CN112806932B

CN112806932B - Method for a dishwasher, control device, processor and dishwasher

Info

Publication number: CN112806932B
Application number: CN202110020304.4A
Authority: CN
Inventors: 王彩霞; 张飞豹; 范志恒; 全永兵
Original assignee: Foshan Shunde Midea Washing Appliances Manufacturing Co Ltd
Current assignee: Foshan Shunde Midea Washing Appliances Manufacturing Co Ltd
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2022-02-01
Anticipated expiration: 2041-01-07
Also published as: CN112806932A

Abstract

The invention belongs to the field of household appliances, and discloses a method for a dish-washing machine, a control device, a processor and the dish-washing machine, wherein an image in the dish-washing machine is obtained; controlling the spray arm to rotate and spraying cleaning media from the spray hole; determining a reference straight line according to the image, wherein the reference straight line intersects with the contour pattern of the tableware and passes through a projection point projected onto the plane of the tableware by the spray hole; determining the maximum distance between the intersection point of the reference straight line and the outline graph and the projection point; determining a first angle by which the spray arm rotates from when the cleaning medium just contacts the dishes to when the cleaning medium follows the reference line according to the image; determining a second angle at which the spray arm rotates from when the cleaning medium is along the reference line to when the cleaning medium just leaves the dishes according to the image; determining an estimated value of the maximum distance according to the first angle, the second angle and the radius of the contour graph; and under the condition that the difference value between the maximum distance and the estimated value exceeds a threshold value, determining the placing inclination of the tableware, and realizing the automatic detection of the placing state of the tableware, wherein the control is simple.

Description

Method for a dishwasher, control device, processor and dishwasher

Technical Field

The present invention relates to the field of household appliances, in particular to a method for a dishwasher, a control device, a processor, a dishwasher, a storage medium and a computer program product.

Background

Along with the improvement of living standard, the use rate of the dish washing machine is higher and higher. However, in the related art dishwasher, if some dishes are not placed (e.g., tilted) in a position of a rack (e.g., a basket) during washing of the dishes, there is a risk of damage to the dishes during the washing process.

Disclosure of Invention

An object of embodiments of the present invention is to provide a method, a control device, a processor, a dishwasher, a storage medium and a computer program product for a dishwasher, which can automatically detect whether dishes are tilted or not, reduce the risk of damage to the dishes, and facilitate the improvement of the washing quality of the dishwasher and the user experience.

In order to achieve the above object, a first aspect of the present invention provides a method for a dishwasher, the dishwasher including a washing chamber, a spray arm and a rack being disposed in the washing chamber, the spray arm being capable of rotating around a central rotation axis, the spray arm having spray holes disposed thereon, the method comprising:

acquiring an image of the interior of the dishwasher;

controlling the spray arm to rotate and spraying cleaning media from the spray hole;

determining a reference straight line according to the image, wherein the reference straight line intersects with the contour pattern of the tableware and passes through a projection point projected onto the plane of the tableware by the spray hole;

determining the maximum distance between the intersection point of the reference straight line and the outline graph and the projection point;

determining a first angle by which the spray arm rotates from when the cleaning medium just contacts the dishes to when the cleaning medium follows the reference line according to the image;

determining a second angle at which the spray arm rotates from when the cleaning medium is along the reference line to when the cleaning medium just leaves the dishes according to the image;

determining an estimated value of the maximum distance according to the first angle, the second angle and the radius of the contour graph;

in the event that the difference between the maximum distance and the estimated value exceeds a threshold value, the dish placement tilt is determined.

In the embodiment of the invention, the reference straight line is a straight line formed by projecting the transverse bar in the shelf onto the plane of the tableware.

In an embodiment of the invention, the radius is determined from the image.

In an embodiment of the present invention, determining the estimated value of the maximum distance based on the first angle, the second angle, and the radius of the contour pattern comprises:

the estimate is calculated according to the following formula:

where AF is the estimated value, α is the first angle, β is the second angle, and r is the radius.

In an embodiment of the present invention, determining from the image a first angle at which the spray arm rotates from when the cleaning medium just contacts the dishes to when the cleaning medium is along the reference line comprises:

determining a first moment when the shape of the cleaning medium is changed according to the image;

determining a second moment when the cleaning medium is along the reference straight line according to the image;

and determining a first angle according to the difference value between the first moment and the second moment and the rotating speed of the spray arm.

