Technical Field

The present disclosure concerns a machine (or system) for textile processing and a related method of operation of the machine. Said method can also be considered as being a method for controlling a rotating unbalance (rotating imbalance) in the machine. The present disclosure further concerns a software for using in (with) such a machine or system, and a related computer readable medium.

Background

There are known various types of machines for textile processing, e.g. washing machines or dryers, comprising a rotatable tumbler in which there are placed the textiles for being processed. Commonly, in such a machine, upon rotation of the tumbler, especially at high speeds, the tumbler (which may also be called drum) may be or become imbalanced, i.e. exhibit rotating unbalance, due to an uneven distribution and/or movement of the textiles within the tumbler. The rotating unbalance may cause the vibration of the tumbler, the uncontrollable change of the tumbler’s rotation speed, or even the damage of the machine, particularly the damage of the transmission means and/or of the motor which are commonly used for rotating the tumbler. Said imbalance, and any uncontrolled change of the rotation speed of the tumbler, may in turn affect the processing or finishing of the textiles in the tumbler, and cause the formation of undesired defects and inhomogeneities on said textiles.

It is therefore required to control the rotating unbalance. The present disclosure provides solutions to this problem.

Summary of the Invention

The present invention offers a solution to the problem of how to control rotating unbalance in a machine for textile processing. Some non-limiting examples of such a machine is a washing machine, a tumbler drier, a drier or a machine for finishing the textiles using a liquid, a chemical compound, a spray, a gas, a solid (e.g. stones), a compound or other medium. The tumbler may be a drum. The machine comprising the tumbler may be used for processing one or more textiles. Some non-limiting examples of textiles that may be processed with the machine are garments, clothes, cloths, towels, home textiles, leathers, fabrics, denims, articles of clothing, or others.

The invention in its first aspect concerns a method of operation of a machine for textile processing, the machine comprising a front part, a back part being opposite the front part, a tumbler which lengthwise extends from the front part to the back part, a motor which is coupled to the tumbler at the back part and is configured to rotate the tumbler, a frame supporting the tumbler, tilting means configured to controllably tilt the frame in a tilting direction, a controller configured to control the motor and the tilting means, wherein the tilting direction is a tilting direction towards the front part or a tilting direction towards the back part, the method comprising performing, in the same order, the steps of: a) controlling the tilting means to start tilting the frame in the tilting direction (i.e. to start tilting the frame towards the front part or towards the back part), and controlling the motor to rotate the tumbler at a first rotation speed and rotation direction; b) controlling the motor to progressively accelerate to rotate the tumbler at a second rotation speed, the second rotation speed being higher than the first rotation speed; c) Controlling the motor to rotate the tumbler at the second rotation speed for a period of time, and monitoring or calculating values of a parameter which is related to the tumbler's rotation during the period of time (said parameter being preferably configured or selected to be an indicative of a rotational balance in the tumbler; e.g. said parameter is preferably configured as a status indicator of a rotational balance of the tumbler); d) Determining if according to the values a first condition is met; e) If the first condition is met, controlling the tilting means to stop tilting the frame, and controlling the motor to accelerate to rotate the tumbler at a third rotation speed which is higher than the second rotation speed.

From the above it can be understood that the motor is coupled to a distal end or part of the tumbler, said distal end or part of the tumbler being at the back part of the machine. Said distal end of the tumbler may alternatively be called “back end” of the tumbler, and said part of the tumbler may alternatively be called “back part” of the tumbler. The method according to the first aspect of the invention can also be considered as being a method of/for operating the machine. Steps (a)-(e) may preferably be performed using, i.e. with (by means of), the controller. The latter may be a computer system or a microcontroller comprising or being connectable to one or more computer storage mediums. Likewise, the controller may preferably comprise a central processing unit (CPU) and/or electronic interfaces. Hence, the microcontroller may optionally comprise one, two or more electronic interfaces for controlling and/or operatively communicating with the motor and the tilting. Optionally the controller may also comprise or be connectable with an interface via which the controller may be programmed by a user. Preferably, the controller may comprise a memory for storing a program and information related to the method steps. Alternatively, the controller may be connected or connectable to said memory. The controller may also comprise more than one microcontrollers or similar units.

In preferred embodiments of the method according to the first aspect of the invention, the first condition comprises that the parameter is constant or is within a first predetermined range, or that the values differ from each other by less than a predetermined difference. Advantageously, in these embodiments step (d) can be implemented without a significant difficulty.

In a preferred embodiment of the method according to the invention, before executing step (a) the method comprises preliminary steps which include: a1) controlling the motor to rotate the tumbler at an opposite rotation direction compared to the rotation direction of step (a), and at a rotation speed, which may be called initial rotation speed, which is equal to or smaller than the first rotation speed, and a2) controlling the motor to stop rotating before executing step (a). Step (a1) can cause distributing and dispersing the textiles in the tumbler. This can be particularly useful, especially if the textiles introduced in the tumbler are originally pilled, entangled or unevenly positioned, as is often the case.

