process, and start to perform to cover the operation that water balance adjusts;
In this method, it is judged that the method whether infrared signal is blocked by interior outer barrel combination 2 is: if infrared receiver 5 energy Enough receive infrared signal, then infrared signal is not blocked;If infrared receiver 5 does not receives infrared signal, the most infrared Signal is blocked by interior outer barrel combination 2;
In this method, the operation covering water balance adjustment is: equilibration times is initially zero, performs to cover water balance action;Cover Water balance action is that program controller 3 controls washing machine inflow, and impeller rotating simultaneously is balanced adjusting;
After execution covers water balance action, if still uneven (infrared signal is still blocked by interior outer barrel combination 2), then will Equilibration times adds 1;If equilibration times add 1 after less than or equal to 3 times, then program controller 3 controls washing machine and re-executes execution and cover Water balance action;If equilibration times is more than 3 times after adding 1, then remind manual intervention (and suspending this dehydration controlling method);
If balance, then start simultaneously at execution timed process and dehydration rate-determining steps after being made zero by equilibration times.
Above example is only in order to illustrative not limiting technical scheme, although with reference to above-described embodiment to this Bright be described in detail, it will be understood by those within the art that: still the present invention can be modified or etc. With replacing, any modification or partial replacement without departing from the spirit and scope of the present invention, it all should contain the power in the present invention In the middle of profit claimed range.

Claims (3)

1. it is provided with the washing machine of infrared safety switch, including rectangular box, in casing, is provided with the combination of interior outer barrel, the combination of interior outer barrel It is provided with gap between lateral wall and box inside wall;Program controller it is provided with in casing, it is characterised in that: cabinet wall is provided with infrared peace Full switch, infrared safety switch includes infrared emission unit and infrared receiver, and program controller is provided with two binding posts, respectively For transmitter unit binding post and reception unit connection terminal;
Infrared emission unit is connected with transmitter unit binding post by the first wire, and infrared receiver passes through the second wire It is connected with receiving unit connection terminal;
Infrared emission unit and infrared receiver are respectively arranged on the adjacent two sides of cabinet wall, infrared emission unit and red Outer reception unit is positioned at same level and is oppositely arranged;Infrared emission unit and infrared receiver place straight line and interior outer barrel The reinforcement that the outer wall of combination is arranged on 15-40mm or the outer wall that combines with interior outer barrel is at a distance of 15-40mm.
The washing machine being provided with infrared safety switch the most according to claim 1, it is characterised in that: described infrared emission unit 5 centimetres, upper end is combined less than interior outer barrel with infrared receiver place horizontal plane.
3. described in claim 1 or 2, be provided with the dehydration controlling method of the washing machine of infrared safety switch, it is characterised in that by with Lower step is carried out:
The first step of this dehydration controlling method is washing machine self-inspection, and program controller controls infrared emission unit and starts to launch infrared letter Number, it is judged that whether infrared signal is blocked by the combination of interior outer barrel;As infrared signal is not blocked, carry out second step;Such as infrared letter Number being blocked by the combination of interior outer barrel, program controller performs to report an error action, and washing machine is keeped in repair by prompting user;
Second step is carried out being dehydrated initialization action draining, until the water emptying in interior outer barrel;
Third step is to judge whether infrared signal is blocked by the combination of interior outer barrel, if infrared signal is hidden by the combination of interior outer barrel Gear, then perform to cover the operation that water balance adjusts;If infrared signal is not blocked, then timing time resets and starts to perform meter Time step, start simultaneously at dehydration rate-determining steps;
Timed process is that program controller starts timing, and after timing time was more than 60 seconds, program controller controls infrared emission unit and stops sending out Penetrate infrared signal, stopping performing dehydration rate-determining steps, keeping the state of washing machine until being dehydrated;
Dehydration rate-determining steps is that program controller makes interior bucket rotate, and starts dehydration, blocks number of times and be initially zero when starting to be dehydrated;Dehydrated Journey judging, whether infrared signal is blocked by the combination of interior outer barrel, as not being blocked, continues dehydration, as being blocked, judge to hide Whether the gear time is less than 3 seconds;Within such as less than 3 seconds, then continue dehydration, be such as larger than equal within 3 seconds, then block number of times and add 1, and judgement is blocked secondary Whether number is less than 5 times after adding 1;If less than 5 times, then continue dehydration;If blocking number of times to be more than or equal to 5 times, then stop performing Timed process, and start to perform to cover the operation that water balance adjusts;
In this method, it is judged that the method whether infrared signal is blocked by the combination of interior outer barrel is: if infrared receiver can Receive infrared signal, then infrared signal is not blocked;If infrared receiver does not receives infrared signal, then infrared signal Blocked by the combination of interior outer barrel;
In this method, the operation covering water balance adjustment is: equilibration times is initially zero, performs to cover water balance action;Cover Water balance action is that program controller controls washing machine inflow, and impeller rotating simultaneously is balanced adjusting;
After execution covers water balance action, if still uneven, then equilibration times is added 1;If equilibration times is less than after adding 1 Equal to 3 times, then program controller control washing machine re-executes execution and covers water balance action;If equilibration times is more than 3 after adding 1 Secondary, then remind manual intervention;
If balance, then start simultaneously at execution timed process and dehydration rate-determining steps after being made zero by equilibration times.
CN201610475972.5A 2016-06-27 2016-06-27 It is provided with washing machine and the dehydration controlling method thereof of infrared switch Pending CN106222927A (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114941230A (en) * 2022-06-30 2022-08-26 海信冰箱有限公司 Washing machine and control method thereof

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Publication number Priority date Publication date Assignee Title
JP2002210286A (en) * 2001-01-15 2002-07-30 Toshiba Corp Washing machine
CN1920155A (en) * 2005-08-25 2007-02-28 海尔集团公司 Barrel collision detection apparatus of washing machine and detection method thereof
CN103243514A (en) * 2013-05-22 2013-08-14 海信容声(广东)冰箱有限公司 Eccentricity correction method for pulsator washing machine and pulsator washing machine
CN104131439A (en) * 2014-07-31 2014-11-05 江苏新安电器有限公司 Optical roller-collision-resistant detection system and method based on roller washing machine
CN104790167A (en) * 2014-01-21 2015-07-22 无锡小天鹅股份有限公司 Washing machine and detecting method for unbalanced operation thereof
CN205821765U (en) * 2016-06-27 2016-12-21 河南新飞电器有限公司 It is provided with the washing machine of infrared switch

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002210286A (en) * 2001-01-15 2002-07-30 Toshiba Corp Washing machine
CN1920155A (en) * 2005-08-25 2007-02-28 海尔集团公司 Barrel collision detection apparatus of washing machine and detection method thereof
CN103243514A (en) * 2013-05-22 2013-08-14 海信容声(广东)冰箱有限公司 Eccentricity correction method for pulsator washing machine and pulsator washing machine
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114941230A (en) * 2022-06-30 2022-08-26 海信冰箱有限公司 Washing machine and control method thereof
CN114941230B (en) * 2022-06-30 2024-06-21 海信冰箱有限公司 Washing machine and control method thereof

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