CN116784742A

CN116784742A - Tableware cleaning control method and device and related products

Info

Publication number: CN116784742A
Application number: CN202210264225.2A
Authority: CN
Inventors: 袁友利; 叶璐; 普璇
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-03-17
Filing date: 2022-03-17
Publication date: 2023-09-22

Abstract

The application relates to a tableware cleaning control method, a device and related products. The tableware cleaning control method is applied to a tableware cleaning machine, the tableware cleaning machine comprises a cleaning platform, an input connection platform and an output connection platform, the input connection platform senses that the robot and the input connection platform are in butt joint, tableware conveyed on the robot is taken out and conveyed into a cleaning box of the cleaning platform, the cleaning platform performs cleaning operation on the tableware in the cleaning box, a first conveying signal is sent to the output connection platform after the tableware is cleaned, and the output connection platform conveys the cleaned tableware to the output connection platform according to the first conveying signal. By adopting the method, the labor burden of carrying tableware by workers can be reduced, the whole tableware cleaning operation is intelligent, the tableware cleaning time can be saved, and the tableware cleaning efficiency can be improved.

Description

Tableware cleaning control method and device and related products

Technical Field

The application relates to the technical field of tableware cleaning machines, in particular to a tableware cleaning control method, a tableware cleaning control device and related products.

Background

The dish washing machine is widely favored as an intelligent household appliance for automatically washing dishes. The dining service can be provided in a plurality of large-scale canteens, hotels and public facilities, the number of people eating the dining table in a single day is excessive, and the number of used tableware is multiple times of the number of people eating the dining table, so that great tableware cleaning workload can be caused for staff.

In the related art, after the tableware is used, the tableware is carried to a tableware cleaning machine by a worker, and then the tableware is automatically cleaned by the tableware cleaning machine. However, the related art is too labor-dependent, resulting in low dish washing efficiency.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a dish washing control method, apparatus and related products.

In a first aspect, the present application provides a method of controlling dish washing, the method being applied to a dish washing machine, the dish washing machine comprising a washing platform, an input docking platform, and an output docking platform;

the method comprises the following steps:

after the input connection platform senses that the robot and the input connection platform are in butt joint, taking out tableware on the robot and conveying the tableware into a cleaning box of the cleaning platform;

the cleaning platform performs cleaning operation on tableware in the cleaning box, and sends a first transmission signal to the output connection platform after the tableware is cleaned;

the output connection platform is used for conveying the washed tableware from the inside of the washing box to the output connection platform according to the first conveying signal.

In one embodiment, the input docking platform includes an input controller, a contact sensor, an interface, and an input track;

After the input connection platform senses that the robot and the input connection platform are in butt joint, tableware on the robot is taken out and conveyed into a cleaning box of the cleaning platform, and the input connection platform comprises:

the input controller acquires a docking state detection signal acquired by the contact sensor, wherein the docking state detection signal represents the docking state of the robot and the docking interface;

if the docking state indicated by the docking state detection signal is that the robot has completed docking with the docking station, the input controller generates a second transmission signal, and the second transmission signal is used for indicating that the tableware is moved onto the input track;

the input controller conveys the tableware into the washing tank of the washing platform through the input track.

In one embodiment, the input docking platform further comprises a first position sensor and a pushing motor which are respectively in communication connection with the input controller, and the pushing motor is connected with the input track;

the input controller conveys tableware into the cleaning box of the cleaning platform through the input track, and the input controller comprises:

the input controller acquires a first position detection signal acquired by a first position sensor, wherein the first position detection signal represents the position of tableware on an input track;

if the position indicated by the first position detection signal is the interface position between the input track and the cleaning platform and the cleaning box door is in an open state, the input controller drives the pushing motor to convey the tableware from the input track into the cleaning box.

In one embodiment, the cleaning platform includes a cleaning controller; the washing platform performs a washing operation on the dishes in the washing tank, comprising:

the washing controller controls the washing door to be closed when detecting that the tableware is at a target position in the washing box, and performs a washing operation on the tableware.

In one embodiment, the cleaning platform further comprises a door drive motor, a cleaning drive motor, a second position sensor and a status sensor, which are respectively in communication with the cleaning controller;

the washing controller controls the washing door to be closed and performs a washing operation on the dishes when detecting that the dishes are at a target position in the washing box, comprising:

the cleaning controller acquires a second position detection signal acquired by a second position sensor and an opening and closing state detection signal acquired by a state sensor; the second position detection signal indicates the position of the tableware in the washing tank; the open-close state detection signal indicates the open-close state of the cleaning box door;

if the position indicated by the second position detection signal is the target position of the tableware in the washing box, and the washing box door indicated by the open-close state detection signal is in an open state, the washing controller controls the washing box door to be closed through the driving box door driving motor and starts through driving the washing driving motor to execute washing operation on the tableware.

In one embodiment, the washing driving motor includes a main washing motor and a rinsing motor, the washing tank includes a main washing tank and a rinsing tank, and the washing operation includes a main washing operation and a rinsing operation;

the method for performing a washing operation on dishes by driving the washing drive motor, comprising:

the cleaning controller is used for injecting cleaning water into the rinsing water tank by controlling the electromagnetic valve of the cleaning platform to open and detecting whether the cleaning water in the rinsing water tank meets preset conditions or not;

if the preset condition is met, the cleaning controller controls a water valve between the main water tank and the rinsing water tank to be opened, and cleaning water in the rinsing water tank is injected into the main water tank;

if the water quantity in the main washing water tank reaches the first preset water level, the main washing motor is driven to start to execute the main washing operation, and after the main washing operation of the tableware is finished, the rinsing motor is controlled to start to execute the rinsing operation.

In one embodiment, the cleaning platform further comprises an electromagnetic valve, a heater, a temperature sensor and a first water level sensor arranged on the rinsing water tank;

detecting whether the cleaning water in the rinsing water tank meets a preset condition includes:

the cleaning controller acquires a first water level acquired by a first water level sensor, controls the electromagnetic valve to be closed when the first water level reaches a second preset water level, and starts to heat cleaning water in the rinsing water tank by controlling the heater;

The cleaning controller obtains the water temperature acquired by the temperature sensor, controls the heater to be closed when the water temperature reaches a preset temperature threshold value, and determines that the cleaning water in the rinsing water tank meets preset conditions.

In one embodiment, the cleaning platform further comprises a water valve; the cleaning platform also comprises a second water level sensor arranged on the main water washing tank;

the method further comprises the following steps:

the cleaning controller obtains a second water level acquired by a second water level sensor, and when the second water level reaches a first preset water level, the water valve is controlled to be closed.

In one embodiment, the cleaning drive motor further comprises: injecting a cleaning agent into the motor; the cleaning platform also comprises a dosage sensor and a cleaning water saturation sensor which are arranged in the main water washing tank;

a main washing operation by driving a main washing motor to start, comprising:

the cleaning controller injects the cleaning agent into the cleaning water of the main water washing tank by driving the cleaning agent injection motor;

the cleaning controller obtains the dosage of the cleaning agent injected into the cleaning water detected by the dosage sensor and the cleaning water saturation after the cleaning agent detected by the cleaning water saturation sensor is mixed with the cleaning water;

and if the dosage reaches the preset dosage and the cleaning water saturation reaches the preset saturation, the cleaning controller drives the main cleaning motor to start so as to execute the main cleaning operation.

In one embodiment, the cleaning platform further comprises a drain motor and a deslagging motor; the method further comprises the following steps:

and after the cleaning water in the main water washing tank is completely discharged, starting to discharge residues in the main water washing tank by controlling the deslagging motor.

In one embodiment, the output docking platform comprises an output controller, a pull motor and an output track;

the output platform of plugging into is according to first conveying signal, on conveying the tableware that will wash to the output platform of plugging into, include:

the output controller controls the pulling motor to start according to the first transmission signal, and the washed tableware is transmitted to the output track from the inside of the washing box through driving the pulling motor.