In step (a) of the method, controlling the tilting means to tilt the frame, and thusly tilt the tumbler in the tilting direction (i.e. towards the front part or towards the back part) is an important part of the method which affects the type of the possible rotating imbalance of the tumbler when the latter’s rotation speed (rotation velocity) changes and increases in the subsequent steps. A rotating drum in a textile machine may exhibit two types of rotating imbalances (unbalances), a dynamic rotating imbalance and a static rotating imbalance, either of them causing the rotating drum to vibrate. At relatively low rotation speed values, typically up to 220 or 250 rpm (rounds per minute), usually static (rotating) imbalance causes the drum to vibrate. At relatively high rotation speed values, typically more than 220 or 250 rpm, usually a combination of both static imbalance and a dynamic imbalance cause the drum to vibrate. Both types of imbalances need to be controlled because the vibrations can be catastrophic to the system, however, controlling the dynamic imbalance is generally a more challenging and complex task compared to controlling the static imbalance. Controlling the tilting means to tilt the frame (and tumbler) in a tilting direction towards the front part in step (a) of the method, and hence, forcing the textiles to move and accumulate towards the front part and away from the machine’s back part and from the corresponding back part or “back” distal end of the tumbler when the tilting direction is a tilting direction towards the front part, causes the reduction or elimination, i.e. the prevention, of the dynamic imbalance (the latter also often called “dynamic unbalance”), especially the dynamic imbalance occurring at said relatively high rotation speeds. Likewise, controlling the tilting means to tilt the frame (and tumbler) in a tilting direction towards the back part in step (a) of the method, and hence, forcing the textiles to move and accumulate towards the back part and away from the machine’s front part and from the corresponding front part or “front” distal end of the tumbler when the tilting direction is a tilting direction towards the back part, causes the reduction or elimination, i.e. the prevention, of the dynamic imbalance Said dynamic imbalance reduction or elimination, may in turn cause the simplification of the “how to control the rotating imbalance?” problem, to the simpler problem of “how to control the static rotating imbalance?”. This latter more specific additional problem about controlling the static rotating imbalance is advantageously also addressed in preferred embodiments of the invention.

In step (a) the rotation direction may be clockwise or anticlockwise. Optionally, prior to step (a), there may be additional steps of rotating the drum clockwise or anticlockwise. Preferably, tilting the frame and controlling the motor in step (a) may occur simultaneously. Alternatively, controlling the motor in step (a) may occur after controlling the tilting means to tilt the machine (e.g. in the tilting direction). Said tilting towards the front part can be done by the machine’s back part and frame portion thereat being raised, with respect to the floor, higher than the front part. Alternatively, a tilting towards the back part can be done by the machine’s front part and frame portion thereat being raised, with respect to the floor, higher than the back part.

An effect of steps (b) and (c) is accelerating the tumbler rotation so that during the period of time for which the rotation speed is the third rotation speed, any textiles potentially present in the tumbler can move towards the walls of the drum and change their position inside the tumbler (drum) for finding an empty place near to the wall of the drum. Also, in step (c) monitoring or calculating values of a parameter (or of at least one parameter) which is related to the tumbler's rotation during the period of time, effectively allows for monitoring or estimating if there is an imbalance of the rotating drum and whether said imbalance (rotating imbalance) is static, dynamic or has both static and dynamic imbalance components. Thus, the parameter (or parameters - e.g. a group of parameters) whose values are monitored or calculated in step (c) may be configured to be indicative (e.g. by being a status indicator) of a balance of the rotational drum, such as a variation is the values of said parameter may allow to detect an imbalance of the rotating drum (i.e. the parameter may be configured to vary according to the rotational balance of the tumbler, such a disturbance in the (rotating) balance of the rotating drum may be detected as a result of an alteration/variation of the values. Thus, the parameter (or parameters) related to the tumbler’s rotation may be configured to vary as a function of - i.e. by being sensitive to - an alteration of balance in the rotating drum). Hence, in a very preferred embodiment said parameter is indicative of a torque of the motor during the period of time. Optionally, the parameter which is indicative of the torque of the motor is the torque or power of the motor, or the (measured/monitored) value of said parameter is a percentage of the motor’s torque or power.

In a non-limiting example, implementing step (c) involves the controller monitoring the power or power change of the motor required to rotate the drum at a given rotation speed. The parameter which is monitored or measured in step (c) may be indicative of a characteristic of the motor, such as intensity, frequency or DC braking current of the motor. There are also contemplated embodiments wherein the machine comprises a sensor which is connected to the controller and is configured to measure a different parameter related to the rotation of the tumbler, such as for example the vibration of the machine or a load distribution of the tumbler during rotation, in which cases, the parameter monitored in step (c) is the parameter measured by said sensor.

Accordingly, it should be noted that there is a plurality of parameters related to the tumbler’s rotations used in step (c) that may be configured to (or selected) to vary as a function of variations in the rotational balance of the tumbler (i.e. as a status indicator), a non-limiting list being: a parameter which is indicative of the torque of the motor, preferably said parameter being the torque or power of the motor, or the value of said parameter being a percentage of the motor’s torque or power; a parameter related operating characteristics of the motor, such as the intensity, frequency or DC braking current of the motor; a parameter related to measurements conducted by at least one sensor, such as a vibration of the machine or such as a load distribution of the tumbler during rotation.

