Method for determining the remaining amount of a detergent dispensing device

Abstract

Disclosed is a method for determining residual cleaning agent of a cleaning agent dispensing device, the cleaning agent dispensing device comprising a dispensing device housing, a motion execution mechanism and a motor, the motor being configured to drive the motion execution mechanism to move, movement of the motion execution mechanism causing cleaning agent in the cleaning agent dispensing device to move relative to the dispensing device housing and in turn dispense the cleaning agent, the method comprising: continuously acquiring a running parameter of the motor during movement of the motion execution mechanism driven by the motor to dispense the cleaning agent; calculating a calculated stroke of the motion execution mechanism according to the acquired running parameter; calculating a motor running state value, and determining a residual amount of the cleaning agent dispensing device according to the motor running state value, wherein the motor running state value comprises a value of the calculated stroke or a value obtained by multiplying the calculated stroke by a first coefficient K1.

Description

Technical Field

[0001] This invention relates to a method and system for determining residual material in a cleaning block dispensing device. More specifically, this invention relates to a method and system for determining residual material in a disc-type cleaning block dispensing device, as well as a cleaning block dispensing device and a washing device including the system. Background Technology

[0002] Dishwashers, as convenient kitchen appliances, are increasingly widely used. Dishwashers typically use cleaning tablets and employ an automatic dispensing system to dispense them. However, the space for cleaning tablets in this automatic dispensing system is limited, and if there is no notification when the tablets run out, it can severely impact the user experience of using a dishwasher.

[0003] To improve user experience, some dishwashers now incorporate sensors in their automatic dispensing units to provide alerts for remaining cleaning tablets. These automatic dispensing units include sensors or switches, such as infrared sensors, position sensors, and touch switches, to detect the presence of cleaning tablets. For example, using infrared sensors to detect remaining tablets requires adding one or two infrared sensors to the dispenser, relying on the obstruction caused by the tablets to determine the current quantity. However, these sensors and the resulting wiring increase costs, which is a significant disadvantage in the increasingly cost-conscious dishwasher industry. Furthermore, these sensors and their wiring can also become potential points of failure.

[0004] Therefore, there is a need for an improved dishwasher and automatic dispensing device that can provide a display or warning of leftover cleaning blocks at low cost. Summary of the Invention

[0005] The present invention aims to overcome at least some of the above-mentioned problems in the prior art.

[0006] According to one aspect of the present invention, a method for determining residual detergent in a detergent dispensing device is provided. The detergent dispensing device includes a dispensing device housing, a motion actuator, and a motor. The motor is configured to drive the motion actuator to move. The movement of the motion actuator causes detergent in the detergent dispensing device to move relative to the dispensing device housing and thereby dispensing the detergent. The method includes:

[0007] During the process of the motor driving the motion actuator to dispensing the cleaning agent, the operating parameters of the motor are continuously acquired;

[0008] The calculated stroke of the motion actuator is calculated based on the obtained operating parameters;

[0009] Calculate the motor operating status value and determine the remaining amount of the cleaning agent dispensing device based on the motor operating status value, wherein the motor operating status value includes the value of the calculated stroke or the value obtained by multiplying the calculated stroke by the first coefficient K1.

[0010] According to one or more embodiments of the present invention, the operating parameter is the motor speed.

[0011] According to one or more embodiments of the present invention, the method further includes:

[0012] Calculate the motor acceleration based on the motor speed;

[0013] Calculate the average motor acceleration during the process of the motor driving the motion actuator to dispensing the cleaning agent.

[0014] The motor operating status value also includes the value obtained by multiplying the average motor acceleration by the second coefficient K2.

[0015] According to one or more embodiments of the present invention, the method further includes:

[0016] Obtain the maximum motor acceleration;

[0017] The motor operating status value also includes the value obtained by multiplying the maximum motor acceleration by the third coefficient K3.

[0018] According to another aspect of the present invention, a method for determining residual detergent in a detergent dispensing device is provided. The detergent dispensing device includes a dispensing device housing, a motion actuator, and a motor. The motor is configured to drive the motion actuator to move. The movement of the motion actuator causes detergent in the detergent dispensing device to move relative to the dispensing device housing and thereby dispensing the detergent. The method includes:

[0019] During the process of the motor driving the motion actuator to dispensing the cleaning agent, the motor speed is continuously acquired;

[0020] Calculate the motor acceleration based on the motor speed;

[0021] Calculate the average motor acceleration during the process of the motor driving the motion actuator to dispensing the cleaning agent.

[0022] Calculate the motor operating status value and determine the remaining amount of the cleaning agent dispensing device based on the motor operating status value, wherein the motor operating status value includes the average motor acceleration or the value obtained by multiplying the average motor acceleration by the second coefficient K2.

[0023] According to one or more embodiments of the present invention, the method further includes:

[0024] Obtain the maximum motor acceleration;

[0025] The motor operating status value also includes the value obtained by multiplying the maximum motor acceleration by the third coefficient K3.

[0026] According to one or more embodiments of the present invention, the method further includes:

[0027] During the process of the motor driving the motion actuator to dispensing the cleaning agent, the motor current of the motor is continuously collected;

[0028] The motor torque is calculated based on the collected motor current.

[0029] When the motor torque is greater than a predetermined torque value, the motor operating state value also includes the value of a fourth coefficient K4.

[0030] According to one or more embodiments of the present invention, the method further includes dispensing cleaning agent multiple times and determining the remaining amount of the cleaning agent dispensing device each time based on the motor operating status value, and correcting the last determined remaining amount based on the remaining amount determined multiple times.

[0031] According to one or more embodiments of the present invention, the method further includes determining that the detergent dispensing device has failed to dispense detergent when the motor operating state value is within a predetermined range.

[0032] According to one or more embodiments of the present invention, the method further includes determining that the remaining material in the detergent dispensing device is zero when it is determined that the detergent dispensing device has failed to dispense material for a predetermined number of consecutive times.

[0033] According to one or more embodiments of the present invention, the method further includes comparing the motor operating status value with pre-stored data and determining the amount of residual detergent in the detergent dispensing device based on the comparison result.

[0034] According to one or more embodiments of the present invention, the method for judging residual material further includes determining the values ​​of each coefficient in advance through experiments.

