Downslide self-correcting clothes drying machine stroke counting system, lifting clothes drying machine and counting method

Abstract

This invention provides a stroke counting system for a self-correcting clothes drying rack, a lifting clothes drying rack, and a technical method. The stroke counting method for the self-correcting clothes drying rack includes the following steps: Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel; Step 20: Compare the Hall pulse level of the first channel and the Hall pulse level of the second channel to determine whether the motor is running in forward or reverse direction; Step 30: Perform stroke counting: if the motor is running in forward direction, the stroke count N = N + 1; if the motor is running in reverse direction, the stroke count N = N - 1; Step 40: Determine whether self-correction is needed. If so, increment or decrement the count by 2 according to the motor direction. Its advantage is that it enables self-correction of the stroke count during the lifting and lowering operation of the clothes drying rack assembly, ensuring that the clothes drying rack assembly accurately reaches the limit position.

Description

Technical Field

[0001] This invention relates to an electric clothes drying rack, and more particularly to a downward self-correcting clothes drying rack stroke counting system, a lifting clothes drying rack and a counting method, to correct the stroke counting deviation caused by inertia when the clothes drying rod stops suddenly during its ascent. Background Technology

[0002] As the level of intelligence in electric clothes drying racks continues to improve, the clothesline assembly on the market can now not only vertically rise and fall between the upper and lower limits, but also be controlled by remote controls, mobile phones, and other devices to stop midway through ascent or descent. Furthermore, the lower limit position can be customized according to user preferences, allowing the clothesline assembly to automatically descend to the user-preset lower limit position. This necessitates that electric clothes drying racks possess precise stroke counting capabilities.

[0003] For example, invention patent CN113839599A discloses a clothes rack control circuit, drive device, and clothes rack with a cord reel positioning function. It uses a Hall sensor to collect the number of rotations of the cord reel motor. When the cord reel motor reaches the upper limit position, it stalls. A stall current acquisition module detects the stall current, and a processor module records the current upper limit position as the starting position for cord release. Thus, the current position of the clothes rack is determined from the number of rotations and the number of rotations per unit stroke from the starting position. In addition, some patents use a microswitch installed at the upper limit position of the clothes rack. When the clothes rack rises to the upper limit position, it touches the microswitch, thus serving as the starting counting position. For example, invention patent CN107119429A uses this method.

[0004] As can be seen, mounting magnetic components on the rotating shaft of the motor that drives the steel wire rope to extend and retract, and generating corresponding pulse signals when the motor rotates through magnetic sensing elements such as Hall sensors, and recording the number of pulses by the processor or controller, and recording the motor's travel position based on the principle that the number of pulses is proportional to the distance the motor travels, is a commonly used travel counting method in electric lifting clothes drying racks on the market.

[0005] However, when the clothes drying rod assembly is under heavy load, if the motor drives the clothes drying rod assembly to stop suddenly during its upward movement, the clothes drying rod assembly will slide down a certain distance due to inertia. This will cause an accumulated error in the Hall stroke count, and the travel distance between the clothes drying machine body and the clothes drying rod assembly recorded by the controller will gradually increase, eventually causing the clothes drying rod assembly to not reach the preset limit position. Summary of the Invention

[0006] Based on the existing method of Hall effect travel counting for electric lifting clothes dryers, which suffers from cumulative travel counting errors due to inertial sliding caused by sudden stops during ascent, this invention provides a travel counting system for a self-correcting clothes dryer that allows for self-correction of travel counting during the ascent and descent of the clothes drying rod assembly. This invention also provides an electric lifting clothes dryer equipped with this system and a travel counting method for the self-correcting clothes dryer that allows for self-correction of travel counting during the ascent and descent of the clothes drying rod assembly.

[0007] The technical solution adopted by this invention to solve the above-mentioned technical problems is: a stroke counting method for a self-correcting clothes drying rack, specifically including the following steps:

[0008] Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel;

[0009] Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction.

[0010] If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low, then the motor is determined to be running in the forward direction.

[0011] If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high, then the motor is determined to be running in reverse.

[0012] Step 30: Perform a trip count:

[0013] If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read.

[0014] If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read.

[0015] Step 40: When the motor changes from running to stopped, determine whether self-correction is needed:

[0016] When the motor is running in the forward direction, if the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, or the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high; or the Hall pulse level of the second channel is rising and the Hall pulse level of the first channel is high, or the Hall pulse level of the second channel is falling and the Hall pulse level of the first channel is low, then the stroke count N = N - 2.

[0017] When the motor is running in reverse, if the first channel Hall pulse level is rising and the second channel Hall pulse level is high, or the first channel Hall pulse level is falling and the second channel Hall pulse level is low; or the second channel Hall pulse level is rising and the first channel Hall pulse level is low, or the second channel Hall pulse level is falling and the first channel Hall pulse level is high, then the stroke count N = N + 2.

[0018] The preferred technical solution adopted by the present invention to solve the above-mentioned technical problem is as follows: it further includes an upper limit locking correction step 50, the specific steps of which are as follows:

[0019] Step 51: Read the upper limit switch trigger signal and the value of travel count N;

[0020] Step 52: If the upper limit switch is in the triggered state, it is determined that the clothes drying rod assembly is in the upper limit position, the motor reverse mode is locked, and the correction N = N0 is set; where N0 is the preset initial value of the stroke.

[0021] Another technical solution adopted by the present invention to solve the above-mentioned technical problem is: a stroke counting method for a self-correcting clothes drying rack, which specifically includes the following steps:

[0022] Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel;

[0023] Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction.

[0024] If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low, then the motor is determined to be running in the forward direction.

[0025] If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high, then the motor is determined to be running in reverse.

[0026] Step 30: Perform a trip count:

[0027] If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read.

[0028] If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read.

[0029] Step 40: When the motor is running in reverse, activate the downward self-correction mode:

[0030] If the first channel Hall pulse level reads a jump from high to low and then from low to high, and the second channel Hall pulse level remains high; or if the first channel Hall pulse level reads a jump from low to high and then from high to low, and the second channel Hall pulse level remains low; or if the second channel Hall pulse level reads a jump from high to low and then from low to high, and the first channel Hall pulse level remains high; or if the second channel Hall pulse level reads a jump from low to high and then from high to low, and the first channel Hall pulse level remains high, then the stroke count N = N + 2.

[0031] Step 50: Read the upper limit switch trigger signal; if the upper limit switch is in the triggered state, determine that the clothes drying rod assembly has reached the upper limit, stop the motor to reverse and correct N=N0; where N0 is the preset initial value of the stroke.

[0032] Another technical solution adopted by the present invention to solve the above-mentioned technical problem is: a stroke counting method for a self-correcting clothes drying rack, which specifically includes the following steps:

[0033] Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel;

[0034] Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction.

[0035] If the phase of the Hall pulse level of the first channel lags behind the Hall pulse level of the second channel, the motor is determined to be rotating in the forward direction.

[0036] If the phase of the Hall pulse level of the first channel leads the phase of the Hall pulse level of the second channel, the motor is determined to be running in reverse.