In an embodiment of the invention, determining from the image a second angle at which the spray arm rotates from when the cleaning medium is in a straight line to when it is just off the dishes comprises:

determining a third moment when the shape of the cleaning medium is recovered according to the image;

and determining a second angle according to the difference value between the second moment and the third moment and the rotating speed.

A second aspect of the invention provides a processor configured to perform the method for a dishwasher described above.

A third aspect of the present invention provides a control device for a dishwasher, the control device comprising:

the image acquisition device is used for acquiring an image inside the dish washing machine; and

the processor described above.

In an embodiment of the present invention, the control device further comprises:

and the angle sensor is used for detecting the rotating angle of the spray arm.

In a fourth aspect, the invention provides a dishwasher, comprising

The spraying arm is arranged in the dishwasher and can rotate around the central rotating shaft, and is provided with spray holes for spraying cleaning media; and

the control device for the dishwasher is described above.

A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to perform the method for a dishwasher described above.

A sixth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the method for a dishwasher described above.

Through the technical scheme, the maximum distance between the intersection point of the reference straight line and the contour figure and the projection point is obtained by processing the internal image of the dish washing machine, the estimated value of the maximum distance is obtained, the maximum distance is compared with the estimated value to determine whether the tableware is placed obliquely or not, the control is simple, the operation is easy, the automatic detection of the placement state of the tableware is realized, the cleaning quality of the dish washing machine is favorably improved, and the intelligence degree of the dish washing machine and the use experience of a user are improved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1A schematically shows a schematic structural view of a dishwasher according to an embodiment of the present invention, in which a method for a dishwasher according to an embodiment of the present invention may be applied;

FIG. 1B schematically illustrates a front view of the structure of a dishwasher in accordance with an embodiment of the present invention;

FIG. 1C schematically illustrates a schematic structural view of a washing mechanism of a dishwasher in accordance with an embodiment of the present invention;

FIG. 1D schematically illustrates a partial structural view of the purge mechanism of FIG. 1C;

FIG. 2 is a schematic view illustrating a positional relationship between dishes, a rack, and a spray arm when the dishwasher according to an embodiment of the present invention washes the dishes;

FIG. 3 schematically shows a schematic flow diagram of a method for a dishwasher according to an embodiment of the invention;

fig. 4 schematically shows a functional block diagram of a dishwasher according to an embodiment of the present invention.

Description of the reference numerals

100 dishwasher 1 casing

2 cleaning structure 22 rack

23 drive motor 24 treatment apparatus

25 spray arm 251 spray holes

26 control device for mounting bracket 3

31 image acquisition device 32 processor

33 angle sensor 34 door detection sensor

35 memory 36 prompting device

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

Fig. 1A schematically shows a schematic configuration of a dishwasher according to an embodiment of the present invention, in which a method for a dishwasher according to an embodiment of the present invention may be applied. Fig. 1B schematically shows a front view of the structure of a dishwasher according to an embodiment of the present invention. It should be understood that FIGS. 1A and 1B illustrate only one embodiment of the dishwasher 100 and are not intended to limit the shape, location, manner of installation and relationship of the parts of the dishwasher not relevant to the present invention;

as shown in fig. 1A and 1B, the dishwasher 100 may include a housing 1 and a washing mechanism 2 disposed inside the housing 1. The outer contour of the housing 1 may include, but is not limited to, a rectangular, cylindrical shape.

The washing means 2 may comprise an image acquisition device 31, a rack 22, a processing device 24 and a spray arm 25.

A rack 22 (e.g., a basket) may be secured inside the dishwasher 100 for holding dishes and the image capture device 31 may include a camera or an image sensor (e.g., an infrared sensor). The image acquisition device 31 may be arranged in a plurality of orientations within the dishwasher 100. The processing device 24 may be electrically connected to the image acquisition device 31.

The image capturing device 31 may be used to capture images within the dishwasher 100 and the processing device 24 may be used to process the captured images.

For example, after the dishes are placed on the rack 22, the image capturing device 31 may capture an image of the dishes on the rack 22. The processing device 24 can acquire the image and determine characteristics of the dishes placed within the dishwasher 100 to control the spray arms to wash the dishes according to the characteristics of the dishes.