The first condition (criteria) may be configured as a predetermined value or predetermined group of values (i.e. a range) for the parameter(s) related to the tumbler’s rotation which are indicative of a dynamic state in which the machine has a rotational imbalance being within tolerance (i.e. for which the machine exhibits no static and/or dynamic imbalance or a tolerable static and/or dynamic imbalance, the machine being in a predetermined status of rotational balance). Thus, the first condition may be configured as predetermined value or group of values configured such that, when the values of the parameter (or parameters) whose values are monitored or calculated in step (c) coincide with the value or group of values (i.e. when the values monitored or calculated fall within the range) of the first condition, then this is an indicator that the tumbler is not in a rotational imbalance situation (or is in a predetermined situation/status of tolerable rotational imbalance, i.e. in a predetermined status of rotational balance). A rotational imbalance situation/status corresponds to a situation in which the rotational balance (also referred to as balance, static and/or dynamic balance, or static and/or dynamic rotational balance) of the tumbler is disturbed. Accordingly, a parameter which is regarded as an (status) indicator of the (rotational) balance of the tumbler is also an indicator of a static and/or dynamic imbalance situation in the tumbler. Thus, said first condition is preferably configured such that the fulfilment of the first condition indicates that the tumbler is in a (predetermined) state (i.e. status) of rotational balance/equilibrium (e.g. static and/or dynamic balance). In other words, said first condition may be configured such that, when the first condition is met, then it means that the tumbler is in a (predetermined) status of rotational balance.

The first condition in step (d) of the method, may be indicative of (i.e. may be configured as) a dynamic state in which the machine exhibits no dynamic imbalance, or exhibits a dynamic imbalance component which is smaller compared to a static imbalance component of the system. The first condition (or first criteria) may be selected according to the desired level of control over the rotational imbalance of the system, and/or according to the rotational speed at which the drum may be spined at a later stage. Thus, the fact that the parameter (or parameters) has a constant value or is within a predetermined range is interpreted in the method disclosed as an indication that the first condition is met/fulfilled.

If the first condition is met, controlling the motor to accelerate to rotate the tumbler at the third rotation speed, can be done having reduced or eliminated the risk of having an uncontrolled imbalance which could damage the system at high rotation speeds.

In an embodiment according to the first aspect of the invention, in step (b) controlling the motor to progressively accelerate comprises controlling the motor to rotate the tumbler at one or more first intermediate rotation speeds for respective one or more first intermediate periods of time, the first intermediate rotation speeds being between the first and the second rotation speeds. Hence, the rotation speed may be increased incrementally, i.e. in acceleration steps, and in between each of said acceleration steps, the acceleration may be stopped so that the tumbler rotates at the corresponding first intermediate rotation speed. Advantageously, these stops of the acceleration process can allow the textiles possibly being inside the tumbler to change their position. Whenever the speed increases, any textiles being near to the drum’s walls may be fixed there, and the rest of the textiles may fall, changing their position, until finding an empty place near to the wall. This would further improve the distribution and redistribution of the textiles in the drum, and thus, may contribute to the optimization of the imbalance control offered by the present invention.

In an embodiment, step (e) further comprises: if the first condition is not met/fulfilled controlling the motor to decelerate to rotate the tumbler at a lower rotation speed than the second rotation speed, and repeating steps (a) to (e) one or more times. This can advantageously cause achieving a fine control of the imbalance when repeating steps (a) to (e), especially if it is difficult to achieve meeting the first condition. This may happen for example if the first condition is related to a value (e.g. a torque value) or value range which is difficult to achieve with a first iteration of (a) to (e). However, an embodiment that comprises repeating steps (a) to (e), may optionally further comprise counting the one or more times of repeating steps (a) to (e) if the first condition not met, and if the count is higher than a predetermined number, producing an alarm signal or controlling the motor to stop. Advantageously this can further avoid damaging the system.

As mentioned, the method according to the invention offers controlling the rotating imbalance, however, preferred embodiments of the invention advantageously also provide a solution to the more specific additional problem which is “how to control the static rotating imbalance?”. This additional problem is addressed in an exemplary embodiment which is according to the first aspect of the invention. In said exemplary embodiment the machine further comprises liquid injection means and a vibration measuring system which is configured to measure characteristics of mechanical vibrations in the machine, and the tumbler comprises paddles which are configured to contain or store a liquid, and the liquid injecting means are configured to inject the liquid in the paddles. Also, in the exemplary embodiment the method further comprises the step of: f) controlling the motor to accelerate to rotate the tumbler, preferably faster than the third speed; in the vibration measuring system measuring the characteristics of mechanical vibrations in the machine; analyzing the characteristics of mechanical vibrations and calculating one or more amounts of liquid; controlling the liquid injection means to supply or inject the one or more amounts of liquid to the paddles (e.g. to one or more of the paddles); determining if a second condition is met/fulfilled, the second condition comprising that at least one of the characteristics of mechanical vibrations is within a second predetermined range; and

If the second condition is met, controlling the motor to accelerate.

