CN107429470A - Foam for being analyzed and processed by means of motor current is detected to run the method for washing machine and be this suitable washing machine - Google Patents
Foam for being analyzed and processed by means of motor current is detected to run the method for washing machine and be this suitable washing machine Download PDFInfo
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- CN107429470A CN107429470A CN201680020558.3A CN201680020558A CN107429470A CN 107429470 A CN107429470 A CN 107429470A CN 201680020558 A CN201680020558 A CN 201680020558A CN 107429470 A CN107429470 A CN 107429470A
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- foam
- driving current
- current value
- washing
- roller
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/14—Arrangements for detecting or measuring specific parameters
- D06F34/22—Condition of the washing liquid, e.g. turbidity
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2101/00—User input for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2101/02—Characteristics of laundry or load
- D06F2101/04—Quantity, e.g. weight
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/02—Characteristics of laundry or load
- D06F2103/04—Quantity, e.g. weight or variation of weight
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/18—Washing liquid level
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/20—Washing liquid condition, e.g. turbidity
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
- D06F2103/44—Current or voltage
- D06F2103/46—Current or voltage of the motor driving the drum
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/58—Indications or alarms to the control system or to the user
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F2105/00—Systems or parameters controlled or affected by the control systems of washing machines, washer-dryers or laundry dryers
- D06F2105/58—Indications or alarms to the control system or to the user
- D06F2105/60—Audible signals
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F39/00—Details of washing machines not specific to a single type of machines covered by groups D06F9/00 - D06F27/00
- D06F39/06—Arrangements for preventing or destroying scum
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
Abstract
The present invention relates to one kind be used for run the method for washing machine 1, it has lye container 2, the roller 3 for accommodating washings 4, drive motor 5 and control device 8 for the roller 3, wherein, by the drive motor 5 in drum rotating time section Δ tnThe measurement and analysis for the driving current value IA that period measures detect the presence of foam to detect in washing stage WP, and its mode is：In the case of in the absence of foam, for the driving current value IAReference value I is measured firstrefAnd make itself and the washing stage driving current value I that is next measured in the washing stage WPA WPIt is associated, wherein, by by it compared with for quantity a predetermined the washing stage WP, in view of the presence of foam is to associating x=IA WP/IrefAnalyzed and processed, wherein, in the time Δ t of pre-determiningSetAfterwards, just in the drum rotating time section Δ tnPeriod measurement driving current value IA。
Description
Technical field
The present invention relates to a kind of foam for the electric current for being used for the drive motor by means of analyzing and processing washing machine to detect
Run washing machine method and it is a kind of be this suitable washing machine.It is used to run the invention particularly relates to one kind and there is cleaning solution
ContainerFor accommodating roller (Trommel), the drive motor for roller and the control of washings
The method of the washing machine of device, further relate to a kind of suitable washing machine for performing methods described.
Background technology
In washing machine, typically for by the cleaning solution comprising detergent come washing stage for cleaning in handle and wash
Thing.In addition, by the wash phase of water (Sp ü lphase) (in the wash phase remove be in washings in or
On cleaning solution and/or dirty) after, the processing of washings is often carried out by water softener (Weichsp ü ler).Here, go out
In cost reason and environmental protection reason significantly, washings inorganic agent is used
The optimal amount of (especially detergent and water softener).But it should also avoid excessive dosageOr dosage
Insufficient (Unterdosierung).It is particularly likely to cause foam overflow by the wrong dosage (Fehldosierung) of detergent(excessive dosage).
In washing machine, often because the mistake of detergent uses, especially the excessive dosage of detergent and for example washs
The wrong choice of program produces excessive foam.This is all harmful at many aspects.Therefore, excessive foam reduces to act on and treated
The relative motion of washings in the power and roller of the washings of processing.
In addition, caused foam also adversely affects to drying process in washing process, because foam is washing
There is braking effect, therefore, the drying stage shows not good enough or dried with relatively low rotating speed between roller and lye container
The drive motor of cleaning-drum is used in during journey, and over-burden and may be damaged to.
If in addition, during the process of washing methods, many foams be present in the lye container of washing machine or
Produced during drying, washing liquid pump (Laugenpumpe) does not promote foam-washing liquid mixture.Therefore, the foam in pumping out is visited
Do not implement to dry during survey or interrupted in the case of the foam detection during drying and dried.In addition, foam can be from washing
Opening (such as the lye container ventilation unit of liquid containerWith filling flexible pipe (Einf ü
Llschlauch overflowed in)).Therefore, foam identification and the efficient measure for eliminating foam ahead of time is important.
For those reasons, the scourability in washing machine significantly reduces.In the case of particularly disadvantageous, foam may be
Overflowed during washing process from washing machine, this may damage the mechanical part and electronic unit of washing machine.In addition, washing
In the holding chamber (Aufstellraum) of clothing machine, furniture, floor and surrounding environment are also damaged.
In order to avoid disadvantages mentioned above, it is known that the different feasible programs for being used to identify or eliminate foam.
Usually, in order to identify the formation of foam, the pressure in lye container is measured by sensor.Generally, it is this
Using pressure sensor, pressure sensor can be also suitably used for determining the level in lye container.Often, by washing or drying
When pressure texture or the pressure slowed down significantly during by pumping out reduce to detect the presence of foam (liquia air mixture).
