A position detection method, device, washing equipment and storage medium

Abstract

The present application is applicable to the technical field of washing equipment, and provides a position detection method, device, washing equipment and computer-readable storage medium. A position sensing module is provided on the inner tank of the washing equipment. The method includes: responding to a detection instruction to determine the moving direction of a push rod located on the inner tank; the push rod includes a plurality of protruding parts; collecting a state set during the movement of the push rod along the moving direction through the position sensing module; wherein, when the position sensing module passes through any one of the protruding parts, a first state is output, and when the position sensing module passes through any area other than the protruding parts, a second state is output; determining the target position of the push rod according to the moving direction and the state set. Compared with the prior art that requires multiple position sensing modules to be provided and each position sensing module to be detected, by adopting this method, only one position sensing module is needed to determine the position of the push rod, which not only reduces the cost but also has simple operation.

Description

Technical Field

[0001] This application belongs to the technical field of washing equipment, and particularly relates to a position detection method, device, washing equipment, and computer-readable storage medium. Background Art

[0002] At present, a push rod can be arranged on the inner tank of a washing equipment to push the door body of the washing equipment to open and close. In the prior art, the push rod on the inner tank of the washing equipment can be provided with a convex or concave structure, and micro switches for position detection are respectively arranged at multiple specified positions on the moving path of the push rod. When the push rod is in a moving state and the convex or concave structure on the push rod reaches any one of the above micro switches, the contact of the micro switch is triggered. At this time, the washing equipment can identify the position of the push rod by detecting whether the above multiple micro switches are triggered. That is to say, in the prior art, when detecting the position of the push rod, multiple micro switches need to be set and each micro switch needs to be detected one by one. It can be seen that the prior art has problems of high cost and cumbersome operation. Summary of the Invention

[0003] The embodiments of this application provide a position detection method, device, washing equipment, and computer-readable storage medium, which can solve the problems of high cost and cumbersome operation existing in the prior art.

[0004] In a first aspect, the embodiments of this application provide a position detection method, which is applied to a washing equipment, and a position sensing module is arranged on the inner tank of the washing equipment; the method includes:

[0005] Responding to a detection instruction, determining the moving direction of a push rod located on the inner tank; the push rod includes a plurality of protruding parts;

[0006] Collecting a state set during the movement of the push rod along the moving direction through the position sensing module; wherein, when the position sensing module passes through any one of the protruding parts, a first state is output, and when the position sensing module passes through any area other than the protruding parts, a second state is output;

[0007] Determining the target position where the push rod is located according to the moving direction and the state set.

[0008] Optionally, the state set includes at least one first waveform segment corresponding to the first state and at least one second waveform segment corresponding to the second state; the determining the target position where the push rod is located according to the moving direction and the state set includes:

[0009] Sequentially splicing at least one of the first waveform segments and at least one of the second waveform segments according to the acquisition time of each waveform segment to obtain a target waveform segment corresponding to the state set;

[0010] Determine the position range where the push rod is located according to the target waveform segment and the standard waveform; the standard waveform is generated according to the arrangement positions of the plurality of protrusions;

[0011] Determine the target position according to the moving direction and the position range.

[0012] Optionally, the position sensing module is used to determine a plurality of detectable positions on the push rod; the target position is a preset position corresponding to any one of the detectable positions;

[0013] There are differences between the standard waveform segments of any two of the detectable positions in the moving direction; the standard waveform includes the standard waveform segments corresponding to all the detectable positions.

[0014] Optionally, before determining the position range where the push rod is located according to the target waveform and the standard waveform, it further includes:

[0015] Control the push rod to move in the moving direction to obtain the standard duration when passing through each protrusion and each recess through the position sensing module; wherein, the recess refers to any area on the push rod other than the protrusion;

[0016] Generate the standard waveform according to the arrangement positions of the plurality of protrusions and the plurality of recesses on the push rod and a plurality of the standard durations.

[0017] Optionally, the push rod includes a first protrusion, a second protrusion, a third protrusion, a fourth protrusion, a first recess, a second recess and a third recess;

[0018] When the moving direction is the first direction, the push rod sequentially includes the first protrusion, the first recess, the second protrusion, the second recess, the third protrusion, the third recess and the fourth protrusion;

[0019] Wherein, the first standard duration of the position sensing module passing through the first recess is the same as the second standard duration of passing through the second protrusion, and the first standard duration is different from the third standard duration of the position sensing module passing through the first protrusion; the fourth standard duration of the position sensing module passing through the third protrusion is the same as the fifth standard duration of passing through the fourth protrusion, and the fourth standard duration is different from the sixth standard duration of the position sensing module passing through the third recess; the seventh standard duration of the position sensing module passing through the second recess is different from the first standard duration, the second standard duration, the third standard duration, the fourth standard duration, the fifth standard duration and the sixth standard duration.

