Method and electronic device for optimizing motion trajectory of dishwasher nozzle

Abstract

The present application is applicable to the technical field of dishwashers, and discloses a method and electronic device for optimizing the motion trajectory of a dishwasher nozzle. Among them, the method for optimizing the motion trajectory of a dishwasher nozzle comprises: controlling the nozzle to generate a random motion trajectory within a preset time. According to the spatial modeling of the motion trajectory and multiple simulated bowl bodies, the comprehensive cleaning force of the nozzle when spraying water to the multiple simulated bowl bodies when moving along the motion trajectory is determined. According to the comprehensive cleaning force calculated based on the motion trajectories randomly generated multiple times, the motion trajectory with the best cleaning effect is determined as the optimal motion trajectory. The method for optimizing the motion trajectory of the dishwasher nozzle of the present application can obtain the optimal motion trajectory of the nozzle. The dishwasher can effectively control the cleaning effect of the bowl body by actively controlling the nozzle to move along the optimal motion trajectory, so as to improve the cleaning effect and cleaning experience of the dishwasher.

Description

Technical Field

[0001] The present application relates to the technical field of dishwashers, and in particular to a method for optimizing the motion trajectory of a dishwasher nozzle and an electronic device. Background Art

[0002] With the continuous advancement of technology, more and more users will use dishwashers to automatically clean bowls instead of washing them by hand, saving time and effort, and thus greatly improving the quality of life of users.

[0003] At present, when a dishwasher cleans the bowl body inside, water is generally sprayed toward the bowl body through an internal nozzle, and the bowl body is flushed by the water flow to clean the bowl body.

[0004] However, the nozzles of dishwashers currently on the market are hydraulically driven, and their motion trajectories are relatively random, making it difficult to determine the optimal nozzle motion trajectory. In the actual cleaning process, the cleaning effect is difficult to control, resulting in a poor cleaning experience for the dishwasher. The present invention is aimed at actively moving dishwasher nozzles. Although the movement of the nozzle can be actively controlled, the motion trajectory design is a major problem, and the cleaning effect is directly related to the motion trajectory. Summary of the invention

[0005] The first purpose of the present application is to provide a method and electronic device for optimizing the motion trajectory of a dishwasher nozzle, which aims to solve the technical problem that the cleaning effect of the dishwasher is difficult to control.

[0006] To achieve the above-mentioned purpose, the present application provides a method for optimizing the motion trajectory of a dishwasher nozzle, which is characterized by comprising:

[0007] Controlling the nozzle to generate a random motion trajectory within a preset time;

[0008] Determine, based on the motion trajectory and the spatial modeling of the plurality of simulated bowls, the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water toward the plurality of simulated bowls;

[0009] The comprehensive cleaning force is calculated based on the motion trajectories randomly generated for multiple times, and the motion trajectory with the best cleaning effect is determined as the optimal motion trajectory.

[0010] In the method for optimizing the motion trajectory of the dishwasher nozzle of the present application, the step of controlling the nozzle to generate a random motion trajectory within a preset time includes:

[0011] Randomly generate a motion parameter of at least one degree of freedom of motion of the nozzle within a preset time;

[0012] Based on the mapping relationship and the motion data, the motion trajectory of the nozzle is obtained.

[0013] The method for optimizing the motion trajectory of the dishwasher nozzle of the present application also includes:

[0014] According to the at least one degree of freedom and the angle and distance of the nozzle, a mapping relationship between the motion parameter of the at least one degree of freedom and the motion of the nozzle is determined.

[0015] In the method for optimizing the motion trajectory of a dishwasher nozzle of the present application, the motion parameters include acceleration and angular acceleration.

[0016] The method for optimizing the motion trajectory of the dishwasher nozzle of the present application also includes:

[0017] Generate initial modeling of multiple bowl bodies according to multiple bowl body shapes;

[0018] Based on the multiple initial modelings, the spatial modeling of the multiple simulated bowl bodies is determined.