[0035] According to one or more embodiments of the present invention, obtaining the motor speed of the motor includes:

[0036] The ripple count of the motor current is obtained by sampling the current of the motor.

[0037] The motor speed is calculated by the ripple count of the motor current.

[0038] According to one or more embodiments of the present invention, the detergent dispensing device is used for dispensing detergent into a dishwasher.

[0039] According to one or more embodiments of the present invention, the cleaning agent dispensing device includes a disc-shaped storage device, the motion actuator includes a pusher, the cleaning agent is a cleaning block, and the disc-shaped storage device has a plurality of storage compartments arranged circumferentially, each storage compartment being configured to receive a cleaning block.

[0040] The disc-shaped storage device is configured to rotate around a rotation center so that the pusher is selectively aligned with one of the plurality of storage compartments. The motor is connected to the pusher and drives the pusher to reciprocate. The reciprocating motion of the pusher causes the disc-shaped storage device to rotate intermittently and pushes and dispenses cleaning blocks into the aligned storage compartment.

[0041] According to another aspect of the present invention, a residual material detection system for a detergent dispensing device is provided, comprising:

[0042] A processor configured to execute a residual material determination method.

[0043] According to another aspect of the present invention, a detergent dispensing device is provided, comprising:

[0044] The casing of the dispensing device;

[0045] Motion execution mechanism; and

[0046] motor,

[0047] The motor is configured to drive the motion actuator to move, and the movement of the motion actuator causes the detergent in the detergent dispensing device to move relative to the dispensing device housing and thus dispense the detergent.

[0048] The cleaning agent dispensing device also includes a residual material detection system for the cleaning agent dispensing device.

[0049] According to another aspect of the present invention, a washing apparatus is provided, which includes a detergent dispensing device.

[0050] According to one or more embodiments of the present invention, the washing device is a dishwasher. Attached Figure Description

[0051] Figure 1 A diagram of a dishwasher according to one or more embodiments of the present invention is shown;

[0052] Figure 2 A diagram of a cleaning block dispensing device according to one or more embodiments of the present invention is shown;

[0053] Figure 3 A diagram of a drive device according to one or more embodiments of the present invention is shown;

[0054] Figure 4 A method according to a first embodiment of the present invention is shown;

[0055] Figure 5 A method (partial) according to a second embodiment of the present invention is shown;

[0056] Figure 6 A method (partial) according to a third embodiment of the present invention is shown;

[0057] Figure 7 A method (partial) according to a fourth embodiment of the present invention is shown;

[0058] Figure 8 An example of instantaneous motor current is shown. Detailed Implementation

[0059] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0060] Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. In the description of this invention, it should be understood that the terms “center,” “longitudinal,” “lateral,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term “cleaning agent” as used herein can refer to a solid cleaning agent, including block solid cleaning agents and powdered solid cleaning agents, or a liquid cleaning agent. In this document, the terms “cleaning block” and “block solid cleaning agent” are used interchangeably.

[0061] This invention provides a method and system for determining the remaining detergent in a detergent dispensing device of a washing apparatus. The detergent dispensing device includes a dispensing device housing, a motion actuator, and a motor. Each time detergent is dispensed, the motor drives the motion actuator to move, causing the detergent in the dispensing device to move relative to the housing and thus dispensing the detergent. As detergent is dispensed, the remaining detergent in the dispensing device decreases, and the force required by the motion actuator to move the detergent relative to the housing and dispense it also decreases. In other words, as detergent is dispensed, the load on the motor of the detergent dispensing device decreases or changes accordingly, thus affecting the motor's operating state. This invention utilizes the correlation between the remaining detergent in the dispensing device and the motor's operating state, calculating the remaining detergent information from the motor's operating information using an algorithm.

[0062] The method and system of this invention calculate the remaining amount of detergent solely based on motor operating information using an algorithm. Therefore, the method and system of this invention can obtain the remaining amount of detergent in the detergent dispensing device without any auxiliary sensors. This saves costs and avoids the potential for malfunctions associated with such sensors and their required wiring.

[0063] Figure 1 A diagram of a dishwasher 100 according to one or more embodiments of the present invention is shown. The dishwasher 100 includes a dishwasher body 102 and a dishwasher door 104, the dishwasher body 102 defining a washing chamber 106, and the dishwasher door 104 for selectively closing the washing chamber 106. A detergent dispensing device 200 is mounted on the dishwasher door 104. Figure 1 The dishwasher shown is merely illustrative, and the invention is not limited thereto. The residual detergent determination method and system of the detergent dispensing device of the present invention are applicable to any suitable dishwasher.

[0064] Figure 2 A diagram is shown of a disc-type cleaning block dispensing device 200 according to one or more embodiments of the present invention. The disc-type cleaning block dispensing device 200 includes a dispensing device housing 210, a disc-shaped storage device 220 mounted in the dispensing device housing 210, and a drive device 300. The disc-shaped storage device 220 has a center of rotation and is rotatably mounted within the dispensing device housing 210. The disc-shaped storage device 220 has a plurality of storage compartments 222 arranged circumferentially, each storage compartment 222 configured to receive a cleaning block (block-shaped solid cleaning agent).

[0065] Figure 3A diagram is shown of a drive device 100 according to one or more embodiments of the present invention. The drive device 300 includes a pusher 310, a drive motor 320, a reduction gear set 330, and housing parts 342, 344, and 346. The drive motor 320 is driven to the pusher 310 via the reduction gear set 330 to drive the linear reciprocating motion of the pusher. During operation of the cleaning block dispensing device 200, the disc-shaped storage device 220 rotates intermittently, causing the pusher 310 to selectively align with one storage compartment 222 of the disc-shaped storage device 220, thereby pushing and dispensing the cleaning block in the aligned storage compartment 222 by the reciprocating motion of the pusher 310.

[0066] exist Figure 1-3 For clarity, some components have been omitted. Those skilled in the art will understand that in actual implementation, in addition to the components shown in the figures, the dishwasher, cleaning block dispensing device, and drive device according to the present invention may also include other components, such as connectors.

