Control method, device, electronic device, storage medium and machine equipment

Abstract

The invention belongs to the technical field of water volume control, and specifically relates to a control method, device, electronic device, storage medium and machine equipment. This application obtains the current and water output of the target water pump at the same time when the target water pump speed is determined; establishes a first relationship curve family between the current and the water output at different speeds based on the current and the water output; and performs PID control on the target water pump based on the first relationship curve family to make the real-time water output of the target water pump constant. This allows the water pump to be adjusted in time as soon as the water pump parameters change, which can truly ensure the constant water intake of the dishwasher. In addition, not using a flow sensor can save more space, is convenient to install and can be adjusted in time, and truly achieves a constant water output of the water pump.

Description

Technical Field

[0001] The present invention belongs to the technical field of water volume control, and specifically relates to a control method, device, electronic equipment, storage medium and machine equipment. Background Art

[0002] The amount of water flowing into a dishwasher's water inlet is determined by the operating hours of the water pump motor. However, the motor's speed and current are susceptible to interference and cannot be maintained constant. This results in inconsistent water flow over time, impacting the dishwasher's efficiency and cleaning results. Generally, to achieve a constant water output from the water pump, a flow sensor is installed at the water inlet. The data collected by the flow sensor is then used to adjust the water pump motor to maintain a constant water flow at the water inlet.

[0003] However, the flow sensor itself is large, making it difficult to install it at the dishwasher's water inlet and requiring considerable space. Because the flow sensor's flow measurement has a certain delay, changes in water output can only be detected by the flow sensor after the pump has been disrupted and operating unscheduled for a period of time. Consequently, the pump cannot be adjusted immediately upon parameter changes, and a truly constant water flow cannot be guaranteed. Summary of the Invention

[0004] In response to the technical problem that the existing technologies cannot truly achieve a constant water intake of the dishwasher, the present invention proposes a control method, device, electronic device, storage medium and machine equipment. This application obtains the current and water output of the target water pump at the same time when the target water pump speed is determined; establishes a first relationship curve family between the current and the water output at different speeds based on the current and water output; and performs PID control on the target water pump based on the first relationship curve family to ensure that the real-time water output of the target water pump is constant. This allows the water pump to be adjusted in a timely manner as soon as the water pump parameters change, which can truly ensure the constant water intake of the dishwasher. In addition, not using a flow sensor can save more space, is convenient to install and can be adjusted in a timely manner, and truly achieves a constant water output of the water pump.

[0005] To solve the above technical problems, the technical solution adopted by the present invention includes six aspects.

[0006] In a first aspect, a control method is provided, comprising: obtaining the current and water output of the target water pump at the same moment when the target water pump speed is determined; establishing a first family of relationship curves between the current and the water output at different speeds based on the current and the water output; and performing PID control on the target water pump based on the first family of relationship curves to make the real-time water output of the target water pump constant.

[0007] In some embodiments, the PID control of the target water pump according to the first family of relationship curves so that the real-time water output of the target water pump is constant includes: obtaining the real-time current of the target water pump and the real-time speed of the target water pump; determining the real-time water output corresponding to the real-time current according to the real-time current, the real-time speed and the first family of relationship curves; and performing PID control on the target water pump according to the real-time water output so that the real-time water output of the target water pump is constant.

[0008] In some embodiments, the PID control of the target water pump according to the real-time water output so that the real-time water output of the target water pump is constant includes: obtaining a preset water output of the target water pump; determining whether it is necessary to perform PID control on the target water pump based on the difference between the preset water output and the real-time water output; when the difference is greater than a first threshold, performing PID control on the target water pump according to the real-time water output, the real-time current and the first family of relationship curves so that the difference is less than or equal to the first threshold.

[0009] In some embodiments, when the difference is greater than a first threshold, PID control is performed on the target water pump according to the real-time water output, the real-time current and the first family of relationship curves so that the difference is less than or equal to the first threshold, including: obtaining a preset current; performing PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output and the first family of relationship curves so that the difference is less than or equal to the first threshold.