More preferably said step (f) is as follows: controlling the motor to progressively accelerate to rotate the tumbler at second intermediate rotation speeds for respective second intermediate periods of time, the second intermediate rotation speeds being higher than the third speed, and during each of the second intermediate periods of time: in the vibration measuring system measuring the characteristics of mechanical vibrations in the machine; analyzing the characteristics of mechanical vibrations and calculating one or more amounts of liquid, and calculating or selecting one or more of the paddles; controlling the liquid injection means to inject the one or more amounts of liquid to one or more of the paddles e.g. to the one or more paddles that preferably are calculated or selected as described above; determining if a second condition is met, the second condition comprising that at least one of the characteristics of mechanical vibrations is within a second predetermined range; and if the second condition is met, controlling the motor to accelerate.

For the latter acceleration, the motor is preferably controlled to rotate the tumbler at a next one of said second intermediate rotation speeds or at a fourth rotational speed which is the same as, or is higher than, a maximum one of the second intermediate rotation speeds. Likewise, step (f) of the exemplary embodiment optionally further comprises controlling the motor to rotate the tumbler at the fourth rotational speed for a period of time of spinning.

Step (f) in the exemplary embodiment preferably happens after step (e). Step (f) and any substeps therein, can be performed by the system’s controller, and where necessary with other components e.g. with the vibration measuring system for measuring the vibration characteristics. The vibration measuring system may preferably comprise one or more vibration detectors configured to measure the vibration of the tumbler or of an optional shaft supporting said tumbler, or of a part of optional transmission means which preferably are connected to the tumbler and the motor for coupling the latter to the tumbler, or of another part of the machine. Likewise, the vibration measuring system may comprise a control unit, i.e. have its own separate controller, which may preferably be communicatively connected to the controller of the textile processing machined. However, alternatively the textile processing machine’s controller may be operatively connected to a vibration sensor of the vibration system. The characteristics measured by the vibration measuring system may include a phase and/or an amplitude of vibration.

By injecting liquid in the paddles based on the vibration analysis done, it is possible to advantageously balance the system so that it preferably exhibits both static and dynamic (rotating) balance, for the system being able to safely accelerate to higher rotation speeds as may be required by the desired textile processing. For better balancing the system accurately, the rotation speed may be increased incrementally, i.e. going through the aforementioned second intermediate rotation speeds, at which the system may also be progressively balanced. The liquid injected in the paddles according to the exemplary embodiment acts to compensate for the weight distribution of the textiles or other factors which may cause the static imbalance. In a second exemplary embodiment which is according to the first aspect of the invention, and for which the tilting direction is a tilting direction towards the front part, each of the said paddles are configured to hold liquid in a respective first part of each paddle which is closer to the front part of the machine (compared to the back part of the machine), and the tilting in step (a) which promotes the accumulation of the textiles in said front part, can allow for subsequently controlling the (static) balancing of the system by holding liquid in the paddles only close to said first part. Hence, for said second exemplary embodiment it is not critical to inject and store liquid (by means of the paddles) close to the back part or along the entire length of the tumbler, rather, it may be sufficient to supply and store liquid, e.g. water, only close to the front part. Therefore, said second exemplary embodiment advantageously allows for simplifying the weight compensation step related to reducing the static imbalance. In a further exemplary embodiment for which the tilting direction is a tilting direction towards the back part, each of the said paddles are configured to hold liquid in a respective second part of each paddle which is closer to the back part of the machine (compared to the front part of the machine), and the tilting in step (a) which promotes the accumulation of the textiles in said back part, can allow for subsequently controlling the (static) balancing of the system by holding liquid in the paddles only close to said second part.

In an embodiment according to the exemplary one, the vibration measuring system comprises a vibration detector configured to measure a vibration amplitude; the characteristics of the mechanical vibrations being measured by the vibration measuring system include said vibration amplitude; the one or more amounts of liquid is calculated as a function of (i.e. according to) the vibration amplitude measured. In another embodiment according to the exemplary one, step (f) further comprises calculating or selecting one or more of the paddles, the vibration measuring system comprises a vibration detector configured to measure a vibration phase; the characteristics of the mechanical vibrations being measured by the vibration measuring system include the vibration phase; the one or more of the paddles is calculated or selected as a function of the measured vibration phase. Said calculation or selection of the paddles can preferably be performed by the controller. Overall, measuring the vibration phase and/or amplitude for the calculations related to balancing the system, provides for a practically reliable balancing technique. Hence, in another very preferred embodiment which is according to the exemplary one, and wherein step (f) further comprises calculating or selecting the one or more of the paddles in which the one or more amounts of liquid is/are injected, the vibration measuring system comprises a first vibration detector configured to measure vibrations along a first vibrational axis, and a second vibration detector configured to measure vibrations along a second vibrational axis; the characteristics of the mechanical vibrations being measured by the vibration measuring system include a respective amplitude and phase of the vibrations along each of the first and second vibrational axes; the one or more amounts of liquid is calculated as a function of the respective amplitude of the vibrations along one or both of the first and second vibrational axes; and the one or more of the paddles is calculated or selected as a function of the respective phase of the vibrations along one or both of the first and second vibrational axes, preferably the first and second vibrational axes being normal to each other.