[0020] Optionally, the moving direction further includes a second direction, which is opposite to the first direction; determining the target position of the push rod according to the moving direction and the state set includes:

[0021] If the moving direction is the first direction, and in the state set, the duration of the first waveform segment corresponding to the first state is the same as the duration of the second waveform segment corresponding to the second state, then determine that the target position is the first preset position corresponding to the first detectable position;

[0022] If the moving direction is the second direction, and in the state set, the duration of the first waveform segment is the same as the duration of the second waveform segment, then determine that the target position is the second preset position corresponding to the second detectable position.

[0023] Optionally, the moving direction further includes a second direction, which is opposite to the first direction; determining the target position of the push rod according to the moving direction and the state set includes:

[0024] If the moving direction is the first direction, and in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, then determine that the target position is the third preset position corresponding to the third detectable position;

[0025] If the moving direction is the second direction, and in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, then determine that the target position is the fourth preset position corresponding to the fourth detectable position.

[0026] In a second aspect, an embodiment of the present application provides a position detection device, which is applied to a washing device, and a position sensing module is provided on the inner tank of the washing device; the device includes:

[0027] A first determination unit, configured to determine the moving direction of a push rod located on the inner tank in response to a detection instruction; the push rod includes a plurality of protrusions;

[0028] An acquisition unit, configured to acquire a state set during the movement of the push rod along the moving direction through the position sensing module; wherein, when the position sensing module passes through any one of the protrusions, a first state is output, and when the position sensing module passes through any area other than the protrusions, a second state is output;

[0029] A second determination unit, configured to determine a target position of the push rod according to the moving direction and the state set.

[0030] In a third aspect, an embodiment of the present application provides a washing device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the position detection method described in any one of the first aspects above are implemented.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the position detection method described in any one of the first aspects above are implemented.

[0032] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a washing device, the washing device can execute the position detection method described in any one of the first aspects above.

[0033] The beneficial effects of the embodiments of the present application compared with the prior art are as follows:

[0034] A position detection method provided by an embodiment of the present application is applied to a washing device. A position sensing module is provided on the inner tank of the washing device. By responding to a detection instruction, the moving direction of a push rod located on the inner tank is determined; the push rod includes a plurality of convex portions; a state set during the movement of the push rod along the moving direction is collected by the position sensing module; wherein, when the position sensing module passes through any one of the convex portions, a first state is output, and when the position sensing module passes through any area other than the convex portions, a second state is output; the target position of the push rod is determined according to the moving direction and the state set. Compared with the prior art that requires multiple position sensing modules to be set and each position sensing module needs to be detected, the position detection method provided by the embodiment of the present application only needs one position sensing module to determine the position of the push rod, which not only reduces the cost but also has simple operation. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is a flowchart of the implementation of the position detection method provided by an embodiment of the present application;

[0037] Figure 2It is a flowchart of the implementation of the position detection method provided by an embodiment of the present application;

[0038] Figure 3 It is a flowchart of the implementation of the position detection method provided by another embodiment of the present application;

[0039] Figure 4 It is a schematic structural diagram of the push rod provided by an embodiment of the present application;

[0040] Figure 5 It is a flowchart of the implementation of the position detection method provided by still another embodiment of the present application;

[0041] Figure 6 It is a flowchart of the implementation of the position detection method provided by still another embodiment of the present application;

[0042] Figure 7 It is a schematic structural diagram of the position detection device provided by an embodiment of the present application;

[0043] Figure 8 It is a schematic structural diagram of the washing device provided by an embodiment of the present application. Detailed implementation manners

[0044] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are proposed to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0045] It should be understood that when used in the specification and claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0046] It should also be understood that the term " / and" as used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] As used in the specification of this application and the appended claims, the term "if" may be construed as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be construed as meaning "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]" depending on the context.

[0048] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0049] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0050] In practical applications, a push rod is usually provided on the inner tank of a washing device, and the push rod is used to pull the door body of the washing device to achieve the opening and closing of the door body of the washing device. In the prior art, the push rod on the inner tank of the washing device may be provided with a convex or concave structure, and position sensing modules for performing position detection are respectively provided at a plurality of specified positions on the moving path of the push rod. When the push rod is in a moving state and the convex or concave structure on the push rod reaches any one of the above position sensing modules, the contact of the position sensing module is triggered. At this time, the washing device can identify the position of the push rod by detecting whether the above plurality of position sensing modules are triggered. Among them, the position sensing module can be a micro switch.

[0051] However, the prior art not only requires setting a plurality of position sensing modules, but also needs to detect the plurality of position sensing modules one by one, which not only increases the cost, but also makes the operation cumbersome.

[0052] Therefore, in the position detection method provided in all embodiments of this application, only one position sensing module may be provided on the inner tank of the washing device to achieve the detection of the position of the push rod. Based on this, the following will be combined with Figure 1 to describe in detail the position detection method provided in the embodiments of this application.

[0053] Please refer to Figure 1 , Figure 1 which is a flowchart of the implementation of a position detection method provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the position detection method is a washing device. Among them, the washing device can be a dishwasher.