[0019] In the method for optimizing the motion trajectory of the dishwasher nozzle of the present application, the step of determining the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water to the multiple simulated bowl bodies according to the spatial modeling of the motion trajectory and the multiple simulated bowl bodies includes:

[0020] According to the motion trajectory and the spatial modeling of each simulated bowl body, determining the cleaning force when the nozzle moves along the motion trajectory and sprays water toward each simulated bowl body;

[0021] The cleaning forces of the multiple spatial models are weighted averaged to obtain the comprehensive cleaning force when water is sprayed onto the multiple simulated bowl bodies.

[0022] In the method for optimizing the motion trajectory of the dishwasher nozzle of the present application, the step of determining the cleaning force when the nozzle moves along the motion trajectory and sprays water toward each simulated bowl body according to the motion trajectory and the spatial modeling of each simulated bowl body includes:

[0023] Determine the spatial position and orientation of the nozzle at any time according to the motion trajectory;

[0024] Determine, according to each of the spatial models and the spatial position and orientation of the nozzle at any time, an average impact force and an impact force variance on each of the spatial models when the nozzle sprays water toward the simulated bowl body;

[0025] The average impact force and the impact force variance are linearly weighted to obtain the cleaning force.

[0026] In the method for optimizing the motion trajectory of the dishwasher nozzle of the present application, the step of determining the average impact force and the impact force variance on each of the spatial models when the nozzle sprays water toward the simulated bowl body according to each of the spatial models and the spatial position and orientation of the nozzle at any time includes:

[0027] Determine, according to each of the spatial models and the spatial position and orientation of the nozzle at each time, each local impact force at each local position on the spatial model when the nozzle sprays water toward the simulated bowl body;

[0028] Calculate the average local impact force of each local position according to multiple local impact forces of each local position on the spatial modeling;

[0029] The average impact force and impact force variance of the spatial modeling are calculated based on the average local impact forces of the plurality of local positions on the spatial modeling.

[0030] In the method for optimizing the motion trajectory of the dishwasher nozzle of the present application, the step of determining each local impact force at each local position on the spatial modeling when the nozzle sprays water toward the simulated bowl body includes:

[0031] According to the spatial position and orientation of the nozzle at each time, the impact point of the water flow sprayed by the nozzle toward the simulated bowl body is calculated, and the angle between the direction of the water flow sprayed by the nozzle toward the simulated bowl body and the surface normal vector of the impact point is calculated; and the local impact force of the impact point is calculated according to the angle.

[0032] The present application also provides an electronic device, including a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the steps of the method for optimizing the motion trajectory of a dishwasher nozzle as described in any one of the above are implemented.

[0033] The method for optimizing the motion trajectory of the dishwasher nozzle of the present application can simulate the motion trajectory of the nozzle to simulate the water jetting on the simulated bowl body to obtain the comprehensive cleaning force when the nozzle jets water toward the simulated bowl body, and the optimal motion trajectory can be obtained by comparing the comprehensive cleaning forces calculated by multiple randomly generated motion trajectories. In this embodiment, the dishwasher can effectively control the cleaning effect of the bowl body by actively controlling the nozzle to move according to the optimal motion trajectory. For example, the best cleaning effect can be achieved in a shorter time, thereby improving the cleaning effect and cleaning experience of the dishwasher. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0035] Figure 1 This is one of the process step schematic diagrams of the method for optimizing the motion trajectory of a dishwasher nozzle provided in an embodiment of the present application;

[0036] Figure 2 This is the second schematic diagram of the process steps of the method for optimizing the motion trajectory of the dishwasher nozzle provided in the embodiment of the present application;

[0037] Figure 3 This is the third process step schematic diagram of the method for optimizing the motion trajectory of the dishwasher nozzle provided in the embodiment of the present application;