[0037] Step 30: Perform a trip count:

[0038] If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read.

[0039] If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read.

[0040] Step 40: Determine if self-correction is needed:

[0041] If a round trip between high and low levels is detected in the first channel Hall pulse level, but no change in the second channel Hall pulse level is detected, or if a round trip between high and low levels is detected in the second channel Hall pulse level, but no change in the first channel Hall pulse level is detected, then self-correction is required.

[0042] If the motor is running in the forward direction, then the stroke count N = N - 2;

[0043] If the motor is running in reverse, then the stroke count N = N + 2.

[0044] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problem is: it further includes an upper limit locking correction step 50, the specific steps of which are as follows:

[0045] Step 51: Read the value of the stroke count N and the value of the time T for one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level;

[0046] Step 52: When the motor is running in reverse, if N-N0≤r and T>T0, then it is determined that the clothes drying rod assembly has reached the upper limit position, the motor reverses and corrects N=N0; where N0 is the preset initial value of the stroke, r is the preset upper limit stroke tolerance value, and T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level when the clothes drying rod assembly is normally raised and lowered.

[0047] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problem is: in step 20, if the rising edge of the first channel Hall pulse level lags behind the rising edge of the second channel Hall pulse level, and the phase difference ΔT between the two rising edges is less than T0, then the motor is determined to be running in the forward direction.

[0048] If the rising edge of the Hall pulse level of the first channel leads the rising edge of the Hall pulse level of the second channel, and the phase difference ΔT between the two rising edges is less than T0, then the motor is determined to be running in reverse.

[0049] Wherein, T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level when the clothes drying rod assembly is raised and lowered normally.

[0050] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problem is as follows: In step 40, if the time T1 < T0 for the first channel Hall pulse level to undergo a round-trip transition between high and low levels, and the time T2 > T0 for the second channel Hall pulse level to remain unchanged; or if the time T2 < T0 for the second channel Hall pulse level to undergo a round-trip transition between high and low levels, and the time T1 > T0 for the first channel Hall pulse level to remain unchanged, then it is determined that self-correction is required;

[0051] Wherein, T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level during the normal lifting and lowering of the clothes drying rod assembly.

[0052] Another technical solution adopted by the present invention to solve the above-mentioned technical problems is: a downward self-correcting clothes drying rack stroke counting system, including a controller, a motor, two wire rope coils, a first Hall sensor and a second Hall sensor;

[0053] Each of the wire rope coils is used to wind up and unwind the wire rope on one side of the electric lifting clothes drying rack; the motor drives the wire rope coils through the drive shaft, and the motor rotates forward or in reverse, driving the drive shaft to rotate forward or in reverse to drive the two wire rope coils to rotate forward or in reverse, for releasing or winding the wire rope;

[0054] The end of the drive shaft is provided with a magnetic element. The magnetic element is centrally symmetrically provided with two polar parts and two non-polar parts between the two polar parts, thereby forming a magnetic induction area around the magnetic element. The magnetic induction area includes two centrally symmetrical magnetic areas and two non-magnetic areas between the two magnetic areas.

[0055] The first Hall sensor and the second Hall sensor are arranged side by side on the side of the magnetic element and can be located in the same magnetic region or the same non-magnetic region at the same time.

[0056] The drive shaft rotates forward or backward to drive the magnetic induction area to rotate coaxially. The magnetic area and the non-magnetic area alternately sweep across the first Hall sensor and the second Hall sensor. When the magnetic area sweeps across the first Hall sensor, the first Hall sensor triggers a first channel Hall pulse level. When the magnetic area sweeps across the second Hall sensor, the second Hall sensor triggers a second channel Hall pulse level.

[0057] The controller is used to execute the stroke counting method for the self-correcting clothes drying rack, including:

[0058] The Hall pulse level reading module is used to read the Hall pulse level of the first channel and the Hall pulse level of the second channel; the motor forward / reverse rotation judgment module is used to compare the Hall pulse level of the first channel and the Hall pulse level of the second channel to determine whether the motor is running forward or reverse; the stroke counting execution module is used to execute stroke counting; the stroke counting self-correction module is used to determine and execute stroke counting self-correction.

[0059] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problems is: each wire rope coil includes a winding shaft for winding the wire rope and a drive gear disposed at the end of the winding shaft; two wire rope coils are arranged side by side;

[0060] The drive shaft of the motor has a threaded surface, and the drive shaft is disposed between the two drive gears, and the two drive gears are engaged with the thread of the drive shaft; the drive shaft drives the two wire rope coils to rotate forward or backward through the drive gears.

[0061] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problems is: the cross-section of the end of the drive shaft is semi-circular, the magnetic element is a magnetic ring, and the magnetic ring is sleeved on the end of the drive shaft;

[0062] Two polar portions and two non-polar portions are centrally symmetrically and equally spaced on the magnetic ring to form centrally symmetrically and equally spaced magnetic and non-magnetic regions around the magnetic ring.

[0063] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problem is: it further includes an upper limit switch, which is used to trigger the upper limit switch when the clothes drying rod assembly rises to the upper limit position;

[0064] The controller also includes an upper limit lockout correction module, which is used to read the upper limit switch trigger signal and the value of the stroke count N. If the upper limit switch is in the triggered state, it is determined that the clothes drying rod assembly is in the upper limit position, the motor reverse mode is locked, and the correction N = N0; where N0 is the preset initial stroke value.

[0065] Another preferred technical solution adopted by the present invention to solve the above-mentioned technical problem is: it further includes a timer for recording the time T of a round-trip transition between high and low levels when the Hall pulse level of the first channel or the Hall pulse level of the second channel occurs;

[0066] The controller also includes an upper limit lockout correction module, used to read the value of the travel count N and the value of the time T for a round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level;

[0067] When the motor is running in reverse, if N-N0≤r and T>T0, it is determined that the clothes drying rod assembly has reached the upper limit position, the motor reverses and corrects N=N0; where N0 is the preset initial value of the stroke, r is the preset upper limit stroke tolerance value, and T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level when the clothes drying rod assembly is normally raised and lowered.

[0068] Another technical solution adopted by the present invention to solve the above-mentioned technical problems is: an electric lifting clothes drying rack, characterized in that: it includes a main unit, a clothes drying rod assembly and a lifting assembly, and also includes a downward sliding self-correcting clothes drying rack stroke counting system;

[0069] The clothes drying rod assembly is suspended below the main unit via the lifting assembly; the downward self-correcting clothes drying machine stroke counting system is located inside the main unit;

[0070] The lifting assembly includes steel wire ropes and folding frames disposed at both ends of the main unit; one end of each of the two steel wire ropes is wound around the two steel wire rope coils respectively, and the other end is connected to the pole seats at both ends of the clothes drying pole assembly respectively.

[0071] The motor rotates forward or reverse to release or wind the steel wire rope, thereby driving the clothes drying rod assembly to descend or rise; the upper end of the folding frame is connected to both ends of the main unit, and the lower end is connected to the rod bases at both ends of the clothes drying rod assembly, and extends and folds as the clothes drying rod assembly descends and rises.