[0054] As Figure 1 shown, the position detection method provided by an embodiment of the present application may include S101 to S103, which are described in detail as follows:

[0055] In S101, in response to a detection instruction, determine the moving direction of the push rod located on the inner container; the push rod includes a plurality of protruding parts.

[0056] In the embodiment of the present application, the detection instruction detected by the washing device may be: detecting that the user triggers a preset operation for the washing device. Among them, the preset operation can be determined according to actual needs and is not limited here. Exemplarily, the preset operation may be clicking a preset control, that is, if the washing device detects that the user clicks the preset control on the washing device, it is considered that the preset operation for the washing device has been detected, that is, the detection instruction has been detected; of course, the preset operation may also be a time-triggered operation. The washing device may be configured with a corresponding work process during operation, and the work process includes trigger nodes of multiple key events. The above key events include the push rod position detection event. In this case, if the washing device detects that it reaches the trigger node associated with the push rod position event, it performs the operations of S101 to S103 to perform the position detection operation on the push rod on the inner container of the washing device.

[0057] After the washing device detects the preset operation, it can determine the moving direction of the push rod located on the inner container of the washing device. Among them, the push rod may include a plurality of protruding parts.

[0058] In practical applications, the moving direction of the push rod includes a first direction and a second direction, and the first direction is opposite to the second direction. Among them, the first direction may be the direction in which the door body of the washing device is unlocked, and the second direction may be the direction in which the door body of the washing device is locked.

[0059] In an implementation manner of the embodiment of the present application, the washing device can obtain the distance between the push rod and the door body of the washing device in real time through a displacement sensor and compare the distance with the initial distance. Among them, the initial distance refers to the distance between the push rod and the door body of the washing device before the push rod moves.

[0060] Specifically, when the washing device detects that the above distance is less than the initial distance, it means that the distance between the push rod and the door body of the washing device is getting smaller and smaller. That is to say, the push rod is moving in the direction of unlocking the door body of the washing device. Therefore, the washing device can determine that the moving direction of the push rod is the first direction.

[0061] When the washing device detects that the above distance is greater than the initial distance, it indicates that the distance between the push rod and the door body of the washing device is increasing. That is to say, the push rod is moving in the direction when locking the door body of the washing device. Therefore, the washing device can determine that the moving direction of the push rod is the second direction.

[0062] In S102, a state set during the movement of the push rod along the moving direction is collected by the position sensing module; wherein, a first state is output when the position sensing module passes through any one of the convex portions, and a second state is output when the position sensing module passes through any area other than the convex portions.

[0063] In the embodiment of the present application, since the push rod includes several convex portions, during the movement of the push rod along the moving direction, the position sensing module will pass through at least one convex portion on the push rod, and when the position sensing module passes through any one of the convex portions, its own shape will change. Therefore, the washing device can collect the state set during the movement of the push rod along the moving direction through the position sensing module.

[0064] It should be noted that in actual application, when the position sensing module passes through the convex portion of the push rod, the position sensing module is in a pressed state. Therefore, the washing device can output a first state when the position sensing module passes through the convex portion; when the position sensing module leaves any one of the convex portions, the position sensing module is in a released state. Therefore, the washing device can output a second state when the position sensing module passes through any area other than several convex portions.

[0065] In the embodiment of the present application, the washing device can describe the first state and the second state through different waveform segments. Based on this, the state set can include at least one waveform segment.

[0066] It should be noted that when the lengths of several convex portions are different, the time taken for the position sensing module to pass through several convex portions is also different. Therefore, the duration of the waveform segment used to describe the first state corresponding to each of the convex portions with different lengths can be different. At the same time, when the distances between any two adjacent convex portions are different, the time taken for the position sensing module to leave the convex portion and pass through any area other than the convex portion is also different. Therefore, the duration of the waveform segment used to describe the second state of leaving the convex portion and passing through any area can also be different.

[0067] In S103, the target position of the push rod is determined according to the moving direction and the state set.

[0068] In the embodiment of the present application, in combination with S102, since the state set includes at least one waveform segment, the washing device can determine the position of the push rod based on the moving direction of the push rod and the at least one waveform segment.

[0069] Specifically, the washing device pre-stores standard waveform segments corresponding to a number of convex portions and any area other than the number of convex portions respectively. Therefore, the washing device can compare the above standard waveform segments with at least one waveform segment in the state set one by one, so as to determine the target convex portion or target area passed by the position sensing module. After that, the washing device can determine the target position of the push rod according to the moving direction of the push rod and the target convex portion or target area passed by the position sensing module.

[0070] It should be noted that the position sensing module is used to determine a plurality of detectable positions on the push rod. Among them, the plurality of detectable positions on the push rod can be set according to a number of convex portions included in the push rod. Exemplarily, the washing device can determine the vertex of any convex portion or any edge point on both sides of the convex portion as the detectable position of the push rod.