A kind of washing machine as known to the A1 of DE 36 38 498, the washing machine have pressure sensor as measurement apparatus, its
Output signal is the mark for the formation of foam during drying process and shows as the drive motor for cleaning-drum
And it thus be accordingly used in the adjustable parameter for the regulation for drying rotating speed.Pressure sensor be with lye container and therefore with washing machine
The part of the pipeline of cleaning solution system connection.If know by the rise of pressure sensor measurement cylinder hydraulic pressure and therefore
Formation of foam in other cleaning solution system, then trigger the corresponding switch step of the drive motor for cleaning-drum
(Schaltschritte)。
The A1 of DE 102 34 472 describe a kind of electronically controlled laundry drum of order elimination being used for program step
The method of foam in the lye container of machine, described program step are provided for giving lye container draining, this method by
It is arranged in there is the cleaning solution exhaust system of washing liquid pump and washed by for determining to be on the bottom of lye container
Wash the sensor of the height of the liquid in liquid container.The change that sensor signal (P) records during the operation of washing liquid pump
Journey includes Δ Pn/ΔtnWith Δ Pn-1/Δtn-1The gradient to compare, the gradient shows the presence of foam, so as to take and the gradient
The foam treatment measures met.
The A1 of DE 10 2,006 027 197, which describe a kind of cleaning solution for being used to eliminate electronically controlled roller washing machine, to be held
The method of foam in device, wherein, in main washing process and pump out and perform following steps after liquid：A) at 30 seconds to 15 minutes
Time period t1Period is with low rotating speed U1Alternately rotate roller and stop roller and pump out liquid, b) put enough coverings
The water of the amount of all water channels is come in, and is cleaned during short time period t2, wherein, horizontal adjust is realized by very small hysteresis
Section, c) liquid is pumped out, and make roller with low rotating speed U2Motion.
Usually, detected when pumping out cleaning solution and in cleaning using foam.Here, it is preferred that take following measures：
When being pumped out when roller is static foam is carried out by the gradient during the pressure change of analyzing and processing sensor
Detection (such as generally comprise the detector housing of air hoseWherein, extruding air by it can be with
It is determined that the amount of existing water)；
Foam identification is carried out by the stress level in the detector housing detected in drying.
The identification of foam is activated generally during drying.The foam release and distribution of radial direction are realized by the rotation of roller.
It is measurable at pressure sensor to detect that (Luftabschluss) is terminated by the air thus detected of detector housing
Pressure improves.Become known for identifying the method for foam based on boundary value (pressure threshold) is exceeded, this is used to record depositing for foam
And typically consider be used for trigger the removal of foam measure.
The shortcomings that known method be accumulated due to washings and during drying existing for remaining water imbalance,
The illusion risen by the pressure of falseness causes measuring error.Even if there is no foam completely, also may be used by the appearance of pressure peak
The presence of foam can be shown.This is due to the fluctuation in the pressure measxurement by sensor, wherein, signal receives, signal conversion
Or the mistake in signal transacting depends on：Whether digital governer or analog regulator are used.Because negative value once in a while is not by passing
Sensor detects, so the real average value occurred when can yet detect negative part (negative Anteile) is not detected,
But ask for the pressure of the raising of the water of fluctuation.In addition, by sensor measurement pressure signal with the raising of rotating speed and on
Rise so that cause to exceed the pressure threshold predetermined for foam identification in advance.In the case of digital governer, additionally lead
Cause the fluctuation of the pressure, (tension (Nachziehen) of water when drying of pump efficiency fruit：" leaching cover " (Schnorcheln)) cause border
Value reach in advance and the switching of adjuster causes the triggering of the removal of foam measure.
Foam detection in roller washing machine (being also abbreviated by herein " washing machine ") can also be by by lye container
Lower area in two electrodes conductance measurement realize.
The A of DE 41 04 151 describe a kind of washing article processor device, and it has the program control for control program flow
Device processed, the roller rotatably supported in lye container, the drive motor for roller, heater and for steeping
The device with switching device of foam sensing, the switching device realize connection and/or the roller of heater when foam identifies
Slow rotation.Device for foam sensing is especially configured to conductivity measuring device, device for pressure measurement or grating device.
The A1 of DE 10 2,008 028 030 describe a kind of for determining washing in the lye container in washing machine
The method for washing the foam formed in liquid.Using the electrode in the voltage of application measurement thereon, its mode is：Determine the electricity between electrode
And distribute foam volume to the size of electric field and measure, mainly opened during wetting or in the washing stage of carrying out washing treatment process
The formation of foam is so identified during the beginning in time so that can adopt remedial measures.In order to perform this method, device is substantially by measuring
It is worth receiver to form, measured value receiver has two electricity in the channel-style housing flowed through from top to bottom by cleaning solution
Pole, when cleaning solution has another typical material bubble, it can be inferred that and wash by described two electrodes electric field present in its metric space
Wash the conductance of liquid.
It is furthermore it is possible to poor by analyzing and processing expectation/actual speed when drying.By analyzing and processing expectation/reality
When speed discrepancy detects foam, service condition is：Foam can brake the roller rotated, thus cause it is expected rotating speed and reality
Difference between rotating speed.Where it determines that consistency of foam and expectation/reality it is poor between distribution be generally stored in roller washing machine
In data storage.
The A1 of DE 10 2,010 028 614 describe a kind of pump installation for being used to guide the household electrical appliance of water, the pump dress
Put the control that washing liquid pump is manipulated with the detection unit for being used at least one electrical parameter for detecting washing liquid pump and by power stage
Unit processed, wherein, control unit analyzing and processing by detection unit detection electrical parameter and depending on analyzing and processing result Lai
Influence the manipulation of washing liquid pump.In one embodiment, control unit configuration is used to be identified logical by the electrical parameter detected
Foam when washing liquid pump pumps out is crossed to produce.
The A1 of DE 197 38 845 describe a kind of washing facility and/or drying equipment, by the roller for accommodating washings
Device with the control device of control operation and for receiving the special parameter of at least one motor, especially operational factor, roller
Rotatably supported and can rotationally be driven by the drive motor directly assembled on drum shaft by drum shaft, it is described
Operational factor provides the value of information (such as rotating speed of driving moment and/or drive motor) after further processing, associated therewith
Realize the control of another operation in ground.