[0067] During the operation of the cleaning block dispensing device, each reciprocating motion of the pusher pushes and dispenses a cleaning block from the storage compartment it is aligned with. With each reciprocating motion of the pusher, the disc-shaped storage device rotates one unit to align the next storage compartment with the pusher. Thus, the next reciprocating motion of the pusher pushes and dispenses a cleaning block from the next aligned storage compartment. In other words, the reciprocating motion of the pusher is usually linked to the rotational motion of the disc-shaped storage device; one reciprocating motion of the pusher causes one unit of the disc-shaped storage device to rotate, thereby rotating the next storage compartment of the disc-shaped storage device to align with the pusher.

[0068] In a rotary cleaning block dispensing device, there are multiple linkage mechanisms between the reciprocating motion of the pusher and the rotational motion of the rotary storage device. For example, the applicant's prior patent CN212679061U describes a cleaning block dispensing device in which the rotary storage device is provided with a guide groove, and the pusher is provided with a rotation limiting member extending into the guide groove. During the reciprocating motion of the pusher, through the interaction between the rotation limiting member and the guide groove of the rotary storage device, the rotary storage device rotates intermittently one compartment with each reciprocating motion of the pusher, so that the pusher can align with the next storage compartment of the rotary storage device. As another example, the applicant's other prior patent CN212853407U describes a cleaning block dispensing device in which an elastic energy storage member is provided, which connects the rotary storage device to the main housing to apply a rotational force to the rotary storage device. The rotary storage device is also provided with multiple limiting structures, and the pusher is provided with corresponding rotation limiting members. Through the interaction between the limiting structure on the disc-shaped storage device and the rotation limiting member on the pusher, the disc-shaped storage device rotates intermittently during the reciprocating motion of the pusher. That is, with each reciprocating motion of the pusher, the disc-shaped storage device rotates one compartment intermittently to align the pusher with the next storage compartment of the disc-shaped storage device. Two exemplary linkage mechanisms between the linear reciprocating motion of the pusher and the rotational motion of the disc-shaped storage device are described herein. However, the invention is not limited thereto, and can be applied to any suitable linkage mechanism between the linear reciprocating motion of the pusher and the rotational motion of the disc-shaped storage device.

[0069] During dishwasher use, one or more cleaning tablets are typically used per wash as needed. After the initial loading or reloading, the number of cleaning tablets remaining in the disc-shaped dispensing device decreases with each wash. As the number of cleaning tablets decreases, the weight and center of gravity of the disc-shaped storage device (including the cleaning tablets) also change. This causes the force required for the pusher to rotate one notch on the disc-shaped storage device with each reciprocating motion of the pusher to change. Therefore, during dishwasher use, as the number of cleaning tablets remaining in the disc-shaped dispensing device decreases, the resistance generated by the interaction between the disc-shaped storage device and the pusher also changes.

[0070] Furthermore, as mentioned above, as the remaining number of cleaning blocks in the disc-type cleaning block dispensing device decreases, the force required for the pusher to rotate the disc-shaped storage device by one increment also changes. This can lead to variations in the positional or angular relationships between the pusher, the storage compartment aligned with the pusher, and the cleaning blocks within the storage compartment during each push, thus causing different resistance from the disc-shaped storage device to the cleaning blocks. In other words, as the remaining number of cleaning blocks in the disc-type cleaning block dispensing device decreases, the resistance from the disc-shaped storage device to the pusher and to the cleaning blocks changes during each push. Therefore, the load on the drive motor of the pusher varies during each reciprocating motion, resulting in different operating states. This invention utilizes the correlation between the remaining number of cleaning blocks in the disc-type cleaning block dispensing device and the operating state of the drive motor to calculate the remaining cleaning block information from the motor's operating information using an algorithm.

[0071] Examples of the rotary cleaning block dispensing device described above (e.g.) Figure 2 and Figure 3 In the illustrated embodiment, due to the linkage between the pusher (corresponding to the motion actuator of the present invention) and the disc-shaped storage device, as the remaining number of cleaning blocks in the disc-shaped cleaning block dispensing device decreases, the load on the drive motor of the pusher also changes. Therefore, the remaining amount of cleaning blocks can be calculated by an algorithm from the operating state of the drive motor of the pusher. However, the present invention is not limited to this; the method and system of the present invention are also applicable to any suitable cleaning agent dispensing device, as long as the load of its drive motor is related to the amount of remaining cleaning agent. Furthermore, the cleaning agent dispensed by the method and system of the present invention can be a solid block cleaning agent (i.e., a cleaning block) as described above, or it can be a powdered solid cleaning agent or a liquid cleaning agent.

[0072] In one or more other embodiments of the invention, the disc-shaped storage device in the disc-type detergent dispensing device is not rotated via a linkage mechanism with a pusher, but is directly driven by a motor or driven by a motor through a transmission mechanism (e.g., a reduction gear mechanism). In these embodiments, the disc-shaped storage device corresponds to the motion actuator of the invention. Since the detergent is stored in the disc-shaped storage device, as the amount of detergent remaining therein decreases, the driving force required to rotate the disc-shaped storage device decreases, and therefore the load on its drive motor also decreases. Thus, the remaining amount of detergent can be calculated by an algorithm from the operating state of the drive motor of its disc-shaped storage device. In these embodiments, various detergents can be used, and these detergents can be dispensed in various ways. In some embodiments, the detergent can be a block-shaped solid detergent (cleaning block) stored in a storage compartment of the disc-shaped storage device, the motion actuator is the disc-shaped storage device, and the block-shaped solid detergent is dispensed by being pushed by a separately driven pusher. In other embodiments, the cleaning agent may be a block-shaped solid cleaning agent, a powdered solid cleaning agent, or a liquid cleaning agent stored in a storage compartment of a disc-shaped storage device, and the motion actuator is a disc-shaped storage device. The block-shaped solid cleaning agent, powdered solid cleaning agent, or liquid cleaning agent is held in the storage compartment by baffles and is released by gravity when the respective baffles are removed.