[0010] In some embodiments, the PID control of the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output and the first family of relationship curves so that the difference is less than or equal to a first threshold value includes: copying the first family of relationship curves to form a copy family of relationship curves; determining the expected water output and the expected current according to the preset water output and the preset current, respectively; determining the positions of the expected current and the expected water output in the copy family of relationship curves according to the real-time current and the real-time water output, respectively, so that the copy family of relationship curves becomes a second family of relationship curves; performing PID control on the target water pump according to the expected water output, the expected current and the second family of relationship curves so that the difference is less than or equal to the first threshold value.

[0011] In some embodiments, the PID control of the target water pump based on the expected water output, the expected current and the second family of relationship curves so that the difference is less than or equal to a first threshold value includes: determining the target speed in the second family of relationship curves based on the expected water output and the expected current; determining the target PWM wave input to the target water pump based on the target speed; and completing the PID control of the target water pump through the target PWM wave so that the difference is less than or equal to the first threshold value.

[0012] In the second aspect, the present application provides a control device, including: a first acquisition module, used to obtain the current and water output of the target water pump at the same time when the target water pump speed is determined; a first establishment module, used to establish a first family of relationship curves between current and water output at different speeds based on the current and water output; a first execution module, used to perform PID control on the target water pump according to the first family of relationship curves to make the real-time water output of the target water pump constant.

[0013] A third aspect provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements steps of a control method when executing the computer program.

[0014] A fourth aspect provides a storage medium, which stores a computer program that can be executed by one or more processors, and the computer program can be used to implement the steps of any control method in the first aspect.

[0015] A fifth aspect provides a machine device, comprising a device body and the electronic device as described in the third aspect, wherein the electronic device is connected to the device body.

[0016] In a sixth aspect, the present application provides a dishwasher, comprising a dishwasher body and the electronic device as described in the third aspect, wherein the electronic device is connected to the device body.

[0017] The beneficial effects of the present invention are as follows: With a target water pump speed determined, the current and water output of the target water pump at the same moment are obtained; a first family of relationship curves between the current and water output at different speeds is established based on the current and water output; and PID control of the target water pump is performed based on the first family of relationship curves to maintain a constant real-time water output of the target water pump. This allows for timely adjustment of the water pump at the first sign of a parameter change, effectively ensuring a constant water intake for the dishwasher. Furthermore, the absence of a flow sensor saves space, facilitates installation, and allows for timely adjustment, truly achieving a constant water output from the water pump. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The scope of the present disclosure may be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings, which include:

[0019] Figure 1 An overall flow chart of a control method provided in an embodiment of the present application;

[0020] Figure 2 This is a structural block diagram of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0023] If similar descriptions of "first\second\third" appear in the application documents, the following explanation will be added. In the following description, the terms "first\second\third" are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0025] The amount of water flowing into a dishwasher's water inlet is determined by the operating hours of the water pump motor. However, the motor's speed and current are susceptible to interference and cannot be maintained constant. This results in inconsistent water flow over time, impacting the dishwasher's efficiency and cleaning results. Generally, to achieve a constant water output from the water pump, a flow sensor is installed at the water inlet. The data collected by the flow sensor is then used to adjust the water pump motor to maintain a constant water flow at the water inlet.

[0026] However, the flow sensor itself is large, making it difficult to install it at the dishwasher's water inlet and requiring considerable space. Because the flow sensor's flow measurement has a certain delay, changes in water output can only be detected by the flow sensor after the pump has been disrupted and operating unscheduled for a period of time. Consequently, the pump cannot be adjusted immediately upon parameter changes, and a truly constant water flow cannot be guaranteed.

[0027] Example 1:

[0028] In response to the above problems, Figure 1 As shown, the present application provides a control method, which is applied to an electronic device, which can be a server, a mobile terminal, a computer, a cloud platform, etc. The functions implemented by the device data processing provided in the embodiments of the present application can be implemented by calling program code by the processor of the electronic device, wherein the program code can be stored in a computer storage medium. The control method includes:

[0029] Step S1: When the target water pump speed is determined, the current and water output of the target water pump at the same time are obtained.

[0030] Each pump has its own fixed parameter data. These parameters are interrelated. For example, the target pump's water output is related to its current and speed. To control the variables, we need to obtain the target pump's current and water output at the same time, given a fixed target pump speed.

[0031] Step S2: establishing a first relationship curve family between the current and the water output at different rotation speeds according to the current and the water output.