In a preferred embodiment wherein the machine for textile processing comprises paddles which are configured for containing a liquid, the paddles comprise openings for draining the liquid, and the method further comprises the steps of: g) controlling the motor to decelerate, preferably progressively, to rotate the tumbler at a fifth rotation speed which is lower than the first rotation speed; h) controlling the motor to stop rotating. Textiles possibly present in the tumbler may be removed from the latter after steps (g) and (h). Also, the aforementioned fifth rotation speed preferably is between 2 and 6 rpm.

In an embodiment according to the first aspect of the invention, the method further comprises the following: before executing step (a), controlling the motor to rotate the tumbler at a starting rotation speed which is smaller than the first rotation speed or is the same as the fifth rotation speed. Moreover, in an embodiment according to the first aspect of the invention, the first rotation speed is between 15 - 40 rpm and the second rotation speed is between 25 - 50 rpm. Controlling the first rotation speed to be between 15-40 rpm can result to avoiding having significant and possibly dangerous dynamic imbalance in the system, and allows for the distribution of the clothes within the system upon the system’s tilting, for achieving the control of the type of the imbalance in the system according to the invention.

The invention in its second aspect concerns a machine for processing textiles, the machine being as defined in claim 1 and configurable -or configured or adapted- to execute the steps of the method of any of claims 1 to 12. In particular, the machine may comprise a front part, a back part being opposite the front part, a tumbler which lengthwise extends from the front part to the back part, a frame supporting the tumbler, a motor which is coupled to the tumbler at the back part and is configured to rotate the tumbler, tilting means configured to controllably tilt the frame in a tilting direction, a controller configured to control the motor and the tilting means, wherein the tilting direction is a tilting direction towards the front part or a tilting direction towards the back part, the machine being configured to execute the method according to the first aspect of the invention

Accordingly, the machine comprises the tilting means and the controller. The controller may be programmed or programmable for executing the steps of the method according to the first aspect of the invention. The machine according to the invention preferably comprise transmission means which are at the back part and connected to the tumbler, wherein the motor is configured for rotating the tumbler via said transmission means.

Alternative, the motor, or similar rotation means which are configured for controllably rotating the tumbler, may be directly coupled to the tumbler. A program may cause the machine, and in particular the machine’s controller to execute the steps of the method of the first aspect of the invention, the controller interacting with and controlling, where necessary, other components of the machine. Hence, another aspect of the invention concerns a computer program comprising instructions to cause the said machine to execute the steps of the method which is according to the first aspect of the invention. Said computer program may be stored in a computer-readable medium. Said medium may be a memory of the controller, or may be a medium that is connectable or readable by the controller, or may have a different form.

Hence, an aspect of the invention concerns a computer-readable medium having stored thereon the aforementioned computer program.

Brief Description of Drawings

FIG. 1 shows a side view of a machine according an aspect of the invention.

FIG. 2 shows the machine of FIG. 1 in a different state at which a frame and a tumbler of the machine are tilted.

FIG. 3 shows a front view of the machine of FIG. 1 . FIG.4 is a flow diagram of an embodiment of a method according to the invention.

FIG.5 is a flow diagram of an embodiment of a method according to the invention.

FIG.6 is a flow diagram of an embodiment of a method according to the invention.

Detailed Description of embodiments

FIG. 1-3 show a preferred embodiment of a machine, i.e. an embodiment of a system or apparatus, according to an aspect of the invention. The machine shown is suitable for processing textiles. With reference to FIG. 1-3, the machine shown comprises: a front part 2; a back part 3 being opposite the front part 2; a tumbler 4 which lengthwise extends from the front part 2 to the back part 3; a frame 7 supporting the tumbler 4; a motor 6 coupled to the tumbler 4, wherein the motor is configured to rotate the tumbler; tilting means 8 configured to controllably tilt the washing machine frame in a tilting direction towards the front part 2 (it should be noted that this is particular embodiment of the invention, while in other compatible inventions the tilting direction may be configured as a tilting direction towards the back part (3)); and, a controller (not shown) configured to control the motor 6 and the tilting means 8. The front part and the back part are on opposite positions/locations in the machine, and located across from each other.

The machine shown in FIG. 1 also comprises transmission means 5 which are at the back part and connected to the tumbler 4. In the shown machine, the motor 6 is connected to the transmission means 6 and is configured to rotate the tumbler 4 via the transmission means 6.

In the shown machine, the transmission means comprise a driveshaft. In a very preferred embodiment, the transmission means comprise a transmission band which may also be simply called “band”. Said transmission means, which may also be simply called transmission, may comprise other parts such as gears, and there are various possible alternative designs for the transmission and its connection to the motor and the tumbler. However, alternatively the motor or similar means of rotation may also be coupled directly to the tumbler for rotating the latter.