[0073] In the embodiments described above, the method and system of the present invention can be used in various rotary detergent dispensing devices. However, the present invention is not limited thereto. Methods and systems according to other embodiments of the present invention can be used in non-rotary detergent dispensing devices, such as those disclosed in CN112790715A, CN211381220U, and CN211484457U. In these detergent dispensing devices, multiple block-shaped solid detergents are stacked vertically. During detergent dispensing, a motor-driven motion actuator dispenses the bottommost block-shaped solid detergent from the vertically stacked blocks. After the bottommost block-shaped solid detergent is dispensed, the remaining block-shaped solid detergents move downwards under gravity, ensuring that the bottommost remaining block-shaped solid detergent remains in the dispensing position. In these embodiments, as the dispensing process progresses, the number of vertically stacked solid cleaning agents decreases, and the pressure on the bottommost solid cleaning agent also decreases. Consequently, the driving force required by the motion actuator to dispense the bottommost solid cleaning agent also decreases. Therefore, the load on the motor driving the motion actuator also decreases. Thus, during the dispensing process, the remaining amount of cleaning agent can be calculated using an algorithm based on the operating status of the drive motor of the motion actuator.

[0074] The foregoing describes a detergent dispensing device according to some embodiments of the present invention. However, the present invention is not limited thereto; the remaining detergent determination method and system of the present invention are applicable to any suitable detergent dispensing device, as long as the motor load of the detergent dispensing device is related to the amount of remaining detergent in the device. For example, the detergent dispensing device includes a motion actuator and a motor that drives the motion actuator to move. Each time detergent is dispensed, the movement of the motion actuator moves the detergent in the dispensing device and thus dispenses the detergent. As the amount of remaining detergent in the dispensing device decreases, the force required by the motion actuator to move the detergent and dispense it also decreases. Therefore, the load on the motor driving the motion actuator will also decrease or change accordingly.

[0075] The inventors of this invention discovered through experiments that, when the motion actuator moves to dispense cleaning agent, four parameters from the information obtained through the motor's operating status are most closely related to the amount of residual cleaning agent in the dispensing device. These four parameters are: the calculated stroke value obtained from the motor speed; the average acceleration value obtained from the motor speed; the maximum acceleration value obtained from the motor speed; and the motor stall state. Therefore, this invention utilizes one or more of these four parameters to characterize the motor's operating status value, and determines the amount of residual cleaning agent in the dispensing device based on the motor's operating status value. These four parameters will be described in detail below.

[0076] The detergent dispensing device of this invention can employ various types of motors, such as brushed motors, single-phase brushless DC motors, three-phase brushless DC motors, and stepper motors. The inventors of this invention have also discovered that the motor type affects the correlation between the four parameters and the amount of detergent residue. Specifically, when a stepper motor is used, due to the characteristics of the stepper motor, the average acceleration and maximum acceleration of the four parameters have a low or negligible correlation with the amount of detergent residue in the detergent dispensing device. Furthermore, there is also a correlation between the transmission mechanism between the motor and the motion actuator. When the transmission mechanism is a gear reduction transmission, the maximum acceleration of the four parameters has a low or negligible correlation with the amount of detergent residue.

[0077] First Implementation Method

[0078] According to a first embodiment of the present invention, the motor operating state value S RThe stroke value S is used to characterize this. Through repeated experiments, the inventors of this invention surprisingly discovered that the calculated stroke value obtained from the motor speed has a high correlation with the amount of detergent residue in the detergent dispensing device. A possible reason for this is that when the amount of detergent residue in the dispensing device varies, the force required for the motion actuator to move the detergent and dispense it differs. Therefore, the load on the drive motor of the motion actuator and consequently its operating state varies. Due to the different motor operating states, the calculated stroke value for each detergent dispensing operation, based on the motor speed, also varies. The inventors of this invention also found that the correlation between the calculated stroke value S and the amount of detergent residue is applicable to various motor types and transmission types. That is, this embodiment is applicable to detergent dispensing devices of various motor types and transmission types. For example, this embodiment is applicable to detergent dispensing devices using brushed motors, single-phase brushless DC motors, three-phase brushless DC motors, and stepper motors. For example, this embodiment is applicable to detergent dispensing devices with transmission types such as direct drive or gear reduction drive.

[0079] The motor operating state value S in this embodiment R It is expressed by the following formula.

[0080] (1)

[0081] (2)

[0082] Where S R These are the motor operating status values; K1 is the first coefficient; S is the calculated stroke value; n1, n2…n n Δt is the motor speed at each moment; Δt is the interval time; i is the gear ratio.

[0083] Figure 4 A method according to a first embodiment is illustrated. After step S01 begins, the motor speed is acquired in S02. The motor speed can be obtained by various methods known in the art. For example, in an alternative embodiment, the ripple number of the motor current can be calculated by sampling the instantaneous current. Figure 8 An exemplary instantaneous motor current is shown. The motor speed can be obtained by algorithmically processing the ripple count, for example using the formula n = K7N1 / t, where n is the rotational speed, K7 is a constant coefficient, N1 is the current ripple count, and t represents time. In other embodiments, the motor speed can also be obtained by other methods known in the art, such as measurement using various speed sensors. In one or more embodiments of the invention, the motor speed is continuously acquired throughout the process of the motion actuator moving the cleaning agent and subsequently dispensing the cleaning agent.

[0084] In step S03, the calculated stroke of the motion actuator is calculated based on the motor speed obtained in step S02. In one or more embodiments, the calculated stroke value can be obtained by formula (2). In one or more other embodiments, the calculated stroke value can be obtained by any suitable method.

[0085] In step S04, the motor operating state value is calculated based on the calculated travel distance obtained in step S03. In one or more embodiments, the motor operating state value is set as the value obtained by multiplying the calculated travel distance by a first coefficient K1. In one or more other embodiments, the value obtained by multiplying the calculated travel distance by the first coefficient K1 is added to the motor operating state value. In one or more other embodiments, for each type of detergent dispensing device (e.g., each model of detergent dispensing device), the first coefficient K1 is predetermined through repeated experiments.

[0086] In one or more embodiments, step S04 is performed for the entire movement of the motion actuator during a single detergent dispensing process. That is, the calculated stroke corresponds to the entire movement stroke of the motion actuator. In one or more other embodiments, step S04 is performed for a portion of the motion actuator's stroke, as long as the portion of the stroke being calculated is the same each time. For example, in some embodiments, the motion actuator performs reciprocating motion; in this case, step S04 can be performed for the pushing stroke within the reciprocating motion of the motion actuator, and the calculated stroke corresponds to the pushing stroke of the reciprocating motion of the motion actuator.

