A control method for intelligent toilet lid

Abstract

The present invention relates to the technical field of intelligent toilets, and discloses a control method for an intelligent toilet lid. The control method comprises the following steps: (1) initialization: reading the gravity acceleration components X0, Y0, and Z0 in the directions of the X-axis, Y-axis, and Z-axis on a three-axis gravity acceleration sensor; (2) judging whether the toilet lid is in a closed state, a partially opened state, or a fully opened state according to the values ​​of X0, Y0, and Z0; (3) when the toilet lid is in a closed state or a partially opened state, driving a motor to rotate the toilet lid; and when X0 is reached, the toilet lid is rotated. n =g,Y n =0, Z n = 0, the upward flipping ends; when the toilet lid is under the cover, when the toilet lid is in a fully opened state or not fully opened state, the drive motor is turned on to rotate the toilet lid. m =0, Y m =0, Z m =g, the lid is lowered, and the present invention can achieve precise control over the process of the toilet lid being flipped up or down.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent toilets, and in particular to a control method for a flap of an intelligent toilet. Background Art

[0002] Smart toilets have been widely used and promoted for both public and home use due to their intelligence, cleanliness, and convenience. In order to better realize intelligence, the functions of smart toilets are gradually being improved, and smart toilets are occupying an increasing share in the market. The opening or closing of the toilet lid and toilet ring of traditional smart toilets requires manual operation. At present, the flipping method of smart toilets relies on the rotation of the motor and the number of revolutions of the motor to control the flipping of the toilet lid. This is a feedback-free control method. Once the motor rotates loosely or the structure is loose, it will cause the flip position to be inaccurate and hit the water tank behind. Summary of the invention

[0003] Therefore, it is necessary to provide a control method for a smart toilet lid to solve the problem that the existing control method for a smart toilet lid is prone to inaccurate judgment of the lid position due to loose motor rotation and loose structure.

[0004] To achieve the above-mentioned purpose, the present invention provides a control method for a smart toilet flap, wherein the toilet comprises a toilet body and a toilet cover, a driving motor, a controller and a three-axis gravity acceleration sensor, wherein one end of the toilet cover is rotationally connected to the toilet body through a rotating shaft, the driving motor is used to drive the toilet cover to rotate, and the three-axis gravity acceleration sensor is installed on the toilet cover, and the three-axis gravity acceleration sensor is used to output gravity acceleration components in the directions of the X-axis, the Y-axis and the Z-axis, wherein the X-axis, the Y-axis and the Z-axis are three direction axes of a spatial rectangular coordinate, the Z-axis direction is perpendicular to the plane where the toilet cover is located, the X-axis and the Y-axis are parallel to the plane where the toilet cover is located, and the X-axis direction is perpendicular to the rotating shaft of the toilet cover, and the control method comprises the following steps:

[0005] (1) Initialization: The controller reads the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor. 0 , Y 0 , Z 0 ;

[0006] (2) Determine the status: If X 0 =0, Y 0 =0, Z 0 =g, then the toilet lid is in the closed state; if 0<X 0 <g,Y 0 =0, 0<Z 0 <g, then the toilet lid is judged to be in an incompletely opened state. If X 0 =g,Y0 =0, Z 0 = 0, the toilet lid is judged to be in a fully open state, where g is the acceleration due to gravity;

[0007] (3) When the toilet lid is in the closed state or not fully opened, the controller controls the drive motor to start and rotate the toilet lid. During the rotation, the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor is n , Y n , Z n , n is a positive integer, when X n =g,Y n =0, Z n =0, the upward rollover ends;

[0008] When the toilet lid is closed, when the toilet lid is in a fully opened state or not fully opened state, the controller controls the drive motor to start so that the toilet lid rotates. During the rotation process, the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor m , Y m , Z m , m is a positive integer, when X m =0, Y m =0, Z m =g, the lower cover is completed.

[0009] Further, when the toilet lid is turned up, when Z n+1 >Z n , the controller controls the drive motor to rotate in the reverse direction.