[0032] Establishing a family of relationship curves requires a large amount of data, so it is necessary to obtain the current and water output of the target water pump at multiple times when the target water pump is at the same speed in step S1, and finally fit the current and water output to form a relationship curve. Since the water output of the target water pump is also affected by the target water pump speed, the relationship curve formed at this time is only the relationship curve between the current and water output when the target water pump is at a certain speed. If you want to obtain the first family of relationship curves between current and water output at different speeds, you need to establish the relationship curves between current and water output at different speeds, and then integrate the relationship curves between current and water output at all speeds to form the first family of relationship curves. The first family of relationship curves expresses the relationship between changes in water output and current at different speeds.

[0033] Step S3: performing PID control on the target water pump according to the first relationship curve family to make the real-time water output of the target water pump constant.

[0034] Directly measuring water output using a flow sensor has a significant time delay. This means that even if the actual water output of the target water pump has already changed, the resulting change in water output will not be displayed by the flow sensor until some time has passed. Therefore, timely adjustment of the target water pump's water output is impossible. Furthermore, installing a flow sensor requires a significant amount of space. Therefore, in this application, PID control of the target water pump can be performed based on the first family of relationship curves to maintain a constant real-time water output.

[0035] In some embodiments, step S3 of “performing PID control on the target water pump according to the first relationship curve family to keep the real-time water output of the target water pump constant” includes:

[0036] Step S31: Acquire the real-time current and the real-time speed of the target water pump.

[0037] The speed of the target water pump is determined by the given excitation signal frequency, so the real-time speed of the target water pump can be determined by obtaining the excitation signal frequency sent to the target water pump. The real-time current of the target water pump can also be obtained by measurement.

[0038] Step S32: determining the real-time water output corresponding to the real-time current according to the real-time current, the real-time rotation speed and the first relationship curve family.

[0039] After determining the real-time speed, the current and water output relationship curve of the current target water pump is determined. Then, based on the obtained real-time current, the real-time water output of the target water pump is determined by the current current and water output relationship curve.

[0040] Step S33: performing PID control on the target water pump according to the real-time water output, so as to keep the real-time water output of the target water pump constant.

[0041] In some embodiments, step S33 of “performing PID control on the target water pump according to the real-time water output to keep the real-time water output of the target water pump constant” includes:

[0042] Step S41: Obtaining the preset water output of the target water pump.

[0043] Since we need to achieve a constant water output of the target water pump, we must have a target water output for the target water pump, so we set a preset water output.

[0044] Step S42: Determine whether PID control of the target water pump is required based on the difference between the preset water output and the real-time water output.

[0045] Step S43: When the difference is greater than a first threshold, PID control is performed on the target water pump according to the real-time water output, the real-time current and the first relationship curve family so that the difference is less than or equal to the first threshold.

[0046] Although there is a corresponding relationship between the real-time current and the real-time water output, the real-time water output and the preset water output do not necessarily need to be exactly the same, and a certain error is allowed. Therefore, after obtaining the real-time water output based on the real-time current, it is also necessary to determine whether the target water pump needs to be PID-adjusted based on the difference between the real-time water output and the preset water output. If the difference is greater than the first threshold, it means that the difference is not within the allowable error range. At this time, the target water pump is adjusted through PID so that the difference between the actual water output of the target water pump and the preset water output is within the allowable error range.

[0047] In some embodiments, step S43, “when the difference is greater than a first threshold, performing PID control on the target water pump according to the real-time water output, the real-time current, and the first relationship curve family so that the difference is less than or equal to the first threshold,” includes:

[0048] Step S51: Obtaining a preset current.

[0049] Similarly, in order to determine how to perform PID control on the target water pump according to the real-time water output, we need to set a preset current.

[0050] Step S52: performing PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output and the first relationship curve family, so that the difference is less than or equal to a first threshold.

[0051] Since the speed of the target water pump is related to not only its own mechanical structure, but also the given excitation signal frequency. So generally, when the given excitation signal frequency does not change, the speed of the target water pump will not change. But at this time, the real-time water output has changed, indicating that certain external factors have changed. For example, when the water inlet of the target water pump is blocked, resulting in an increase in water pressure, the water suction capacity of the target water pump will decrease, which in turn will result in a decrease in the water output of the target water pump, and in terms of current, the current will show a phenomenon of decreasing. So at this time, we need to perform PID control on the target water pump based on the preset current, preset water output, real-time current, real-time water output and the first family of relationship curves, so that the difference is less than or equal to the first threshold value.