[0038] Figure 4 This is the fourth schematic diagram of the process steps of the method for optimizing the motion trajectory of the dishwasher nozzle provided in the embodiment of the present application;

[0039] Figure 5 This is the fifth process step schematic diagram of the method for optimizing the motion trajectory of the dishwasher nozzle provided in the embodiment of the present application;

[0040] Figure 6 is a schematic diagram of the change of the angular acceleration of the nozzle over time provided in an embodiment of the present application;

[0041] Figure 7 is a schematic diagram of the change of the speed of the nozzle over time provided in an embodiment of the present application;

[0042] Figure 8 is a schematic diagram of the change of the trajectory of the nozzle over time provided by the embodiment of the present application;

[0043] Fig. 9 is a schematic block diagram of a device for optimizing the motion trajectory of a dishwasher spray head provided in an embodiment of the present application;

[0044] Fig.10 It is a schematic block diagram of an electronic device provided in an embodiment of the present application.

[0045] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0046] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0047] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0048] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between the same or similar items with matching functions and effects. For example, the first flag information and the second flag information are only used to distinguish different flag information, and do not limit their order. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0049] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0050] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0051] When a dishwasher cleans the bowl inside, it usually sprays water through the nozzle of the spray arm inside the dishwasher to flush the bowl to achieve cleaning. During the cleaning process, the nozzle will rotate to different positions under the rotation of the spray arm to achieve cleaning of different bowls and different positions of the bowl. At present, the spray arm is driven to rotate by the water pressure generated when the high-pressure water flows through the spray arm, which makes the position and direction of the nozzle relatively random during rotation and difficult to control. Therefore, it is also difficult to determine the optimal movement trajectory of the nozzle. In the actual cleaning process, the cleaning effect of the dishwasher is difficult to control. For example, it is difficult to determine the completion time of effective cleaning, it is difficult to determine the water pressure for effective cleaning, etc., resulting in a poor cleaning experience of the dishwasher.

[0052] In order to solve the above problems, the present application provides a method for optimizing the motion trajectory of a dishwasher nozzle, which can obtain the optimal motion trajectory of the nozzle. The dishwasher can actively control the nozzle to move according to the optimal motion trajectory, effectively control the cleaning effect of the bowl body, and improve the cleaning effect and cleaning experience of the dishwasher.

[0053] like Figure 1 As shown, an optimization method for the motion trajectory of a dishwasher nozzle provided by an embodiment of the present application includes: S1, controlling the nozzle to generate a random motion trajectory within a preset time. S2, determining the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water to multiple simulated bowls based on the spatial modeling of the motion trajectory and multiple simulated bowls. S3, determining the motion trajectory with the best cleaning effect as the optimal motion trajectory based on the comprehensive cleaning force calculated based on multiple randomly generated motion trajectories.

[0054] It should be noted that in the dishwasher of the embodiment of the present application, the nozzle can be driven to perform corresponding movements through active control so that the spatial position and orientation of the nozzle are different. Therefore, the movement trajectory of the nozzle can be determined through control, and the random movement trajectory of the nozzle can be obtained by inputting random control parameters. It should be noted that the movement trajectory of the nozzle is different, and the cleaning effect will also be different when the bowl body is cleaned by the nozzle. In the present application, the cleaning effect of the nozzle under different movement conditions is simulated by simulating the random movement trajectory of the nozzle, so that the movement trajectory of the nozzle can be optimized according to the simulated cleaning effect.

[0055] Specifically, Figure 2 As shown, in the embodiment of the present application, S1, the step of controlling the nozzle to generate a random motion trajectory within a preset time, includes:

[0056] S11, randomly generating motion parameters of at least one motion degree of freedom of the nozzle within a preset time. It should be noted that in the actual control movement of the nozzle, there are multiple motion degrees of freedom that control its movement. Therefore, by generating random motion parameters for at least one motion degree of freedom, the nozzle can be driven to move along a random motion trajectory through at least one motion.