In one embodiment, the robot travels to the interface of the input docking platform according to a navigation path in a preset navigation map;

the navigation path in the preset navigation map is determined according to the initial position of the tableware to be cleaned, the interface position of the input docking platform, and the environmental information of the environment where the tableware cleaning machine and the robot are located.

In a second aspect, the present application provides a dish washing control device. The tableware cleaning control device is applied to a tableware cleaning machine, and the tableware cleaning machine comprises a cleaning platform, an input connection platform and an output connection platform;

the dish washing control device includes:

the first conveying module is used for taking out tableware on the robot and conveying the tableware into a cleaning box of the cleaning platform after the robot and the input connection platform are perceived to be in butt joint;

the cleaning operation control module is used for executing cleaning operation on tableware in the cleaning box and sending a first transmission signal to the output connection platform after the tableware is cleaned;

and the second transmission module is used for transmitting the washed tableware from the inside of the washing box to the output connection platform according to the first transmission signal.

In a third aspect, the present application provides a dish washing machine. The dishwasher comprises a memory, a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of the embodiments of the first aspect described above when executing the computer program.

In a fourth aspect, the present application provides a readable storage medium. The readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method in any of the embodiments of the first aspect described above.

In a fifth aspect, the present application provides a computer program product. The computer program product comprising a computer program which, when executed by a processor, implements the steps of the method in any of the embodiments of the first aspect described above.

The tableware cleaning control method, the device and the related products are applied to the tableware cleaning machine, the tableware cleaning machine comprises a cleaning platform, an input connection platform and an output connection platform, the input connection platform takes out tableware conveyed on the robot and conveys the tableware into a cleaning box of the cleaning platform after sensing that the robot is in butt joint with the input connection platform, cleaning operation is carried out on the tableware in the cleaning box, after the tableware is cleaned, a first conveying signal is sent to the output connection platform, and the output connection platform conveys the cleaned tableware from the cleaning box to the output connection platform according to the first conveying signal; according to the dish washing control method, the manual participation in a washing process can be avoided, the robot can replace the manual operation to carry the dishes to the position where the dish washing machine is located, and the automatic washing operation is performed on the dishes carried by the robot through the dish washing machine, so that the labor burden of carrying the dishes by workers can be reduced, the whole dish washing operation is intelligent, the dish washing time can be saved, and the dish washing efficiency is improved.

Drawings

FIG. 1 is a block diagram showing the connection between the various structures in a dishwasher in accordance with one embodiment;

FIG. 2 is a schematic flow chart of a method of controlling dish washing in one embodiment;

FIG. 3 is a flow chart of steps for transferring tableware carried on a robot to an input docking station in one embodiment;

FIG. 4 is a schematic flow chart of the steps performed by the washing platform control to perform a washing operation on dishes in another embodiment;

FIG. 5 is a schematic flow chart of the steps of performing a washing operation on dishes in another embodiment;

FIG. 6 is a schematic flow chart of the steps of performing a washing operation on dishes by driving a washing drive motor according to another embodiment;

FIG. 7 is a flowchart showing steps performed by controlling the start of the main wash motor to perform a main wash operation according to another embodiment;

FIG. 8 is a schematic view showing the overall structure of a washing platform, an input docking platform, an output docking platform, a robot, and a rack in a dishwasher according to an embodiment;

FIG. 9 is a block diagram showing the construction of a dish washing control device according to one embodiment;

FIG. 10 is an internal structural view of a dish washing machine, according to one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In a dining service scene, too many people can cause great tableware cleaning workload, and in order to reduce dependence on manpower in the tableware cleaning operation, the application provides a tableware cleaning control method, a tableware cleaning device, a tableware cleaning machine and a readable storage medium, which can combine a robot and the tableware cleaning machine to realize automatic tableware cleaning operation.

The following will specifically describe, by way of examples and with reference to the accompanying drawings, a technical solution of an embodiment of the present application and how the technical solution of the embodiment of the present application solves the above technical problems. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

It should be noted that, in the dish washing control method provided by the embodiment of the present application, the execution body may be a dish washing control device, and the dish washing control device may be implemented as part or all of the processor by software, hardware, or a combination of software and hardware. It will be apparent that the described embodiments are some, but not all, of the embodiments of the application.

In one embodiment, as shown in fig. 1, a dish washing control method is provided, and the method is applied to a dish washing machine for example, and as shown in fig. 2, a block diagram of the connection relationship of the internal structure of the dish washing machine is shown, wherein the dish washing machine comprises a washing platform 1, an input connection platform 2 and an output connection platform 3; the dish washing control method comprises the following steps:

S100, after the input connection platform 2 senses that the robot 6 and the input connection platform 2 are in butt joint, tableware conveyed on the robot 6 is taken out and conveyed into a cleaning box of the cleaning platform 1.

In the present embodiment, the dish washing control method may be applied to a dish washing machine, and the dish washing operation is automatically performed in conjunction with the robot 6, with reduced human involvement to perform the dish washing operation. The cleaning platform 1, the input connection platform 2 and the output connection platform 3 in the tableware cleaning machine can be in wired communication or wireless communication; the wired communication mode can be communication through an RS-485 cable, the wireless communication mode can be Bluetooth, wiFi, 4G, 5G and the like,

if the position of the dish to be cleaned is the first position, and the second position of the dish washing machine is the second position, the robot 6 may instead manually transport the spike basket 5 containing the dish to be cleaned from the first position to the second position of the dish washing machine. The movement path of the robot 6 from the first position to the second position may be any path, or may be a fixed path set in advance.

Specifically, the input docking platform 2 in the dish washing machine may acquire a docking state detection signal sensed by the input docking platform 2 or a docking state detection signal sent by the robot 6, and if the docking state detection signal indicates that the robot 6 has completed docking with the docking port of the input docking platform 2, the input docking platform 2 may transfer dishes carried on the robot 6 to the input docking platform 2, and transfer the dishes to the washing tank of the washing platform 1 through the input docking platform 2.

After the robot 6 and the docking port of the input docking platform 2 are docked, a function sensor at the docking port of the input docking platform 2 can detect a docking state detection signal; the function sensor may be a position sensor, a contact point detection sensor, or the like.

Optionally, the docking interface of the input docking platform 2 and the thorn basket 5 carried by the robot 6 are provided with corresponding contact structures, so long as the corresponding contact structures are docked, the robot 6 is indicated to have completed docking with the docking interface of the input docking platform 2; the contact structures may be snaps, grooves, protrusions, contact point structures, and the like. After the docking port of the input docking platform 2 contacts with the corresponding contact structure on the thorn basket 5 carried by the robot 6, the docking of the input docking platform and the thorn basket is completed. Optionally, after the robot 6 completes docking with the docking interface of the input docking platform 2, the robot 6 may send a docking status detection signal to the input docking platform 2.

It should be noted that, if the input docking platform 2 senses that the robot 6 has completed docking with the docking port of the input docking platform 2, at this time, the thorn basket 5 carried by the robot 6 is already placed at the docking port, and the input docking platform 2 may transfer the thorn basket 5 with tableware at the docking port to the input docking platform 2.

In addition, robot 6 may be in two-way real-time communication with the dishwasher; the robot 6 may send a first alert signal to the dish washing machine to alert the dish washing machine to whether there are dishes to be washed at the present time; at the same time, the dish washing machine may send a second alert signal to the robot 6 to alert the robot 6 that the dish washing machine has been washed with dishes at present, and may continue to wash the dishes of the next stab basket 5.

S200, the cleaning platform 1 performs cleaning operation on tableware in a cleaning box, and sends a first transmission signal to the output connection platform 3 after the tableware is cleaned.

Specifically, the input docking station 2 may transfer dishes into the washing tank of the washing station 1 and control the washing operation performed on the dishes by the washing station 1. Meanwhile, after the cleaning platform 1 performs the cleaning operation, the input connection platform 2 can generate a first transmission signal and send the first transmission signal to the output connection platform 3 so as to remind the output connection platform 3 to start working, and the cleaned tableware is conveyed from the cleaning box of the cleaning platform 1 to the output connection platform 3.