[0071] Based on this, after the washing device determines that the position sensing module is in any of the above detectable positions, it can determine the target position of the push rod according to the corresponding relationship between each pre-stored detectable position and the preset position where the push rod is located. Among them, each detectable position corresponds to a preset position. The preset position can be determined according to the position of the push rod relative to the inner tank of the washing device when the position sensing module is in any detectable position when the push rod moves along the moving direction on the inner tank of the washing device.

[0072] As can be seen from the above, a position detection method provided by the embodiment of the present application determines the moving direction of the push rod located on the inner tank in response to a detection instruction; the push rod includes a number of convex portions; a state set is collected by a position sensing module during the movement of the push rod along the moving direction; among them, a first state is output when the position sensing module passes through any convex portion, and a second state is output when the position sensing module passes through any area other than the convex portion; the target position of the push rod is determined according to the moving direction and the state set. Compared with the prior art that requires setting multiple position sensing modules and detecting each position sensing module, the position detection method provided by the embodiment of the present application only needs one position sensing module to determine the position of the push rod, which not only reduces the cost but also has simple operation.

[0073] In another embodiment of the present application, when the state set includes at least one first waveform segment corresponding to the first state and at least one second waveform segment corresponding to the second state, please refer to Figure 2 , Figure 2 is the position detection method provided by another embodiment of the present application. Relative toFigure 1 For the corresponding embodiment, in this embodiment, step S103 may specifically include S201 to S203, which are described in detail as follows:

[0074] In S201, at least one of the first waveform segments and at least one of the second waveform segments are spliced in sequence according to the acquisition time of each waveform segment to obtain the target waveform segment corresponding to the state set.

[0075] In this embodiment, the acquisition time of the first waveform segment specifically refers to the start time when the position sensing module contacts any one of the convex parts of the push rod to the end time when the position sensing module contacts the convex part, and the acquisition time of the second waveform segment specifically refers to the start time when the position sensing module contacts any area other than the convex part of the push rod to the end time when the position sensing module contacts the area.

[0076] Based on this, the washing device can splice at least one first waveform segment and at least one second waveform segment in sequence according to the acquisition time of each waveform segment in the order of time, so as to obtain the target waveform segment corresponding to the state set.

[0077] In S202, the position range where the push rod is located is determined according to the target waveform segment and the standard waveform; the standard waveform is generated according to the arrangement positions of the several convex parts.

[0078] It should be noted that the washing device pre-stores the standard waveform of the position sensing module passing through all the convex parts on the push rod. Among them, the standard waveform is generated according to the arrangement positions of the several convex parts on the push rod.

[0079] In an embodiment of the present application, the standard waveform can be specifically generated through S301 to S303 as shown in Figure 3 and is described in detail as follows:

[0080] In S301, the push rod is controlled to move along the moving direction to obtain the standard duration when passing through each convex part and each concave part through the position sensing module; where the concave part refers to any area other than the convex part of the push rod.

[0081] In this embodiment, the washing device can pre-control the push rod to move along the moving direction so that the position sensing module can completely pass through several convex parts and several concave parts on the push rod. Therefore, the washing device can obtain the standard duration of the position sensing module passing through each convex part and each concave part on the push rod through the position sensing module. Among them, the concave part specifically refers to any area other than the convex part of the push rod.

[0082] In S302, a standard waveform is generated according to the arrangement positions of the plurality of protrusions and the plurality of recesses on the push rod, and a plurality of the standard time durations.

[0083] In this embodiment, the washing device prestores the arrangement positions of a plurality of protrusions and a plurality of recesses on the push rod. Therefore, the washing device can generate a standard waveform according to the arrangement positions and the standard time durations for the position sensing module to pass through each protrusion and each recess on the push rod.

[0084] It should be noted that the position sensing module is used to determine a plurality of detectable positions on the push rod. Among them, the plurality of detectable positions on the push rod can be set according to a plurality of protrusions on the push rod. Exemplarily, the washing device can determine the vertex of any one protrusion, or any one edge point on both sides of the protrusion as a detectable position of the push rod. Among them, the lengths of any one protrusion and any one recess are different.

[0085] Based on this, since the lengths of any one protrusion and any one recess are different, the standard time durations for the position sensing module to pass through any one protrusion and any one recess are different, and further, the waveform segments output by the position sensing module when passing through any one protrusion and any one recess are different. Based on this, there are differences between the standard waveform segments of any two detectable positions in the moving direction. It should be noted that the above standard waveform includes the standard waveform segments corresponding to all detectable positions.

[0086] In this embodiment, after obtaining the target waveform segment, the washing device can compare the target waveform segment with the standard waveform, so as to determine a first waveform segment in the standard waveform that is the same as the target waveform segment. Based on this, the washing device can determine the target protrusion and the target recess that the position sensing module passes through according to the first waveform segment, and further can determine the range of detectable positions that the position sensing module passes through. After that, the washing device can determine the position range where the push rod is located according to the range of detectable positions and the corresponding relationship between each detectable position prestored and the preset position where the push rod is located.

[0087] In S203, the target position is determined according to the moving direction and the position range.

[0088] In this embodiment, after determining the position range where the push rod is located, the washing device can determine the target position where the push rod is located according to the moving direction of the push rod and the position range.