[0072] Compared with the prior art, the advantages of the present invention are: the electric lifting clothes drying rack relies on the downward sliding self-correcting clothes drying rack stroke counting system and the downward sliding self-correcting clothes drying rack stroke counting method to realize self-correction of the counting error caused by inertial downward sliding during the lifting and lowering of the clothes drying rod assembly, thereby reducing the cumulative error, ensuring the accuracy of stroke counting, enabling the clothes drying rod assembly to accurately reach the limit position, and avoiding the steel wire rope from falling off due to the increase in the length of the clothes drying rod stroke distance.

[0073] By further adding a timer and introducing a time parameter, the algorithm logic becomes more intuitive, with a low error rate, and is less susceptible to interference from other signals when determining whether the motor is running in the forward or reverse direction and whether self-correction is required. Attached Figure Description

[0074] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the invention. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0075] Figure 1 This is a schematic diagram of the structure of an electric lifting clothes drying rack according to a preferred embodiment of the present invention;

[0076] Figure 2 This is a schematic diagram of the stroke counting system of a sliding self-correcting clothes drying machine according to a preferred embodiment of the present invention;

[0077] Figure 3 for Figure 2 A magnified view of a portion at point A;

[0078] Figure 4 A schematic diagram showing the positional relationship between the magnetic induction region generated by the magnetic element and the Hall sensor;

[0079] Figure 5 This is a waveform diagram of the Hall pulse levels of the two channels when the motor is rotating forward;

[0080] Figure 6 This is a waveform diagram of the Hall pulse levels of the two channels when the motor reverses.

[0081] Figure 7 This is a flowchart of a preferred embodiment of the stroke counting method for a self-correcting clothes drying machine according to the present invention;

[0082] Figure 8 A schematic diagram of the magnetic induction relationship and waveform for a motor rotating in the forward direction and requiring self-correction;

[0083] Figure 9 A schematic diagram of the magnetic induction relationship and waveform under the second scenario where the motor rotates in the forward direction and requires self-correction;

[0084] Figure 10 A schematic diagram of the magnetic induction relationship and waveforms under three scenarios where the motor rotates in the forward direction and requires self-correction;

[0085] Figure 11 A schematic diagram of the magnetic induction relationship and waveforms for a motor rotating in the forward direction and requiring self-correction;

[0086] Figure 12 A schematic diagram of the magnetic induction relationship and waveform for a motor reversing and requiring self-correction;

[0087] Figure 13 A schematic diagram of the magnetic induction relationship and waveform under the second scenario where the motor reverses and needs self-correction;

[0088] Figure 14 A schematic diagram of the magnetic induction relationship and waveforms under three scenarios where the motor reverses and requires self-correction;

[0089] Figure 15 This is a schematic diagram of the magnetic induction relationship and waveforms in the case of motor reversal and self-correction. Detailed Implementation

[0090] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of the invention.

[0091] In the description of this invention, it should be noted that the terms "upper," "lower," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Similarly, "first" and "second" are only for ease of understanding and have no other directional meaning, and should not be considered as limitations on this invention.

[0092] like Figure 1 The electric lifting clothes drying rack 100 shown is a preferred embodiment of the present invention, including a main unit 10, a clothes drying rod assembly 20 and a lifting assembly 30. The main unit 10 is used to be installed on the ceiling of a balcony or suspended ceiling, etc., and includes a housing 11. A downward self-correcting clothes drying rack stroke counting system 200 is installed inside the housing 11. The clothes drying rod assembly 20 is suspended below the main unit 10 by the lifting assembly 30 and can rise and fall under the traction of the lifting assembly 30.

[0093] Combination Figure 2 The lifting assembly 30 includes steel wire ropes 31 and folding frames 32 disposed at both ends of the main unit 10. Two steel wire rope coils 40 for winding and unwinding the steel wire ropes 31 are installed inside the housing 11 of the main unit 10. Each steel wire rope coil 40 is responsible for winding and unwinding the steel wire rope 31 on one side of the electric lifting clothes drying rack 100. Thus, one end of each of the two steel wire ropes 31 is wound onto the two steel wire rope coils 40, and the other end extends from both ends of the housing 11 of the main unit 10, connecting to the pole seats 21 at both ends of the clothes drying rod assembly 20.

[0094] Two folding frames 32 are arranged side by side with the steel wire rope 31 on one side and work together. The upper ends of the two folding frames 32 are connected to the two ends of the housing 11 of the main unit 10, and the lower ends are connected to the pole seats 21 at both ends of the clothes drying pole assembly 20. The two folding frames 32 can extend and fold as the clothes drying pole assembly 20 descends and rises.

[0095] Specifically, a motor 50 is installed inside the housing 11 of the main unit 10. The motor 50 rotates forward or in reverse to release or wind the steel wire rope 31, which in turn pulls the clothes drying rod assembly 20 to descend or rise. At the same time, two folding frames 32 extend and fold to maintain the stability of the clothes drying rod assembly 20 during its ascent and descent.

[0096] When the clothes drying rack assembly 20 is raised and lowered below the main unit 10, the user can control the clothes drying rack assembly 20 to stop midway via remote control, mobile app, etc., so that the clothes drying rack assembly 20 stops at a suitable height. The distance L between the clothes drying rack assembly 20 and the housing 11 of the main unit 10 is the stroke of the clothes drying rack assembly. The controller inside the main unit 10 counts the stroke N by the number of revolutions of the motor 50 in both forward and reverse directions, and presets the conversion relationship between N and L at the factory to calculate the stroke of the clothes drying rack assembly 20, and further calculates the height of the clothes drying rack assembly 20, so as to record user preferences.

[0097] However, if the clothesline assembly 20 stops abruptly during its lifting or lowering process, it is prone to sliding down due to the inertia generated by its own weight. This is especially noticeable when the clothesline assembly 20 is heavily loaded with clothes, making the inertial sliding during a sudden stop more pronounced. At this time, the motor 50 has stopped, but the clothesline assembly 20 pulls the steel cable 31 down a certain distance, causing an error between the stroke count and the actual stroke of the clothesline assembly 20. As this error accumulates, it will prevent the clothesline assembly 20 from accurately reaching the limit position.

[0098] Therefore, the electric lifting clothes drying rack 100 provided by the present invention can rely on the downward self-correcting clothes drying rack stroke counting system 200 to self-correct this inertial error during the lifting and lowering of the clothes drying rod assembly 20, thereby reducing accumulated error, ensuring the accuracy of stroke counting, and enabling the clothes drying rod assembly 20 to accurately reach the limit position, avoiding the steel wire rope 31 from falling off due to the increased stroke distance of the clothes drying rod assembly 20. The following is a detailed description through three specific embodiments:

[0099] Example 1:

[0100] like Figure 2 and Figure 3 The figure shows the stroke counting system 200 of the self-correcting clothes drying rack provided in this embodiment, which includes a controller (not shown in the figure), a motor 50, two wire rope coils 40, a first Hall sensor H1 and a second Hall sensor H2.