[0057] In the embodiment of the present application, the motion parameters include acceleration and angular acceleration. That is, when controlling the motion of the nozzle, a random acceleration can be generated in at least one degree of motion to drive the nozzle to move along a random straight line trajectory, and / or a random angular acceleration can be generated in at least one degree of motion to drive the nozzle to move along a random curved trajectory. In this way, the nozzle can achieve random motion under the drive of each degree of motion freedom to generate a random motion trajectory.

[0058] In some embodiments, the nozzle is provided with two degrees of freedom of motion, one of which is used to control the rotation of the spray arm so that the nozzle arranged on the spray arm can realize revolution around the rotation center of the spray arm, and the other is used to control the rotation of the nozzle so that the nozzle can realize rotation around its own rotation center. By generating random motion parameters for at least one of the two degrees of freedom of motion, the nozzle can generate a random motion trajectory. For example, a random angular acceleration can be applied to the revolution of the nozzle, and a random angular acceleration can be applied to the rotation of the nozzle. Of course, in other embodiments, the nozzle can also be provided with more degrees of freedom of motion. Moreover, the degrees of freedom of motion of the nozzle are not limited to rotation, but can also be movement. For example, one of the degrees of freedom of motion is to drive the nozzle to rise and fall. In this way, a random acceleration can also be applied to the rise and fall of the nozzle to generate a random motion trajectory.

[0059] S12, based on the mapping relationship and the motion parameter, obtain the motion data of the nozzle, and obtain the motion trajectory of the nozzle according to the motion data of the nozzle. The mapping relationship is the mapping relationship between the motion parameter of at least one degree of freedom and the motion of the nozzle. After the motion data of the nozzle is obtained through the mapping relationship, the motion mode of the nozzle within the preset time can be determined, for example Figure 4 , the angular acceleration and / or acceleration of the nozzle at the preset time can be obtained, and the following can be obtained by integration: Figure 5 In the example, the angular velocity and / or speed of the nozzle at the preset time can be obtained by integration. Figure 6 In this way, the actual motion trajectory of the nozzle can be obtained through the motion parameters randomly generated by at least one degree of freedom, for example, the spatial position and orientation of the nozzle at a certain time point can be obtained.

[0060] Exemplarily, the nozzle is provided with two degrees of freedom of motion, wherein the first degree of freedom of motion is to realize revolution around the rotation center of the spray arm, and the second degree of freedom of motion is to realize rotation around its own rotation center. When applying random angular acceleration to the first degree of freedom of motion, the nozzle can be made to rotate at a variable speed around the rotation center of the spray arm; when applying random angular acceleration to the second degree of freedom of motion, the nozzle can be made to rotate at a variable speed around its own rotation center. The motion trajectory of the nozzle can be determined by combining the revolution speed and rotation speed of the nozzle as well as time, so that the spatial position and orientation of the nozzle at any point in time can be obtained.

[0061] In the embodiment of the present application, before executing the optimization method, it is necessary to determine the mapping relationship. Therefore, the method further includes: determining the mapping relationship between the motion parameter of at least one degree of freedom and the motion of the nozzle according to the angle and distance of at least one degree of freedom and the nozzle. Specifically, the mapping relationship between the motion parameter of each degree of freedom and the motion of the nozzle can be obtained according to the MDH method. In this way, when random motion parameters are applied to at least one degree of freedom, the motion of the nozzle can be obtained through the mapping relationship, and then the motion trajectory of the nozzle can be obtained.

[0062] In the embodiment of the present application, in S2, the comprehensive cleaning force of the nozzle when it moves along the motion trajectory and sprays water toward the multiple simulated bowls is determined based on the motion trajectory and the spatial modeling of the multiple simulated bowls. The motion trajectory of the nozzle is determined, and the spatial modeling of the simulated bowls is also determined. In this way, the cleaning condition of the simulated bowl when the nozzle moves along the motion trajectory can be obtained by calculating the condition of the simulated nozzle spraying water toward the bowl during the actual working process.