The B1 of EP 0 657 576 describe a kind of for determining drying rank of the cleaning-drum in the washing machine automatically controlled
The method of undesirable braking during section, the washing machine have drive motor, and its rotating speed is adjustable by rotational speed regulation circuit
Save and it is expected tachometer value and actual speed value be confirmable and the drive motor be used for drive there are multiple different rotating speeds
Cleaning-drum be used for wash, clean and dry.Here, the control circuit to washing machine provides following letter during the drying stage
Number：The signal is measuring and (it is expected rotating speed, actual speed by parameter and depended on for the undesirable braking of cleaning-drum
The electric parameter of load) relation determine.Electric parameter depending on load is, for example, the current receiv of drive motor.In embodiment
In, when applying the signal with the foam volume for inferring brake drum, at least for the limited duration by the drying of roller
Driving is closed.
The A of DE 10 2,007 042 968 describe a kind of method for being used to identify the foam in roller washing machine, described to wash
Clothing machine has the presetting apparatus for control program flow, the roller rotatably placed in lye container, supply water system
Unite, be arranged on the bottom of lye container there is the washing cleaning solution exhaust system of liquid pump, the drive motor for roller
With for determine be in lye container in and may include foam liquid signal sensor, wherein, by sensor
In roller with high rotating speed UnMeasurement signal S during rotationnAnd by it with distributing to rotating speed UnDeposited in presetting apparatus
The value W of storagenIt is compared, wherein, in presetting apparatus, value is stored with to U at least two rotating speedsnAnd Wn(n≥1)
And meeting or exceeding value WnWhen, meeting condition Sn≥WnWhen, record the presence of foam.
The A1 of DE 38 40 265 describe a kind of programme controlled washing machine, and it has can be by motor in washing rank
The electronic installation of the cleaning-drum that drives and control washings cylinder drive motor in section and drying stage, at the laundry wheel
In the inside of detergent container, cleaning solution and cleaning fluid can be from the cleaning solutions by the emptying pump being arranged in discharge tube
Container is guided out, by the electronic installation in identical step and level during drying and in lye container
Foam correspondingly reduces the rotating speed for improving washings roller when forming.Terminate by drying tachometric survey or loading moment measurement every
Individual drying rotating speed improves step or each rotating speed that dries improves the stage.Here, by the actual drying rotating speed measured respectively and in advance
Given expectation dries rotating speed and is compared or by the loading moment measured compared with predetermined loading moment value.Root
Turn according to detection or determination speed discrepancy or the loading moment asked for change to reduce to dry as next predetermined expectation
Speed and reaching reduction expectation dry rotating speed when just predetermined raising again expectation drying rotating speed.
The A1 of DE 43 42 274 describe a kind of washing machine automatically controlled with drive motor, and its rotating speed can be by
Rotational speed regulation circuit is adjusted and can be used for according to expectation rotating speed and actual speed determination and drive motor with multiple different
Rotating speed come drive laundry wheel be used for wash, clean and dry.It can be provided to the control circuit of washing machine during the drying stage
Following signal：The restricting the number is the following parameter measured and run by drive motor of the undesirable braking of laundry wheel
Relation determines each other：
A) rotating speed it is expected
B) actual speed
C) electric parameter of load is depended on.
The content of the invention
In this context, task of the invention is to provide a kind of for being detected during the program for washing that is performed in washing machine
The method of foam, the detection of foam is allowed in a manner of simple and be accurate, wherein, the detection preferably also should not result in the fortune of extension
Line duration.The task of the present invention is also to provide a kind of for performing the suitable washing machine of this method.
According to the present invention, the task solves by a kind of method according to independent claims and a kind of washing machine.This hair
Bright preferred configuration is listed in the corresponding dependent claims.Even if when there is no special instructions herein, methods described it is excellent
Configuration is selected to also correspond to the preferred configuration of the washing machine.
Therefore, the present invention relates to a kind of method for running washing machine, the washing machine to have lye container, be used for
The roller of washings, drive motor and control device for roller are accommodated, wherein, by measuring and dividing in washing stage WP
Analyse drive motor in drum rotating time section Δ tnThe driving current value I that period measuresATo detect the presence of foam, its side
Formula is：In the case of in the absence of foam, for the driving current value IAReference value I is measured firstref, and make the reference
Value and the washing stage driving current value I next measured in washing stage WPA WPIt is associated, wherein, by with for institute
The predetermined quantity a of washing stage WP are stated to be compared to analyze and process the association x=I in terms of the presence of foamA WP/
Iref, wherein, in the time Δ t of pre-determiningSetAfterwards, just in the drum rotating time section Δ tnPeriod measures driving current value
IA.Here, quantity a is typically selected according to the type and/or amount of the program for washing of selection and washings.Because generally can be with
Certain foam volume is tolerated, so the analyzing and processing in terms of " presence of foam " is especially represented in intolerable foam volume side
The analyzing and processing in face.
In the particularly preferred embodiment of this method, performed in the case of using motor roller control unit following
Step：
(a) provided in lye container containing the water-based of detergentLiquid；
(b) the electric current I for drive motor is determinedAReference value IrefAs measuring for non-foam state, wherein, reference
Value IrefIt is the driving current value I uniquely measuredA1Or by multiple driving current value I measuredAn(n>1) it is averaging
And the average driving current value I obtainedAn m, wherein, driving current value I is measured under reference conditions respectivelyAn(n >=1), i.e. conduct
Drum rotating time section Δ tnThe average value of period, in the drum rotating time section, with drum rotation speed mn≤ 100 make roller
Rotate；
(c) by least one reference value IrefIt is stored in motor roller control unit；
(d) washing stage WP is started, it has the washings in the waterborne liquid provided in step (a)；
(e) washing stage driving current value I is measured under the reference conditions during the washing stage WPAn WP(n≥
1), its mode is：Respectively as drum rotating time section Δ tnThe measurement of average value I of periodAn WP, in the drum rotating time
Duan Zhong, with the drum rotation speed mn≤ 100 rotate the roller.