[0087] In step S05, the remaining amount of detergent in the detergent dispensing device is determined based on the motor operating status value. In one or more embodiments, the remaining amount of detergent in the dispensing device is determined by comparing the motor operating status value obtained in S04 with a pre-stored value. In one or more embodiments, the pre-stored value is a plurality of values ​​or value ranges corresponding to the remaining amount of detergent. For example, when the motor operating status value is close to a certain pre-stored value or falls within a certain pre-stored value range, the remaining amount of detergent in the dispensing device is determined to be the remaining amount corresponding to that pre-stored value or value range. The method then ends in step S06.

[0088] Second Implementation Method

[0089] According to a second embodiment of the present invention, the motor operating state value S R By calculating the travel value S and the average acceleration The calculated stroke value S in the second embodiment is similar to that in the first embodiment, and will not be repeated here. The inventors of this invention discovered through experiments that, except for the cleaning agent dispensing device using a stepper motor, the calculated average acceleration... The correlation with the amount of residual detergent in the detergent dispensing device is also relatively high. This is because when the amount of residual detergent in the detergent dispensing device is different, the load encountered by the motion actuator when moving the detergent in the detergent dispensing device and thus dispensing the detergent is different.

[0090] This embodiment is applicable to detergent dispensing devices of various motor types and transmission types, excluding stepper motors. For example, this embodiment is applicable to detergent dispensing devices using brushed motors, single-phase brushless DC motors, and three-phase brushless DC motors. For example, this embodiment is applicable to detergent dispensing devices with transmission types such as direct drive or gear reduction drive.

[0091] The motor operating state value S in this embodiment R It is expressed by the following formula.

[0092] (3)

[0093] (4)

[0094] (5)

[0095] Where S R These are the motor operating status values; K1 is the first coefficient; K2 is the second coefficient; K5 is the fifth coefficient; K6 is the sixth coefficient; S is the calculated stroke value; It is the average acceleration; n1, n2…n n Δt is the motor speed at each moment; Δt is the interval time; i is the gear ratio.

[0096] As shown in formula (3), the motor operating state value S in this embodiment is R This includes calculating the travel value S and the average acceleration. The content regarding the calculation of the travel value S is similar to that described in the first embodiment, and will not be repeated here for the sake of brevity.

[0097] Figure 5 A method (partial) according to a second embodiment of the present invention is shown. Specifically, Figure 5 The second embodiment shows the average acceleration. The method section of the term. The section concerning the calculation of the travel value S is related to... Figure 4Similar to the example shown, the details will not be repeated here for the sake of simplicity. After step S11 begins, step S12 calculates the motor acceleration based on the motor speed. The motor speed used in step S12 can be the motor speed obtained in step S02, which will not be repeated here. The acceleration can be calculated from the motor speed using methods known in the art. For example, the difference between the motor speeds at two adjacent moments can be divided by the time interval to calculate the acceleration value.

[0098] In step S13, the average motor acceleration is calculated. In one or more embodiments of the present invention, the average acceleration is calculated using formula (5). That is, the previously calculated average acceleration and the currently calculated instantaneous acceleration are weighted and averaged using the fifth coefficient K5 and the sixth coefficient K6 to obtain the current average acceleration. Formula (5) is only an exemplary method for calculating the average acceleration, and the present invention may employ other suitable methods to calculate the average acceleration.

[0099] In step S14, the average motor acceleration obtained in step S13 is incorporated into the motor operating state value. In one or more embodiments, step S14 includes adding the value obtained by multiplying the average motor acceleration by the second coefficient K2 into the motor operating state value. In this embodiment, step S14 and step S04 can be performed together or separately. That is, the travel value S and the average acceleration are calculated. Items can be added together or separately to the motor operating status value S. R The process ends in step S15.

[0100] In one or more embodiments, for each cleaning agent dispensing device (e.g., each model of cleaning agent dispensing device), the first coefficient K1, the second coefficient K2, the fifth coefficient K5, and the sixth coefficient K6 are determined through repeated experiments.

[0101] In one or more embodiments, the calculated stroke value S and average acceleration are obtained for the entire motion process of the motion actuator during a single detergent dispensing operation. The calculated stroke and average acceleration correspond to the entire stroke of the motion actuator. In one or more other embodiments, the calculated stroke value S and average acceleration are obtained for a portion of the motion actuator's stroke. The term can be calculated as long as the stroke portion being calculated is the same each time. For example, in some embodiments, the motion actuator performs reciprocating motion, in which case the calculated stroke value S and average acceleration can be obtained for the pushing stroke during the reciprocating motion of the motion actuator. The calculated stroke and average acceleration obtained correspond to the pushing stroke of the reciprocating motion of the motion actuator.

[0102] Third Implementation Method

[0103] According to a third embodiment of the present invention, the motor operating state value S R By calculating the travel value S and the average acceleration The maximum acceleration is used to characterize this. The calculated travel value S in the third embodiment is similar to that in the first embodiment, and the average acceleration in the third embodiment... Similar to the second embodiment, it will not be repeated here. The inventors of this invention discovered through experiments that, except for the use of a stepper motor and a direct-drive detergent dispensing device, the calculated maximum acceleration in this embodiment has a high correlation with the amount of detergent residue in the detergent dispensing device. This is mainly because the load encountered by the motion actuator when moving the detergent in the dispensing device and dispensing it varies depending on the amount of detergent residue in the device.

[0104] This embodiment is applicable to detergent dispensing devices using various motor types other than stepper motors and various transmission types other than direct drive. For example, this embodiment is applicable to detergent dispensing devices using brushed motors, single-phase brushless DC motors, and three-phase brushless DC motors. For example, this embodiment is applicable to detergent dispensing devices with gear reduction transmissions.

[0105] The motor operating state value S in this embodiment R It is expressed by the following formula.