When the machine is operated the controller may be programmed to execute steps of a method according to the first aspect of the invention. For executing said steps the controller may control the motor and the tilting means as described above. Therefore, the controller preferably is operatively connected to the motor and the tilting means. In the machine, shown in FIG 1-3 the frame 7 encloses the tumbler and also supports the transmission means 5 and the motor 6.

Hence, as shown in FIG. 2, when the tilting means tilt the frame of the shown embodiment, they also tilt in the tilting direction (i.e. towards the front part in the embodiment of FIG. 2) the transmission means and the motor. In a preferred embodiment the tilting means comprise a hydraulic system which comprises a pump, an oil tank, a hydraulic piston, and two hydraulic solenoid valves for an upward and downward movement. Alternatively, the tilting means may comprise a pneumatic system, or another.

The tumbler of the machine shown in FIG. 3 also comprises paddles which are optionally configured to contain a liquid, particularly water. For containing (holding) the liquid the paddles may be shaped or be hollow so that the liquid is contained inside the paddles. In an embodiment, each of the paddles defines (has) in its interior at least one hollow chamber, and during the rotation of the tumbler, water can be retained by the paddle’s hollow chamber due to the centrifugal force created by the rotation. The water or liquid can be injected within the machine by liquid injection means. The latter may be configured, e.g. positioned, to inject the water within the tumbler, or close to the tumbler, or around the tumbler or close to the paddles. The paddles preferably have openings via which the liquid enters into the paddles. In a preferred embodiment, the liquid injection means are connected to a water supply system, and comprise valves which are controlled by the controller for controllably opening/closing and injecting the desired amounts of liquid. In a preferred embodiment water is injected into the paddles in the following way: the drum comprises guides at the rear that connect to corresponding points of each paddle; there is a water inlet at the rear (back part) of the machine and a liter counter that controls the amount of water needed in each blade; this water is injected via nozzles (injection means) into the guides, and physically reaches its position in the paddles; the machine comprises vibration sensors that measure the angle and amplitude of vibration in the machine, and produce and send to the CPU a corresponding signal; the CPU analyzes said signal, and the solenoid valves are enabled to inject the required quantity of water; the injection is done during rotation of the tumbler. FIG. 3 further depicts a door 10 of the tumbler.

FIG. 4 shows a flow diagram of a preferred embodiment of a method implemented using the machine shown in FIG. 1-3, said machine being configurable for executing said method. As shown in FIG. 4, said preferred embodiment comprises the following: In step 101 , controlling the tilting means to start tilting the frame and the tumbler in the tilting direction (i.e. towards the front part or towards the back part), and controlling the motor to rotate the tumbler at a first rotation speed and rotation direction; then,

In step 102, controlling the motor to progressively accelerate to rotate the tumbler at a second rotation speed, the second rotation speed being higher than the first rotation speed; then,

In step 103, controlling the motor to rotate the tumbler at the second rotation speed for a period of time, and monitoring or calculating values of a parameter which is related to the tumbler's rotation during the period of time; then,

In step 104, determining if according to the values a first condition is met; then,

In step 105, if the first condition is met, controlling the tilting means to stop tilting the frame and the tumbler, and controlling the motor to accelerate to rotate the tumbler at a third rotation speed which is higher than the second rotation speed.

In the preferred embodiment shown in FIG. 4, the actions of controlling the motor, controlling the tilting means, monitoring or calculating values, and determining if the first condition is met, are done with (i.e. by means of) the controller. For this reason, the controller may be programmable for executing steps 101-105 in the order shown in FIG. 4. In a preferred embodiment, in step 104 the first condition comprises that the parameter is constant or is within a first predetermined range, or that the values differ from each other each other by less than a predetermined difference. Also, in said preferred embodiment the parameter monitored (or measured) in step 103 is indicative of a torque of the motor during the period of time. However, in other embodiments said parameter may be a different one, for example is a parameter of a different characteristic of the motor, such as a current intensity, a frequency or a DC braking current.

Referring to the preferred embodiment of the method of FIG. 5, which comprises the aforementioned steps 101-105, step 105 comprises sub-steps 105a, 105b and 105c, and is as follows:

In 105a, if the first condition is met selecting to execute step 105b, and if the first condition is not met, selecting to execute step 105c; In step 105b, controlling the tilting means to stop tilting the frame, and controlling the motor to accelerate to rotate the tumbler at a third rotation speed which is higher than the second rotation speed. Referring to the embodiment of FIG. 1-3, when stopping (ending) tilting the frame this causes the tumbler to return to its original position wherein usually the tumbler is lengthwise substantially horizontal to the floor as shown in FIG. 1 ;

In step 105c, controlling the motor to decelerate to rotate the tumbler at a lower rotation speed than the second rotation speed, and continuing to repeat one or more times steps 101 to 105.