(f) in the case of n=1, by the washing stage driving current value IA1 WPWashing as the drive motor
Stage Value IA WPIt is stored in the motor roller control unit, and for n>1 situation, by by measuring multiple
Washing stage driving current value IAn WPThe average washing stage driving current value (I for being averaging and obtainingAn WP)medAs the driving
The washing stage value I of motorA WPIt is stored in the motor roller control unit；
(g) the association x=I is calculatedA WP/Iref；
(h) for x<A situation, it is determined that foam be present.
Correspondingly, situation x >=a is represented：In the absence of foam or insignificant foam volume be present.
Usually, different washing procedures has different reference current value IR。
Motor roller control unit can be independent control unit or still be desirably integrated into control device.Motor rolls
Cylinder control unit can especially determine drum rotation speed mn, driving current value IAWith drum rotating time section Δ tn。
Therefore, in the method according to the invention, same amount of waterborne liquid in lye container be present, especially wash
During liquid, general execution step (b) and (e).Usually, here, in roller there is also between step (b) and (e) no longer
Change really quantitative washings.
Here, " reference conditions " especially represent：In order to determine the reference value I for the electric current of drive motorrefAlso for true
Determine washing stage value IA WP, in driving current value IAOne or many measurements when in drum rotation speed mnWith drum rotating time section Δ
tnAspect selects identical condition respectively.
" non-foam state " especially represents：Aqueous solution containing detergent does not include foam or does not produce foam.
It is preferred that reference value IrefIt is the driving current value I by measuring at least twoAn(n >=2) are averaging and obtained
Average driving current value (IAn)med.This is shown by below equation：
Reference current value
Driving current value I during washing stage WPAn WP：
According to the present invention, in the time Δ t of pre-determiningSetAfterwards, ability measurement cylinder rotation time section Δ tnThe driving of period
Current value IA.It is particularly preferred that the time Δ t of pre-determiningSetFor 1 to 3 second.
It is furthermore preferred that work as the drum rotating time section Δ tnThe driving current value I of periodAAround average value
When fluctuation is less than 10%, ability measurement cylinder rotation time section Δ tnThe driving current I of periodA.This generally means that：It is steady when reaching
During state state (in lower state, only going back noise causes the change of driving current value), driving current value I is measuredA。
Both result in：The drum rotating time section Δ t actually considerednIt is shorter and corresponding to it is so-called " effectively reference
Time ", such as Δ tr1Or Δ tr2.Therefore, driving current value I is measuredAAs " effective reference current value ", for example as Ir1Or
Ir2。
Particular advantage of the present invention is can to measure reference value I at room temperatureref.This means especially that：It need not open
Generally existing heater measures reference value in washing machine.Alternatively, when by waterborne liquid, being washed for the washing stage
When washing liquid and being heated to desired wash temperature, just heater is put into operation.
The rotating speed m of rollernIn drum rotating time section Δ tnPeriod be preferably in the range of 20 to 70 revs/min and
In the range of being more preferably in 25 to 60 revs/min, especially in the range of 25 to 40 revs/min.Preferably select as small as possible
Rotating speed.
According to the present invention, drum rotating time section Δ tnIn the range of being preferably in 10 to 50 seconds, be more preferably in 20 to
In the range of 40 seconds and it is most preferably in the range of 25 to 35 seconds.
Usually, according to the present invention, when a is more than 1.5, it is determined that foam, i.e. usually excessive foam volume be present.But
Be, consider the washing procedure of selection and in the case of especially in the type and/or the feelings of amount for considering washings to be washed
A value is determined under condition.Then for example can in defined conditions, the value of a≤2.5 can also be also considered as it is acceptable because
Perhaps corresponding foam volume is considered as tolerable.
But under any circumstance, when a is more than higher limit amaxWhen, preferably stop drive motor according to the present invention.Cause
This, it should protect the holding chamber of washing machine and/or washing machine not by damage caused by the foam by excess.
Usually, the presence of foam, i.e. foam is not only determined when performing the method according to the invention.Generally, to user
The presence of foam is shown on the display device that generally there are and/or it is determined that being taken in the case of foam for reducing foam volume
Measure.Here, the measure for reducing foam volume can be performed automatically or by the user of washing machine with promoting.
Here, advantageous measure is：By add water or by pump out waterborne liquid with addition water be combined it is water-based to dilute
Liquid.After the measure for being used to reduce foam volume taken terminates, generally determined by repeat step (b) for driving
The electric current I of motorANew reference value Iref Newly。
In addition it is also possible to take the method for reducing foam volume, for example, roller reduction motor program and/or washing
The cooling of liquid.In addition, for example may be inserted into so-called " reverse pause " or " roller quiescent phase ", until return to can for consistency of foam
What is received measures.In embodiments of the present invention, on the other hand can be steeped by heat froth (thus causes foam bubble to break
Split) overcome foam.
The measurement being typically repeated in washing stage WP so that the multiple so-called detection steps of general execution.But also may be used
To disable detection steps.This especially following situation：Cleaning solution is carried out before wash phase pumps out but or adds new washing
Thing.Ask for new reference value anyway in the latter case.
In the preferred embodiment of this method, especially also typically aqueous solution is being pumped out at the end of washing stage WP, i.e.
I is immediately performed before body, i.e. cleaning solutionAMeasurement, and the control of wash phase it is determined that foam volume in terms of realize.
Finally, according to the present invention preferably, then the wetting stage of washings performs step (b) and (c).Here, wetting rank
Section be interpreted as in washing procedure such as the next stage：It is to be cleaned and especially to be washed with cleaning solution in the washing procedure
Washings soaks by for this cleaning solution to be used, typically until washings is with the saturation of cleaning solution.It is here, normally only micro-
Weak ground does not move washings completely.Therefore, in the wetting stage, the dirty low molten of the clothing to be washed washed typically is only resulted in
Solution.Especially, in the wetting stage, preferably rotate cleaning-drum with the rotating speed higher than 25 rpms.