[0010] Further, when the toilet lid is lowered, when Z m+1 <Z m , the controller controls the drive motor to rotate in the reverse direction.

[0011] By increasing or decreasing the value of the acceleration component on the Z axis, it is determined whether the direction of the toilet lid is correct, and then the toilet lid is automatically controlled to be flipped up or down.

[0012] Furthermore, when the toilet lid is turned up, the drive motor is turned on to rotate the toilet lid, then α = g*arcsin(X n / g), α is the angle between the toilet cover and the toilet body. When α is 75°, the controller controls the driving motor to reduce the speed.

[0013] Before judging that the toilet seat is approaching the upper flip position limit, precise deceleration is performed. When the angle increases from 0 degrees to 75 degrees, the motor speed is controlled to decrease. This can prevent the toilet seat from hitting the water tank behind.

[0014] Further, when the toilet lid is closed, the drive motor is turned on to rotate the toilet lid, β = g*arcsin(X m / g), β is the angle between the toilet cover and the toilet body. When β is 30°, the controller controls the driving motor to reduce the speed.

[0015] Before judging that the toilet cover is approaching the limit of the lower cover position, precise deceleration is performed to avoid the toilet cover from hitting the toilet body with great force.

[0016] Furthermore, during the rotation of the toilet lid, when Y n ≠0 or Y m ≠0, the controller controls the drive motor to stop rotating.

[0017] The gravity acceleration component in the Y-axis direction is used to detect whether the toilet cover rotates smoothly. When the toilet cover is skewed, the drive motor can stop in time.

[0018] The above technical solution has the following beneficial effects:

[0019] In the present invention, based on the gravity acceleration components detected by the three-axis gravity acceleration sensor in the X-axis, Y-axis and Z-axis directions, the controller can quickly determine the state of the toilet cover. Since the gravity acceleration g is a constant, the position state of the toilet cover is converted using the gravity acceleration g as reference data, and the numerical value can basically be guaranteed to be accurate, so that the controller can accurately determine the position of the toilet cover to avoid collision between the toilet cover and the toilet body or water tank. Moreover, the gravity acceleration g is constant. Even if the structure of the smart toilet becomes loose and changes during long-term use, the control method can still accurately determine the position of the toilet cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The connection relationship between the three-axis gravity acceleration sensor, the controller and the drive motor is described in detail.

[0021] Figure 2 The X-axis, Y-axis and Z-axis are established on the toilet seat according to the specific implementation method.

[0022] Figure 3 It is a structural diagram of the toilet lid in the closed state described in the specific implementation method.

[0023] Figure 4 This is a structural diagram of the toilet lid in a state where it is not fully opened as described in the specific implementation method.

[0024] Figure 5 This is a structural diagram of the toilet lid in a fully opened state according to the specific implementation method.

[0025] Figure 6It is a flowchart of the up-folding mode of the control method described in the specific implementation method.

[0026] Figure 7 It is a flowchart of the up-folding mode of the control method described in the specific implementation method.

[0027] Description of reference numerals:

[0028] 1. Toilet lid; 2. Toilet body; 3. Rotating shaft. DETAILED DESCRIPTION

[0029] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0030] See also Figure 1-7 The present embodiment provides a control method for a smart toilet lid. The toilet comprises a toilet body 2 and a toilet lid 1, a driving motor, a controller and a three-axis gravity acceleration sensor. One end of the toilet lid 1 is rotatably connected to the toilet body 2 via a rotating shaft 3. The driving motor is used to drive the toilet lid 1 to rotate. The three-axis gravity acceleration sensor is installed on the toilet lid. The three-axis gravity acceleration sensor is used to output gravity acceleration components in the directions of the X-axis, Y-axis and Z-axis. The X-axis, Y-axis and Z-axis are three directional axes of the spatial rectangular coordinates (such as Figure 1 As shown), the Z-axis direction is perpendicular to the plane where the toilet cover is located, the X-axis and the Y-axis are parallel to the plane where the toilet cover is located, and the X-axis direction is perpendicular to the rotation axis of the toilet cover.