[0052] In some embodiments, step S52 of “performing PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output, and the first relationship curve family so that the difference is less than or equal to a first threshold value” includes:

[0053] Step S61: copying the first relationship curve family to form a copy relationship curve family.

[0054] Due to external factors, the water output of the target water pump has decreased. At this time, in order to increase the water output, the only way is to increase the speed of the target water pump. Changing the speed will change the relationship curve between the water output and current of the current target water pump. However, in the first family of relationship curves, the target speed cannot be determined by the preset current and preset water output. The target speed is the speed that can make the difference between the real-time water output of the target water pump and the preset water output less than or equal to the first threshold under the current circumstances. In order to determine the target speed, the first family of relationship curves needs to be transformed. In order not to destroy the first family of relationship curves, the first family of relationship curves is copied to obtain a copy family of relationship curves.

[0055] Step S62: determining an expected water output and an expected current according to the preset water output and the preset current respectively.

[0056] There is a preset correlation between the expected water output and the preset water output, and between the preset current and the expected current. This correlation can be equal, or the expected value can be obtained by modifying the preset value. Here, the preset value refers to the preset water output and the preset current, while the expected value refers to the expected water output and the expected current.

[0057] Step S63: determining the positions of the expected current and the expected water output in the replica relationship curve family according to the real-time current and the real-time water output, respectively, so that the replica relationship curve family becomes a second relationship curve family.

[0058] After processing the preset current and the preset water output through the preset association relationship, the expected current and the expected water output are obtained. Then, the positions of the expected current and the expected water output are obtained in the copy relationship curve according to the real-time current and the real-time water output, thereby forming a second relationship curve family.

[0059] Step S64: performing PID control on the target water pump according to the expected water output, the expected current, and the second relationship curve family, so that the difference is less than or equal to a first threshold.

[0060] In some embodiments, step S64 of “performing PID control on the target water pump according to the desired water output, the desired current, and the second relationship curve family so that the difference is less than or equal to a first threshold” includes:

[0061] Step S71: determining a target rotation speed in a second relationship curve family according to the expected water output and the expected current.

[0062] When PID control is performed on the target water pump based on the expected water output, the expected current and the second family of relationship curves, the corresponding relationship curve between the water output and the current can be determined in the second family of relationship curves through the expected water output and the expected current, and the corresponding speed can be obtained based on the relationship curve, which is the target speed.

[0063] Step S72: Determine a target PWM wave input to the target water pump according to the target speed.

[0064] In this article, PWM wave is used as the excitation signal for the target water pump, so after determining the speed, the target PWM wave can be easily determined.

[0065] Step S73: performing PID control on the target water pump through the target PWM wave so that the difference is less than or equal to a first threshold.

[0066] After determining the target PWM wave, the target PWM wave is input into the target water pump to change the speed of the target water pump so that the difference between the actual water output after the speed change and the preset water output is less than or equal to the first threshold.

[0067] The method of the present application enables the water pump to be adjusted promptly as soon as the water pump parameters change, which can truly ensure the constant water intake of the dishwasher. In addition, the method does not use a flow sensor, which can save more space, is convenient to install and can be adjusted in time, thereby truly achieving a constant water output from the water pump.

[0068] Example 2:

[0069] This embodiment uses the water inlet pump of a dishwasher as an example to illustrate the above method.

[0070] When a change in the real-time current is detected, the real-time water output is determined based on the first family of relationship curves. The difference between the real-time water output and the preset water output is used to determine whether PID control of the water pump is necessary. If PID control of the water pump is necessary, the first family of relationship curves is copied to create a duplicate family of relationship curves. The preset current is then obtained. A second family of relationship curves is constructed based on the preset current, preset water output, real-time water output, real-time current, and the duplicate family of relationship curves.

[0071] In the process of constructing the second relationship curve family, the expected current and the expected water output must first be determined based on the preset water output and the preset current.

[0072] There are at least two ways to determine the expected water output and expected current based on the preset water output and preset current. One is to directly set the preset water output and preset current as the expected water output and expected current. The other is to compensate the preset water output and preset current to obtain the expected water output and expected current.