The processing device 24 may include a processor 32, examples of which may include, but are not limited to, a general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) circuit, any other type of Integrated Circuit (IC), a state machine, and so forth.

In one example, the spray arm may take a rotatable form. That is, the spray arm is able to rotate about a central axis of rotation.

FIG. 1C schematically illustrates a schematic structural view of a washing mechanism of a dishwasher in accordance with an embodiment of the present invention; FIG. 1D schematically illustrates a partial structural view of the purge mechanism of FIG. 1C. Referring to fig. 1B to 1D, the washing mechanism 2 may further include a driving motor 23, and the driving motor 23 may be disposed at a lower side in the dishwasher 100, or may be disposed at a back side of the dishwasher 100, i.e., a side where the dishes are placed away from the user. The drive motor 23 may be connected to a spray arm 25. The spray arm 25 is provided with spray holes 251 communicated with the interior of the spray arm 25, and the spray holes 251 can be arranged on the spray arm 25 at intervals so that the spray arm 25 sprays a larger range. In one example, the spray arm 25 may be cylindrical, and the orifices 251 are spaced apart in the cross-section of the spray arm 25 and arranged in an array such that water ejected from the orifices 251 is emitted at an angle.

In an embodiment of the present invention, the dishwasher 100 may further include a water pressure transducer (not shown), a water heater (not shown), and a water valve (not shown). The water pressure transducer and water heater may be electrically connected to the processing equipment 24, and the water pressure transducer, water heater, and water valve may be internally connected and in communication with the spray arm 25. The connection of the spray arm 25 with the water pressure transmitter, the water heater, the water valve, and the driving motor 23 may be a direct connection or an indirect connection through an intermediate member.

The water valve can be used for controlling the water yield of the sprayed water, the water pressure transmitter can be used for controlling the water outlet pressure, the water heater can be used for controlling the water outlet temperature, and the driving motor 23 can be used for driving the spraying arm 25 to rotate. In one example, the spray arm 25 may be disposed at a central location within the dishwasher. The central position may be defined as a middle position of the plurality of racks 22 in the dishwasher 100 so as to cover dishes on the plurality of racks 22 when the spray arm 25 rotates, thereby saving space inside the dishwasher 100. Only a single spray arm 25 is needed to spray the tableware on a plurality of shelf 22, which saves the cost of design and material and brings more use space.

The water valves, water pressure transducer, water heater, and drive motor 23 may be controlled by the processing device 24. For example, the area of the rack 22 for placing dishes can be divided into four quadrants, namely, the first, second, third and fourth quadrants. Processing device 24 may control drive motor 23 to rotate spray arm 25 such that orifice 251 is directed toward any of the four quadrants. In addition, the treatment device 24 may also control a water valve to adjust the amount of water discharged from the nozzle hole 251 (or stop the water discharge).

In the embodiment of the present invention, the driving motor 23 may also drive the spray arm 25 to translate. When the spray arm 25 is translatable, the dishwasher 100 may further include a conversion mechanism (not shown) coupled between the drive motor 23 and the spray arm 25 that converts rotation of the drive motor 23 into translation of the spray arm 25.

In the present embodiment, the shelf 22 may include one or more shelves, such as two shelves. In the example of a two-level rack shown in the figures, the spray arm 25 may be located in the middle of the two racks 22 so that all dishes on the two racks 22 may be sprayed when the spray arm 25 is rotated.

In an embodiment of the present invention, the dishwasher 100 may further include a mounting bracket 26, and the spray arm 25 may be rotatably coupled to the mounting bracket 26. The mounting bracket 26 is fixed in position such that the spray arm 25 can rotate relative to the mounting bracket 26. the manner in which the mounting bracket 26 is fixed in position is not limited, as the mounting bracket 26 can be fixedly attached to the carrier 22 or elsewhere.