[0031] In this embodiment, the rotating shaft of the toilet cover is connected to the output rotating shaft of the driving motor through a connector. When the driving motor rotates, it can drive the toilet cover to rotate accordingly. The controller is the control center of the entire toilet cover, and the three-axis gravity acceleration sensor can be installed inside the toilet cover.

[0032] The control method of the intelligent toilet lid includes two modes: an upward lid mode and a downward lid mode.

[0033] like Figure 6 , the flip-up mode includes the following steps:

[0034] (1) Initialization: The controller reads the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor. 0 , Y 0 , Z 0 ;

[0035] (2) Determine the status: If X 0 =0, Y 0 =0, Z 0 =g, then the toilet lid is in the closed state; if 0<X 0 <g,Y 0=0, 0<Z 0 <g, then the toilet lid is judged to be in an incompletely opened state. If X 0 =g,Y 0 =0, Z 0 = 0, the toilet lid is judged to be in a fully open state, where g is the acceleration due to gravity;

[0036] (3) When the toilet lid is in the closed state or not fully opened, the controller controls the drive motor to start and rotate the toilet lid. During the rotation, the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor n , Y n , Z n , n is a positive integer. When the toilet lid is turned up, judge Z n+1 >Z n , if yes, the controller controls the driving motor to rotate in the opposite direction, if no, the controller controls the driving motor to continue to rotate in the same direction;

[0037] (4) The drive motor is turned on to rotate the toilet lid, then α = g*arcsin(X n / g), α is the angle between the toilet cover and the toilet body. When α is 75°, the controller controls the driving motor to reduce the speed. Before judging that it is close to the upper flip position limit, it performs precise deceleration. When the angle increases from 0 degrees to 75 degrees, the motor speed is controlled to reduce, so as to avoid the toilet cover from hitting the water tank behind.

[0038] During the rotation of the toilet lid in step (3), when Y n ≠0, the controller controls the drive motor to stop rotating.

[0039] (5) When X n =g,Y n =0, Z n =0, the upward flipping is terminated. When step (2) determines that the toilet lid is in a fully opened state, the upward flipping action is terminated directly.

[0040] like Figure 7 , the cover mode includes the following steps:

[0041] (1) Initialization: The controller reads the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor. 0 , Y 0 , Z 0 ;

[0042] (2) Determine the status: If X 0 =0, Y 0 =0, Z 0 =g, then the toilet lid is in the closed state; if 0<X 0 <g,Y0 =0, 0<Z 0 <g, then the toilet lid is judged to be in an incompletely opened state. If X 0 =g,Y 0 =0, Z 0 = 0, the toilet lid is judged to be in a fully open state, where g is the acceleration due to gravity;

[0043] (3) When the toilet lid is in a fully opened state or not fully opened state, the controller controls the drive motor to start so that the toilet lid rotates. During the rotation process, the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor m , Y m , Z m , m is a positive integer. When the toilet lid is turned up, judge Z m+1 <Z m If yes, the controller controls the driving motor to rotate in the opposite direction, if no, the controller controls the driving motor to continue to rotate in the same direction;

[0044] (4) The drive motor is turned on to rotate the toilet lid, then β = g*arcsin(X m / g), β is the angle between the toilet cover and the toilet body. When β is 30°, the controller controls the driving motor to reduce the speed, and accurately decelerates before it is judged to be close to the lower cover position limit, so as to avoid the toilet cover from hitting the toilet body with great force;

[0045] During the rotation of the toilet lid in step (3), when Y m ≠0, the controller controls the drive motor to stop rotating.

[0046] (5) When X m =0, Y m =0, Z m =g, the lid lowering is terminated; when step (2) determines that the toilet lid is in the closed state, the lid lowering action is terminated directly.

[0047] In this embodiment, the X output of the three-axis gravity acceleration sensor 0 , Y 0 , Z 0 , X n , Y n , Z n , X m , Y m , Z m It is the absolute value of the gravitational acceleration component in the X-axis, Y-axis, and Z-axis directions.