S300, the output connection platform 3 transmits the washed tableware from the inside of the washing box to the output connection platform 3 according to the first transmission signal.

It will be appreciated that the output connection platform 3 in the dish washing machine may be driven by the driving motor to start working according to the received first transmission signal, so that the washed dishes are transmitted from the washing box to the output connection platform 3, and then the washed dishes are transmitted to the rack 4 through the output connection platform 3 to be placed on or transmitted to the robot 6, so that the robot 6 can carry the washed dishes from the output connection platform 3 to the target placement position to be placed. In practical application, the washed tableware can be also placed in the thorn basket 5 for conveying; the tableware can be bowls, dishes, chopsticks, cookware and the like.

Wherein, the robot 6 runs to the interface of the input connection platform 2 according to the navigation path in the preset navigation map; the navigation path in the preset navigation map is determined according to the initial position of the tableware to be cleaned, the interface position of the input docking platform 2, and the environmental information of the environment where the tableware cleaning machine and the robot 6 are located.

In the present embodiment, a preset navigation map corresponding to the application scenario of the dish washing machine and the robot 6 is stored in advance in a memory inside the robot 6, and the preset navigation map includes a navigation path. Alternatively, the application scenario of the dish washing machine and the robot 6 may be a large dining room, hotel, public facility, etc., where dishes are usually put into the basket 5 from a dining table, and then the robot 6 carries the basket 5 containing the dishes to be washed to the place where the dish washing machine is located. The application scenario is understood to be the environment in which the dishwasher and the robot 6 are located, in which, besides tables and dining chairs, people and other obstacles may be present; other obstacles may be hardware facilities such as electronic equipment, cabinets, and the like.

It will also be appreciated that the processor within the robot 6 may obtain environmental information, i.e. positional information and dimensional information of the dining table, dining chair, persons and other obstacles, etc. in the environment where the dishwasher and robot 6 are located, i.e. the dining table, dining chair, persons and other obstacles, etc. and then plan a path, i.e. a navigation path, between the dining table to be washed and the interface position of the input docking platform 2 in the dishwasher, based on these environmental information, the initial position of the dining table where the dishes to be washed are located, and the interface position of the input docking platform 2 in the dishwasher, to obtain a path, i.e. a navigation path, for the robot 6 to carry the dishes to be washed from the initial position of the dining table where the dishes are located to the interface position of the input docking platform 2 in the dishwasher.

Optionally, a processor inside the robot 6 may acquire an environmental image acquired by the image acquisition sensor, and analyze the environmental image to obtain environmental information. Alternatively, the processor inside the robot 6 may directly or with environmental information acquired by a data acquisition sensor.

Optionally, the navigation path in the preset navigation map can be updated in uninterrupted real time, so that an accurate path between the initial position of the dining table where the dining table is located and the butt joint position of the input connection platform 2 in the tableware cleaning machine can be obtained by the robot 6, and the problem that the dining table is damaged due to collision between the dining table and other objects during the process of carrying the dining table by the robot 6 caused by inaccurate navigation path is avoided, thereby reducing economic loss.

The tableware cleaning control method can be applied to a tableware cleaning machine, the tableware cleaning machine comprises a cleaning platform, an input connection platform and an output connection platform, the input connection platform senses that a robot and the input connection platform are in butt joint, tableware on the robot is taken out and conveyed into a cleaning box of the cleaning platform, the cleaning platform performs cleaning operation on the tableware in the cleaning box, after the tableware is cleaned, a first conveying signal is sent to the output connection platform, and the output connection platform conveys the cleaned tableware from the cleaning box to the output connection platform according to the first conveying signal; the tableware cleaning control method can avoid the participation of manpower in the cleaning process, can replace manpower to carry the tableware to the position of the tableware cleaning machine through the robot, and can reduce the labor burden of workers for carrying the tableware by carrying the tableware cleaning machine, so that the whole tableware cleaning operation is intelligent, the tableware cleaning time can be saved, and the tableware cleaning efficiency can be improved; meanwhile, the tableware cleaning control method can clean greasy dirt tableware without dead angles by performing the tableware cleaning operation through the tableware cleaning machine, so that intelligent cleaning is realized; in addition, through the tableware cleaning control method, the cleaned tableware can be stored in the thorn basket 5, and the thorn basket 5 is conveyed to the target placing position, so that hands of a worker can be really liberated, and labor cost for conveying, storing and placing the tableware is saved.

As one example, the input docking platform 2 in a dishwasher comprises an input controller, a touch sensor, an interface and an input track;

as shown in fig. 3, the step of taking out the tableware on the robot 6 and transferring the tableware into the cleaning box of the cleaning platform 1 after the input docking platform 2 senses that the robot 6 and the input docking platform 2 are docked in S100 can be achieved by the following steps:

s110, an input controller acquires a docking state detection signal acquired by a contact sensor, wherein the docking state detection signal represents the docking state of the robot 6 and a docking interface.

Specifically, a contact sensor is arranged at a butt joint in an input connection platform 2 of the tableware cleaning machine, and when the butt joint in the input connection platform 2 is in butt joint with a thorn basket 5 of a robot 6, the contact sensor can acquire a butt joint state detection signal; or, when the docking interface in the docking platform 2 and the thorn basket 5 of the robot 6 do not dock, the contact sensor may collect a docking state detection signal, where the docking state detection signal collected at this time is different from the docking state detection signal collected when docking is completed, and the docking state indicated by the currently collected docking state detection signal is that the robot 6 does not dock with the docking interface. After the contact sensor collects the docking status detection signal, the docking status detection signal may be sent to an input controller in the input docking platform 2.

It will be appreciated that the docking status detection signal may indicate a docking status of the robot 6 with the docking interface, which may be that the robot 6 has completed docking with the docking interface or that the robot 6 has not completed docking with the docking interface. The docking status detection signal may be represented by a high-low level signal, i.e., a low level signal 0 and a high level signal 1. If the high level signal 1 indicates that the robot 6 has completed docking with the docking port, the low level signal 0 may indicate that the robot 6 has not completed docking with the docking port; if the low signal 0 indicates that the robot 6 has completed docking with the docking port, the high signal 1 may indicate that the robot 6 has not completed docking with the docking port.

And S120, if the docking state indicated by the docking state detection signal is that the robot 6 has completed docking with the docking port, the input controller generates a second transmission signal, and the second transmission signal is used for indicating that the tableware is moved onto the input track.

If the docking state indicated by the docking state detection signal obtained by the input controller is that the robot 6 has completed docking with the docking port, the input controller in the input docking platform 2 may generate the second transmission signal.

Further, the input controller in the input docking station 2 may send a second transfer signal to the robot 6 to instruct the robot 6 to move the cutlery onto the input track, transferring the cutlery through the input track. That is, if the robot 6 receives the second transfer signal transmitted from the input controller in the input docking station 2, the robot 6 may release the gabion 5 to allow the input rail in the input docking station 2 to transfer the dishes.

Or, the input controller in the input docking platform 2 may send the generated second transmission signal to the puncture basket 5 moving motor in the input docking platform 2 to instruct the puncture basket 5 to move the motor to drive, push the puncture basket 5 onto the input rail from the docking port in the input docking platform 2, and transmit the tableware through the input rail. In this case, the pushing force applied to the puncture basket 5 by the puncture basket 5 moving motor is greater than the acting force of the robot 6 for carrying the puncture basket 5, so as to ensure that the robot 6 can release the puncture basket 5 after being pulled by an external force, thereby pushing the puncture basket 5 onto the input track.

In this embodiment, the robot 6 stops moving when moving to the docking port of the input docking platform 2 in the dish washing machine after carrying the stab basket 5, and then can dock with the docking port of the input docking platform 2.

S130, the input controller conveys tableware into the washing box of the washing platform 1 through the input track.

According to the dish washing control method, the input controller can acquire the docking state detection signal acquired by the contact sensor, if the docking state indicated by the docking state detection signal is that the robot 6 has completed docking with the docking port, the input controller sends a second transmission signal to the robot 6 to instruct the robot 6 to push dishes to the input rail, and then the input controller transmits the dishes to the washing box of the washing platform 1 through the input rail.