Fig. 2 schematically shows the positional relationship between the dishes, the rack 22, and the spray arm 25 when the dishes are washed. As shown in fig. 2, point a is the position of the nozzle 251 on the spray arm 25; in the present embodiment, the dish is taken as an example, and the outline shape of the dish may be a circle (i.e., a circle O), the center of the circle being the point O, and the radius being r. After the tableware is placed on the shelf 22, a transverse (horizontal) strip on the shelf 22 (such as a bowl basket) can be used as a reference object, a straight line of a projection of the strip onto a circular plane passes through a point A, the straight line of the projection intersects with the circle at two points, wherein an intersection point close to the point A is a point E, and an intersection point far away from the point A is a point F; the spray arm 25 can be rotated about its central axis of rotation during spray cleaning of the dishes. When the spray arm 25 is rotated to the first position, the shape of the cleaning medium (e.g., water) ejected from the spray holes of the spray arm 25 may approximate a straight line, and when the cleaning medium is about to contact the dishes as the spray arm 25 rotates, i.e., at point B of the circle in the figure, the cleaning medium is changed in shape due to contact with the dishes, e.g., spatter occurs. When the cleaning medium is rotated with spray arm 25 just out of contact with the dishes, at point C of the circle in the figure, the shape of the cleaning medium will return to the shape before contact with the dishes, e.g., approximately a straight line. In the representation in fig. 2, the points B and C may be tangent points of a straight line passing through the points a and B and a straight line passing through the points a and C, respectively, and the circle O. The cleaning medium can be determined to pass through the points B, C and F by taking a picture in the dishwasher. Further, as shown in fig. 2, a straight line AO is a connecting line between the points a and O; the straight line BO is a connecting line between the point B and the point O, and the length of the straight line BO is equal to the radius r of the tableware; the line FO is the line between points F and O, and the length of the line FO is also equal to the radius r of the dish.

Because the straight line AB and the straight line AC are tangent lines from the point A to the circle O (namely tableware), the triangle ABO and the triangle ACO are both right-angled triangles, namely the angle ABO is 90 DEG, and the angle ABO is provided with

∠BAO＝∠CAO＝0.5∠BAC (1)；

In the right-angled triangle ABO, under the condition of knowing r and & lt BAO, the length of a straight line AO can be calculated according to the sine theorem, namely

AO＝r/sin(∠BAO) (2)；

From fig. 2 it can also be seen that:

∠OAF＝∠CAO-∠FAC (3)；

in the triangle OAF, under the condition of knowing AO, r and & lt OAF, & lt OFA can be calculated according to sine theorem, namely & lt OAF

sin(∠OFA)＝sin(∠OAF)*AO/r (4)；

Under the condition of obtaining the angle OFA and the angle OAF, the angle AOF can be calculated according to the condition that the sum of three internal angles of the triangle is equal to 180 degrees;

under the condition of learning r, angle AOF and angle OFA, the length of the straight line AF can be calculated according to the sine theorem, namely

AF＝r*sin(∠AOF)/sin(∠OAF) (5)；

According to the above equations (1) to (5), the deformation can be given by equation (6):

referring again to FIG. 2:

∠BAO＝(∠BAF+∠FAC)/2 (7)；

∠OAF＝(∠BAF-∠FAC)/2 (8)；

that is, under the condition that ≈ BAF, < FAC and r are known, let ≥ BAF be α and angle FAC be β, equation (6) can be rewritten as:

the length of the straight line AF can be calculated according to equation (9).

Based on the inventive concept described above, embodiments of the present invention provide a method for a dishwasher 100. Fig. 3 schematically shows a flow diagram of a method for the dishwasher 100 according to an embodiment of the invention. As shown in fig. 3, in an embodiment of the present invention, the dishwasher 100 includes a washing chamber, a spray arm 25 and a rack 22 are disposed in the washing chamber, the spray arm 25 can rotate around a central rotation shaft, and the spray arm 25 is provided with spray holes 251, and a method for the dishwasher 100 may include the following steps:

in step S301, an image of the interior of the dishwasher 100 is acquired;

in step S302, the spray arm 25 is controlled to rotate and spray the cleaning medium from the spray hole 251;

in step S303, determining a reference straight line from the image, wherein the reference straight line intersects the outline pattern of the tableware and passes through the projection hole 251 to project to a projection point on the plane of the tableware;

in step S304, determining the maximum distance between the intersection point of the reference straight line and the outline graph and the projection point;

in step S305, a first angle by which the spray arm 25 rotates from when the cleaning medium just contacts the dishes to when the cleaning medium follows the reference straight line is determined from the image;

in step S306, a second angle by which the spray arm 25 rotates from when the cleaning medium is along the reference line to when it is just off the dishes is determined from the image;

in step S307, determining an estimated value of the maximum distance according to the first angle, the second angle, and the radius of the contour pattern;

in step S308, in the case where the difference between the maximum distance and the estimated value exceeds the threshold value, it is determined that the tableware placement inclination.