[0106] (6)

[0107] (7)

[0108] (8)

[0109] Where S R These are the motor operating status values; K1 is the first coefficient; K2 is the second coefficient; K3 is the third coefficient; K5 is the fifth coefficient; K6 is the sixth coefficient; S is the calculated stroke value; It is the average acceleration; α MAX It is the maximum acceleration; n1, n2…n n Δt is the motor speed at each moment; Δt is the interval time; i is the gear ratio.

[0110] As shown in formula (6), the motor operating state value S in this embodiment is R This includes calculating the travel value S and the average acceleration. Term and maximum acceleration α MAX The content regarding the calculation of the travel value S is similar to that described in the first embodiment, and the content regarding the average acceleration... The content of this item is similar to that described in the second embodiment, and will not be repeated here for the sake of brevity.

[0111] Figure 6 A method (partial) according to a third embodiment of the present invention is shown. Specifically, Figure 6 The third embodiment shows the maximum acceleration α. MAX The method section of the term. The section concerning the calculation of the travel value S is related to... Figure 4 Similarly, regarding average acceleration The content of the item and Figure 5 Similar to the example shown, it will not be shown here again for the sake of simplicity.

[0112] After step S21 begins, the method obtains the maximum motor acceleration in step S22. The maximum motor acceleration in step S22 can be obtained in conjunction with step S12. That is, the maximum motor acceleration is obtained by comparing multiple motor acceleration values ​​calculated in step S12.

[0113] In step S23, the maximum motor acceleration obtained in step S22 is incorporated into the motor operating state value. In one or more embodiments, step S23 includes adding the value obtained by multiplying the maximum motor acceleration by the third coefficient K3 into the motor operating state value. In this embodiment, step S23 can be performed together with or separately from steps S04 and S14. That is, the travel value S and the average acceleration are calculated. Term and maximum acceleration α MAX Items can be added together or separately to the motor operating status value S. R The process ends in step S24.

[0114] In one or more embodiments, for each cleaning agent dispensing device (e.g., each model of cleaning agent dispensing device), the first coefficient K1, the second coefficient K2, the third coefficient K3, the fifth coefficient K5, and the sixth coefficient K6 are determined through repeated experiments.

[0115] In one or more embodiments, the calculated stroke value S and average acceleration are obtained for the entire motion process of the motion actuator during a single detergent dispensing operation. Term and maximum acceleration α MAX The term refers to the calculated travel value S and the average acceleration. Term and maximum acceleration α MAX The term corresponds to the entire stroke of the motion actuator. In one or more other embodiments, the calculated stroke value S and average acceleration are obtained for a portion of the motion actuator's stroke. Term and maximum acceleration α MAXThe term can be calculated as long as the stroke portion being calculated is the same each time. For example, in some embodiments, the motion actuator performs reciprocating motion, and in this case, the stroke value S and the average acceleration can be calculated for the pushing stroke during the reciprocating motion of the motion actuator. Term and maximum acceleration α MAX The term refers to the calculated travel value S and the average acceleration. Term and maximum acceleration α MAX The term corresponds to the pushing stroke of the reciprocating motion of the motion actuator.

[0116] Fourth Implementation Method

[0117] According to the fourth embodiment of the present invention, the motor operating state value S R By calculating the travel value S and the average acceleration The maximum acceleration and motor stall state are used to characterize this. The calculated stroke value S in the fourth embodiment is similar to that in the first embodiment, and the average acceleration in the fourth embodiment... Similar to the second embodiment, the maximum acceleration in the fourth embodiment is similar to that in the third embodiment, and will not be described again here.

[0118] This embodiment is applicable to detergent dispensing devices using various motor types other than stepper motors and various transmission types other than direct drive. For example, this embodiment is applicable to detergent dispensing devices using brushed motors, single-phase brushless DC motors, and three-phase brushless DC motors. For example, this embodiment is applicable to detergent dispensing devices with gear reduction transmissions.

[0119] The motor operating state value S in this embodiment R It is expressed by the following formula.

[0120] (9)

[0121] (10)

[0122] (11)

[0123] Where S R These are the motor operating status values; K1 is the first coefficient; K2 is the second coefficient; K3 is the third coefficient; K4 is the fourth coefficient; K5 is the fifth coefficient; K6 is the sixth coefficient; S is the calculated stroke value; It is the average acceleration; α MAX It is the maximum acceleration; n1, n2…n n Δt is the motor speed at each moment; i is the interval time; T is the motor torque. It is a step function; when T is greater than a certain torque value, =1, otherwise It is 0.

[0124] As shown in formula (9), the motor operating state value S in this embodiment is R This includes calculating the travel value S and the average acceleration. Term, maximum acceleration α MAX The items include the motor stall status item. The content regarding the calculated stroke value S item is similar to that described in conjunction with the first embodiment, and the average acceleration item... The content of the item is similar to that described in conjunction with the second embodiment, concerning the maximum acceleration α. MAX The content of the items is similar to that described in conjunction with the second embodiment, and will not be repeated here for the sake of brevity.

[0125] Figure 7 A method (partial) according to a fourth embodiment of the present invention is shown. Specifically, Figure 7 The method section regarding the motor stall state item in the third embodiment is shown. The section concerning the calculation of the stroke value S item is related to... Figure 4 Similarly, regarding average acceleration The content of the item and Figure 5 Similarly, regarding the maximum acceleration α MAX The content of the item and Figure 6 Similar to the example shown, it will not be shown here again for the sake of simplicity.

[0126] After step S31 begins, the method continuously acquires the motor current in step S32. In step S33, the motor torque is calculated based on the motor current. Methods for calculating motor torque based on motor current are known in the art. For example, for a brushed motor, the relative torque value can be obtained through a simple estimation using T=K8*I, where I refers to the average current and K8 is a constant coefficient.

[0127] In step S34, it is determined whether the motor torque is greater than a predetermined torque value. If the motor torque is greater than the predetermined torque value, then in step S35, the fourth coefficient K4 is added to the motor operating state value S. R Then the method ends at step S36. If the motor torque is not greater than the predetermined torque value, the method directly ends at step S36.

[0128] In one or more embodiments, for each detergent dispensing device (e.g., each model of detergent dispensing device), a first coefficient K1, a second coefficient K2, a third coefficient K3, a fourth coefficient K4, a fifth coefficient K5, and a sixth coefficient K6 are determined experimentally. In one or more embodiments, K1 to K6 are signed integers.