When accurately known waterborne liquid amount and especially it is also known that used in foam measure water when, can be special
Control the method according to the invention well.
Such as by introducing the water in lye container by water flowmeter measurement to ask for the amount of waterborne liquid, its
In, when be for example disposed with lye container hydrostatic pressure sensor and in order to measure hydrostatic pressure by its using for freely
When measuring of rinsing liquid, it may be considered that in the part absorbed by washings of the water of introducing and ask for so-called freely rinsing
Liquid.
In order to determine the suitable value for a, especially it is also contemplated that the load of washings.The load of washings can
To be set or preferably automated be determined in washing machine by user.Here, can be by measurement cylinder due to the load of washings
Weight increases or realizes the determination of load by analyzing the absorbent properties of water, and its mode is：It is dry adding water to
The change of period analysis hydrostatic pressure on washings.Therefore, in the washing machine according to the present invention, hydrostatic sensing is advantageously present
Device.Particularly advantageously, then equally it is water flowmeter, is used for the survey of the amount for the water or cleaning solution filled for asking for filling
Measure equipment.Then for example can be by the hydrostatic pressure p measured by hydrostatic sensor compared with the water filled.In rolling
Washings in cylinder absorbs water.The water absorbed can not possibly cause the rise of hydrostatic pressure.By by the hydrostatic pressure p of measurement and
The water (absolute value and its temporal change) of injection with it is corresponding, be stored in the control device of washing machine be used for moisten
The value of washings compares, and can ask for the load of washings and ask for its wettability (degree of wetting) if necessary.
But the present invention can realize the determination of foam, without additional sensor.
Washing stage typically then soaks the stage.As long as transmit following information to washing procedure with signal：Give washing
(its mode is for the abundant wetting of thing：Such as reach hydrostatic pressure p predetermined threshold value p1It is temporal with hydrostatic pressure p
Predetermined threshold value (the Δ p/ Δs t) of gradient1), then typically start the washing stage.According to the present invention, this is for performing basis
The present invention method and especially ask for driving current value IAReference value IrefOptimal time.
In addition, subject of the present invention is a kind of washing machine, and the washing machine has lye container, washed for accommodating
The roller of thing, drive motor and control device for roller are washed, wherein, control device (8) is arranged for carrying out being used to wash
Wash in stage WP by measuring with analysis-driven motor in drum rotating time section Δ tnThe driving current value I that period measuresA
To detect the method for foam, its mode is：In the case of in the absence of foam, for driving current value IAReference value is measured first
Iref, and make the reference value and the washing stage driving current value I next measured in washing stage WPA WPIt is associated,
Also, by with being compared to for the predetermined quantity a of washing stage WP in terms of the presence of foam described in analyzing and processing
Associate x=IA WP/Iref, wherein, in the time Δ t of pre-determiningSetAfterwards, the drum rotating time section Δ t is just measurednPeriod
Driving current value IA。
According to the present invention, a kind of washing machine is preferable, wherein, be disposed with lye container temperature sensor and
In control device, for the different temperature values by temperature sensor measurement, a different values are stored with.
Washing machine as used herein typically also with heater and be arranged on lye container bottom with washing
Wash the cleaning solution exhaust system of liquid pump.In addition, washing machine as used herein typically also has washing carrying piece and/or drawn water
Equipment.
Finally, it can be this washing machine or washing drying device according to the washing machine of the present invention, there is drying machine and laundry
The equipment of the function of machine.
According to the present invention washing machine preferably have be used for show one or more running statuses, the especially presence of foam and
The acoustics and/or optical display means of foam volume if necessary.Optical display means for example can be liquid crystal display, defeated thereon
Go out prompting or the explanation of determination.Additionally or alternatively, light emitting diode can be shinny in one or more colors.Such as can be with
Show to show according to different colours：Whether washing stage WP runs under less high consistency of foam.
It can also be considered by determining x too high value in terms of the possible dosage deficiency of detergent according to the present invention
Method.By display device, the follow-up dosage detergent of user of washing machine can be prompted, wherein, herein can also the amount of progress
Explanation.Here, the display that dosage is recommended can be in this display display (Anzeigedisplay) or viewing area therein
Realized on (being generally speaking referred to as herein " display display ").Can be on display display in the form of word and/or symbol
Dosage suggestion is shown.Suitable word for example can be direct prompting " woulding you please dosage " green " ", wherein, " green " is dosage auxiliary
Prompting.Other colors can also be mentioned or other promptings are provided with written form.
In embodiments of the present invention, it is known that it is extremely important to flow into the water of lye container or the amount of water washing liquor
's.It is therefore preferable that the measuring apparatus for the water for being used to ask for filling in the washing machine according to the present invention be present, for example for true
Surely it is used for the time-measurement device of the opening time section of the injection valve of water or the liquid measurement of the water for measuring filling is set
It is standby.
The present invention has dramatic benefit.A kind of method for running washing machine is provided, wherein it is possible to fixed in a straightforward manner
Property and quantitatively determine foam presence.Here, it can accurately detect the presence of foam.By more accurate existing for foam
It is true to ask for and in the embodiments of the present invention of actual foam volume in washing procedure, on the one hand prevent：Hair
The foam overflow of raw washing machine, this can be relevant with the water damage (Wasserschaden) in house.On the other hand, can avoid
When that must remove excessive detergent from washings, required rinse water is excessively used.In addition, overcome certainly in foam
In terms of body but also in terms of excessive dosage and the dosage deficiency of detergent, the present invention can realize that the quick of remedial measure is held
OK.
In addition, the method according to the invention can realize fortune of the washing machine in the marginal range for foam volume
OK, because can precisely adjust in embodiments of the present invention：When too high foam volume be present.Herein, it may be considered that wash
Wash the type and amount and its contamination level of thing.Then when the level of caused foam is maintained in marginal range, washing machine can be with
Although recognize foam be present in the case of whole washing is performed in the case where not disturbing or changing the program parameter determined
Process.