An embodiment of a method that comprises step 105c, further comprises counting the one or more times of repeating steps 101-105 if the first condition is not met, and if the count is higher than a predetermined number, triggering an alarm signal or controlling the motor to stop. This triggering preferably is done with the controller. The machine may optionally comprise a speaker, a screen, a light or another similar component that is controllable by the controller for producing said signal.

Referring to the flow diagram of FIG. 6, the therein shown method comprises steps 100a and 100b which are executed before step 101 , and are as follows:

In step 100a, controlling the motor to rotate the tumbler at an opposite rotation direction compared to the one of step 101 , and at a rotation speed which is equal to or smaller than the first rotation speed of step 101 , and

In step 100b, controlling the motor to stop rotating before executing step 101 .

An embodiment according to the fist aspect of the invention further comprises the steps 106- 108 shown in FIG. 6, and is implemented with a machine which comprises liquid injection means and a vibration measuring system which is configured to measure characteristics of mechanical vibrations in the machine. In this case, the machine’s tumbler comprises paddles which define in their interior compartments capable of being filled with and contain (hold) water. The latter can be supplied to the paddles via the liquid injection means. The latter in a very preferred embodiment are connected to the paddles. Also, in a preferred embodiment, the liquid injection means which may be also called liquid injection system, or a part of said liquid injection system, is operatively connected with the controller for controllably injecting, i.e. supplying, the desired amount of liquid to the paddles. Likewise, the vibration measuring system is preferably operatively connected to the controller. This can for example be done via a corresponding electronic interface of the controller. The aforementioned steps 106-108 are as follows:

In step 106, controlling the motor to progressively accelerate to rotate the tumbler at second intermediate rotation speeds for respective second intermediate periods of time, the second intermediate rotation speeds being higher than the third speed, and during each of the second intermediate periods of time perform the following sub-steps:

• in the vibration measuring system measuring the characteristics of mechanical vibrations in the machine;

• analyzing the characteristics of the mechanical vibrations and calculating one or more amounts of liquid;

• controlling the liquid injection means to inject the one or more amounts of liquid to one or more of the paddles 9;

• determining if a second condition is met, the second condition comprising that at least one of the characteristics of mechanical vibrations is within a second predetermined range; and

• If the second condition is met, controlling the motor to accelerate to reach a higher rotation speed at which preferably rotating the tumbler for a period of time of spinning; if the second condition is not met, optionally the entire process may be stopped, e.g. by controlling the motor to stop rotating; alternatively, the controller may control the motor and liquid injection means to repeat one or more of the aforementioned steps and sub-steps until reaching a state at which the second condition is met.

In step 107, controlling the motor to progressively decelerate to rotate the tumbler at a fifth rotation speed which is lower than the first rotation speed, and is between 2 and 6 rpm.

In step 108 controlling the motor to stop rotating.

In a preferred embodiment, said vibration measuring system comprises a first vibration detector configured to measure vibrations along a first vibrational axis, and a second vibration detector configured to measure vibrations along a second vibrational axis; the characteristics of the mechanical vibrations being measured by the vibration measuring system include a respective vibration amplitude and phase of the vibrations along each of the first and second vibrational axes; in step 106, the one or more amounts of liquid is calculated as a function of the respective vibration amplitude of the vibrations along the first and second vibrational axes; step 106 further comprises calculating or selecting the one or more of the paddles to which the amount(s) of liquid are to be injected, and said one or more of the paddles is calculated or selected as a function of the respective phase of the vibrations along the first and second vibrational axes, the first and second vibrational axes being normal to each other. Said first and second axis may respectively be X and Y axes. It is also contemplated an embodiment wherein the machine comprises one sensor adapted to measure vibrations in both first and second axes. The first and second axis may not be normal to each other.

In another embodiment which can be considered as being simpler than the previous one, the vibration measuring system comprises a vibration detector configured to measure vibrations; the characteristics of the mechanical vibrations being measured include a vibration amplitude; the one or more amounts of liquid is calculated as a function of the vibration amplitude. Similarly, in an embodiment, step 106 comprises calculating or selecting the one or more of the paddles; the vibration measuring system comprises a vibration detector configured to measure a vibration phase; the characteristics of the mechanical vibrations being measured by the vibration measuring system include the vibration phase; the one or more of the paddles to which the one or more amounts of liquid are to be injected is/are calculated or selected as a function of the vibration phase.

In a preferred embodiment the first rotation speed of step 101 is between 15 - 40 rpm, so that the machine is prepared for spinning. In a preferred embodiment the second rotation speed of step 102 is between 25 - 50 rpm so that the textiles are fixed to the walls for the parameter estimation part of the method.

An embodiment of a method according to the first aspect of the invention, which is implemented for processing garments, comprises the following:

In a first step, the machine’s tumbler rotates at low speed (3RPM) to drain the possible water, injected in a previous process in the paddles. The drainage of the paddles it’s done by gravity, and the water falls directly to a drain point of the machine. For this purpose, the paddles have drainage holes (openings). This first step is a non-limiting example of step 100a.