As one of the embodiments, the input docking platform 2 in the dish washing machine further comprises a first position sensor and a pushing motor which are respectively in communication connection with the input controller, and the pushing motor is connected with the input rail;

as shown in fig. 4, the step of transferring the dishes into the washing tank of the washing platform 1 through the input rail by the input controller in S100 may be implemented by:

s140, the input controller acquires a first position detection signal acquired by a first position sensor, and the first position detection signal represents the position of the tableware on the input track.

In particular, different first position sensors may be provided at different positions of the input track in the input docking platform 2 for detecting the current position of the stab basket 5, i.e. the first position detection signal. However, in this case, a first position sensor must be provided at the interface of the input rail with the washing platform 1. The first position detection signals collected by the first position sensors corresponding to the positions of the puncture basket 5 may be high-level signals 1, and the first position detection signals collected by the other first position sensors may be low-level signals 0.

Or, a first position sensor is arranged at the interface of the input track and the cleaning platform 1, and when the input track transmits the thorn basket 5 to the interface of the cleaning platform 1, the first position sensor can acquire a first position detection signal as a high level signal 1; when the puncture basket 5 does not reach the interface of the cleaning platform 1, the first position detection signal acquired by the first position sensor may be a low level signal 0. Alternatively, the first position sensor may send the collected first position detection signal to both the input controller and the cleaning controller.

In this embodiment, the input docking platform 2 further includes an input rail drive motor. After the robot 6 has completed docking with the docking port, the input controller sends a second transmission signal to the robot 6 to instruct the robot 6 to push the dishes onto the input rail, and at the same time, the input controller may control the input rail driving motor to start, drive the input rail to run, so that the input rail transmits the dishes to the interface position between the input rail and the cleaning platform.

And S150, if the position indicated by the first position detection signal is the interface position of the tableware between the input track and the cleaning platform, and the cleaning box door is in an open state, the input controller drives the pushing motor to convey the tableware from the input track into the cleaning box.

It will be appreciated that if the input controller and the cleaning controller determine that the position indicated by the first position detection signal is the interface position between the input rail and the cleaning platform, the cleaning controller may control the cleaning door of the cleaning platform 1 to be in an open state, and in the case that the cleaning door is confirmed to be in the open state, the input controller may drive the push motor in the input docking platform 2 to transfer the tableware from the interface position between the input rail and the cleaning platform 1 into the cleaning box of the cleaning platform 1.

Optionally, the position indicated by the first position detection signal is an interface position of the tableware between the input track and the cleaning platform, which can be understood that the first position detection signal collected by the first position sensor set at the interface position between the input track and the cleaning platform is a valid signal. The valid signal may be a valid indication signal, but in this embodiment may be a high level signal 1. Optionally, when the first position detection signal collected by the first position sensor arranged at the interface position between the input track and the cleaning platform is an effective signal, the first position detection signals collected by the position sensors correspondingly arranged at other positions on the input track are ineffective signals; the disable signal may be null or a low level signal 1.

In this embodiment, the different signals may be represented by the high-level signal 1 or the low-level signal 0, and the different signals all carry identification information of the sensors, so as to distinguish the sensors corresponding to the collected different signals.

For example, if the first position detection signal is (1, S), 1 indicates that the first position detection signal is a high level signal, and since the sensor in this embodiment is a position sensor, S indicates identification information of the position sensor that collects the corresponding high level signal to distinguish which position the position sensor provided at the corresponding high level signal collects. Alternatively, S may be represented by an letter, a number, and/or other special characters.

The pushing motor and the input track can be indirectly connected, and also can be indirectly connected. Optionally, if the pushing motor is indirectly connected with the input rail, a linkage structure is arranged between the pushing motor and the input rail, so that after the pushing motor is started, the linkage structure is driven to rotate and then the input rail is driven to operate. The linkage structure can be a transmission shaft, a gear shaft and the like.

In one embodiment, the cleaning platform 1 comprises a cleaning controller; the step of performing the washing operation on the dishes in the washing tank by the washing platform 1 in S200 may include: the washing controller controls the washing door to be closed when detecting that the tableware is at a target position in the washing box, and performs a washing operation on the tableware.

The target position may be a central position in the washing tank, or any position in the washing tank where tableware can be washed without dead angle, or any position in a certain range of the bottom of the washing tank where the piercing basket 5 containing tableware is located. Alternatively, the shape of the cleaning tank may be a column, a cuboid, a cube, or the like; the bottom area of the washing tank may be larger than the maximum projected area of the spining basket 5 containing tableware.

It will also be appreciated that the bottom of the purge bin may be provided with a functional sensor that may send the collected positional information to the purge controller. If the washing controller determines that the tableware is at the target position in the washing box according to the position information, at the moment, the washing controller can control the washing box door to be closed and control the starting of the washing operation, and the washing operation is started to be performed on the tableware.

According to the dish washing control method, the first position detection signal acquired by the first position sensor can be acquired through the input controller, if the position indicated by the first position detection signal is the interface position between the input track and the washing platform, and the washing box door is opened, the input controller transmits the dish from the input track to the inside of the washing box through driving the pushing motor, and the washing platform is further automatically controlled to start the washing operation, so that the washing operation is performed on the dish, the labor burden of workers for carrying the dish from the outside of the washing box to the inside of the washing box can be reduced, the whole dish washing operation is intelligent, the dish washing time can be saved, and the dish washing efficiency is improved.

As one example, the washing platform 1 in the dishwasher further comprises a door driving motor, a washing driving motor, a second position sensor and a state sensor which are respectively connected with the washing controller in a communication manner;

As shown in fig. 5, the step of controlling the door of the washing box to be closed and performing the washing operation on the dishes when the above-mentioned washing controller detects that the dishes are at the target position in the washing box may be implemented by the steps of:

s210, the cleaning controller acquires a second position detection signal acquired by a second position sensor and an opening and closing state detection signal acquired by a state sensor; the second position detection signal indicates the position of the tableware in the washing tank; the open/close state detection signal indicates the open/close state of the cleaning box door.

In particular, the washing platform 1 of the dishwasher may further comprise a drive motor assembly which may include drive motors for different functions, such as a drive motor for controlling the movement of the position of the spining basket 5, a drive motor for removing dishes from the spining basket 5, a drive motor for controlling the opening of the washing compartment door, a drive motor for controlling different operations, etc. In addition, the door switch is one structure of the cleaning platform 1. The cleaning controller in the cleaning platform 1 can control the opening and closing of the box door so as to open the cleaning box door. The door switch may be a micro switch, but in this embodiment, the door switch is a door magnetic switch.

In this embodiment, the driving motor unit may include a cabinet door driving motor and a cleaning driving motor; meanwhile, a second position sensor is arranged at the bottom of the cleaning box in the cleaning platform 1, and can acquire a second position detection signal when the thorn basket 5 is conveyed to any position in the cleaning box. The second position detection signals collected by the second position sensor may be different when the puncture basket 5 is transferred to different positions in the cleaning tank, and only the second position detection signal collected when the puncture basket 5 is transferred to the target position in the cleaning tank may be the high level signal 1, and the second position detection signal collected when the puncture basket 5 is transferred to other positions in the cleaning tank may be the low level signal 0.

In addition, a state sensor may be provided at the cleaning door of the cleaning platform 1, which may detect an open-close state detection signal of the cleaning door, that is, an open-close state of the cleaning door, that is, an open state and a closed state of the cleaning door, in real time.

Wherein, the signals collected by all the sensors arranged in the input connection platform 2 of the tableware cleaning machine can be sent to the cleaning controller and the input controller; all signals collected by the sensors arranged in the washing platform 1 of the tableware washing machine can be sent to a washing controller; all signals collected by the sensors arranged in the output connection platform 3 of the dish washing machine can be sent to the washing controller and the output controller. In this embodiment, the second position detection signal collected by the second position sensor and the open/close state detection signal collected by the state sensor may be simultaneously transmitted to the cleaning controller of the cleaning platform 1.