Brief description of the drawings
Illustrate the present invention below according to the embodiment being not limited for the washing machine according to the present invention, wherein,
Referring to figs. 1 to 3.
Fig. 1 shows the signal for part and parcel of the present invention of the first embodiment of the washing machine according to the present invention
Figure, the method according to the invention can be performed in the washing machine according to the present invention.
Fig. 2 shows two drum rotating time section Δ t during (b) the method according to the invention the step ofnPeriod
Drum rotation speed m and driving current value IAChange procedure, wherein, in non-foam state, determine reference value IrefAnd by its
It is stored in motor roller control unit.
Fig. 3 shows two drum rotating time section Δ t during (e) the method according to the invention the step ofnPeriod
Drum rotation speed m and driving current value IAChange procedure, wherein, after the washing stage is started, measure driving current value IA's
Washing stage value IA WPAnd the method according to the invention the step of in (g) and (h), by the possible detection side of foam
The reference value I in facerefAnalyze and process the washing stage value.
Embodiment
Fig. 1 washing machine 1 has lye container 2, and in the lye container, roller 3 rotatably supports and can
Driven by drive motor 5.For improved ergonomics, the rotating shaft 19 of roller 3 from horizontal direction with small angle (such as
13 °) point to front upper place so that and the user of washing machine 1 is easier to touch and inside observable roller 3.In addition, by this
Arrangement, with the washings carrying piece 14 on the inner face of drum shell and for containing detergent it is waterborne liquid 7, for example wash
Under the interaction of water drawing device 17 for washing liquid, the reinforcing for being penetrated with cleaning solution 7 and flowing through washings 4 is also realized.
In addition, washing machine 1 has washing liquid injection system, washing liquid injection system includes connecting for the water in the house network of rivers 20
Connect accessory, can electric control valve 21 and the input channel 13 to lye container 2, bowl can also be rinsed by detergent if necessary
12 guiding, bowl is rinsed from the detergent, the water of injection can transport detergent part in lye container 2.In addition,
The heater 16 for being used for heating water or cleaning solution 7 in lye container 2 be present.Can be by control device 8 according to program
Flow plan control valve 21 and heater 16, the program circuit plan can be with the ginsengs in time-program(me) and/or washing machine 1
Number (such as cleaning solution level, cleaning solution temperature, drum rotation speed etc.) is combined reaching for a measure across subjects.9 represent motor rolling
Cylinder control unit, the motor roller control unit can especially determine and storage reel rotating speed mn, driving current value IAAnd roller
Rotation time section Δ tn。
Pressure sensor in 6 expression lye containers 2, the biography i.e. for measuring hydrostatic (hydrostatisch) pressure
Sensor.Hydrostatic pressure p is drawn by the liquid level of the free rinsing liquid (freie Flotte) 7 constructed in lye container 2.Separately
Outside, washing machine 1 includes measurement apparatus 15, such as water flowmeter or the flowmeter for being used to ask for the water of filling.In the feelings of flowmeter
Under condition, it is combined with the filling time detected and calculates the water flowed into.Can also be by measurement until reaching corresponding to determination
Time of predetermined level height of fixed water volume determine flow.The determination of the water of filling (starts in washing procedure
When in order to determine the reference value of motor drive current or in the removal of foam measure after having determined that the presence of foam) can be real
Show the more accurately execution of the method according to the invention and can also realize the more smart of the removal of foam measure in embodiments
Accurate execution.
18 represent the washing liquid pump for pumping out cleaning solution 7.10 represent temperature sensor.
11 represent display devices, by the display device can show existing for foam determine and take if necessary or
Remedial measure, i.e. foam (elimination) measure the determination that can be taken by the user of washing machine.In addition, by display device 11,
Used in optimal detergent and foam avoids (such as being shown by green LED) or made in non-optimal detergent
With with foam caused by the case of (such as can be shown by red light emitting diodes) can be with display methods parameter, especially wash
The flow of program.
The method according to the invention is performed (wherein, by measuring and analysis-driven motor 5 is rolling in washing stage WP
Cylinder rotation time section Δ tnThe driving current value I that period measuresATo detect the presence of foam) realize in the following way herein：
In the case of in the absence of foam, for driving current value IAReference value I is measured firstref, and make the reference value with next
The washing stage driving current value I measured in washing stage WPA WPIt is associated, wherein, by with for the washing stage
Quantity a predetermined WP is compared to analyze and process the association x=I in terms of the presence of foamA WP/Iref.Here, the party
Method is especially comprised the steps of, these steps are performed in the case where using motor roller control unit 9：
(a) waterborne liquid 7 containing detergent is provided in lye container 2；
(b) the electric current I for drive motor 5 is determinedAReference value IrefAs measuring for non-foam state, wherein, reference
Value IrefIt is the driving current value I uniquely measured under reference conditions respectivelyA1Or by multiple driving currents measured
Value IAn(n>1) it is averaging, i.e., as drum rotating time section Δ tnThe average value of period, in the drum rotating time section,
With drum rotation speed mn≤ 100 revs/min, current 35 revs/min rotate roller；
(c) by least one reference value IrefIt is stored in motor roller control unit 9；
(d) washing stage WP is started, it has the washings 4 in the waterborne liquid 7 provided in step (a)；
(e) WP measures washing stage driving current value I under the reference conditions during the washing stageAn WP(n >=1),
Its mode is：Respectively as drum rotating time section Δ tnThe measurement of average value I of periodAn WP, in the drum rotating time section
In, with drum rotation speed mn≤ 100 rotate roller 3.