[0063] Specifically, Figure 3 As shown, in the embodiment of the present application, S2, based on the spatial modeling of the motion trajectory and the multiple simulated bowl bodies, determines the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water to the multiple simulated bowl bodies, including:

[0064] S21, according to the motion trajectory and the spatial modeling of each simulated bowl body, determine the cleaning force of the nozzle when it moves along the motion trajectory and sprays water to each simulated bowl body. The spatial modeling of different simulated bowl bodies is different. When the nozzle moves along the motion trajectory, the cleaning force generated on different simulated bowl bodies is also different. For example, the shapes and sizes of soup bowls, rice bowls, and vegetable bowls are different, and the cleaning effects of the nozzle when cleaning are also different. Therefore, it is necessary to obtain the cleaning force of the nozzle when spraying water on different simulated bowl bodies.

[0065] S22, weighted average the cleaning forces of multiple spatial modelings to obtain the comprehensive cleaning force when spraying water onto multiple simulated bowls. The obtained comprehensive cleaning force can accurately determine the cleaning effect of the nozzle when it moves along a specific motion trajectory, thereby facilitating the optimization of the motion trajectory and continuous iteration. Exemplarily, the weight of the cleaning force of each spatial modeling is one, so when the cleaning forces of multiple spatial modelings are weighted averaged, the cleaning forces of multiple spatial modelings are actually summed and then divided by the number of spatial modelings to obtain the comprehensive cleaning force.

[0066] like Figure 4 As shown, in the embodiment of the present application, S21, based on the motion trajectory and the spatial modeling of each simulated bowl body, the step of determining the cleaning force when the nozzle moves along the motion trajectory and sprays water to each simulated bowl body includes:

[0067] S211, determine the spatial position and orientation of the nozzle at any time according to the motion trajectory. The motion trajectory of the nozzle is the trajectory of the position change of the nozzle from the initial position over time and the trajectory of the angle change from the initial angle over time within a preset time. Therefore, after obtaining the motion trajectory of the nozzle, the spatial position and orientation of the nozzle at any time can be determined.

[0068] S212, according to each spatial modeling and the spatial position and orientation of the nozzle at any time, determine the average impact force and impact force variance on each spatial modeling when the nozzle sprays water toward the simulated bowl body. It should be noted that after the spatial position and orientation of the nozzle at any time are determined, the nozzle can be simulated to spray water toward the simulated bowl body within a preset time. Then, the average impact force and impact force variance of the nozzle spraying water toward the simulated bowl body within the preset time can be obtained according to the calculation. Among them, the average impact force represents the average value of the impact force of the nozzle spraying water toward various parts of the simulated bowl body. The larger the value, the greater the impact force of the water spraying on the simulated bowl body, and the stronger the cleaning effect; the impact force variance represents the discrete degree of the impact force of the nozzle spraying water toward various parts of the simulated bowl body. The smaller the value, the more evenly the nozzle sprays water toward the simulated bowl body, and the larger the value, the greater the difference in the scouring of the nozzle spraying water toward different positions of the simulated bowl body.

[0069] like Figure 5 As shown, in this embodiment, S212 includes:

[0070] S2121, according to each spatial modeling and the spatial position and orientation of the nozzle at each time, determine each local impact force at each local position on the spatial modeling when the nozzle sprays water toward the simulated bowl. It should be noted that within the preset time, when the nozzle sprays water toward the simulated bowl, it will flush at different local positions, and the same local position will also be flushed multiple times. Therefore, through simulation calculation, a data set of multiple local impact forces at multiple local positions on the spatial modeling can be obtained.