And S220, if the position indicated by the second position detection signal is the target position of the tableware in the washing box, and the washing box door indicated by the open-close state detection signal is in an open state, the washing controller controls the washing box door to be closed through driving the box door driving motor, and performs washing operation on the tableware through driving the washing driving motor.

It can be understood that if the position indicated by the second position detection signal obtained by the cleaning controller is a target position of the tableware in the cleaning box, and the cleaning box door indicated by the open-close state detection signal is in an open state, at this time, the cleaning controller can drive the box door driving motor to open, control the cleaning box door to close by driving the box door driving motor, then drive the cleaning driving motor to open, and control the cleaning operation without dead angle on the tableware by driving the cleaning driving motor.

In this embodiment, the washing controller or the input controller in the dishwasher may send control signals to the drive motors of different functions in the input docking station 2 to drive the drive motors of different functions in the input docking station 2 to be turned on; the washing controller in the dishwasher may send control signals to the different functional drive motors in the washing platform 1 to drive the different functional drive motors in the washing platform 1 on. The control signal may be a high-low level signal carrying functional identification information.

According to the tableware cleaning control method, tableware can be automatically conveyed into the cleaning box from the outside of the cleaning box of the cleaning platform, and cleaning operation is automatically controlled to be started, so that the labor burden of workers for conveying the tableware into the cleaning box from the outside of the cleaning box can be reduced, the whole tableware cleaning operation is intelligent, the tableware cleaning time can be saved, and the tableware cleaning efficiency can be improved; in addition, the tableware cleaning control method controls the tableware to be cleaned by driving the cleaning driving motor, so that the tableware can be cleaned without dead angles, the cleanliness of the cleaned tableware is improved, and intelligent cleaning is realized.

As one of the embodiments, the washing driving motor in the washing platform 1 includes a main washing motor and a rinsing motor, the washing tank includes a main washing tank and a rinsing tank, and the washing operation includes a main washing operation and a rinsing operation;

as shown in fig. 6, the step of controlling the washing operation on the dishes by driving the washing driving motor in S220 may include:

s221, the cleaning controller injects cleaning water into the rinsing water tank by controlling the electromagnetic valve to open, and detects whether the cleaning water in the rinsing water tank meets preset conditions.

In particular, the washing tank of the washing platform 1 may include a main washing tank and a rinsing tank. In this embodiment, when the position indicated by the second position detection signal obtained by the cleaning controller is the target position of the tableware in the main water tank, the cleaning controller may control the solenoid valve provided on the rinsing water tank to be opened, and inject the rinsing water into the rinsing water tank, and detect whether the rinsing water in the rinsing water tank satisfies the preset condition. The preset condition may include information such as temperature and/or water level.

Alternatively, the washing water injected into the rinsing water tank may be normal-temperature washing water, or washing water with a temperature value greater than a certain temperature value, and the temperature value may be a minimum temperature value of the washing water capable of automatically cleaning greasy dirt tableware.

And S222, if the preset condition is met, the cleaning controller controls a water valve between the main water tank and the rinsing water tank to be opened, and cleaning water in the rinsing water tank is injected into the main water tank.

It can be understood that if the cleaning controller determines that the cleaning water in the rinsing water tank meets the preset condition, the electromagnetic valve arranged on the rinsing water tank can be controlled to be closed, meanwhile, the water valve between the main rinsing water tank and the rinsing water tank is controlled to be opened by driving the phase-washing door motor, and then part or all of the cleaning water in the rinsing water tank can automatically flow into the main rinsing water tank.

S223, if the water quantity in the main washing water tank reaches the first preset water level, the main washing operation is executed by controlling the main washing motor to start, and after the tableware main washing operation is finished, the rinsing operation is executed by controlling the rinsing motor to start.

Specifically, if the washing controller determines that the amount of the washing water injected into the main washing water tank reaches the first preset water level, the main washing operation on the tableware can be started by controlling the main washing motor to start, and meanwhile, the washing controller starts the rinsing operation on the tableware by controlling the rinsing motor to start after determining that the main washing operation on the tableware is finished. The first preset water level may be less than or equal to a water level of the washing water when the injection of the washing water into the washing water tank is stopped. Alternatively, the desired duration of the main wash operation may be equal to, greater than, or less than the desired duration of the rinse operation.

Wherein, the cleaning driving motor in the cleaning platform 1 may further comprise: injecting a cleaning agent into the motor; the cleaning platform 1 also comprises a dosage sensor and a cleaning water saturation sensor which are arranged in the main cleaning water tank;

as shown in fig. 7, the step of performing the main washing operation by controlling the start of the main washing motor in S223 may include:

S2231, the cleaning controller injects the cleaning agent into the cleaning water of the main cleaning water tank by driving the cleaning agent injection motor.

Specifically, a cleaning agent injection motor can be arranged in the cleaning platform 1, and after the cleaning controller determines that the second water level is equal to the first preset water level, the cleaning controller can control the cleaning agent injection motor to start after controlling the water valve to be closed, and cleaning agent is injected into cleaning water of the main water washing tank by driving the cleaning agent injection motor.

S2232, the cleaning controller obtains the dosage of the cleaning agent injected into the cleaning water detected by the dosage sensor and the cleaning water saturation after the cleaning agent detected by the cleaning water saturation sensor is mixed with the cleaning water.

It will be appreciated that a dose sensor provided in the washing platform 1 may collect a dose of detergent injected into the cleaning water of the main wash tank and send the collected dose to the washing controller. Meanwhile, the cleaning water saturation sensor provided in the cleaning platform 1 may collect the cleaning water saturation of the cleaning agent mixed with the cleaning water and transmit the cleaning water saturation to the cleaning controller.

Wherein, can also be provided with a agitator motor in the wash platform 1, in the in-process of injecting the cleaning agent into the cleaning water of main wash tank, wash the controller and can control agitator motor to start to stir cleaning water and cleaning agent through driving agitator motor to make cleaning agent and cleaning water mix.

S2233, if the dosage reaches the preset dosage and the saturation of the cleaning water reaches the preset saturation, the cleaning controller controls the main cleaning motor to start so as to execute the main cleaning operation.

Specifically, if the cleaning controller determines that the dosage of the cleaning agent injected into the cleaning water in the main cleaning water tank is equal to the preset dosage, and the saturation of the cleaning water after the cleaning agent and the cleaning water are mixed is equal to the preset saturation, at this time, the cleaning controller may send a control signal to the main cleaning motor to control the main cleaning motor to start, and the main cleaning motor is driven to perform the main cleaning operation on the tableware.

In addition, the cleaning platform 1 may further include an upper control board, where the upper control board may include internal communication modules such as 4G, 5G, wiFi and bluetooth of the wireless transmission part, and may further include a LoRa communication module, a crystal oscillator, a storage Flash and power module, a display module and related antennas, etc. which are scheduled with the external robot 6. The power module may be a button cell, a rechargeable battery, a fuel cell, etc.; the display module may be an LCD indicator, a multimedia player, and/or an LCD display screen, etc. The LCD indicator lamp, the multimedia player and/or the LCD display screen can output a reminding signal, and after the tableware cleaning machine finishes one operation every time, the LCD indicator lamp, the multimedia player and/or the LCD display screen can output the reminding signal. Meanwhile, the upper control connection board further comprises a CAN bus conversion interface which is used for being in communication connection with the input connection platform 2 and the output connection platform 3.

According to the tableware cleaning control method, the main cleaning operation can be firstly performed on the tableware, and after the main cleaning operation is performed, the rinsing operation is performed on the tableware, so that the whole automatic cleaning operation is realized.