[0129] The present invention has been described above in conjunction with the first, second, third, and fourth embodiments. However, the present invention is not limited thereto. In an optional embodiment of the present invention, the motor operating state value S R Other combinations of the above four parameters can be used, such as those shown in formulas (12), (13) and (14).

[0130] (12)

[0131] (13)

[0132] (14)

[0133] The four parameter terms in formulas (12), (13), and (14) are similar to those in the first, second, third, and fourth embodiments, and will not be repeated here for the sake of brevity. In other embodiments of the present invention, the motor operating state value S R It can also include other items besides the four parameters mentioned above.

[0134] In some other embodiments of the present invention, the motor operating state value S R Other combinations of the above four parameters can be used, such as those shown in formulas (15), (16) and (17).

[0135] (15)

[0136] (16)

[0137] (17)

[0138] The four parameter terms in formulas (15), (16), and (17) are similar to those in the first, second, third, and fourth embodiments, and will not be repeated here for the sake of brevity. In other embodiments of the present invention, the motor operating state value S R It can also include other items besides the four parameters mentioned above.

[0139] The above description illustrates how the amount of residual detergent in the detergent dispensing device is determined by the motor's operating state value during one reciprocating motion of the pusher. However, the present invention is not limited to this. The method of the present invention also includes recording the amount of residual detergent determined in each reciprocating motion of the pusher, and correcting the amount of residual detergent based on historical amounts and currently calculated amounts. In one or more embodiments of the present invention, the historical amounts and currently calculated amounts of residual detergent can be fitted to correct the amount of residual detergent.

[0140] The method of the present invention further includes determining that the detergent dispensing device has failed to dispense detergent when the motor operating state value is within a predetermined range. In some types of detergent dispensing devices, the stall state of the motor is often highly correlated with the detergent dispensing device failing to dispense detergent. The method of the present invention further includes determining that the remaining detergent in the detergent dispensing device is zero when it is determined that the detergent dispensing device has failed to dispense detergent for a predetermined number of consecutive times, for example, after three consecutive failures.

[0141] The invention has been described above in conjunction with a dishwasher. However, the invention is not limited thereto. In one or more embodiments, the method and system for determining the remaining detergent in the detergent dispensing device of the present invention can be used in other washing devices, such as washing machines. In one or more embodiments of the present invention, a calculated stroke value is obtained based on operating parameters such as motor speed, which is used to calculate the remaining detergent information. However, the invention is not limited thereto; in one or more other embodiments of the present invention, any suitable operating parameters can be used to calculate the calculated stroke value, which is used to calculate the remaining detergent information.

[0142] The inventors of this invention have conducted experiments on various detergent dispensing devices using the method and system of this invention to verify the accuracy of the method. The experimental process is as follows:

[0143] 1. Select the appropriate motor operating status value S based on the type of cleaning agent dispensing device, such as motor type and transmission type. R Calculation method (formula);

[0144] 2. Predetermine the optimal values ​​of each coefficient and the corresponding motor operating state value S. R Scope. The specific process is as follows:

[0145] Repeatedly conduct cleaning agent dosing tests, obtain motor status values ​​during the tests, and use the obtained motor status values ​​to calculate at least one of the following four items as needed: calculated stroke value obtained from motor speed; average acceleration value obtained from motor speed; maximum acceleration value obtained from motor speed; motor stall status.

[0146] Based on the above calculations, the optimal values ​​for each coefficient of this type of detergent dispensing device and the motor operating state value S corresponding to the amount of detergent residue are determined. R Range. Substitute the optimal values ​​of each obtained coefficient into the motor operating state value S. R Calculation formula.

[0147] 3. Verify accuracy

[0148] Multiple detergent dispensing experiments were conducted on several similar detergent dispensing devices. During the experiments, motor status values ​​were obtained and the motor operating status value S was calculated. R .

[0149] The calculated motor operating state value S R With the predetermined motor operating state value S R The ranges are compared to determine the amount of detergent residue.

[0150] The determined amount of residual material is compared with the actual amount of residual material to verify accuracy.

[0151] Experimental Results: The inventors have conducted experiments using the method and system of this invention on various detergent dispensing devices. The determined residual amount is basically consistent with the actual residual amount, with an accuracy of 90% or higher. This is due to the actual values ​​of various coefficients and the motor operating state value S. R The range depends on the specific detergent dispensing device and varies for different devices, so it will not be listed here.

[0152] Various aspects of this invention may be embodied as systems, methods, or computer program products. Therefore, various aspects of this invention may take the form of entirely hardware embodiments, entirely software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware aspects. Additionally, various aspects of this disclosure may take the form of computer program products embodied in one or more computer-readable media having computer-readable program code stored thereon.

[0153] Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) will include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable optical disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In the context of this document, computer-readable storage media can be any tangible medium that contains or stores a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0154] Various aspects of the invention have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block in the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions are provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to generate a machine such that instructions executable via the processor of the computer or other programmable data processing apparatus enable the implementation of one or more flowchart blocks and / or one or more block diagram blocks specifying a function / action. Such a processor may be, but is not limited to, a general-purpose processor, a special-purpose processor, an application-specific processor, or a field-programmable processor or gate array.

[0155] The above description is merely an exemplary embodiment used to illustrate the principles of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also within the scope of protection of the present invention.

Claims

1. A method for determining residual detergent in a detergent dispensing device, the detergent dispensing device comprising a dispensing device housing, a motion actuator, and a motor, the motor being configured to drive the motion actuator to move, the movement of the motion actuator causing detergent in the detergent dispensing device to move relative to the dispensing device housing and thereby dispensing the detergent. The cleaning agent dispensing device includes a disc-shaped storage device, the motion actuator includes a pushing member, the cleaning agent is a cleaning block, and the disc-shaped storage device has multiple storage compartments arranged circumferentially, each storage compartment configured to receive a cleaning block. The disc-shaped storage device is configured to rotate around a rotation center so that the pusher selectively aligns with one of the plurality of storage compartments. A motor connected to the pusher drives it in a reciprocating motion. This reciprocating motion causes the disc-shaped storage device to rotate intermittently, pushing and dispensing cleaning blocks from the aligned storage compartment. The method includes: During the process of the motor driving the motion actuator to dispensing the cleaning agent, the operating parameters of the motor, including the motor speed, are continuously acquired. The calculated stroke of the motion actuator is calculated based on the obtained operating parameters; Calculate the motor operating status value and determine the remaining amount of the cleaning agent dispensing device based on the motor operating status value, wherein the motor operating status value includes the value of the calculated stroke or the value obtained by multiplying the calculated stroke by the first coefficient K1.