[0071] Specifically, in order to determine the local impact force at each local position in the spatial modeling when the nozzle sprays water toward the simulated bowl body. In S2121, according to the spatial position and orientation of the nozzle at each time, the hitting point of the nozzle spraying water toward the simulated bowl body is calculated, and the angle between the direction of the nozzle spraying water toward the simulated bowl body and the surface normal vector of the hitting point is calculated, and the local impact force of the hitting point is calculated according to the angle. It should be known that at each time point, the spatial position and orientation of the nozzle are determined. Therefore, according to the spatial position and orientation of the nozzle, the hitting point of the nozzle spraying water toward the simulated bowl body can be obtained, that is, the local position flushed by the nozzle on the simulated bowl body at this time point. When the impact force of the water flow sprayed by the nozzle is determined, by calculating the angle between the direction of the nozzle spraying water toward the simulated bowl body and the surface normal vector of the hitting point, the forward impact force of the hitting point of the simulated bowl body in the spatial modeling when it is sprayed by water can be determined, and the forward impact force is the local impact force flushed by the water flow at this time point.

[0072] S2122: Calculate the average local impact force of each local position according to the multiple local impact forces of each local position in the spatial modeling. The average local impact force of each local position can represent the cleaning effect on the local position of the spatial modeling.

[0073] S2123, calculating the average impact force and impact force variance of the spatial modeling according to the average local impact forces of multiple local positions on the spatial modeling.

[0074] Exemplarily, the average impact force is calculated as follows:

[0075]

[0076] The impact force variance is calculated as follows:

[0077]

[0078] Among them, μ m is the average local impact force of all the impact points under the mth motion trajectory, n is the total number of impact points, F m，i is the average local impact force of the ith impact point under the mth motion trajectory, is the variance of the average local impact force of all impact points under the mth trajectory.

[0079] S213, linearly weighting the average impact force and the impact force variance to obtain the cleaning force. If necessary, the average impact force and the impact force variance can be linearly weighted according to different weights to obtain the cleaning force when the nozzle moves along the motion trajectory to flush one of the simulated bowls.

[0080] Exemplarily, the calculation of cleaning power is as follows:

[0081]

[0082] Among them, W m is the cleaning force of the mth trajectory, and λ is the weight parameter, which is used to adjust the influence of the impact force variance on the cleaning force. It needs to be debugged according to the cleaning force amplitude and the number of hitting points.

[0083] In an embodiment of the present application, S3, the comprehensive cleaning force calculated based on the motion trajectories randomly generated for multiple times determines that the motion trajectory with the best cleaning effect is the optimal motion trajectory. In this way, the optimal motion trajectory can be obtained by comparing the comprehensive cleaning force under different motion trajectories. Specifically, the motion trajectory with a larger value of the comprehensive cleaning force has a better cleaning effect. In practical applications, the optimal motion trajectory can be used as the motion trajectory of the nozzle so that the dishwasher can achieve the best cleaning effect when washing dishes. For example, the motion parameters of at least one corresponding degree of freedom of motion can be obtained through the optimal motion trajectory of the nozzle, so that during actual cleaning, the corresponding motion parameters can be input into the corresponding drive structure to achieve the best cleaning effect. In an embodiment of the present application, the optimal motion trajectory of the nozzle can be continuously iterated and optimized by looping the above steps S1 to S3 to further improve the cleaning effect.

[0084] In an embodiment of the present application, before executing the optimization method, it is necessary to first obtain the spatial modeling of the simulated bowl body, and therefore, the method further includes: generating initial modeling of multiple bowl bodies according to multiple bowl body shapes. Based on the multiple initial modelings, the spatial modeling of multiple simulated bowl bodies is determined. The multiple bowl bodies can be common bowl bodies on the market, and the initial modeling of the corresponding bowl body shapes can be obtained by scanning calculation. Of course, it can also be the initial modeling uploaded by the user. The spatial modeling of the multiple simulated bowl bodies generated according to the multiple initial modelings includes the modeling of multiple bowl body shapes, so that when the optimal motion trajectory is determined through multiple spatial modelings, the optimal motion trajectory of the nozzle can achieve better cleaning effects when spraying water on different bowl bodies for cleaning.