As one embodiment, the cleaning platform 1 further comprises an electromagnetic valve, a heater, a temperature sensor and a first water level sensor arranged on the rinsing water tank;

the step of detecting whether the washing water in the rinsing water tank satisfies the preset condition in S221 may include: the cleaning controller acquires a first water level acquired by a first water level sensor, controls the electromagnetic valve to be closed when the first water level reaches a second preset water level, and starts to heat cleaning water in the rinsing water tank by controlling the heater; the cleaning controller obtains the water temperature acquired by the temperature sensor, controls the heater to be closed when the water temperature reaches a preset temperature threshold value, and determines that the cleaning water in the rinsing water tank meets preset conditions.

Specifically, the main water tank and the rinsing water tank of the cleaning platform 1 are both provided with water level sensors, the rinsing water tank can be further provided with an electromagnetic valve, and the rinsing water tank is further provided with a heater temperature sensor. The water level sensor provided in the rinse water tank may be referred to as a first water level sensor.

It can be understood that if normal-temperature washing water is injected into the rinsing water tank, the first water level sensor can collect the first water level of the washing water in the rinsing water tank during the process of injecting the washing water into the rinsing water tank, and send the collected first water level to the washing controller, and when the washing controller determines that the first water level is equal to the second preset water level, the electromagnetic valve can be controlled to be closed to stop injecting the washing water into the rinsing water tank, and the heater in the rinsing water tank is controlled to be started to heat the washing water injected into the rinsing water tank.

Meanwhile, the temperature sensor in the rinsing water tank can collect the water temperature of the rinsing water injected into the rinsing water tank, the collected water temperature is sent to the cleaning controller, and when the cleaning controller determines that the water temperature of the rinsing water injected into the rinsing water tank is equal to a preset temperature threshold value, the heater is controlled to be closed, and at the moment, the fact that the rinsing water in the rinsing water tank meets preset conditions can be determined.

In one embodiment, the cleaning platform 1 further comprises a water valve; the cleaning platform 1 also comprises a second water level sensor arranged on the main water washing tank; the dish washing control method may further include: the cleaning controller obtains a second water level acquired by a second water level sensor, and when the second water level reaches a first preset water level, the water valve is controlled to be closed.

Meanwhile, a second water level sensor is arranged in the main water tank of the cleaning platform 1, the second water level sensor can collect a second water level of cleaning water injected into the main water tank from the rinsing water tank, and when the cleaning controller determines that the second water level is equal to a first preset water level, the water valve is controlled to be closed, and the injection of the cleaning water from the rinsing water tank into the main water tank is stopped.

In addition, a temperature sensor and a heater may be provided in the main washing tank of the washing platform 1. After the injection of the washing water from the washing water tank to the main washing water tank is stopped, the temperature sensor in the main washing water tank can collect the water temperature of the current washing water, and if the water temperature does not meet the water temperature required by the washing operation, the washing controller can heat the washing water in the main washing water tank through the heater in the main washing water tank. Optionally, heating state detection sensors may be further disposed in the main wash tank and the rinse tank of the cleaning platform 1, for detecting the heating state of the heater, and at the same time, the detected heating state may be sent to the cleaning controller.

In this embodiment, after the water valve is opened, in the process of injecting the cleaning water from the rinsing water tank to the main water tank, if the cleaning controller determines that the second water level collected by the second water level sensor is smaller than the first preset water level and the first water level of the cleaning water in the rinsing water tank is smaller than the third preset water level, at this time, the water valve may be controlled to be closed, then the electromagnetic valve is continuously controlled to be opened, the cleaning water is injected into the rinsing water tank until the first water level of the cleaning water injected into the rinsing water tank is equal to the second preset water level, at this time, the electromagnetic valve is controlled to be closed, then the heating of the cleaning water in the rinsing water tank is started by controlling the heater, and when the water temperature of the cleaning water in the rinsing water tank reaches a preset temperature threshold, at this time, the water valve is continuously controlled to be opened, and when the cleaning controller determines that the second water level collected by the second water level sensor is equal to the first preset water level, the water valve may be controlled to be closed.

If the washing controller determines that the second water level collected by the second water level sensor is smaller than the first preset water level and the first water level of the washing water in the rinsing water tank is smaller than the third preset water level, the above-mentioned circulation operation can be continued, and finally the second water level of the washing water injected into the main washing water tank is equal to the first preset water level and the first water level of the washing water in the rinsing water tank is not smaller than the third preset water level. Alternatively, the third preset water level may be smaller than the second preset water level. Because the heater in the rinsing water tank can always work, in order to avoid the damage of the rinsing water tank in the working process of the heater, a certain amount of rinsing water needs to be reserved in the rinsing water tank, and therefore, the third preset water level is greater than 0.

According to the tableware cleaning control method, the first water level acquired by the first water level sensor can be acquired through the cleaning controller, when the first water level reaches the second preset water level, the electromagnetic valve is controlled to be closed, and the heater is controlled to start to heat the cleaning water in the rinsing water tank; the cleaning controller obtains the water temperature acquired by the temperature sensor, when the water temperature reaches a preset temperature threshold value, the heater is controlled to be closed, the cleaning water in the rinsing water tank is determined to meet the preset condition, and the cleaning water in the rinsing water tank can be injected into the main cleaning water tank only when the cleaning water in the rinsing water tank meets the preset condition, so that automatic cleaning operation is further realized, the whole tableware cleaning operation is intelligent, the tableware cleaning time can be saved, and the tableware cleaning efficiency is improved; meanwhile, the method can also detect the water level of the washing water in real time through the water level sensor, can finish the washing operation under the condition that enough washing water is injected and the washing water is not wasted, and can wash the tableware with greasy dirt by heating the injected washing water to a certain water temperature, thereby improving the cleanliness of the tableware after washing.

As one of the embodiments, the cleaning platform 1 further includes a drain motor and a slag removal motor; the dish washing control method may further include: and after the cleaning water in the main water washing tank is completely discharged, starting to discharge residues in the main water washing tank by controlling the deslagging motor.

Specifically, after the rinsing operation is finished, the cleaning platform 1 may send a third reminding signal to the cleaning controller to remind the cleaning controller that the rinsing operation is finished, and may perform the next operation. Optionally, after the cleaning controller obtains the third reminding signal, a control signal may be sent to the drainage motor to control the drainage motor to start draining the cleaning water in the main water tank, and then when the cleaning controller determines that the second water level collected by the second water level sensor in the main water tank is 0, it indicates that the cleaning water in the main water tank is drained completely, and further, the cleaning controller may send a control signal to the deslagging motor to control the deslagging motor to start draining residues in the main water tank.

Alternatively, after the residues in the main wash water tank are discharged, the main wash water tank and the rinse water tank can stop working; if the tableware in the next piercing basket 5 is also required to be cleaned, the main water tank and the rinsing water tank can also continue to work at the moment.

In addition, the cleaning platform 1 may further include an electricity detector for detecting the electricity consumption of the cleaning platform 1. The power supply module in the cleaning platform 1 may supply power to various hardware structures in the cleaning platform 1, and the power supply module may include a three-phase power supply module and a two-phase power supply module. The three-phase power supply module is 220V, and the two-phase power supply module is 380V. The three-phase power supply module in the cleaning platform 1 can supply power for an electric quantity detector, a heater, a box door driving motor, a cleaning driving motor, a main cleaning motor, a rinsing motor, an electromagnetic valve, a cleaning agent injection motor, a water valve, a drainage motor and a deslagging motor in the cleaning platform 1; the two-phase power module in the washing platform 1 may supply power to the second position sensor, the status sensor, the heater, the temperature sensor, the first water level sensor, the second water level sensor, the dose sensor, the cleaning water saturation sensor in the washing platform 1.

If the main water tank is provided with a heater, the two-phase power supply module can supply power to the heater in the main water tank so as to enable the main water tank to be heated by three-phase parallel wires. Meanwhile, the cleaning platform 1 can also comprise a cleaning state detection sensor for detecting the cleaning state and the cleaning times; the washing state may be a main washing state, a rinsing state or a washing end state,

Alternatively, the above-mentioned number of washing operations may be understood as the total number of times the dishwasher is used from the first time to the current time of performing the washing operation. In the cleaning platform 1, the heater, the electric quantity detector and the motors with different functions can be integrally arranged on the same circuit board, and the sensors with different functions and the cleaning controller can be integrally arranged on another circuit board so as to separate the strong current part from the weak current part, and can well isolate the strong current part from the weak current part.