(f) in the case of n=1, by the washing stage driving current value IA1 WPWashing stage as drive motor 5
Value IA WPIt is stored in motor roller control unit 9, and for n>1 situation, by by multiple washing stages measured
Driving current value IAn WPThe average washing stage driving current value (I for being averaging and obtainingAn WP)medWashing as drive motor 5
Stage Value IA WPIt is stored in motor roller control unit 9；
(g) the association x=I is calculatedA WP/Iref；
(h) for x<A situation, it is determined that foam be present, wherein, a is value 1.5 herein.
Correspondingly, x >=a is represented：Foam is not formed or forms insignificant foam volume.
Fig. 2 is shown the method according to the invention the step of during (b) in two drum rotating time section Δ tnPeriod
Drum rotation speed be m's and driving current value IAChange procedure, wherein, reference value I is determined in foamless staterefAnd
Store it in motor roller control unit.
In Fig. 2 embodiment, two drum rotating time section Δ t are shownn, wherein, rotating speed mnHerein with m1And m2Show
Go out.In roller with during these rotational speeds, driving current value I is measuredA.Here, reaching lower state (steady-
State-Zustand after) or after connecting roller and rotating 3 seconds with current measurement, just it is driven current value IASurvey
Amount, wherein, measurement driving current value Ir1Or Ir2As reference value.Therefore, corresponding measuring section Δ tr1Or Δ tr2Than real
Drum rotating time section Δ tnIt is short.
Therefore, measurement result shown in figure 2 can be realized based on the driving current value I uniquely measuredA1Or but
Based on the driving current value I measured shown respectively under reference conditions to twoAn(n=2) it is averaging, is that is average
Value asks for (Mittelwertbildung), is used as drum rotating time section Δ tn--- in the drum rotating time section,
With drum rotation speed mn≤ 100 rotate roller --- and the average value of period determines reference value Iref, wherein, it is considered herein that shorter
Drum rotating time section, i.e. effective drum rotating time section Δ tr1Or Δ tr2。
Fig. 3 shows two drum rotating time section Δ t during (e) the method according to the invention the step ofnPeriod
Drum rotation speed be m's and driving current value IAChange procedure, wherein, after the washing stage is started, measure driving current value IA
Washing stage value IA WPAnd the method according to the invention the step of in (a) and (h), by reference value IrefIn foam can
The driving current value is analyzed and processed in terms of the detection of energy.Fig. 2 shows reference measure, and Fig. 3 shows to be used to wash rank
The measurement of the possible detection of foam in section WP.Because in other respects under identical reference conditions in washing stage WP only
Other driving current values are measured, so equally showing two drum rotating time section Δ t in figure 3n, wherein, rotating speed mnIt is same herein
Sample is with m1And m2Represent.In roller with during these rotational speeds, driving current value I is measuredA, in this IA WP.Here, equally up to
Rotated after to lower state or connecting roller with after current measurement 3 seconds, be just driven current value IAMeasurement, its
In, measure actual driving current value I1Or I2.Therefore, corresponding measuring section Δ tr1Or Δ tr2Equally than real roller
Rotation time section Δ tnIt is short.
Depending on according to Fig. 2 using unique reference values or average reference value, I is considered by Fig. 31、I2Or I1And I2Be averaged
Value is come the detection for comparing and thus be accordingly used in foam.
Reference numerals list
1 washing machine
2 lye containers
3 rollers
4 washings
5 drive motors
6 pressure sensors
7 waterborne liquids, free rinsing liquid, cleaning solution
8 control devices
9 motor roller control units
10 temperature sensors
11 display devices
12 (detergent) rinse bowl
13 to lye container input channel
14 washing carrying pieces
The measuring apparatus of 15 water for asking for filling
16 heaters
17 water drawing devices
18 pumps, washing liquid pump
19 rotating shafts
20 water supply lines, the house network of rivers, water supply
21 (can electric control) valves
Claims (14)
1. one kind is used for the method for running washing machine (1), the washing machine has lye container (2), for accommodating washings
(4) roller (3), drive motor (5) and control device (8) for the roller (3), it is characterised in that in washing rank
Section WP in by measure and analyze the drive motor (5) in drum rotating time section Δ tnThe driving current that period measures
Value IAThe presence of foam is detected, its mode is：In the case of in the absence of foam, for the driving current value IAMeasure first
Reference value Iref, and make the reference value and the washing stage driving current value next measured in the washing stage WP
IA WPIt is associated, wherein, by with being compared to for the predetermined quantity a of the washing stage WP in the presence side of foam
The surface analysis processing association x=IA WP/Iref, wherein, in the time Δ t of pre-determiningSetAfterwards, just when the roller rotates
Between section Δ tnPeriod measurement driving current value IA。
2. according to the method for claim 1, it is characterised in that held in the case where using motor roller control unit (9)
Row following steps：
(a) waterborne liquid (7) containing detergent is provided in the lye container (2)；
(b) the electric current I for the drive motor (5) is determinedAReference value IrefAs measuring for non-foam state, wherein, institute
State reference value IrefIt is the driving current value I uniquely measured under reference conditions respectivelyA1Or by multiple drives measured
Streaming current value IAn(n>1) it is averaging, i.e., as the drum rotating time section Δ tnThe average value of period, rotated in the roller
In period, with drum rotation speed mn≤ 100 rotate roller；
(c) by least one reference value IrefIt is stored in the motor roller control unit (9)；
(d) washing stage WP is started, it has the washings (4) in the waterborne liquid (7) provided in the step (a)；
(e) washing stage driving current value I is measured under the reference conditions during the washing stage WPAn WP(n >=1), its
Mode is：Respectively as the drum rotating time section Δ tnThe measurement of average value I of periodAn WP, in the drum rotating time section
In, with the drum rotation speed mn≤ 100 rotate the roller (3).
(f) in the case of n=1, by the washing stage driving current value IA1 WPWashing rank as the drive motor (5)
Segment value IA WPIt is stored in the motor roller control unit (9), and for n>1 situation, by by measuring multiple
Washing stage driving current value IAn WPThe average washing stage driving current value (I for being averaging and obtainingAn WP)medAs the driving
The washing stage value I of motor (5)A WPIt is stored in the motor roller control unit (9)；
(g) the association x=I is calculatedA WP/Iref；
(h) for x<A situation, it is determined that foam be present.