[0101] Each wire rope coil 40 is used to wind up and unwind the wire rope 31 on one side of the electric lifting clothes drying rack 100. The motor 50 drives the wire rope coil 40 through the drive shaft 51. In this embodiment, the motor 50 rotates forward, driving the drive shaft 51 to rotate forward, thereby driving the two wire rope coils 40 to rotate forward, thus releasing the wire rope and lowering the clothes drying rod assembly 20. Conversely, the motor 50 rotates in reverse, driving the drive shaft 51 to rotate in reverse, thereby driving the two wire rope coils 40 to rotate in reverse, thus winding the wire rope and raising the clothes drying rod assembly 20. Of course, in other embodiments, the coordination between the forward and reverse rotation of the motor 50 and the lowering and raising of the clothes drying rod assembly 20 can also be reversed.

[0102] Furthermore, in this embodiment, the motor 50 is a worm gear reducer motor, and the surface of the drive shaft 51 of the motor 50 has a thread 52. Each wire rope coil 40 includes a winding spool 41 for winding the wire rope 31 and a drive gear 42 disposed at the end of the winding spool 41, and the two wire rope coils 40 are arranged side by side. The drive shaft 51 is disposed between the two drive gears 42, and the two drive gears 42 mesh with the thread 52 of the drive shaft 51. When the drive shaft 51 rotates forward or reverse, it drives the two wire rope coils 40 to rotate forward or reverse through the drive gears 42.

[0103] Of course, in other embodiments, the winding and release of the wire rope can also be achieved by coaxially fixing the AC motor drive shaft and the winch shaft of the rope winder. For specific implementation methods, please refer to the disclosure of the utility model patent with authorization announcement number CN209144516U, which will not be elaborated here.

[0104] like Figure 3 and Figure 4 As shown, a magnetic element 60 is provided at the end of the drive shaft 51. The magnetic element 60 is centrally symmetrically provided with two polar portions 61 and 62 and two non-polar portions 63 and 64 between the two polar portions 61 and 62, thereby forming a magnetic induction region P around the magnetic element 60. The magnetic induction region P includes two centrally symmetrical magnetic regions P1 and P2 and two non-magnetic regions P3 and P4 between the two magnetic regions P1 and P2.

[0105] The first Hall sensor H1 and the second Hall sensor H2 are arranged side by side on the side of the magnetic element 60, and can be located in the same magnetic region P1 or P2 or the same non-magnetic region P3 or P4 at the same time.

[0106] The drive shaft 51 rotates clockwise or counterclockwise to drive the magnetic induction area P to rotate coaxially. The magnetic areas P1 and P2 and the non-magnetic areas P3 and P4 alternately sweep across the first Hall sensor H1 and the second Hall sensor H2. When the magnetic area P1 or P2 sweeps across the first Hall sensor H1, the first Hall sensor H1 triggers the first channel Hall pulse level. When the magnetic area P1 or P2 sweeps across the second Hall sensor H2, the second Hall sensor H2 triggers the second channel Hall pulse level.

[0107] In this embodiment, the first Hall sensor H1 and the second Hall sensor H2 are at a low level when they are in the non-magnetic region P3 or P4, and at a high level when they are in the magnetic region P1 or P2. In other embodiments, they can also be set to be at a high level when the first Hall sensor H1 and the second Hall sensor H2 are in the non-magnetic region P3 or P4, and at a low level when they are in the magnetic region P1 or P2.

[0108] Furthermore, viewed from the direction directly opposite the drive shaft 51, the first Hall sensor H1 is located to the right of the second Hall sensor H2. If the drive shaft 51 rotates counterclockwise as forward rotation, the magnetic induction area P will sweep across the second Hall sensor H2 and the first Hall sensor H1 in turn. If the drive shaft 51 rotates clockwise as reverse rotation, the magnetic induction area P will sweep across the first Hall sensor H2 and the second Hall sensor H1 in turn.

[0109] Preferably, such as Figure 3 and Figure 4 As shown, the end of the drive shaft 51 has a semi-circular cross-section. The magnetic element 60 is a magnetic ring 60, with a semi-circular hole in the center that matches the semi-circular cross-section of the drive shaft 51. The end of the drive shaft 51 passes through this semi-circular hole, thus the magnetic ring 60 is fitted onto the end of the drive shaft 51. The semi-circular cross-section design of the end of the drive shaft 51 provides axial restraint between it and the magnetic ring 60, thereby driving the magnetic ring 60 and the drive shaft 51 to rotate circumferentially coaxially in either forward or reverse direction. This simplifies the structure of the magnetic ring 60 and the drive shaft 51, making assembly easier.

[0110] Two polar portions 61 and 62 and two non-polar portions 63 and 64 are centrally symmetrically and equally spaced on the magnetic ring 60. Specifically, polar portions 61, 63, 62, and 64 are sequentially spaced in a 1 / 4 fan-ring pattern on the magnetic ring 60, where polar portion 61 is a 1 / 4 N pole and polar portion 62 is a 1 / 4 S pole. This allows the formation of centrally symmetrical and equally spaced magnetic regions P1 and P2 and non-magnetic regions P3 and P4 around the magnetic ring 60. Specifically, magnetic region P1, non-magnetic region P3, magnetic region P2, and non-magnetic region P4 are sequentially spaced in a 1 / 4 fan-ring pattern around the magnetic ring 60, where magnetic region P1 is a 1 / 4 N pole region and magnetic region P2 is a 1 / 4 S pole region.

[0111] The advantage of this setup is that when the motor rotates at a constant speed, the magnetic region P1, non-magnetic region P3, magnetic region P2, and non-magnetic region P4 can sequentially and uniformly sweep across the first Hall sensor H1 and the second Hall sensor H2, thus achieving the desired effect. Figure 5 and Figure 6 As shown, the high and low levels of the generated first-channel Hall pulse level and second-channel Hall pulse level are equally distributed, and the waveforms of the first-channel Hall pulse level and the second-channel Hall pulse level are exactly 1 / 4 phase apart. Besides providing more accurate judgment of whether the motor 50 is rotating forward or backward and reducing stroke counting errors, the stroke counting method for the self-correcting clothes drying rack provided by this invention is easier to implement and has a lower probability of misjudgment.

[0112] The stroke counting method for the self-correcting clothes drying rack provided in this embodiment is specifically executed by a controller, which includes four main modules: a Hall pulse level reading module, used to read the Hall pulse level of the first channel and the Hall pulse level of the second channel; a motor forward / reverse rotation judgment module, used to compare the Hall pulse level of the first channel and the Hall pulse level of the second channel to determine whether the motor is running forward or reverse; a stroke counting execution module, used to execute stroke counting; and a stroke counting self-correction module, used to determine and execute stroke counting self-correction.

[0113] The following is a method for counting the strokes of a self-correcting clothes drying rack provided in this embodiment, which specifically includes the following steps:

[0114] Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel;

[0115] Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction.