[0089] As can be seen above, for the position detection method provided in this embodiment, at least one first waveform segment and at least one second waveform segment are spliced in sequence according to the acquisition time of each waveform segment to obtain a target waveform segment corresponding to the state set; the position range where the push rod is located is determined according to the target waveform segment and the standard waveform; the standard waveform is generated according to the arrangement positions of a plurality of convex portions and a plurality of concave portions; the target position is determined according to the moving direction and the position range, thereby improving the detection accuracy of the position where the push rod is located.

[0090] In one embodiment of the present application, the push rod may include a first convex portion, a second convex portion, a third convex portion, a fourth convex portion, a first concave portion, a second concave portion, and a third concave portion. Based on this, please refer to Figure 4 , Figure 4 which is a schematic structural diagram of the push rod provided in an embodiment of the present application.

[0091] As Figure 4 shown, when the moving direction is the first direction (i.e., the arrow direction), the push rod 1 may sequentially include a first convex portion 11, a first concave portion 12, a second convex portion 13, a second concave portion 14, a third convex portion 15, a third concave portion 16, and a seventh convex portion 17.

[0092] Among them, the shape of the first convex portion 11 is different from the shapes of other convex portions, and the length L1 of the first convex portion is different from the lengths of other convex portions and concave portions.

[0093] The length L2 of the first concave portion 12 is the same as the length L3 of the second convex portion, and the shape of the first concave portion 12 is different from the shapes of other concave portions, and the length L2 of the first concave portion 12 is different from the lengths of other concave portions.

[0094] The shape of the second convex portion 13 is different from the shapes of other convex portions, and the length L3 of the second convex portion 13 is different from the lengths of other convex portions.

[0095] The shape of the second concave portion 14 is different from the shapes of other concave portions, and the length L4 of the second concave portion 14 is different from the lengths of other convex portions and concave portions.

[0096] The shape of the third convex portion 15 is the same as the shape of the fourth convex portion 17, and the length L5 of the third convex portion 15 is the same as the length L7 of the fourth convex portion 17.

[0097] The shape of the third concave portion 16 is different from the shapes of other concave portions, and the length L6 of the third concave portion 16 is different from the lengths of other concave portions.

[0098] Combined with Figure 4The washing device can determine that the first standard duration for the position sensing module to pass through the first recess is the same as the second standard duration for passing through the second protrusion, and the first standard duration is different from the third standard duration for the position sensing module to pass through the first protrusion; the fourth standard duration for the position sensing module to pass through the third protrusion is the same as the fifth standard duration for passing through the fourth protrusion, and the fourth standard duration is different from the sixth standard duration for the position sensing module to pass through the third recess; the seventh standard duration for the position sensing module to pass through the second recess is different from the first standard duration, the second standard duration, the third standard duration, the fourth standard duration, the fifth standard duration, and the sixth standard duration.

[0099] Based on this, the following will be combined with Figure 4 the push rod shown in

[0100] It should be noted that in all the following embodiments, four detectable positions can be set on the push rod, including a first detectable position, a second detectable position, a third detectable position, and a fourth detectable position. Among them, the first detectable position is located between the first protrusion and the first recess, the second detectable position is located between the second protrusion and the second recess, the third detectable position is located between the second recess and the third protrusion, and the fourth detectable position is located between the third recess and the fourth protrusion.

[0101] Combined with Figure 4 it is shown that the first detectable position is the position corresponding to point A, the second detectable position is the position corresponding to point B, the third detectable position is the position corresponding to point C, and the fourth detectable position is the position corresponding to point D.

[0102] Based on this, the preset positions where the push rod is located include a first preset position, a second preset position, a third preset position, and a fourth preset position. Among them, the first detectable position corresponds to the first preset position, the second detectable position corresponds to the second preset position, the third detectable position corresponds to the third preset position, and the fourth detectable position corresponds to the fourth preset position.

[0103] Please refer to Figure 5 Figure 5 which is the position detection method provided by another embodiment of the present application. Compared with Figure 2 the corresponding embodiment, in this embodiment, step S103 may specifically include S401 to S402, which are described in detail as follows:

[0104] In S401, if the moving direction is the first direction, and in the state set, the duration of the first waveform segment corresponding to the first state is the same as the duration of the second waveform segment corresponding to the second state, then it is determined that the target position is the first preset position corresponding to the first detectable position.

[0105] In this embodiment, when the washing device detects that in the state set, the duration of the first waveform segment corresponding to the first state is the same as the duration of the second waveform segment corresponding to the second state, it indicates that the position sensing module takes the same amount of time to pass through a certain protrusion and a certain depression. That is to say, the length of a certain protrusion passed by the position sensing module is the same as the length of a certain depression. Therefore, the washing device can determine that the position sensing module has passed through the first depression and the second protrusion. At the same time, since the moving direction of the push rod is the first direction, that is, the order in which the position sensing module passes through the first depression and the second protrusion is the second protrusion and then the first depression. Based on this, the washing device can determine that the position sensing module is at the first detectable position on the push rod at this time, and further determine that the target position of the push rod is the first preset position.