In a second step, which serves for affecting the garment distribution in the tumbler, the machine rotates the tumbler in clockwise and anticlockwise directions, in an alternative manner, at medium speed to divide the garments and avoid a jumble. This second step may be an optional part of the aforementioned step 100a, or of another step that precedes step 101.

In a third step, the machine rotates the tumbler at medium speed (25-28 RPM) in a clockwise sense for 30 seconds to distribute the garments (in order to avoid a jumble). This second step may be an optional part of the aforementioned step 100a or of a step that precedes step 101.

In fourth step the rotation stops. This fourth step is the aforementioned step 100b.

In a fifth step the machine tilts up to send the garments to a low part of the tumbler (i.e. the low part - also referred to as the lowest part - corresponding to the front part when the tilting direction is towards the front part, and to the back part when the tilting direction is towards the back part) in order to concentrate the load in the lowest part, and while the machine still tilted, start to rotate again in an anticlockwise sense, in order to prepare the machine for spinning. This fifth step is a non-limiting example of the aforementioned step 101.

In a sixth step, which is a non-limiting example of step 102, the machine increases the rotation speed slowly.

In a seventh step, which is a non-limiting example of step 103, the machine accelerates the tumbler rotation until reaching a rotation speed value in which the garments are fixed to the walls of the tumbler, and during the acceleration the machine stops accelerating a few seconds in different points of speed. These stops allow the garment to change their position inside of the tumbler. Whenever the speed increases, the garment near to the walls is fixed and the rest of the garments fall, changing their position, until they find an empty place near to the wall. While the machine rotates at the speed in which garments are fixed to the walls (normally 34-38 RPM), an algorithm implemented with the controller calculates the torque percentage of the motor. This percentage indicates that the garments are well or not distributed inside of the tumbler.

A constant value for the torque means that the load is equally divided around the tumbler.

In an eighth step, which is a non-limiting example of step 104, determining if the torque value is correct. A constant value for the torque, which is an example of the first condition, means that the load is equal distributed around the tumbler.

In a ninth step, which is a non-limiting example of step 105, if the torque value is correct, the spinning process goes on and the machine tilts down and accelerates. However, If the value is not correct, the machine decelerates (25-28 RPM) and try again the previous steps starting from the second step. A CPU of the controller counts the quantity of trials done, and if the value is higher than a set point configured, an alarm appears to stop the process. That means that the load is not possible to distribute for spinning at high-speed.

In a tenth step, which is a non-limiting example of step 106, assuming that the machine has been tilted down and the tumbler is accelerated for the spinning process, the machine stops accelerating in a few points of rpm to measure the vibration. The balancing system starts to work when the machine reaches 120 RPM. The machine has paddles with internal gaps done to inject water inside of them. The balancing system reduces the vibrations injecting water in the paddles. The balancing system gives two measures, amplitude commonly measured in mm/s (milometers per second) and phase (°), for each sensor. The machine has two sensors, axis X and axis Y, for horizontal and vertical vibrations. With the amplitude, the algorithm, calculates the quantity of water to inject in the paddle, and with the phase calculate the direction of the forces created by vibrations, so the CPU can instruct to inject a quantity of water in the correspondent paddle, to counterbalance the load and reduce the vibration of the machine. Usually, a vibration amplitude of <4 mm/sec is acceptable and allows for raising the rpm from 140 rpm to 500 rpm at constant intervals repeating steps, wherein during said intervals operating the balancing system for finely controlling the vibration. In an eleventh step, once the machine reaches the speed set by the user, the speed is maintained, and the spinning time is counted. The balancing system works until the time finishes.

In a twelfth step, which is a non-limiting example of step 107, once the spinning time finish, the machine decelerates slowly (3-5 RPM/s) to avoid vibrations and high temperatures in the brake resistances, and the machine rotates at low speed (3RPM) to drain the possible water, injected in the spinning process in the paddles.

In an embodiment, the parameter related to the tumbler's rotation (which may be configured to be indicative (i.e. an indicator) of a status of rotational balance/imbalance of the tumbler), is a parameter which is indicative of the torque of the motor; preferably said parameter is the torque of the motor. In an embodiment, the parameter is the power of the motor which drives the rotation of the tumbler. Alternatively, the value of said parameter may be a percentage of the motor’s torque or power. A preferred embodiment of the machine for processing textiles according to the invention, is configurable to execute the steps of the method according to the first aspect of the invention. A preferred embodiment of a computer program according to another aspect of the invention, comprises instructions to cause the aforementioned machine to execute the steps of the method of the first aspect of the invention. Such a program, may be executed by the controller of the machine. A preferred embodiment of a computer-readable medium according to the invention, comprises a computer-readable medium having stored thereon the aforementioned computer program.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. For example, other aspects may be implemented in hardware or software or in a combination of hardware and software. Additionally, the software programs included as part of the invention may be embodied in a computer program product that includes a computer useable medium, for example, a readable memory device, such as a hard drive device, a flash memory device, a CD ROM, a DVD/ROM, or a computer diskette, having computer readable program code segments stored thereon. The computer readable medium can also include a communications link, either optical, wired, or wireless, having program code segments carried thereon as digital or analog signals.