[0116] like Figure 5 As shown, if the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, and if the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low, then the motor is determined to be running in the forward direction.

[0117] like Figure 6 As shown, if the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high, then the motor is determined to be running in reverse.

[0118] Step 30: Perform a trip count:

[0119] If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read.

[0120] If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read.

[0121] Step 40: When the motor changes from running to stopped, determine whether self-correction is needed:

[0122] When the motor is running in the forward direction, if the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, or the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high; or the Hall pulse level of the second channel is rising and the Hall pulse level of the first channel is high, or the Hall pulse level of the second channel is falling and the Hall pulse level of the first channel is low, then the stroke count N = N - 2.

[0123] When the motor is running in reverse, if the first channel Hall pulse level is rising and the second channel Hall pulse level is high, or the first channel Hall pulse level is falling and the second channel Hall pulse level is low; or the second channel Hall pulse level is rising and the first channel Hall pulse level is low, or the second channel Hall pulse level is falling and the first channel Hall pulse level is high, then the stroke count N = N + 2.

[0124] As can be seen, in step 40, when the motor changes from a running state to a stopped state, and self-correction is required, there are a total of 8 possible relationships between the positional changes of the corresponding magnetic induction area P and the first Hall sensor H1 and the second Hall sensor H2, as well as the waveforms of the first channel Hall pulse level and the second channel Hall pulse level. For detailed schematic diagrams of the specific magnetic induction relationships and waveforms, please refer to... Figures 8 to 15 As shown.

[0125] For example, such as Figure 15 As shown, when the motor 50 reverses, the magnetic induction area P sweeps clockwise past the first Hall sensor H1 and the second Hall sensor H2. When the motor 50 stops, the first Hall sensor H1 and the second Hall sensor H2 are simultaneously located in the magnetic area. However, at this moment, the clothesline assembly 20 slides down, and the steel cable 31 is pulled downwards, causing the drive shaft 51 to reverse. Consequently, the magnetic induction area P reverses, causing the second Hall sensor H2 to return to the non-magnetic area. This results in the Hall pulse levels of the two channels being generated as shown in the diagram. Figure 15 The waveform shown.

[0126] Furthermore, the downward self-correcting clothes drying rack stroke counting system 200 provided in this embodiment also includes an upper limit switch (not shown in the figure). The upper limit switch can be a micro switch disposed on the lower surface of the housing 11 of the main unit 10, which can trigger the upper limit switch when the clothes drying rod assembly 20 rises to the upper limit position; or it can be a light sensor, which can block or open the light source of the light sensor when the clothes drying rod assembly 20 rises to the upper limit position, thereby triggering the upper limit switch.

[0127] The controller also includes an upper limit lockout correction module, which is used to read the upper limit switch trigger signal and the value of the stroke count N. If the upper limit switch is in the triggered state, it is determined that the clothes drying rod assembly 20 is in the upper limit position, the motor reverse mode is locked, and the correction N = N0; where N0 is the preset initial stroke value.

[0128] Accordingly, the stroke counting method for the self-correcting clothes drying rack provided in this embodiment,

[0129] It also includes step 50 for upper limit occlusion correction, the specific steps of which are as follows:

[0130] Step 51: Read the upper limit switch trigger signal and the value of travel count N;

[0131] Step 52: If the upper limit switch is in the triggered state, it is determined that the clothes drying rod assembly is in the upper limit position, the motor reverse mode is locked, and the correction N = N0 is set; where N0 is the preset initial value of the stroke.

[0132] It should be noted that there are two situations in which the clothes drying rod assembly 20 is in the upper limit position. One is that it is in the initial state, which is when the clothes drying rod assembly 20 is stored under the housing 11 of the main unit 10. The other is that the clothes drying rod assembly 20 rises continuously from the position below the main unit 10 until it reaches the upper limit position.

[0133] Therefore, the upper limit locking correction module of the controller can perform different functions in the above two situations: In the first situation, the upper limit locking correction module performs functions including initializing the value of the stroke count N and locking the motor reverse mode to prevent the user from accidentally reversing the motor 50, which would cause the wire rope 31 to be over-wound and damaged, or the motor 50 to be overloaded; In the second situation, the upper limit locking correction module performs functions including correcting the deviation of the stroke count N and stopping the motor 50, so that the clothes drying rod assembly 20 stops and is stored under the main unit 10.

[0134] In addition, for the preset initial value N0 of the stroke, this embodiment sets N0 = 1000. Of course, N0 can also be set to 0, but the latter requires the controller's counting module to have a negative counting function.

[0135] Example 2:

[0136] The stroke counting method for the self-correcting clothes drying rack provided in this embodiment can be implemented based on the stroke counting system 200 for the self-correcting clothes drying rack provided in Embodiment 1, specifically including...

[0137] Specifically, the following steps are included:

[0138] Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel;

[0139] Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction.

[0140] If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low, then the motor is determined to be running in the forward direction.

[0141] If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high, then the motor is determined to be running in reverse.

[0142] Step 30: Perform a trip count:

[0143] If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read.

[0144] If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read.

[0145] Step 40: When the motor is running in reverse, activate the downward self-correction mode:

[0146] If the first channel Hall pulse level reads a jump from high to low and then from low to high, and the second channel Hall pulse level remains high; or if the first channel Hall pulse level reads a jump from low to high and then from high to low, and the second channel Hall pulse level remains low; or if the second channel Hall pulse level reads a jump from high to low and then from low to high, and the first channel Hall pulse level remains high; or if the second channel Hall pulse level reads a jump from low to high and then from high to low, and the first channel Hall pulse level remains high, then the stroke count N = N + 2.

[0147] Step 50: Read the upper limit switch trigger signal; if the upper limit switch is in the triggered state, determine that the clothes drying rod assembly has reached the upper limit, stop the motor to reverse and correct N=N0; where N0 is the preset initial value of the stroke.

[0148] The difference between this method and the stroke counting method for the self-correcting clothes drying rack provided in Example 1 is that:

[0149] First, in this embodiment, the downward self-correction mode is activated only when the motor is running in reverse. This is predicated on the motor reversing, corresponding to the upward movement of the clothesline assembly. This design primarily considers that if the clothesline assembly suddenly stops midway through its upward movement, it is more prone to inertial downward movement.

[0150] Furthermore, the travel counting error caused by the clothesline assembly sliding down during this process will result in the actual travel being greater than the counted travel. This will cause the clothesline assembly to hover in mid-air and fail to fully reach the upper limit position, thus preventing the upper limit switch from being triggered and rendering the upper limit switch's travel counting correction function ineffective. Therefore, self-correction during the clothesline assembly's upward movement is even more necessary.

[0151] Secondly, the two algorithms for forward and reverse motor operation in the controller algorithm in Embodiment 1 also have their advantages. The program is pre-set in the controller, so the execution of the self-correction algorithm will not be affected regardless of how the forward and reverse rotation of the motor corresponds to the lifting and lowering operation of the clothes drying rod assembly during hardware assembly.