[0106] In S402, if the moving direction is the second direction and in the state set, the duration of the first waveform segment is the same as the duration of the second waveform segment, then determine that the target position is the second preset position corresponding to the second detectable position.

[0107] In this embodiment, when the washing device detects that in the state set, the duration of the first waveform segment corresponding to the first state is the same as the duration of the second waveform segment corresponding to the second state, it indicates that the position sensing module takes the same amount of time to pass through a certain protrusion and a certain depression. That is to say, the length of a certain protrusion passed by the position sensing module is the same as the length of a certain depression. Therefore, the washing device can determine that the position sensing module has passed through the first depression and the second protrusion. At the same time, since the moving direction of the push rod is the second direction, that is, the order in which the position sensing module passes through the first depression and the second protrusion is the first depression and then the second protrusion. Based on this, the washing device can determine that the position sensing module is at the second detectable position on the push rod at this time, and further determine that the target position of the push rod is the second preset position.

[0108] Through the position detection method provided by the above embodiment, the washing device can accurately determine the position of the push rod, that is, improve the detection accuracy of the position of the push rod.

[0109] Please refer to Figure 6 , Figure 6 which is the position detection method provided by another embodiment of the present application. Compared with the Figure 1 corresponding embodiment, in this embodiment, step S103 may specifically include S501 - S502, which are described in detail as follows:

[0110] In S501, if the moving direction is the first direction, and in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, then determine that the target position is the third preset position corresponding to the third detectable position.

[0111] In this embodiment, when the washing device detects that in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, it indicates that the position sensing module takes the same time to pass through two protrusions, and the time taken to pass through any one of the protrusions is different from the time taken to pass through a certain depression. That is to say, the lengths of the two protrusions passed by the position sensing module are the same, and the length of any one of the protrusions passed through is different from the length of a certain depression. Therefore, the washing device can determine that the position sensing module has passed through the third protrusion, the third depression, and the fourth protrusion. At the same time, since the moving direction of the push rod is the first direction, that is, the order in which the position sensing module passes through the third protrusion, the third depression, and the fourth protrusion is the fourth protrusion, the third depression, and the third protrusion. Based on this, the washing device can determine that the position sensing module is at the third detectable position on the push rod at this time, and further can determine that the target where the push rod is located is the third preset position.

[0112] In S502, if the moving direction is the second direction, and in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, then determine that the target position is the fourth preset position corresponding to the fourth detectable position.

[0113] In this embodiment, when the washing device detects that in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, it indicates that the position sensing module takes the same time to pass through two protrusions, and the time taken to pass through any one of the protrusions is different from the time taken to pass through a certain depression. That is to say, the lengths of the two protrusions passed by the position sensing module are the same, and the length of any one of the protrusions passed through is different from the length of a certain depression. Therefore, the washing device can determine that the position sensing module has passed through the third protrusion, the third depression, and the fourth protrusion. At the same time, since the moving direction of the push rod is the second direction, that is, the order in which the position sensing module passes through the third protrusion, the third depression, and the fourth protrusion is the third protrusion, the third depression, and the fourth protrusion. Based on this, the washing device can determine that the position sensing module is at the fourth detectable position on the push rod at this time, and further can determine that the target where the push rod is located is the fourth preset position.

[0114] Through the position detection method provided by the above embodiments, the washing device can accurately determine the position of the push rod, that is, improve the detection accuracy of the position of the push rod.

[0115] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0116] Corresponding to a position detection method described in the foregoing embodiments, Figure 7 FIG. shows a structural block diagram of a position detection device provided by an embodiment of the present application. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. Refer to Figure 7 , the position detection device 700 includes: a first determination unit 71, a collection unit 72, and a second determination unit 73. Among them:

[0117] The first determination unit 71 is configured to determine the moving direction of the push rod located on the inner tank in response to a detection instruction; the push rod includes a plurality of protruding portions.

[0118] The collection unit 72 is configured to collect a state set during the movement of the push rod along the moving direction through the position sensing module; wherein, when the position sensing module passes through any one of the protruding portions, a first state is output, and when the position sensing module passes through any area other than the protruding portion, a second state is output.

[0119] The second determination unit 73 is configured to determine the target position of the push rod according to the moving direction and the state set.

[0120] In an embodiment of the present application, the state set includes at least one first waveform segment corresponding to the first state and at least one second waveform segment corresponding to the second state; the second determination unit 73 specifically includes: a splicing unit, a third determination unit, and a fourth determination unit. Among them:

[0121] The splicing unit is configured to splice at least one of the first waveform segments and at least one of the second waveform segments in sequence according to the acquisition time of each waveform segment to obtain a target waveform segment corresponding to the state set.

[0122] The third determination unit is configured to determine the position range of the push rod according to the target waveform segment and a standard waveform; the standard waveform is generated according to the arrangement positions of the plurality of protruding portions.