According to the tableware cleaning control method, when the rinsing operation is finished, the cleaning controller controls the water draining motor to start draining the cleaning water in the main cleaning water tank, and after the cleaning water in the main cleaning water tank is drained, the slag removing motor is controlled to start draining residues in the main cleaning water tank, so that the cleanliness in the main cleaning water tank can be kept after each cleaning operation is finished, the cleanliness after tableware cleaning is improved, meanwhile, the problem that residues in the main cleaning water tank are cleaned when the cleaning operation is executed next time can be avoided, and therefore the tableware cleaning efficiency can be improved, and the tableware cleaning time is saved.

As one example, the output docking platform 3 in the dishwasher comprises an output controller, a pull motor, an output rail;

The step of the output docking platform 3 transmitting the washed tableware from the washing tank to the output docking platform 3 according to the first transmission signal in S300 may include: the output controller controls the pulling motor to start according to the first transmission signal, and the washed tableware is transmitted to the output track from the inside of the washing box through driving the pulling motor.

Specifically, the output controller in the dish washing machine may obtain the first transmission signal sent by the washing controller, and the first transmission signal may instruct the output controller to pull the washed dishes out of the washing tank to transmit to the target placement position.

It is understood that the output controller in the dish washing machine may send a control signal to the pulling motor according to the first transmission signal, so as to control the pulling motor to start, pull the washed dishes from the washing tank onto the output rail by driving the pulling motor, and further transmit the washed dishes to the target placement position through the output rail.

Fig. 8 is a schematic diagram showing the overall structure of a cleaning platform 1, an input connection platform 2, an output connection platform 3, a robot 6 and a rack 4 in the dishwasher.

According to the dish washing control method, the process of manually carrying washed dishes to the target placement position can be avoided, after the dishes are washed, the washed dishes are automatically conveyed to the target placement position through the output controller in the dish washing machine, so that the labor burden of carrying the dishes by workers can be reduced, the manpower resource is saved, the intelligent washing can be realized through the dish washing machine, the washing time is shortened, and the washing efficiency of the dishes is further improved.

It should be understood that, although the steps in the flowcharts of fig. 1 and 3-7 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of FIGS. 1 and 3-7 may include steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.

In one embodiment, as shown in FIG. 9, a dish washing control device is provided that is applied to a dish washing machine that includes a washing platform, an input docking platform, and an output docking platform;

the dish washing control device includes: a first transfer module 11, a cleaning operation control module 12, and a second transfer module 13; wherein:

the first conveying module 11 is used for taking out tableware on the robot and conveying the tableware into a cleaning box of the cleaning platform when the robot and the input connection platform are perceived to be in butt joint;

a washing operation control module 12 for performing a washing operation on the dishes in the washing tank and, after the dishes, transmitting a first transmission signal to the output docking platform;

and the second transmission module 13 is used for transmitting the washed tableware from the inside of the washing box to the output connection platform according to the first transmission signal.

The implementation principle and technical effects of the dish washing control device provided in this embodiment are similar to those of the dish washing control method described above, and are not described here again.

In one embodiment, the input docking platform includes an input controller, a contact sensor, an interface, and an input track; the first transfer module 11 includes: a first detection signal acquisition unit, a transmission signal transmission unit, and a transmission unit; wherein:

The first detection signal acquisition unit is used for acquiring a docking state detection signal acquired by the contact sensor, wherein the docking state detection signal represents the docking state of the robot and the docking interface;

the transmission signal sending unit is used for inputting a second transmission signal of the controller when the docking state indicated by the docking state detection signal is that the robot has completed docking with the docking port, and the second transmission signal is used for indicating that the tableware is pushed onto the input track;

and the conveying unit is used for conveying the tableware into the washing box of the washing platform through the input track.

In one embodiment, the input docking platform further comprises a first position sensor and a pushing motor which are respectively in communication connection with the input controller, and the pushing motor is connected with the input track; the cleaning operation control module 12 includes: a second detection signal acquisition unit and a push signal transmission unit; wherein:

the second detection signal acquisition unit is used for acquiring a first position detection signal acquired by the first position sensor, wherein the first position detection signal represents the position of the tableware on the input track;

The pushing signal sending unit is used for sending the tableware to the cleaning box from the input track by driving the pushing motor when the position indicated by the first position detection signal is the interface position between the input track and the cleaning platform and the cleaning box door is in an open state.

In one embodiment, the cleaning operation control module 12 further includes: a cleaning operation execution unit; wherein: and the washing operation executing unit is used for controlling the washing box door to be closed and executing washing operation on the tableware when detecting that the tableware is at the target position in the washing box.

In one embodiment, the cleaning platform further comprises a door drive motor, a cleaning drive motor, a second position sensor and a status sensor, which are respectively in communication with the cleaning controller; the cleaning operation execution unit includes: a detection signal acquisition subunit and a cleaning operation execution subunit; wherein:

The detection signal acquisition subunit is used for acquiring a second position detection signal acquired by the second position sensor and an open-close state detection signal acquired by the state sensor; the second position detection signal indicates the position of the tableware in the washing tank; the open-close state detection signal indicates the open-close state of the cleaning box door;

and the cleaning operation execution subunit is used for controlling the cleaning box door to be closed by the cleaning controller through driving the box door driving motor when the position indicated by the second position detection signal is the target position of the tableware in the cleaning box and the cleaning box door indicated by the opening and closing state detection signal is in the opening state, and executing the cleaning operation on the tableware by driving the cleaning driving motor to start.

In one embodiment, the washing driving motor includes a main washing motor and a rinsing motor, the washing tank includes a main washing tank and a rinsing tank, and the washing operation includes a main washing operation and a rinsing operation; the cleaning operation execution subunit includes: a detection subunit, a water valve opening subunit and an operation execution subunit; wherein:

A detection subunit for injecting the cleaning water into the rinsing water tank by controlling the opening of the electromagnetic valve and detecting whether the cleaning water in the rinsing water tank meets the preset condition;

the water valve opening subunit is used for injecting the cleaning water in the rinsing water tank into the main water tank by controlling the water valve between the main water tank and the rinsing water tank to be opened when the preset condition is met;

an operation execution subunit for executing the main washing operation by driving the main washing motor to start when the water quantity in the main water tank reaches a first preset water level quantity, and executing the rinsing operation by controlling the rinsing motor to start after the main washing operation of the tableware is finished;

the cleaning platform also comprises an electromagnetic valve, a heater, a temperature sensor and a first water level sensor arranged on the rinsing water tank;

In one embodiment, the cleaning platform further comprises a water valve; the cleaning platform also comprises a second water level sensor arranged on the main water washing tank; the dish washing control device further includes: a water valve closing module; wherein:

the water valve closing module is used for acquiring a second water level acquired by the second water level sensor, and controlling the water valve to be closed when the second water level reaches a first preset water level.

the operation execution subunit is specifically configured to inject the cleaning agent into the cleaning water in the main washing tank by driving the cleaning agent injection motor, obtain the dosage of the cleaning agent injected into the cleaning water detected by the dosage sensor, and obtain the cleaning water saturation of the cleaning agent mixed with the cleaning water detected by the cleaning water saturation sensor, and drive the main washing motor to start to execute the main washing operation when the dosage reaches a preset dosage and the cleaning water saturation reaches a preset saturation.

In one embodiment, the cleaning platform further comprises a drain motor and a deslagging motor; the dish washing control device further includes: a deslagging module; wherein:

and the deslagging module is used for controlling the water draining motor to start draining the cleaning water in the main water washing tank when the rinsing operation is finished, and controlling the deslagging motor to start draining residues in the main water washing tank after the cleaning water in the main water washing tank is drained.