[0048] In the present invention, according to the gravity acceleration component detected by the three-axis gravity acceleration sensor in the X-axis, Y-axis and Z-axis directions, the controller can quickly determine the state of the toilet cover. Since the gravity acceleration g is an invariant, the gravity acceleration g is used as the reference data to convert the position state of the toilet cover, and the value can basically guarantee accuracy, so that the controller can accurately determine the position of the toilet cover to avoid the toilet cover from colliding with the toilet body or the water tank. Moreover, the gravity acceleration g is constant. Even if the structure of the smart toilet becomes loose during long-term use, the control method can still accurately determine the position of the toilet cover. By increasing or decreasing the value of the acceleration component on the Z axis, it is determined whether the direction of the toilet cover is correct. By adding the value of the angle α or β, it is determined that the toilet cover is close to the upper or lower cover position limit, and accurate deceleration is performed, so that the toilet cover can be prevented from hitting the toilet body with great force. The gravity acceleration component in the Y-axis direction is used to detect whether the toilet cover rotates smoothly. When the toilet cover is skewed, the drive motor can be stopped in time.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "include..." or "comprise..." do not exclude the existence of other elements in the process, method, article or terminal device including the elements. In addition, in this article, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself.

[0050] Although the above embodiments have been described, once those skilled in the art know the basic creative concepts, they can make additional changes and modifications to these embodiments. Therefore, the above description is only an embodiment of the present invention and does not limit the patent protection scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling a smart toilet lid, characterized in that: The toilet includes a toilet body and a toilet cover, a driving motor, a controller and a three-axis gravity acceleration sensor. One end of the toilet cover is rotatably connected to the toilet body through a rotating shaft. The driving motor is used to drive the toilet cover to rotate. The three-axis gravity acceleration sensor is installed on the toilet cover. The three-axis gravity acceleration sensor is used to output gravity acceleration components in the directions of X-axis, Y-axis and Z-axis. The X-axis, Y-axis and Z-axis are three direction axes of spatial rectangular coordinates. The Z-axis direction is perpendicular to the plane where the toilet cover is located, the X-axis and the Y-axis are parallel to the plane where the toilet cover is located, and the X-axis direction is perpendicular to the rotating shaft of the toilet cover. The control method includes the following steps: (1) Initialization: The controller reads the gravity acceleration components X0, Y0, and Z0 in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor; (2) Determine the state: If X0=0, Y0=0, Z0=g, the toilet lid is in the closed state; if 0<X0<g, Y0=0, 0<Z0<g, the toilet lid is not fully opened; if X0=g, Y0=0, Z0=0, the toilet lid is fully opened, where g is the acceleration due to gravity; (3) When the toilet lid is turned up, if the lid is in the closed state or not fully opened, the controller controls the drive motor to start and rotate the lid. During the rotation, the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor is n , Y n , Z n , n is a positive integer, when X n =g,Y n =0, Z n =0, the upward rollover ends; When the toilet lid is closed, when the toilet lid is in a fully opened state or not fully opened state, the controller controls the drive motor to start so that the toilet lid rotates. During the rotation process, the gravity acceleration component X in the X-axis, Y-axis, and Z-axis directions of the three-axis gravity acceleration sensor m , Y m , Z m , m is a positive integer, when X m =0,Y m =0, Z m =g, the lower cover is finished; When the toilet lid is turned upside down, n+1 >Z n , the controller controls the driving motor to rotate in the reverse direction; When the toilet lid is down, m+1 <Z m , the controller controls the driving motor to rotate in the reverse direction; When the toilet lid is turned up, the drive motor is turned on to rotate the toilet lid. , α is the angle between the toilet cover and the toilet body. When α is 75°, the controller controls the driving motor to reduce the speed; When the toilet lid is lowered, the drive motor is turned on to rotate the toilet lid. , β is the angle between the toilet cover and the toilet body. When β is 30°, the controller controls the driving motor to reduce the speed; During the rotation of the toilet lid, when Y n ≠0 or Y m ≠0, the controller controls the drive motor to stop rotating.

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