[0123] The fourth determination unit is configured to determine the target position according to the moving direction and the position range.

[0124] In one embodiment of the present application, the position sensing module is used to determine a plurality of detectable positions on the push rod; the target position is a preset position corresponding to any one of the detectable positions;

[0125] There are differences between the standard waveform segments of any two of the detectable positions in the moving direction; the standard waveform includes the standard waveform segments corresponding to all the detectable positions.

[0126] In one embodiment of the present application, the position detection device 700 further includes: a control unit and a generation unit. Among them:

[0127] The control unit is used to control the push rod to move in the moving direction, so as to obtain the standard duration when passing through each protrusion and each recess through the position sensing module; wherein, the recess refers to any area of the push rod other than the protrusion;

[0128] The generation unit is used to generate the standard waveform according to the arrangement positions of the several protrusions and several recesses on the push rod and a plurality of the standard durations.

[0129] In one embodiment of the present application, the push rod includes a first protrusion, a second protrusion, a third protrusion, a fourth protrusion, a first recess, a second recess and a third recess;

[0130] When the moving direction is the first direction, the push rod sequentially includes the first protrusion, the first recess, the second protrusion, the second recess, the third protrusion, the third recess and the fourth protrusion;

[0131] Among them, the first standard duration of the position sensing module passing through the first recess is the same as the second standard duration of passing through the second protrusion, and the first standard duration is different from the third standard duration of the position sensing module passing through the first protrusion; the fourth standard duration of the position sensing module passing through the third protrusion is the same as the fifth standard duration of passing through the fourth protrusion, and the fourth standard duration is different from the sixth standard duration of the position sensing module passing through the third recess; the seventh standard duration of the position sensing module passing through the second recess is different from the first standard duration, the second standard duration, the third standard duration, the fourth standard duration, the fifth standard duration and the sixth standard duration.

[0132] In one embodiment of the present application, the moving direction further includes a second direction, and the second direction is opposite to the first direction; the second determination unit 73 specifically includes: a fifth determination unit and a sixth determination unit. Among them:

[0133] The fifth determination unit is configured to determine that the target position is the first preset position corresponding to the first detectable position if the moving direction is the first direction and, in the state set, the duration of the first waveform segment corresponding to the first state is the same as the duration of the second waveform segment corresponding to the second state.

[0134] The sixth determination unit is configured to determine that the target position is the second preset position corresponding to the second detectable position if the moving direction is the second direction and, in the state set, the duration of the first waveform segment is the same as the duration of the second waveform segment.

[0135] In an embodiment of the present application, the moving direction further includes a second direction, and the second direction is opposite to the first direction; the second determination unit 73 specifically includes: a seventh determination unit and an eighth determination unit. Wherein:

[0136] The seventh determination unit is configured to determine that the target position is the third preset position corresponding to the third detectable position if the moving direction is the first direction and, in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state.

[0137] The eighth determination unit is configured to determine that the target position is the fourth preset position corresponding to the fourth detectable position if the moving direction is the second direction and, in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state.

[0138] It should be noted that, for the information interaction, execution process, etc. between the above-mentioned devices / units, since they are based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details are not described herein again.

[0139] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0140] Figure 8 FIG. is a schematic structural diagram of a washing device provided by an embodiment of the present application. As Figure 8 shown, the washing device 8 of this embodiment includes: at least one processor 80 ( Figure 8 only one is shown in the figure), a processor, a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80. When the processor 80 executes the computer program 82, the steps in any of the foregoing method embodiments for position detection are implemented.

[0141] The washing device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art can understand that Figure 8 this is only an example of the washing device 8 and does not limit the washing device 8. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0142] The so-called processor 80 may be a central processing unit (CPU), and this processor 80 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0143] The memory 81 may be an internal storage unit of the washing device 8 in some embodiments, such as the memory of the washing device 8. The memory 81 may also be an external storage device of the washing device 8 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the washing device 1. Further, the memory 81 may also include both the internal storage unit and the external storage device of the washing device 8. The memory 81 is used to store an operating system, application programs, a BootLoader, data, and other programs, such as the program code of the computer program. The memory 81 may also be used to temporarily store data that has been output or will be output.

[0144] An embodiment of the present application also provides a computer-readable storage medium storing a computer program, which when executed by a processor, can implement the steps in the above-mentioned method embodiments.