2. The method for determining residual material in the detergent dispensing device according to claim 1, wherein the value of the calculated stroke is calculated using the following formula: ， Where S is the calculated travel value; n1, n2…n n Δt is the motor speed at each moment; Δt is the interval time; i is the gear ratio.

3. The method for determining residual detergent in the detergent dispensing device according to claim 1, the method further includes: Calculate the motor acceleration based on the motor speed; Calculate the average motor acceleration during the process of the motor driving the motion actuator to dispensing the cleaning agent. The motor operating status value also includes the value obtained by multiplying the average motor acceleration by the second coefficient K2.

4. The method for determining residual material in the detergent dispensing device according to claim 3, the method further comprising: Obtain the maximum motor acceleration; The motor operating status value also includes the value obtained by multiplying the maximum motor acceleration by the third coefficient K3.

5. The method for determining residual detergent in the detergent dispensing device according to any one of claims 1-4, the method further comprising: During the process of the motor driving the motion actuator to dispensing the cleaning agent, the motor current is continuously collected. The motor torque is calculated based on the collected motor current. When the motor torque is greater than a predetermined torque value, the motor operating state value also includes the value of a fourth coefficient K4.

6. The method for determining residual material in the detergent dispensing device according to any one of claims 1-4, the method further comprising dispensing detergent multiple times and determining the amount of residual material in the detergent dispensing device each time based on the motor operating status value, and correcting the last determined amount of residual material based on the amount of residual material determined multiple times.

7. The method for determining residual material in the detergent dispensing device according to any one of claims 1-4, the method further comprising determining that the detergent dispensing device has failed to dispense material when the motor operating state value is within a predetermined range.

8. The method for determining residual material in the detergent dispensing device according to claim 7, the method further includes determining that the residual material in the detergent dispensing device is zero when it is determined that the detergent dispensing device has failed to dispense material for a predetermined number of consecutive times.

9. The method for determining the amount of residual detergent in the detergent dispensing device according to any one of claims 1-4, the method further comprising comparing the motor operating status value with pre-stored data, and determining the amount of residual detergent in the detergent dispensing device based on the comparison result.

10. The method for judging residual material in the detergent dispensing device according to any one of claims 1-4 further includes determining the values ​​of each coefficient in advance through experiments.

11. The method for determining residual detergent in a detergent dispensing device according to any one of claims 1-4, wherein the detergent dispensing device is used for dispensing detergent into a dishwasher.

12. A method for determining residual detergent in a detergent dispensing device, the detergent dispensing device comprising a dispensing device housing, a motion actuator, and a motor, the motor being configured to drive the motion actuator to move, the movement of the motion actuator causing detergent in the detergent dispensing device to move relative to the dispensing device housing and thereby dispensing the detergent. The cleaning agent dispensing device includes a disc-shaped storage device, the motion actuator includes a pushing member, the cleaning agent is a cleaning block, and the disc-shaped storage device has multiple storage compartments arranged circumferentially, each storage compartment configured to receive a cleaning block. The disc-shaped storage device is configured to rotate around a rotation center so that the pusher selectively aligns with one of the plurality of storage compartments. A motor connected to the pusher drives it in a reciprocating motion. This reciprocating motion causes the disc-shaped storage device to rotate intermittently, pushing and dispensing cleaning blocks from the aligned storage compartment. The method includes: During the process of the motor driving the motion actuator to dispensing the cleaning agent, the motor speed is continuously acquired; Calculate the motor acceleration based on the motor speed; Calculate the average motor acceleration during the process of the motor driving the motion actuator to dispensing the cleaning agent. Calculate the motor operating status value and determine the remaining amount of the cleaning agent dispensing device based on the motor operating status value, wherein the motor operating status value includes the average motor acceleration or the value obtained by multiplying the average motor acceleration by the second coefficient K2.

13. The method for determining residual detergent in the detergent dispensing device according to claim 12, the method further comprising: Obtain the maximum motor acceleration; The motor operating status value also includes the value obtained by multiplying the maximum motor acceleration by the third coefficient K3.

14. The method for determining residual material in the detergent dispensing device according to claim 12 or 13, the method further comprising: During the process of the motor driving the motion actuator to dispensing the cleaning agent, the motor current is continuously collected. The motor torque is calculated based on the collected motor current. When the motor torque is greater than a predetermined torque value, the motor operating state value also includes the value of a fourth coefficient K4.

15. The method for determining residual material in the detergent dispensing device according to claim 12 or 13, the method further includes dispensing detergent multiple times and determining the amount of residual material in the detergent dispensing device each time based on the motor operating status value, and correcting the last determined amount of residual material based on the amount of residual material determined multiple times.

16. The method for determining residual material in the detergent dispensing device according to claim 12 or 13, the method further comprising determining that the detergent dispensing device has failed to dispense material when the motor operating state value is within a predetermined range.

17. The method for determining residual material in the detergent dispensing device according to claim 16, the method further comprising determining that the residual material in the detergent dispensing device is zero when it is determined that the detergent dispensing device has failed to dispense material for a predetermined number of consecutive times.

18. The method for determining the amount of residual detergent in the detergent dispensing device according to claim 12 or 13, the method further comprising comparing the motor operating status value with pre-stored data, and determining the amount of residual detergent in the detergent dispensing device based on the comparison result.

19. The method for judging residual material in the detergent dispensing device according to claim 12 or 13 further includes determining the values ​​of each coefficient in advance through experiments.

20. The method for determining residual detergent in the detergent dispensing device according to claim 12 or 13, wherein the detergent dispensing device is used for dispensing detergent into a dishwasher.

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