The dishwasher 100 in this embodiment includes a control device 3, the control device 3 includes an image acquisition device 31, a door detection sensor 34 and a processor 32, wherein the image acquisition device 31 is disposed inside the dishwasher 100 and is used for acquiring an image inside the dishwasher 100, and the image acquisition device 31 in this embodiment includes a camera; the door detection sensor 34 is disposed on the door of the dishwasher 100, for detecting the door opening and closing motions of the door of the dishwasher 100; the processor 32 is electrically connected to the image capturing device 31 and the door detection sensor 34, and is used for controlling the image capturing device 31 and the door detection sensor 34 to perform their respective functions.

Specifically, when the user of the dishwasher places dishes on the rack 22 and closes the door of the dishwasher 100, the door detection sensor 34 detects that the door of the dishwasher 100 is closed, and the door detection sensor 34 sends a door closing signal to the processor 32. The processor 32 sends a control instruction to the image capturing device 31 after receiving the door closing signal, and controls the image capturing device 31 to capture a first image of the inside of the dishwasher 100 and transmit the first image to the processor 32, so that the processor 32 processes and identifies the first image and obtains a first image identification result. The first image recognition result includes a reference straight line, wherein the reference straight line may be a straight line formed by projecting a horizontal bar in the rack 22 onto a plane of the dishes. Referring to fig. 2, the reference straight line may be a straight line AF in fig. 2, and the reference straight line intersects the outline pattern (i.e., a circle O in fig. 2) of the dish and passes through a projection point of the injection hole 251 projected onto the plane of the dish, specifically, the projection point of the injection hole 251 projected onto the plane of the dish is a point a in fig. 2, two intersection points formed by the intersection of the reference straight line and the outline pattern of the dish are points E and F in fig. 2, respectively, and the points a, E and F are on the same straight line. The first image recognition result further includes the radius of the tableware, and the maximum distance between the intersection point of the reference straight line and the contour graph and the projection point, that is, the radius of the tableware can be obtained after the processor 32 processes and recognizes the first image, the radius of the tableware is r in fig. 2, the maximum distance between the intersection point of the reference straight line and the contour graph and the projection point is AF1, and AF1 is an actual measurement value between the nozzle hole 251 and the intersection point far away from the nozzle hole 251 (i.e., point F in fig. 2).

The processor 32 can control the spray arm 25 to start rotating and spray the cleaning medium (e.g., water) from the spray holes 251 to clean the dishes, and during the rotation of the spray arm 25, the processor 32 controls the image capture device 31 to continuously capture the image of the inside of the dishwasher 100, and the image capture device 31 transmits the image of the inside of the dishwasher 100 to the processor 32 to process and identify the image to obtain a first angle and a second angle, wherein the first angle is an angle rotated by the spray arm 25 from the moment the cleaning medium contacts the dishes to the moment the cleaning medium follows the reference straight line, and the second angle is an angle rotated by the spray arm 25 from the moment the cleaning medium follows the reference straight line to the moment the cleaning medium leaves the dishes. Further, when the cleaning medium comes into contact with the dishes, the proceeding path of the cleaning medium is changed (e.g., spattering occurs) due to the blockage of the dishes, and thus, the shape of the cleaning medium sprayed from the spray holes 251 when the cleaning medium does not come into contact with the dishes is different from the shape of the cleaning medium when the cleaning medium comes into contact with the dishes during the rotation of the spray arm 25.

The image acquired by the image acquisition device 31 includes a second image, and the result of processing and recognizing the second image by the processor 32 shows that the shape of the cleaning medium ejected from the nozzle hole 251 is changed at the time of acquiring the second image, wherein the time of acquiring the second image is a first time, which indicates that the cleaning medium just contacts the tableware at the first time; the image acquired by the image acquisition device 31 further includes a third image, and the processor 32 processes and identifies the third image to display that the cleaning medium ejected from the nozzle hole 251 at the time of acquiring the third image is along the reference straight line, where the time of acquiring the third image is a second time, which indicates that the advancing path of the cleaning medium at the second time is parallel to the reference straight line (i.e., the cleaning medium is along the reference straight line). The processor 32 can obtain a first time and a second time according to the second image and the third image, then obtain the rotation speed of the spray arm 25, and obtain the angle of the spray arm 25 rotating from the first time to the second time according to the difference between the first time and the second time and the rotation speed of the spray arm 25, where the angle is a first angle, that is, an angle value of × BAF in fig. 2.