[0073] When the desired water output and desired current equal the preset water output and preset current, the real-time water output and real-time current are marked at the preset water output and preset current positions in the replica relationship curve, respectively. Then, based on the numerical relationship between the desired water output and the real-time water output, the position of the desired water output in the replica relationship curve family is determined. The position of the desired current in the replica relationship curve family is determined in the same manner. This ultimately results in a second family of curve relationships. Finally, based on the desired water output and expected current in the second family of curve relationships, the target speed is determined. Based on the target speed, the target PWM wave input to the water pump is then determined. This PWM wave is then input into the target water pump, and the real-time current is continuously monitored. Based on the monitored real-time current, the real-time water output is determined in the first family of relationship curves. Based on the real-time water output and the preset water output, it is determined whether to continue PID control of the water pump polarity. If so, the above steps are continued. If not, the task is terminated, achieving a constant water inflow to the dishwasher.

[0074] Alternatively, when the desired water output and desired current are obtained by compensating for the preset water output and preset current, since the replica relationship curve family is a replica of the first relationship curve family, the position of the real-time current and the position of the actual water output can be easily determined within the replica relationship curve family based on the real-time current and real-time water output. The positions of the desired water output and desired current within the replica relationship curve family are then determined based on the numerical relationship between the desired water output and desired current and the real-time water output and current, ultimately resulting in the second relationship curve family.

[0075] Example 3:

[0076] Based on the foregoing embodiments, an embodiment of the present application provides a control device, wherein the modules included in the device and the units included in each module can be implemented by a processor in a computer device; of course, they can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0077] like Figure 2As shown, the second aspect provides a control device, including: a first acquisition module 1, a first establishment module 2 and a first execution module 3.

[0078] The first acquisition module 1 is configured to obtain the current and water output of the target water pump at the same time, given a target water pump speed. The first establishment module 2 is configured to establish a first family of relationship curves between current and water output at different speeds based on the current and water output. The first execution module 3 is configured to perform PID control on the target water pump based on the first family of relationship curves to maintain a constant real-time water output of the target water pump.

[0079] In some embodiments, the first execution module 3 includes: a second acquisition module, a first determination module and a second execution module.

[0080] The second acquisition module is configured to acquire the real-time current and real-time speed of the target water pump. The first determination module is configured to determine the real-time water output corresponding to the real-time current based on the real-time current, the real-time speed, and a first family of relationship curves. The second execution module is configured to perform PID control on the target water pump based on the real-time water output to maintain a constant real-time water output of the target water pump.

[0081] In some embodiments, the second execution module includes: a third acquisition module, a second determination module and a third execution module.

[0082] The third acquisition module is configured to acquire a preset water output of the target water pump. The second determination module is configured to determine whether PID control of the target water pump is required based on a difference between the preset water output and the real-time water output. The third execution module is configured to, when the difference is greater than a first threshold, perform PID control on the target water pump based on the real-time water output, the real-time current, and the first family of relationship curves, such that the difference is less than or equal to the first threshold.

[0083] In some embodiments, the third execution module includes: a fourth acquisition module and a fourth execution module.

[0084] The fourth acquisition module is used to acquire a preset current. The fourth execution module is used to perform PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output, and the first relationship curve family, so that the difference is less than or equal to a first threshold.

[0085] In some embodiments, the fourth execution module includes: a fifth execution module, a third determination module, a fourth determination module, and a sixth execution module.

[0086] The fifth execution module is used to copy the first family of relationship curves to form a replica family of relationship curves. The third determination module is used to determine the expected water output and the expected current based on the preset water output and the preset current, respectively. The fourth determination module is used to determine the position of the expected current and the expected water output in the replica family of relationship curves based on the real-time current and the real-time water output, respectively, so that the replica family of relationship curves becomes the second family of relationship curves. The sixth execution module is used to perform PID control on the target water pump based on the expected water output, the expected current, and the second family of relationship curves, so that the difference is less than or equal to a first threshold.

[0087] In some embodiments, the sixth execution module includes: a fifth determination module, a sixth determination module and a seventh execution module,

[0088] The fifth determination module is configured to determine a target speed in a second family of relationship curves based on the desired water output and the desired current. The sixth determination module is configured to determine a target PWM wave input to the target water pump based on the target speed. The seventh execution module is configured to perform PID control of the target water pump using the target PWM wave so that the difference is less than or equal to a first threshold.

