Washing machine and method for controlling same

Abstract

A washing machine is provided. The washing machine includes a cabinet having an inlet through which laundry is inserted, a plurality of legs disposed under the cabinet and configured to support the cabinet, a tub provided inside the cabinet, a drum rotatable in the tub, and a drum motor configured to provide power to rotate the drum, a vibration sensor configured to detect vibrations occurring in the cabinet along at least two axes, memory storing one or more computer programs, and one or more processors communicatively coupled to the memory and the vibration sensor, wherein the one or more computer programs include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to determine a leg that is not seated on an installation surface based on a phase difference between a first signal and a second signal output from the vibration sensor.

What is claimed is: 
     
         1 . A washing machine, comprising:
 a cabinet having an inlet through which laundry is inserted;   a plurality of legs disposed under the cabinet and configured to support the cabinet;   a tub provided inside the cabinet;   a drum rotatable in the tub;   a motor configured to provide power to rotate the drum;   a vibration sensor configured to detect vibrations occurring in the cabinet along at least two axes;   memory storing one or more computer programs; and   one or more processors communicatively coupled to the memory and the vibration sensor,   wherein the one or more computer programs include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to determine a leg that is not seated on an installation surface among the plurality of legs based on a phase difference between a first signal and a second signal output from the vibration sensor.   
     
     
         2 . The washing machine of  claim 1 , wherein the one or more computer programs further include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to:
 determine that a left leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal being less than a first reference value; and   determine that a right leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal exceeding a second reference value.   
     
     
         3 . The washing machine of  claim 2 ,
 wherein the first reference value is selected from a range of 45 to 80 degrees, and   wherein the second reference value is selected from a range of 100 to 135 degrees.   
     
     
         4 . The washing machine of  claim 1 , wherein the one or more computer programs further include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to:
 determine that a front left leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal being less than a first reference value; and   determine that a front right leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal exceeding a second reference value.   
     
     
         5 . The washing machine of  claim 1 , wherein the at least two axes include an X-axis and a Y-axis corresponding to an XY plane parallel to a bottom side of the washing machine. 
     
     
         6 . The washing machine of  claim 1 , wherein the vibration sensor includes a microelectromechanical system (MEMS) to measure acceleration in three axes including an X-axis and a Y-axis corresponding to an XY plane parallel to a bottom side of the washing machine. 
     
     
         7 . The washing machine of  claim 1 , wherein the vibration sensor is disposed in an upper front of the cabinet. 
     
     
         8 . The washing machine of  claim 2 , wherein the one or more computer programs further include computer-executable instructions that, when executed by the one or more processor s individually or collectively, cause the washing machine to:
 obtain a Lissajous curve based on the first signal and the second signal; and   calculate the phase difference between the first signal and the second signal based on the Lissajous curve.   
     
     
         9 . The washing machine of  claim 1 , wherein the one or more computer programs further include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to determine the leg that is not seated on the installation surface among the plurality of legs during a spin-drying process or a test operation. 
     
     
         10 . The washing machine of  claim 1 , further comprising:
 at least one of a speaker or a display,   wherein the one or more computer programs further include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to output a notification about the leg that is not seated on the installation surface among the plurality of legs.   
     
     
         11 . The washing machine of  claim 1 , further comprising:
 a communication module,   wherein the one or more computer programs further include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the washing machine to transmit a notification about the leg that is not seated on the installation surface among the plurality of legs to a server or a mobile device.   
     
     
         12 . A method performed by a washing machine comprising a cabinet having an inlet through which laundry is inserted, a tub provided inside the cabinet, and a drum rotatable in the tub, the method comprising:
 rotating the drum;   obtaining a first signal and a second signal output from a vibration sensor configured to detect vibrations occurring in the cabinet along at least two axes while the drum rotates; and   determining a leg that is not seated on an installation surface among a plurality of legs based on a phase difference between a first signal and a second signal output from the vibration sensor.   
     
     
         13 . The method of  claim 12 , wherein the determining of the leg not seated on the installation surface among the plurality of legs comprises:
 determining that a left leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal being less than a first reference value; and   determining that a right leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal exceeding a second reference value.   
     
     
         14 . The method of  claim 13 ,
 wherein the first reference value is selected from a range of 45 to 80 degrees, and   wherein the second reference value is selected from a range of 100 to 135 degrees.   
     
     
         15 . The method of  claim 12 , wherein the determining of the leg not seated on the installation surface among the plurality of legs comprises:
 determining that a front left leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal being less than a first reference value; and   determining that a front right leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal exceeding a second reference value.   
     
     
         16 . The method of  claim 13 , further comprising:
 obtaining a Lissajous curve based on the first signal and the second signal; and   calculating the phase difference between the first signal and the second signal based on the Lissajous curve.   
     
     
         17 . The method of  claim 12 , further comprising:
 outputting, via at least one of a speaker or a display of the washing machine, a notification about the leg that is not seated on the installation surface among the plurality of legs.   
     
     
         18 . The method of  claim 12 , further comprising:
 transmitting, via a communication module of the washing machine, notification about the leg that is not seated on the installation surface among the plurality of legs to a server or a mobile device.   
     
     
         19 . One or more non-transitory computer-readable storage media storing one or more computer programs including computer-executable instructions that, when executed by one or more processors of a washing machine individually or collectively, cause an electronic device to perform operations, the operations comprising:
 rotating a drum of a washing machine;   obtaining a first signal and a second signal output from a vibration sensor of the washing machine configured to detect vibrations occurring in a cabinet along at least two axes while the drum rotates; and   determining a leg that is not seated on an installation surface among a plurality of legs based on a phase difference between a first signal and a second signal output from the vibration sensor.   
     
     
         20 . The one or more non-transitory computer-readable storage media of  claim 19 , wherein the determining of the leg not seated on the installation surface among the plurality of legs comprises:
 determining that a left leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal being less than a first reference value; and   determining that a right leg of the plurality of legs is not seated on the installation surface, based on the phase difference between the first signal and the second signal exceeding a second reference value.