The image acquired by the image acquisition device 31 further includes a fourth image, the processor 32 processes and displays the result of recognition on the fourth image, and the result shows that the shape of the cleaning medium ejected from the nozzle 251 is restored at the moment when the fourth image is acquired, wherein the moment when the fourth image is acquired is the third moment, which indicates that the cleaning medium just leaves the tableware at the third moment, and the processor 32 can obtain the angle of rotation of the spray arm 25 from the second moment to the third moment according to the difference between the second moment and the third moment and the rotation speed of the spray arm 25, and the angle is the second angle, which is the angle value of ^ FAC in fig. 2.

In another embodiment of the present invention, the control device 3 further comprises an angle sensor 33, and the angle sensor 33 is electrically connected to the processor 32 for obtaining the rotation angle of the spray arm 25. The processor 32 obtains a first rotation angle of the spray arm 25 when the cleaning medium just contacts the tableware according to a first moment, obtains a second rotation angle of the spray arm 25 when the cleaning medium is along a straight line according to a second moment, and then obtains a rotation angle of the spray arm 25 from the first moment to the second moment, namely a first angle (namely an angle value of × BAF), according to a difference value between the second rotation angle and the first rotation angle; the angle sensor 33 can also acquire a third rotation angle of the spray arm 25 just after the cleaning medium leaves the tableware according to a third moment, and then acquire an angle of rotation of the spray arm 25 from the second moment to the third moment, namely a second angle (namely an angle value of ═ FAC), according to a difference value between the third rotation angle and the second rotation angle.

The processor 32 determines the estimated value of the maximum distance according to a formula in the case of acquiring the radius of the profile pattern (i.e., the radius r of the tableware), the first angle (i.e., the angle value of ≦ BAF), and the second angle (i.e., the angle value of ≦ FAC), which is calculated and acquired by the formula (9) (or the formula (6)) in the present embodiment, i.e., the value of the straight line AF in fig. 2.

After acquiring the maximum distance between the intersection of the reference line and the contour pattern and the projected point (i.e., AF1) and the estimated value of the maximum distance (i.e., AF), processor 32 calculates the difference between the two and compares the difference with a threshold, and if the difference exceeds the threshold, determines that the dish is tilted. The control device 3 further comprises a memory 35 electrically connected with the processor 32, and the memory 35 stores a threshold value; further, the control device 3 further comprises a prompting device 36 electrically connected to the processor 32, the prompting device 36 comprises an indicator light or a player, when the processor 32 detects that the tableware is placed obliquely, if the spraying arm 25 continues to clean the tableware at this time, the cleaning quality cannot be guaranteed, and the tableware may be damaged in the cleaning process, so that the processor 32 should control the indicator light in the prompting device 36 to light up, or control the player to play a voice of placing the inclined tableware, so as to prompt the user of the dishwasher to place the tableware again; if the difference does not exceed the threshold, then the dish placement is determined to be correct and processor 32 may control spray arm 25 to continue washing the dishes.

The method for the dish washing machine, provided in the embodiment, obtains the maximum distance between the intersection point of the reference straight line and the outline graph and the projection point by processing the internal image of the dish washing machine, and the estimated value of the maximum distance, and compares the maximum distance with the estimated value to determine whether the tableware is placed obliquely or not, is simple to control and easy to operate, realizes automatic detection of the placing state of the tableware, is beneficial to improving the cleaning quality of the dish washing machine, and improves the intelligence degree of the dish washing machine and the use experience of a user.

Another embodiment of the present invention provides a processor configured to perform the above-mentioned method for a dishwasher provided by an embodiment of the present invention.