[0089] Each module in the above-mentioned control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the device in hardware form, or can be stored in the memory of the processing device in software form, so that the processor can call and execute the operations corresponding to each of the above modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods.

[0090] Example 4:

[0091] A third aspect provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the control methods when executing the computer program.

[0092] Example 5:

[0093] A fourth aspect provides a storage medium, wherein the computer program stored in the storage medium can be executed by one or more processors, and the computer program can be used to implement the steps of any control method in the first aspect.

[0094] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0095] Example 6:

[0096] In a fifth aspect of the present application, a machine device is provided, comprising a device body and the electronic device described in the third aspect, wherein the electronic device is connected to the device body.

[0097] Example 7:

[0098] In a sixth aspect of the present application, a dishwasher is provided, comprising a dishwasher body and the electronic device described in the third aspect, wherein the electronic device is connected to the device body.

[0099] The dishwasher described herein obtains the real-time current of the water inlet pump to determine whether the difference between the real-time water inlet volume of the water inlet pump and a preset water inlet volume is less than or equal to a first threshold. If the difference is determined to be greater than the first threshold, PID adjustment is performed on the input PWM of the water inlet pump to ensure that the difference is less than or equal to the first threshold.

[0100] In the present application, even without a flow sensor, the real-time water intake of the dishwasher can still be obtained, and the real-time water intake of the dishwasher can be adjusted so that the difference between the real-time water intake of the dishwasher and the preset water intake is less than or equal to a first threshold, thereby achieving a constant water intake of the dishwasher. In particular, when the water inlet of the water inlet pump is clogged, causing the water pressure at the water inlet of the water inlet pump to increase, the present application can promptly adjust the PWM wave input to the water inlet pump, thereby maintaining a constant water intake of the dishwasher of the present application.

[0101] Therefore, compared with the existing technology, the present application avoids the problem that the flow sensor occupies too much space and is not easily installed. Moreover, the present application does not use the flow sensor to obtain the real-time water intake, which makes the water intake adjustment of the dishwasher more timely, so that the dishwasher of the present application can truly achieve constant water intake.

[0102] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0103] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0105] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0106] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0107] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROMs), magnetic disks, optical disks, and other media that can store program codes.

[0108] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a controller to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0109] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method, characterized in that: include: When the target water pump speed is determined, the current and water output of the target water pump at the same time are obtained; Establishing a first relationship curve family between the current and the water output at different rotation speeds according to the current and the water output; performing PID control on the target water pump according to the first relationship curve family to ensure that the real-time water output of the target water pump is constant; The performing PID control on the target water pump according to the first relationship curve family to make the real-time water output of the target water pump constant includes: Acquire the real-time current and the real-time speed of the target water pump; determining a real-time water output corresponding to the real-time current according to the real-time current, the real-time rotational speed, and a first family of relationship curves; Performing PID control on the target water pump according to the real-time water output so as to keep the real-time water output of the target water pump constant; The performing PID control on the target water pump according to the real-time water output so as to make the real-time water output of the target water pump constant includes: Get the preset water output of the target water pump; Determining whether PID control of the target water pump is required according to the difference between the preset water output and the real-time water output; When the difference is greater than a first threshold, performing PID control on the target water pump according to the real-time water output, the real-time current, and the first relationship curve family so that the difference is less than or equal to the first threshold; When the difference is greater than a first threshold, performing PID control on the target water pump according to the real-time water output, the real-time current, and the first family of relationship curves so that the difference is less than or equal to the first threshold includes: Get the preset current; performing PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output, and the first relationship curve family, so that the difference is less than or equal to a first threshold; The performing PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output, and the first relationship curve family so that the difference is less than or equal to a first threshold value includes: Copying the first relationship curve family to form a copy relationship curve family; Determining an expected water output and an expected current according to the preset water output and the preset current respectively; Determining positions of the expected current and the expected water output in the replica relationship curve family according to the real-time current and the real-time water output, respectively, so that the replica relationship curve family becomes a second relationship curve family; When the expected water output is equal to the preset water output, and the expected current is equal to the preset current, determining the positions of the expected current and the expected water output in the replica relationship curve family according to the real-time current and the real-time water output, respectively, so that the replica relationship curve family becomes a second relationship curve family, includes: Respectively marking the real-time water output and the real-time current at the positions of the preset water output and the preset current in the replica relationship curve family; Determining a position of the expected water output in the replica relationship curve family according to a numerical relationship between the expected water output and the real-time water output; determining a position of the desired current in the replica relationship curve family according to a numerical relationship between the desired current and the real-time current, and ultimately obtaining the second relationship curve family; The target water pump is PID-controlled according to the expected water output, the expected current, and a second relationship curve family, so that the difference is less than or equal to a first threshold.