[0152] Third, the algorithm logic for determining whether self-correction needs to be performed differs in this embodiment. In Embodiment 1, only the transition edge of the Hall pulse level of one channel is compared with the potential of the Hall pulse level of another channel. In this embodiment, however, two consecutive and opposite transition edges of the Hall pulse level of one channel are compared with the potential of the Hall pulse level of another channel. From the perspective of program execution, the algorithm in Embodiment 1 is simpler and uses less memory, but the algorithm in this embodiment reports fewer errors and is more reliable.

[0153] Therefore, when setting up the actual factory program, the advantages of both algorithms can be considered and the selection can be made based on the actual product hardware design.

[0154] Furthermore, step 50 in this embodiment corresponds to the second function performed by the upper limit locking correction module and the upper limit locking correction method in embodiment one. Since this embodiment only activates the downward self-correction mode when the clothes drying rod assembly rises, i.e., when the motor is in reverse, there is a temporal sequence between step 50 and step 40 in this embodiment. Of course, the upper limit locking correction module in embodiment one can also be built into the controller of this embodiment, allowing it to perform the first function simultaneously.

[0155] Example 3:

[0156] The method for counting the stroke of a self-correcting clothes drying rack provided in this embodiment requires adding a timer to the self-correcting clothes drying rack stroke counting system 200 provided in Embodiment 1. This timer is used to record the time T of a round trip between high and low levels of the Hall pulse level of the first channel or the Hall pulse level of the second channel. It can also be used to compare the timing of the transition edges of the Hall pulse levels of the two channels.

[0157] The stroke counting method for the self-correcting clothes drying rack provided in this embodiment specifically includes the following steps:

[0158] Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel;

[0159] Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction.

[0160] If the phase of the Hall pulse level of the first channel lags behind the Hall pulse level of the second channel, the motor is determined to be rotating in the forward direction.

[0161] If the phase of the Hall pulse level of the first channel leads the phase of the Hall pulse level of the second channel, the motor is determined to be running in reverse.

[0162] Step 30: Perform a trip count:

[0163] If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read.

[0164] If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read.

[0165] Step 40: Determine if self-correction is needed:

[0166] If a round trip between high and low levels is detected in the first channel Hall pulse level, but no change in the second channel Hall pulse level is detected, or if a round trip between high and low levels is detected in the second channel Hall pulse level, but no change in the first channel Hall pulse level is detected, then self-correction is required.

[0167] If the motor is running in the forward direction, then the stroke count N = N - 2;

[0168] If the motor is running in reverse, then the stroke count N = N + 2.

[0169] The difference between this embodiment and the stroke counting method for the self-correcting clothes drying rack provided in Embodiments 1 and 2 is that the stroke counting system for the self-correcting clothes drying rack in this embodiment, by adding a timer, can introduce a time parameter, thereby:

[0170] First, when determining whether the motor is running in forward or reverse direction, the judgment can be made by comparing the leading or lagging phase of the Hall pulse levels of the two channels. Compared with the comparison of the jumping edge and potential in Embodiments 1 and 2, the algorithm logic is more intuitive, has a lower error rate, and is less susceptible to interference from other signals.

[0171] Furthermore, in step 20, an algorithm is added to compare the phase difference between the Hall pulse levels of the two channels and the normal phase to further reduce false positives. Specifically:

[0172] If the rising edge of the Hall pulse level of the first channel lags behind the rising edge of the Hall pulse level of the second channel, and the phase difference ΔT between the two rising edges is less than T0, then the motor is determined to be running in the forward direction.

[0173] If the rising edge of the Hall pulse level of the first channel leads the rising edge of the Hall pulse level of the second channel, and the phase difference ΔT between the two rising edges is less than T0, then the motor is determined to be running in reverse.

[0174] It should be noted that T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level during the normal raising and lowering of the clothes drying rod assembly. It can be obtained in at least two ways:

[0175] The first method involves pre-setting the speed at the factory and correcting it during operation. This means that the normal motor speed is preset at the factory and kept constant. T0 is the time it takes for magnetic region P1 or P2 to sweep across the first Hall sensor H1 or the second Hall sensor H2. After a period of operation, the average time of one high-low level cycle of the first or second channel Hall pulse level is calculated and used to correct T0. This method is more suitable for the layout design provided in Embodiment 1, where the two polar parts 61 and 62 and the two non-polar parts 63 and 64 are centrally symmetrically and equally spaced on the magnetic ring 60.

[0176] The second method involves calculating the average time of a round-trip high-low level transition during several cycles of the first or second channel Hall pulse level after each motor start-up, and setting this average as T0. The advantage of this method is that the T0 value is obtained every time the clothes drying rack assembly starts and operates, making it more accurate for different load conditions. However, this method requires more controller memory.

[0177] Secondly, this embodiment also introduces a time parameter when determining whether self-correction is needed. Specifically, during the time period when the Hall pulse level of one channel undergoes a round trip between high and low levels, the Hall pulse level of the other channel remains unchanged, thus determining whether self-correction is required. Compared to the comparison of transition edges and potentials in embodiments one and two, this algorithm is more intuitive, has a lower error rate, and is less susceptible to interference from other signals.

[0178] Furthermore, by comparing the time it takes for the Hall pulse levels of the two channels to make a round trip between high and low levels, or the time it takes for the levels to remain unchanged, with the T0 value, false alarms are further reduced. Specifically:

[0179] If the time T1 < T0 for a round trip between high and low levels of the first channel Hall pulse level, and the time T2 > T0 for the second channel Hall pulse level to remain unchanged; or if the time T2 < T0 for a round trip between high and low levels of the second channel Hall pulse level, and the time T1 > T0 for the first channel Hall pulse level to remain unchanged, then self-correction is required.

[0180] By adding the T0 value comparison, when determining whether self-correction is needed, it is possible to further eliminate the interference of occasional fluctuations in the Hall pulse level generated within a transition cycle due to occasional vibrations or other electromagnetic waves and magnetic field interference during the lifting and lowering of the clothes drying rod assembly, and more accurately identify the downward slip error caused by the sudden stop of the clothes drying rod assembly during lifting and lowering.

[0181] Furthermore, with the introduction of time parameters, the upper limit locking correction module of the controller of the self-correcting clothes drying rack stroke counting system in this embodiment, as well as the upper limit locking correction step 50 of the self-correcting clothes drying rack stroke counting method, are also different from those in embodiments one and two. The specific steps are as follows:

[0182] Step 51: Read the value of the stroke count N and the value of the time T for one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level;

[0183] Step 52: When the motor is running in reverse, if N-N0≤r and T>T0, it is determined that the clothes drying rod assembly has reached the upper limit position, the motor reverses and corrects N=N0; where r is the preset upper limit position stroke tolerance value, which can be set between -2 and +2. Preferably, for cases where the accuracy of time measurement and stroke counting is high in this embodiment, it can be further set between -1 and +1.