[0085] Of course, in other embodiments, the spatial modeling of the simulated bowl body may also be uploaded and determined by the user.

[0086] The method for optimizing the motion trajectory of the dishwasher nozzle of the embodiment of the present application can simulate the motion trajectory of the nozzle to simulate the water jetting to the simulated bowl body, so as to obtain the comprehensive cleaning force when the nozzle jets water toward the simulated bowl body, and the optimal motion trajectory can be obtained by comparing the comprehensive cleaning forces calculated by multiple randomly generated motion trajectories. In this embodiment, the dishwasher can effectively control the cleaning effect of the bowl body by actively controlling the nozzle to move according to the optimal motion trajectory. For example, the best cleaning effect can be achieved in a shorter time, thereby improving the cleaning effect and cleaning experience of the dishwasher.

[0087] like Fig. 9 As shown, an embodiment of the present application provides a motion trajectory optimization device 100 for a dishwasher nozzle. The motion trajectory optimization device 100 for a dishwasher nozzle includes: a trajectory generation module 101, a calculation module 102, and a judgment module 103.

[0088] The trajectory generation module 101 is used to control the nozzle to generate a random motion trajectory within a preset time.

[0089] The calculation module 102 is used to determine the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water toward the multiple simulated bowls based on the motion trajectory and the spatial modeling of the multiple simulated bowls.

[0090] The judgment module 103 is used to determine the motion trajectory with the best cleaning effect as the optimal motion trajectory based on the comprehensive cleaning force calculated based on the motion trajectories generated randomly for multiple times.

[0091] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and each unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0092] The above-mentioned device can be implemented in the form of a computer program. Fig. 9 The electronic device shown is running.

[0093] The present application embodiment provides an electronic device. Fig.10 As shown, Fig.10 It is a schematic block diagram of an electronic device provided in an embodiment of the present application.

[0094] The electronic device may include a processor, a memory and a network interface. The processor, the memory and the network interface are connected via a system bus, such as an IIC (Inter-integrated Circuit) bus.

[0095] Specifically, the processor may be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP).

[0096] Specifically, the memory may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0097] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Fig.10 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0098] The processor is used to run the computer program stored in the memory, and implement the corresponding steps in any one of the methods for optimizing the motion trajectory of the dishwasher nozzle provided in the embodiments of the present application when executing the computer program, including:

[0099] Control the nozzle to generate a random motion trajectory within the preset time;

[0100] According to the motion trajectory and the spatial modeling of the multiple simulated bowl bodies, the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water to the multiple simulated bowl bodies is determined;

[0101] The comprehensive cleaning force is calculated based on the motion trajectories generated randomly for multiple times, and the motion trajectory with the best cleaning effect is determined as the optimal motion trajectory.

[0102] It should be noted that those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the electronic device described above can refer to the corresponding process in the aforementioned method for optimizing the motion trajectory of the dishwasher nozzle, and will not be repeated here.

[0103] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for optimizing the motion trajectory of a dishwasher nozzle provided in the above embodiment are implemented. For example, the computer program is loaded by a processor and can execute the following steps:

[0104] Control the nozzle to generate a random motion trajectory within the preset time;

[0105] According to the motion trajectory and the spatial modeling of the multiple simulated bowl bodies, the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water to the multiple simulated bowl bodies is determined;

[0106] The comprehensive cleaning force is calculated based on the motion trajectories generated randomly for multiple times, and the motion trajectory with the best cleaning effect is determined as the optimal motion trajectory.

[0107] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0108] The computer-readable storage medium may be an internal storage unit of the computer device of the aforementioned embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device.