2. A control method according to claim 1, characterized in that: The performing PID control on the target water pump according to the expected water output, the expected current, and the second relationship curve family so that the difference is less than or equal to a first threshold value includes: determining a target rotation speed in a second family of relationship curves according to the desired water output and the desired current; determining a target PWM wave input to the target water pump according to the target speed; The target water pump is PID-controlled by the target PWM wave so that the difference is less than or equal to a first threshold.

3. A control device, characterized in that: include: The first acquisition module is used to obtain the current and water output of the target water pump at the same time when the target water pump speed is determined; A first establishing module is used to establish a first relationship curve family between the current and the water output at different rotation speeds according to the current and the water output; a first execution module, configured to perform PID control on the target water pump according to the first relationship curve family, so as to keep the real-time water output of the target water pump constant; The first execution module includes: a second acquisition module, a first determination module and a second execution module; The second acquisition module is used to acquire the real-time current and the real-time speed of the target water pump; The first determining module is used to determine the real-time water output corresponding to the real-time current according to the real-time current, the real-time rotation speed and a first relationship curve family; The second execution module is used to perform PID control on the target water pump according to the real-time water output, so as to make the real-time water output of the target water pump constant; The second execution module includes: a third acquisition module, a second determination module and a third execution module; The third acquisition module is used to obtain the preset water output of the target water pump; The second determining module is used to determine whether PID control of the target water pump is required according to the difference between the preset water output and the real-time water output; The third execution module is configured to, when the difference is greater than a first threshold, perform PID control on the target water pump according to the real-time water output, the real-time current, and the first relationship curve family, so that the difference is less than or equal to the first threshold; The third execution module includes: a fourth acquisition module and a fourth execution module; The fourth acquisition module is used to obtain a preset current; The fourth execution module is configured to perform PID control on the target water pump according to the preset current, the preset water output, the real-time current, the real-time water output, and the first relationship curve family, so that the difference is less than or equal to a first threshold; The fourth execution module includes: a fifth execution module, a third determination module, a fourth determination module and a sixth execution module; The fifth execution module is configured to copy the first relationship curve family to form a copy relationship curve family; The third determining module is used to determine the expected water output and the expected current according to the preset water output and the preset current respectively; The fourth determining module is configured to determine positions of the expected current and the expected water output in the copy relationship curve family according to the real-time current and the real-time water output, respectively, so that the copy relationship curve family becomes a second relationship curve family; When the expected water output is equal to the preset water output, and the expected current is equal to the preset current, the fourth determining module is further configured to: Respectively marking the real-time water output and the real-time current at the positions of the preset water output and the preset current in the replica relationship curve family; Determining a position of the expected water output in the replica relationship curve family according to a numerical relationship between the expected water output and the real-time water output; determining a position of the desired current in the replica relationship curve family according to a numerical relationship between the desired current and the real-time current, and ultimately obtaining the second relationship curve family; The sixth execution module is configured to perform PID control on the target water pump according to the expected water output, the expected current, and the second relationship curve family, so that the difference is less than or equal to a first threshold.

4. An electronic device, characterized in that: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of a control method as claimed in any one of claims 1 to 2 are performed.

5. A storage medium, characterized in that The computer program stored in the storage medium can be executed by one or more processors, and the computer program can be used to implement the steps of a control method as claimed in any one of claims 1 to 2.

6. A machine device, characterized in that: The device comprises a device body and the electronic device according to claim 4, wherein the electronic device is connected to the device body.

7. A dishwasher, characterized in that: The device comprises a dishwasher body and the electronic device according to claim 4, wherein the electronic device is connected to the dishwasher body.

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