[0145] An embodiment of the present application provides a computer program product, which when running on a washing device, enables the washing device to implement the steps in the above-mentioned method embodiments.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned method embodiments of the present application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code to the washing device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0147] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0148] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. A position detection method, applied to a washing device, characterized in that, A position sensing module is provided on the inner container of the washing device; the method includes: In response to a detection instruction, determining the moving direction of a push rod located on the inner container; the push rod includes a plurality of protrusions; Collecting, by the position sensing module, a set of states during the movement of the push rod along the moving direction; wherein, when the position sensing module passes through any one of the protrusions, a first state is output, and when the position sensing module passes through any area other than the protrusions, a second state is output; Determining the target position of the push rod according to the moving direction and the set of states; The set of states includes at least one first waveform segment corresponding to the first state and at least one second waveform segment corresponding to the second state; the determining of the target position of the push rod according to the moving direction and the set of states includes: Sequentially splicing at least one of the first waveform segments and at least one of the second waveform segments according to the acquisition time of each waveform segment to obtain a target waveform segment corresponding to the set of states; Determining the position range of the push rod according to the target waveform segment and a standard waveform; the standard waveform is generated according to the arrangement positions of the plurality of protrusions; there are differences between the standard waveform segments of any two detectable positions in the moving direction; the standard waveform includes the standard waveform segments corresponding to all the detectable positions; all the detectable positions are set by the plurality of protrusions included in the push rod; Determining the target position according to the moving direction and the position range; 2. The position detection method according to claim 1, wherein The position sensing module is used to determine a plurality of detectable positions on the push rod; the target position is a preset position corresponding to any one of the detectable positions; 3. The position detection method according to claim 1, characterized in that, Before determining the position range of the push rod according to the target waveform and the standard waveform, it further includes: Controlling the push rod to move along the moving direction to obtain the standard duration when passing through each protrusion and each recess by the position sensing module; wherein, the recess refers to any area other than the protrusions in the push rod; Generating the standard waveform according to the arrangement positions of the plurality of protrusions and the plurality of recesses on the push rod and a plurality of the standard durations; 4. The position detection method according to claim 3, characterized in that, The push rod includes a first protrusion, a second protrusion, a third protrusion, a fourth protrusion, a first recess, a second recess and a third recess; When the moving direction is the first direction, the push rod sequentially includes the first protrusion, the first recess, the second protrusion, the second recess, the third protrusion, the third recess and the fourth protrusion; Among them, the first standard duration for the position sensing module to pass through the first recessed portion is the same as the second standard duration for passing through the second protruding portion, and the first standard duration is different from the third standard duration for the position sensing module to pass through the first protruding portion; the fourth standard duration for the position sensing module to pass through the third protruding portion is the same as the fifth standard duration for passing through the fourth protruding portion, and the fourth standard duration is different from the sixth standard duration for the position sensing module to pass through the third recessed portion; the seventh standard duration for the position sensing module to pass through the second recessed portion is different from the first standard duration, the second standard duration, the third standard duration, the fourth standard duration, the fifth standard duration, and the sixth standard duration.

5. The position detection method according to claim 4, wherein The moving direction further includes a second direction, and the second direction is opposite to the first direction; determining the target position of the push rod according to the moving direction and the state set includes: If the moving direction is the first direction, and in the state set, the duration of the first waveform segment corresponding to the first state is the same as the duration of the second waveform segment corresponding to the second state, then determine that the target position is the first preset position corresponding to the first detectable position; If the moving direction is the second direction, and in the state set, the duration of the first waveform segment is the same as the duration of the second waveform segment, then determine that the target position is the second preset position corresponding to the second detectable position.

6. The position detection method according to claim 4, characterized in that The moving direction further includes a second direction, and the second direction is opposite to the first direction; determining the target position of the push rod according to the moving direction and the state set includes: If the moving direction is the first direction, and in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, then determine that the target position is the third preset position corresponding to the third detectable position; If the moving direction is the second direction, and in the state set, the durations of the first waveform segment and the second waveform segment corresponding to the first state are the same, and the duration of the first waveform segment is different from the duration of the third waveform segment corresponding to the second state, then determine that the target position is the fourth preset position corresponding to the fourth detectable position.

7. A position detection device applied to a washing device, characterized in that, A position sensing module is provided on the inner container of the washing device; the device includes: A first determination unit, configured to determine the moving direction of a push rod located on the inner container in response to a detection instruction; the push rod includes a plurality of protruding portions; An acquisition unit, configured to acquire a state set during the movement of the push rod along the moving direction through the position sensing module; wherein, when the position sensing module passes through any one of the protruding portions, a first state is output, and when the position sensing module passes through any area other than the protruding portions, a second state is output; A second determination unit, configured to determine the target position of the push rod according to the moving direction and the state set; The state set includes at least one first waveform segment corresponding to the first state and at least one second waveform segment corresponding to the second state; the second determination unit specifically includes: A splicing unit, configured to splice at least one of the first waveform segments and at least one of the second waveform segments in sequence according to the acquisition time of each waveform segment, to obtain a target waveform segment corresponding to the state set; A third determination unit, configured to determine the position range where the push rod is located according to the target waveform segment and a standard waveform; the standard waveform is generated according to the arrangement positions of the plurality of protrusions; there are differences between the standard waveform segments of any two detectable positions in the moving direction; the standard waveform includes the standard waveform segments corresponding to all the detectable positions; all the detectable positions are set by the plurality of protrusions included in the push rod; A fourth determination unit, configured to determine the target position according to the moving direction and the position range.

8. A washing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the position detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the position detection method according to any one of claims 1 to 6.

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