[0184] When the clothesline assembly 20 rises to its upper limit, its upper surface abuts against the lower surface of the housing 11 of the main unit 10, preventing it from rising further. At this time, the motor 50 continues to operate, the steel cable 31 tightens, and the motor 50 speed slows down. The time T for a round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level becomes longer. This upper limit locking correction method utilizes this principle to determine whether the clothesline assembly 20 has reached its upper limit. Based on this upper limit locking correction method, the stroke counting system of the self-correcting clothes drying machine in this embodiment can omit the upper limit switch component in embodiments one and two, reducing the component cost of the electric lifting clothes drying machine.

[0185] Of course, the upper limit switch can also be retained as a backup protection for the upper limit lockout correction method in this embodiment, to prevent motor overload or even excessive pulling of the wire rope in the event of program failure.

[0186] In this embodiment, the structure and configuration of the downward self-correcting clothes drying rack stroke counting system and the electric lifting clothes drying rack are the same as in Embodiments 1 and 2, and will not be repeated here.

[0187] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it may not be further defined and explained in subsequent figures.

[0188] The foregoing description of the downward self-correcting clothes drying rack stroke counting system, lifting clothes drying rack, and counting method provided by this invention has been presented. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand this invention and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A method for counting the strokes of a self-correcting clothes drying rack, characterized in that: It includes a motor, two wire rope coils, a first Hall sensor, and a second Hall sensor; Each of the aforementioned wire rope coils is used to retract the wire rope on one side of the electric lifting clothes drying rack; The motor drives the wire rope coils via a drive shaft. The motor rotates forward or in reverse, causing the drive shaft to rotate forward or in reverse to drive the two wire rope coils to rotate forward or in reverse, for releasing or winding the wire rope. The end of the drive shaft is provided with a magnetic element. The magnetic element is centrally symmetrically provided with two polar parts and two non-polar parts between the two polar parts, thereby forming a magnetic induction area around the magnetic element. The magnetic induction area includes two centrally symmetrical magnetic areas and two non-magnetic areas between the two magnetic areas. The first Hall sensor and the second Hall sensor are arranged side by side on the side of the magnetic element and can be located in the same magnetic region or the same non-magnetic region at the same time. The drive shaft rotates forward or backward to drive the magnetic induction area to rotate coaxially. The magnetic area and the non-magnetic area alternately sweep across the first Hall sensor and the second Hall sensor. When the magnetic area sweeps across the first Hall sensor, the first Hall sensor triggers a first channel Hall pulse level. When the magnetic area sweeps across the second Hall sensor, the second Hall sensor triggers a second channel Hall pulse level. Specifically, the following steps are included: Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel; Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction. If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low, then the motor is determined to be running in the forward direction. If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high, then the motor is determined to be running in reverse. Step 30: Perform a trip count: If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read. If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read. Step 40: When the motor changes from running to stopped, determine whether self-correction is required: When the motor is running in the forward direction, if the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, or the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high; or the Hall pulse level of the second channel is rising and the Hall pulse level of the first channel is high, or the Hall pulse level of the second channel is falling and the Hall pulse level of the first channel is low, then the stroke count N = N - 2. When the motor is running in reverse, if the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, or the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low; or the Hall pulse level of the second channel is rising and the Hall pulse level of the first channel is low, or the Hall pulse level of the second channel is falling and the Hall pulse level of the first channel is high, then the stroke count N = N + 2.

2. The stroke counting method for a self-correcting clothes drying rack according to claim 1, characterized in that: It also includes step 50 for upper limit occlusion correction, the specific steps of which are as follows: Step 51: Read the upper limit switch trigger signal and the value of travel count N; Step 52: If the upper limit switch is in the triggered state, it is determined that the clothes drying rod assembly is in the upper limit position, the motor reverse mode is locked, and the correction N=N0; where N0 is the preset initial value of the stroke.

3. A method for counting the strokes of a self-correcting clothes drying rack, characterized in that: It includes a motor, two wire rope coils, a first Hall sensor, and a second Hall sensor; Each of the aforementioned wire rope coils is used to reel in and unreel the wire rope on one side of the electric lifting clothes drying rack; The motor drives the wire rope coils via a drive shaft. The motor rotates forward or in reverse, causing the drive shaft to rotate forward or in reverse to drive the two wire rope coils to rotate forward or in reverse, for releasing or winding the wire rope. The end of the drive shaft is provided with a magnetic element. The magnetic element is centrally symmetrically provided with two polar parts and two non-polar parts between the two polar parts, thereby forming a magnetic induction area around the magnetic element. The magnetic induction area includes two centrally symmetrical magnetic areas and two non-magnetic areas between the two magnetic areas. The first Hall sensor and the second Hall sensor are arranged side by side on the side of the magnetic element and can be located in the same magnetic region or the same non-magnetic region at the same time. The drive shaft rotates forward or backward to drive the magnetic induction area to rotate coaxially. The magnetic area and the non-magnetic area alternately sweep across the first Hall sensor and the second Hall sensor. When the magnetic area sweeps across the first Hall sensor, the first Hall sensor triggers a first channel Hall pulse level. When the magnetic area sweeps across the second Hall sensor, the second Hall sensor triggers a second channel Hall pulse level. Specifically, the following steps are included: Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel; Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction. If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is high, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is low, then the motor is determined to be running in the forward direction. If the Hall pulse level of the first channel is rising and the Hall pulse level of the second channel is low, and the Hall pulse level of the first channel is falling and the Hall pulse level of the second channel is high, then the motor is determined to be running in reverse. Step 30: Perform a trip count: If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read. If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read. Step 40: When the motor is running in reverse, activate the downward self-correction mode: If the first channel Hall pulse level reads a jump from high to low and then from low to high, and the second channel Hall pulse level remains high; or if the first channel Hall pulse level reads a jump from low to high and then from high to low, and the second channel Hall pulse level remains low; or if the second channel Hall pulse level reads a jump from high to low and then from low to high, and the first channel Hall pulse level remains high; or if the second channel Hall pulse level reads a jump from low to high and then from high to low, and the first channel Hall pulse level remains high, then the travel count N = N + 2. Step 50: Read the upper limit switch trigger signal; if the upper limit switch is in the triggered state, determine that the clothes drying rod assembly has reached the upper limit, stop the motor from reversing and correct N=N0; where N0 is the preset initial value of the stroke.