In one embodiment, the output docking platform comprises an output controller, a pull motor and an output track; the second transmission module 13 is specifically configured to control the pull motor to start according to the first transmission signal, and transmit the washed tableware from the washing tank to the output rail by driving the pull motor.

In one embodiment, the robot travels to the interface of the input docking platform according to a navigation path in a preset navigation map; the navigation path in the preset navigation map is determined according to the initial position of the tableware to be cleaned, the interface position of the input docking platform, and the environmental information of the environment where the tableware cleaning machine and the robot are located.

For specific limitations of the dish washing control device, reference may be made to the limitations of the dish washing control method hereinabove, and no further description is given herein. The various modules in the dish washing control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a dish washing machine is provided, which may be a smart device, the internal structure of which may be as shown in FIG. 10. The tableware cleaning machine comprises a processor, a memory, a communication interface, a display screen, a cleaning platform, an input connection platform and an output connection platform which are connected through a system bus. Wherein the processor of the dishwasher is adapted to provide computing and control capabilities. The memory of the dishwasher includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the dishwasher is used for carrying out wired or wireless communication with an external robot, wherein the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a dish washing control method.

It will be appreciated by those skilled in the art that the structure shown in FIG. 10 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

if the robot and the input connection platform are perceived to be in butt joint, taking out tableware on the robot and transmitting the tableware into a cleaning box of the cleaning platform;

performing a cleaning operation on the tableware in the cleaning box, and sending a first transmission signal to the output connection platform after the tableware is cleaned;

and according to the first transmission signal, the washed tableware is transmitted to the output connection platform from the inside of the washing box.

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. A method for controlling the cleaning of tableware, which is characterized in that the method is applied to a tableware cleaning machine, wherein the tableware cleaning machine comprises a cleaning platform, an input connection platform and an output connection platform;

the method comprises the following steps:

The washing platform performs washing operation on the tableware in the washing box, and sends a first transmission signal to the output connection platform after the tableware is washed;

2. The dish washing control method of claim 1, wherein said input docking platform comprises an input controller, a touch sensor, an interface, and an input track;

the input controller acquires a docking state detection signal acquired by the contact sensor, wherein the docking state detection signal represents a docking state of the robot and the docking interface;

if the docking state indicated by the docking state detection signal is that the robot has completed docking with the docking port, the input controller generates a second transmission signal, and the second transmission signal is used for indicating that the tableware is moved onto the input track;

The input controller conveys the tableware into the washing tank of the washing platform through the input rail.

3. The dish washing control method of claim 2, wherein said input docking station further comprises a first position sensor and a push motor communicatively coupled to said input controller, respectively, said push motor being coupled to said input rail;

the input controller conveys the tableware into the washing tank of the washing platform through the input track, and the input controller comprises:

the input controller acquires a first position detection signal acquired by the first position sensor, wherein the first position detection signal represents the position of the tableware on the input track;

if the position indicated by the first position detection signal is the interface position between the input track and the cleaning platform, and the cleaning box door is in an open state, the input controller drives the pushing motor to convey the tableware from the input track into the cleaning box.

4. A dish washing control method according to any one of claims 1 to 3, wherein said washing platform comprises a washing controller; the washing platform performs a washing operation on the dishes within the washing tank, comprising:

The washing controller controls the washing door to be closed and performs a washing operation on the dishes when detecting that the dishes are at a target position in the washing box.

5. The dish washing control method of claim 4, wherein said washing platform further comprises a door drive motor, a washing drive motor, a second position sensor and a status sensor, each communicatively coupled to said washing controller;

the washing controller controls the washing door to be closed and performs a washing operation on the tableware when detecting that the tableware is at a target position in the washing compartment, comprising:

the cleaning controller acquires a second position detection signal acquired by the second position sensor and an opening and closing state detection signal acquired by the state sensor; the second position detection signal is indicative of the position of the cutlery inside the washing tank; the open/close state detection signal indicates an open/close state of the cleaning box door;

and if the position indicated by the second position detection signal is the target position of the tableware in the washing box, and the washing box door indicated by the open-close state detection signal is in an open state, the washing controller controls the washing box door to be closed by driving the box door driving motor and starts by driving the washing driving motor so as to execute washing operation on the tableware.

6. The dish washing control method as claimed in claim 5, wherein said washing drive motor comprises a main washing motor and a rinsing motor, said washing tank comprises a main washing tank and a rinsing tank, and said washing operation comprises a main washing operation and a rinsing operation;

the washing operation for the tableware is performed by driving the washing driving motor to start, comprising:

the cleaning controller is used for injecting cleaning water into the rinsing water tank by controlling an electromagnetic valve of the cleaning platform to open and detecting whether the cleaning water in the rinsing water tank meets preset conditions or not;

if the preset condition is met, the cleaning controller controls a water valve between the main water washing tank and the rinsing water tank to be opened, and cleaning water in the rinsing water tank is injected into the main water washing tank;

and if the water quantity in the main washing water tank reaches a first preset water level, starting the main washing motor to execute the main washing operation, and after the main washing operation of the tableware is finished, starting the rinsing motor to execute the rinsing operation.

7. The dish washing control method of claim 6, wherein said washing platform further comprises a solenoid valve, a heater, a temperature sensor, a first water level sensor provided to said rinse water tank;

The detecting whether the cleaning water in the rinsing water tank meets the preset condition comprises the following steps:

the cleaning controller acquires a first water level acquired by the first water level sensor, controls the electromagnetic valve to be closed when the first water level reaches a second preset water level, and starts to heat cleaning water in the rinsing water tank by controlling the heater;

the cleaning controller acquires the water temperature acquired by the temperature sensor, controls the heater to be closed when the water temperature reaches a preset temperature threshold value, and determines that the cleaning water in the rinsing water tank meets the preset condition.

8. The dish washing control method of claim 6, wherein said washing platform further comprises a water valve; the cleaning platform also comprises a second water level sensor arranged on the main water washing tank;

the method further comprises the steps of:

the cleaning controller acquires a second water level acquired by the second water level sensor, and controls the water valve to be closed when the second water level reaches the first preset water level.

9. The dish washing control method as claimed in claim 6, wherein said washing drive motor further comprises: injecting a cleaning agent into the motor; the cleaning platform further comprises a dosage sensor and a cleaning water saturation sensor arranged in the main water washing tank;

The starting by driving the main washing motor to perform the main washing operation includes:

the cleaning controller injects the cleaning agent into the cleaning water of the main cleaning water tank by driving the cleaning agent injection motor;

and if the dosage reaches a preset dosage and the cleaning water saturation reaches a preset saturation, the cleaning controller drives the main washing motor to start so as to execute the main washing operation.

10. The dish washing control method of claim 6, wherein said washing platform further comprises a drain motor and a slag removal motor; the method further comprises the steps of:

and when the rinsing operation is finished, the cleaning controller starts to discharge the cleaning water in the main cleaning water tank by controlling the water discharging motor, and after the cleaning water in the main cleaning water tank is completely discharged, starts to discharge residues in the main cleaning water tank by controlling the slag removing motor.

11. A dish washing control method according to any one of claims 1 to 3, wherein said output docking station comprises an output controller, a pull motor, an output rail;

The output connection platform is used for conveying the washed tableware to the output connection platform according to the first conveying signal, and comprises:

12. A dish washing control method according to any one of claims 1-3, wherein said robot travels to the docking port of said input docking station according to a navigation path in a preset navigation map;

the navigation path in the preset navigation map is determined according to the initial position of the tableware to be cleaned, the interface position of the input connection platform, and the environmental information of the environment where the tableware cleaning machine and the robot are located.

13. A tableware cleaning control device, which is characterized in that the tableware cleaning control device is applied to a tableware cleaning machine, wherein the tableware cleaning machine comprises a cleaning platform, an input connection platform and an output connection platform;

the dish washing control device includes:

The washing operation control module is used for executing washing operation on the tableware in the washing box and sending a first transmission signal to the output connection platform after the tableware is washed;

14. A dishwasher comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1-12 when executing the computer program.

15. A readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the method according to any of claims 1-12.

16. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1-12.