Another embodiment of the present invention provides a control device 3 for a dishwasher, as shown in fig. 4, the control device 3 including:

an image-capturing device 31 for capturing an image of the inside of the dishwasher 100;

an angle sensor 33 for detecting the rotation angle of the shower arm 25; and

a processor 32 configured to:

acquiring an image of the interior of the dishwasher 100;

controlling the spray arm 25 to rotate and spray the cleaning medium from the spray hole 251;

determining a reference straight line according to the image, wherein the reference straight line intersects with the contour pattern of the tableware and passes through the spray hole 251 to be projected to a projection point on the plane of the tableware;

determining from the image a first angle by which spray arm 25 is rotated from when the cleaning medium has just contacted the dishes to when the cleaning medium is along the reference line;

determining from the image a second angle at which spray arm 25 is rotated from when the cleaning medium is along the reference line to when it is just off the dishes;

In an embodiment of the invention, the processor 32 is further configured to:

determining an estimate of the maximum distance based on the first angle, the second angle, and the radius of the profile includes:

calculating the estimate according to the following formula:

In an embodiment of the invention, the processor 32 is further configured to:

determining from the image a first angle at which spray arm 25 is rotated from when the cleaning medium just contacted the dishes to when the cleaning medium is along the reference line includes:

and determining the first angle according to the difference value between the first moment and the second moment and the rotating speed of the spray arm 25.

In an embodiment of the invention, the processor 32 is further configured to:

determining from the image a second angle at which spray arm 25 is rotated from when the cleaning medium is along a straight line to when it is just off the dishes comprises:

Another embodiment of the present invention provides a dishwasher, including:

a spray arm 25 disposed inside the dishwasher to be rotatable around a central rotation axis, the spray arm 25 being provided with spray holes 251 for spraying a cleaning medium; and

the control device 31 for a dishwasher provided in an embodiment of the present invention.

Another embodiment of the present invention provides a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to perform the above-described method for a dishwasher provided by an embodiment of the present invention.

Another embodiment of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the above-described method for a dishwasher provided by an embodiment of the invention.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for a dishwasher, the dishwasher comprising a washing chamber, a spray arm and a rack disposed in the washing chamber, the spray arm being rotatable about a central axis of rotation, the spray arm having spray holes disposed thereon, the method comprising:

acquiring an image of the interior of the dishwasher;

determining a reference straight line according to the image, wherein the reference straight line intersects with the outline graph of the tableware and passes through the spray hole to be projected to a projection point on the plane of the tableware;

determining from the image a first angle that the spray arm rotates from when the cleaning medium just contacts the dishes to when the cleaning medium is along the reference line;

determining a second angle that the spray arm rotates from when the cleaning medium is along the reference line to when the cleaning medium just leaves the dishes according to the image;

determining the utensil placement tilt if the difference between the maximum distance and the estimated value exceeds a threshold.

2. The method of claim 1, wherein the reference line is a line formed by projecting a horizontal bar in the rack onto the plane of the dishes.

3. The method of claim 1, wherein the radius is determined from the image.

4. The method of claim 1, wherein said determining an estimate of the maximum distance based on the first angle, the second angle, and the radius of the profile comprises:

calculating the estimate according to the following formula:

wherein AF is the estimated value, α is the first angle, β is the second angle, and r is the radius.

5. The method of claim 1, wherein said determining from said image a first angle at which said spray arm rotates between when said cleaning medium has just contacted said dish and when said cleaning medium is along said reference line comprises:

and determining the first angle according to the difference value between the first moment and the second moment and the rotating speed of the spray arm.

6. The method of claim 5, wherein said determining from said image a second angle that said spray arm rotates from when said cleaning medium is along said line to just off said dish comprises:

and determining the second angle according to the difference value between the second moment and the third moment and the rotating speed.

7. A processor configured to perform the method for a dishwasher of any one of claims 1 to 6.

8. A control device for a dishwasher, comprising:

an image acquisition device for acquiring an image of the inside of the dishwasher; and

the processor of claim 7, configured to acquire the image from the image acquisition device.

9. The control device according to claim 8, characterized by further comprising:

and the angle sensor is used for detecting the rotating angle of the spray arm.

10. A dishwasher, comprising:

the spraying arm is arranged in the dishwasher and can rotate around a central rotating shaft, and spray holes are formed in the spraying arm and used for spraying cleaning media; and

the control device for a dishwasher according to claim 8 or 9.

11. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the method for a dishwasher of any one of claims 1 to 6.