4. A method for counting the strokes of a self-correcting clothes drying rack, characterized in that: It includes a motor, two wire rope coils, a first Hall sensor, and a second Hall sensor; Each of the aforementioned wire rope coils is used to reel in and unreel the wire rope on one side of the electric lifting clothes drying rack; The motor drives the wire rope coils via a drive shaft. The motor rotates forward or in reverse, causing the drive shaft to rotate forward or in reverse to drive the two wire rope coils to rotate forward or in reverse, for releasing or winding the wire rope. The end of the drive shaft is provided with a magnetic element. The magnetic element is centrally symmetrically provided with two polar parts and two non-polar parts between the two polar parts, thereby forming a magnetic induction area around the magnetic element. The magnetic induction area includes two centrally symmetrical magnetic areas and two non-magnetic areas between the two magnetic areas. The first Hall sensor and the second Hall sensor are arranged side by side on the side of the magnetic element and can be located in the same magnetic region or the same non-magnetic region at the same time. The drive shaft rotates forward or backward to drive the magnetic induction area to rotate coaxially. The magnetic area and the non-magnetic area alternately sweep across the first Hall sensor and the second Hall sensor. When the magnetic area sweeps across the first Hall sensor, the first Hall sensor triggers a first channel Hall pulse level. When the magnetic area sweeps across the second Hall sensor, the second Hall sensor triggers a second channel Hall pulse level. Specifically, the following steps are included: Step 10: Read the Hall pulse level of the first channel and the Hall pulse level of the second channel; Step 20: Compare the Hall pulse levels of the first channel and the Hall pulse levels of the second channel to determine whether the motor is running in forward or reverse direction. If the phase of the Hall pulse level of the first channel lags behind the Hall pulse level of the second channel, the motor is determined to be rotating in the forward direction. If the phase of the Hall pulse level of the first channel leads the phase of the Hall pulse level of the second channel, the motor is determined to be running in reverse. Step 30: Perform a trip count: If the motor is running in the forward direction, the stroke count N = N + 1 is incremented for each rising edge of the first channel Hall pulse level read. If the motor is running in reverse, the stroke count N = N-1 is incremented for each rising edge of the first channel Hall pulse level read. Step 40: Determine if self-correction is needed: If a round trip between high and low levels is detected in the first channel Hall pulse level, but no change in the second channel Hall pulse level is detected, or if a round trip between high and low levels is detected in the second channel Hall pulse level, but no change in the first channel Hall pulse level is detected, then self-correction is required. If the motor is running in the forward direction, then the stroke count N = N - 2; If the motor is running in reverse, then the stroke count N = N + 2.

5. The stroke counting method for a self-correcting clothes drying machine according to claim 4, characterized in that: It also includes step 50 for upper limit occlusion correction, the specific steps of which are as follows: Step 51: Read the value of the stroke count N and the value of the time T for one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level; Step 52: When the motor is running in reverse, if N-N0≤r and T>T0, then it is determined that the clothes drying rod assembly has reached the upper limit position, the motor reverses and corrects N=N0; where N0 is the preset initial value of the stroke, r is the preset upper limit stroke tolerance value, and T0 is the time value of one round trip between high and low levels when the clothes drying rod assembly is normally raised and lowered.

6. The stroke counting method for a self-correcting clothes drying rack according to claim 4, characterized in that: In step 20, if the rising edge of the first channel Hall pulse level lags behind the rising edge of the second channel Hall pulse level, and the phase difference ΔT between the two rising edges is less than T0, then the motor is determined to be running in the forward direction. If the rising edge of the Hall pulse level of the first channel leads the rising edge of the Hall pulse level of the second channel, and the phase difference ΔT between the two rising edges is less than T0, then the motor is determined to be running in reverse. Wherein, T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level when the clothes drying rod assembly is raised and lowered normally.

7. The stroke counting method for a self-correcting clothes drying rack according to claim 4, characterized in that: In step 40, if the time T1 < T0 for the first channel Hall pulse level to undergo a round trip between high and low levels, and the time T2 > T0 for the second channel Hall pulse level to remain unchanged; or if the time T2 < T0 for the second channel Hall pulse level to undergo a round trip between high and low levels, and the time T1 > T0 for the first channel Hall pulse level to remain unchanged, then it is determined that self-correction is required. Wherein, T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level when the clothes drying rod assembly is raised and lowered normally.

8. A stroke counting system for a self-correcting clothes drying rack, characterized in that: Includes a controller; the controller is configured to perform the stroke counting method for a self-correcting clothes drying rack as described in any one of claims 1-7, comprising: The Hall pulse level reading module is used to read the Hall pulse level of the first channel and the Hall pulse level of the second channel; the motor forward / reverse rotation judgment module is used to compare the Hall pulse level of the first channel and the Hall pulse level of the second channel to determine whether the motor is running forward or reverse; the stroke counting execution module is used to execute stroke counting; the stroke counting self-correction module is used to determine and execute stroke counting self-correction.

9. The stroke counting system for a self-correcting clothes drying rack according to claim 8, characterized in that: Each of the wire rope coils includes a winding spool for winding the wire rope and a drive gear disposed at the end of the winding spool; two wire rope coils are arranged side by side; The drive shaft of the motor has a threaded surface, and the drive shaft is disposed between two drive gears, with the two drive gears meshing with the thread of the drive shaft. The drive shaft drives the two wire rope coils to rotate forward or backward via the drive gear.

10. The stroke counting system for a self-correcting clothes drying rack according to claim 8, characterized in that: The cross-section of the end of the drive shaft is semi-circular, and the magnetic element is a magnetic ring, which is sleeved on the end of the drive shaft. Two polar portions and two non-polar portions are centrally symmetrically and equally spaced on the magnetic ring to form centrally symmetrically and equally spaced magnetic and non-magnetic regions around the magnetic ring.

11. The stroke counting system for a self-correcting clothes drying rack according to claim 8, characterized in that: It also includes an upper limit switch, which is triggered when the clothes drying rod assembly rises to the upper limit position; The controller also includes an upper limit lockout correction module, which is used to read the upper limit switch trigger signal and the value of the stroke count N. If the upper limit switch is in the triggered state, it is determined that the clothes drying rod assembly is in the upper limit position, the motor reverse mode is locked, and the correction N=N0; where N0 is the preset initial stroke value.

12. The stroke counting system for a self-correcting clothes drying rack according to claim 8, characterized in that: It also includes a timer for recording the time T during a round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level; The controller also includes an upper limit lockout correction module, used to read the value of the travel count N and the value of the time T for a round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level; When the motor is running in reverse, if N-N0≤r and T>T0, it is determined that the clothes drying rod assembly has reached the upper limit position, the motor reverses and corrects N=N0; where N0 is the preset initial value of the stroke, r is the preset upper limit stroke tolerance value, and T0 is the time value of one round trip between high and low levels of the first channel Hall pulse level or the second channel Hall pulse level when the clothes drying rod assembly is normally raised and lowered.

13. A motorized clothes lifting machine characterized by: It includes a main unit, a clothes drying rod assembly, and a lifting assembly, and also includes the stroke counting system for the self-correcting clothes drying machine as described in any one of claims 8-12; The clothes drying rod assembly is suspended below the main unit via the lifting assembly; the downward self-correcting clothes drying machine stroke counting system is located inside the main unit; The lifting assembly includes steel wire ropes and folding frames disposed at both ends of the main unit; one end of each of the two steel wire ropes is wound around the two steel wire rope coils respectively, and the other end is connected to the pole seats at both ends of the clothes drying pole assembly respectively. The motor rotates forward or reverse to release or wind the steel wire rope, thereby driving the clothes drying rod assembly to descend or rise; the upper end of the folding frame is connected to both ends of the main unit, and the lower end is connected to the rod bases at both ends of the clothes drying rod assembly, and extends and folds as the clothes drying rod assembly descends and rises.

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