[0109] Since the computer program stored in the computer-readable storage medium can execute any method for optimizing the motion trajectory of a dishwasher nozzle provided in the embodiments of the present application, the beneficial effects that can be achieved by any method for optimizing the motion trajectory of a dishwasher nozzle provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0110] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for optimizing the motion trajectory of a dishwasher nozzle, characterized in that: include: Controlling the nozzle to generate a random motion trajectory within a preset time; Determine, based on the motion trajectory and the spatial modeling of the plurality of simulated bowls, the comprehensive cleaning force when the nozzle moves along the motion trajectory and sprays water toward the plurality of simulated bowls; The comprehensive cleaning force is calculated based on the motion trajectories randomly generated for multiple times, and the motion trajectory with the best cleaning effect is determined as the optimal motion trajectory.

2. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 1, characterized in that: The step of controlling the nozzle to generate a random motion trajectory within a preset time includes: Randomly generate a motion parameter of at least one degree of freedom of motion of the nozzle within a preset time; Based on the mapping relationship and the motion data, the motion trajectory of the nozzle is obtained.

3. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 2, characterized in that: Also includes: According to the at least one degree of freedom and the angle and distance of the nozzle, a mapping relationship between the motion parameter of the at least one degree of freedom and the motion of the nozzle is determined.

4. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 2, characterized in that: The motion parameters include acceleration and angular acceleration.

5. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 1, characterized in that: Also includes: Generate initial modeling of multiple bowl bodies according to multiple bowl body shapes; Based on the multiple initial modelings, the spatial modeling of the multiple simulated bowl bodies is determined.

6. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 1, characterized in that: The step of determining the comprehensive cleaning force of the nozzle when it moves along the motion trajectory and sprays water toward the multiple simulated bowls based on the spatial modeling of the motion trajectory and the multiple simulated bowls comprises: According to the motion trajectory and the spatial modeling of each simulated bowl body, determining the cleaning force when the nozzle moves along the motion trajectory and sprays water toward each simulated bowl body; The cleaning forces of the multiple spatial models are weighted averaged to obtain the comprehensive cleaning force when water is sprayed onto the multiple simulated bowl bodies.

7. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 1, characterized in that: The step of determining the cleaning force of the nozzle when spraying water toward each simulated bowl body according to the motion trajectory and the spatial modeling of each simulated bowl body when the nozzle moves according to the motion trajectory comprises: Determine the spatial position and orientation of the nozzle at any time according to the motion trajectory; Determine, according to each of the spatial models and the spatial position and orientation of the nozzle at any time, an average impact force and an impact force variance on each of the spatial models when the nozzle sprays water toward the simulated bowl body; The average impact force and the impact force variance are linearly weighted to obtain the cleaning force.

8. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 1, characterized in that: The step of determining the average impact force and the impact force variance on each of the spatial models when the nozzle sprays water toward the simulated bowl body according to each of the spatial models and the spatial position and orientation of the nozzle at any time comprises: Determine, according to each of the spatial models and the spatial position and orientation of the nozzle at each time, each local impact force at each local position on the spatial model when the nozzle sprays water toward the simulated bowl body; Calculate the average local impact force of each local position according to multiple local impact forces of each local position on the spatial modeling; The average impact force and impact force variance of the spatial modeling are calculated based on the average local impact forces of the plurality of local positions on the spatial modeling.

9. The method for optimizing the motion trajectory of a dishwasher nozzle according to claim 1, characterized in that: The step of determining each local impact force at each local position on the spatial modeling when the nozzle sprays water toward the simulated bowl body comprises: According to the spatial position and orientation of the nozzle at each time, the impact point of the water flow sprayed by the nozzle toward the simulated bowl body is calculated, and the angle between the direction of the water flow sprayed by the nozzle toward the simulated bowl body and the surface normal vector of the impact point is calculated; and the local impact force of the impact point is calculated according to the angle.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the steps of the method for optimizing the motion trajectory of a dishwasher nozzle as described in any one of claims 1 to 9 are implemented.

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