3. according to the method for claim 2, it is characterised in that the reference value IrefIt is by measuring at least two
Driving current value IAnAverage driving current value (the I that (n >=2) are averaging and obtainedAn)med。
4. according to the method in any one of claims 1 to 3, it is characterised in that as the drum rotating time section Δ tnPhase
Between driving current value IAWhen fluctuation around average value is less than 10%, the drum rotating time section Δ t is just measurednPeriod
Driving current value IA。
5. method according to any one of claim 1 to 4, it is characterised in that measure reference value I at room temperatureref。
6. method according to any one of claim 1 to 5, it is characterised in that the drum rotating time section Δ tnPeriod
Drum rotation speed be in 20 to 70 revs/min in the range of.
7. method according to any one of claim 1 to 6, it is characterised in that the drum rotating time section Δ tnIt is in
In the range of 10 to 50 seconds.
8. method according to any one of claim 1 to 7, it is characterised in that when a is more than 1.5, it is determined that bubble be present
Foam.
9. method according to any one of claim 1 to 8, it is characterised in that when a is more than upper boundary values amaxWhen, make institute
State drive motor (5) stopping.
10. method according to any one of claim 1 to 9, it is characterised in that it is determined that taking use in the case of foam
In the measure for reducing foam volume.
11. according to the method for claim 10, it is characterised in that by adding water or by the way that waterborne liquid will be pumped out with adding
Add water with reference to diluting the waterborne liquid (7).
12. the method according to claim 10 or 11, it is characterised in that in the measure for being used to reduce foam volume taken
After end, the electric current I for the drive motor (5) is determined by repeat step (b)ANew reference value Iref Newly。
13. the method according to any one of claim 1 to 12, it is characterised in that performed in washing stage WP ending
IA WPMeasure and realize the control of wash phase in terms of identified foam volume.
14. a kind of washing machine (1), it has lye container (2), the roller (3) for accommodating washings (4), for described
The drive motor (5) and control device (8) of roller (3), it is characterised in that the control device (8) is arranged for carrying out using
In in washing stage WP by measure and analyze the drive motor (5) in drum rotating time section Δ tnPeriod measures
Driving current value IATo detect the method for foam, its mode is：In the case of in the absence of foam, for the driving current
Value IAReference value I is measured firstref, and make the reference value and the washing rank next measured in the washing stage WP
Section driving current value IA WPIt is associated, wherein, by with being compared to for the predetermined quantity a of the washing stage WP
The association x=I is analyzed and processed in terms of the presence of foamA WP/Iref, wherein, in the time Δ t of pre-determiningSetAfterwards, just in institute
State drum rotating time section Δ tnPeriod measurement driving current value IA。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015205949.9 | 2015-04-01 | ||
| DE102015205949.9A DE102015205949A1 (en) | 2015-04-01 | 2015-04-01 | Method for operating a washing machine with foam detection by a motor current evaluation and this suitable washing machine |
| PCT/EP2016/055993 WO2016156069A1 (en) | 2015-04-01 | 2016-03-18 | Method for operating a washing machine with foam detection by way of a motor current analysis and washing machine suitable therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107429470A true CN107429470A (en) | 2017-12-01 |
| CN107429470B CN107429470B (en) | 2019-09-10 |
Family
ID=55542680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680020558.3A Active CN107429470B (en) | 2015-04-01 | 2016-03-18 | The method of washing machine and thus suitable washing machine are run for detecting by means of the foam of motor current analysis processing |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107429470B (en) |
| DE (2) | DE102015205949A1 (en) |
| WO (1) | WO2016156069A1 (en) |
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| CN110074737A (en) * | 2018-01-25 | 2019-08-02 | 坎迪股份公司 | The existing method and system of dish cleaning machine, automatic Evaluation its foam |
| CN111441152A (en) * | 2019-01-16 | 2020-07-24 | Bsh家用电器有限公司 | Control device and control method for a laundry care appliance |
| CN114481530A (en) * | 2022-01-28 | 2022-05-13 | Tcl家用电器（合肥）有限公司 | Foam eliminating method and device, storage medium and washing machine |
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| CN107687880A (en) * | 2017-09-27 | 2018-02-13 | 西安迅航光电科技有限公司 | Foam liquid level monitoring system based on fiber-optic grating sensor |
| CN109594280A (en) * | 2017-09-30 | 2019-04-09 | 青岛海尔洗衣机有限公司 | A kind of method and clothes treatment device of clothes treatment device identification clothing |
| KR20190102483A (en) * | 2018-02-26 | 2019-09-04 | 엘지전자 주식회사 | Washing machine and controlling method for the same |
| CN110946540B (en) * | 2018-09-27 | 2023-05-26 | 合肥海尔洗衣机有限公司 | Shoe washer and control method thereof |
| DE102020213390A1 (en) | 2020-10-23 | 2022-04-28 | BSH Hausgeräte GmbH | METHOD FOR DETERMINING FOAM WHEN TREATMENT OF LAUNDRY ITEMS AND LAUNDRY CARE MACHINE FOR CARRYING OUT IT |
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| CN114481530A (en) * | 2022-01-28 | 2022-05-13 | Tcl家用电器（合肥）有限公司 | Foam eliminating method and device, storage medium and washing machine |
| CN114481530B (en) * | 2022-01-28 | 2024-06-04 | Tcl家用电器（合肥）有限公司 | Foam eliminating method and device, storage medium and washing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016156069A1 (en) | 2016-10-06 |
| CN107429470B (en) | 2019-09-10 |
| DE112016001566A5 (en) | 2018-01-11 |
| DE102015205949A1 (en) | 2016-10-06 |
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