A control method and control device of intelligent toilet and intelligent toilet

Abstract

The embodiments of the present application provide a control method, a control device and a smart toilet for a smart toilet, and belong to the technical field of sanitary ware. The method includes: obtaining multiple historical flip-up positions when the flap or the seat ring flips up to the highest position at a historical moment; determining a target flip-up position based on the multiple historical flip-up positions; controlling the flap or the seat ring to flip down to the lowest position, and recording the target flip-down position when the flap or the seat ring is at the lowest position; using the target flip-up position as the highest position allowed for the flap or the seat ring to rotate, and using the target flip-down position as the relative zero position of the target flip-up position, and using the target flip-down position as the lowest position allowed for the flap or the seat ring to rotate, and controlling the flap or the seat ring to rotate between the target flip-up position and the target flip-down position. The present application can ensure the relative stability of the flap or seat ring of the smart toilet during operation and improve the smoothness of movement.

Description

Technical Field

[0001] The application relates to the technical field of sanitary ware, and in particular to a control method and control device for an intelligent toilet and an intelligent toilet. Background Art

[0002] A smart toilet is a sanitary product that integrates a variety of high-tech functions and intelligent designs. It provides a more convenient, comfortable and hygienic user experience by combining sensors, electronic control and automation technologies. In a smart toilet, a sensor can be set on the lid or seat to automatically control the lid or seat to flip up or down by detecting the angle of rotation of the lid or seat.

[0003] In the related art, the lid or seat needs to be reset before the smart toilet is powered on to ensure that the lid or seat is restored to a flat state and the sensor is reset to zero, so as to ensure that the subsequent lid or seat movement can reach a certain angle and ensure the consistency of the movement. However, due to the low structural flatness of the lid or seat installation and the low accuracy of the sensor, the motor of the lid or seat will have a virtual position, and the sensor cannot be reset to zero, making it easy for the lid or seat to collide or not rotate enough when performing consistent movements, which ultimately reduces the consistency of the lid or seat movement, reduces the smoothness of the movement, and makes the user experience poor. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to provide a control method, a control device and a smart toilet for a smart toilet, which can ensure the consistency of the movements of the smart toilet cover or seat when it is in operation and improve the smoothness of the movement.

[0005] To achieve the above-mentioned purpose, the first aspect of an embodiment of the present application proposes a control method for a smart toilet, the method comprising: obtaining multiple historical flip-up positions when the flap or the seat ring flips up to the highest position at a historical moment, wherein at least two of the historical flip-up positions are different; determining a target flip-up position based on the multiple historical flip-up positions, wherein the target flip-up position is within the position range represented by the multiple historical flip-up positions; controlling the flap or the seat ring to flip down to the lowest position, and recording the target flip-down position when the flap or the seat ring is at the lowest position; using the target flip-up position as the highest position allowed for the flap or the seat ring to rotate, and using the target flip-down position as the relative zero position of the target flip-up position, using the target flip-down position as the lowest position allowed for the flap or the seat ring to rotate, and controlling the flap or the seat ring to rotate between the target flip-up position and the target flip-down position.

[0006] In some embodiments, determining the target flip position based on the multiple historical flip positions includes: determining the average position of the multiple historical flip positions, and using the average position as the target flip position; or, sorting the multiple historical flip positions from low to high, and using the historical flip position in the middle of the sequence as the target flip position; or, using the one with the most repeated occurrences among the multiple historical flip positions as the target flip position.

[0007] In some embodiments, controlling the flip cover or the seat ring to rotate between the target flip-up position and the target flip-down position includes: taking one of the target flip-down position or the target flip-up position as a starting position, and taking the other of the target flip-up position or the target flip-down position corresponding to the starting position as an ending position; controlling the flip cover or the seat ring to rotate at a constant speed from the starting position to the ending position.

[0008] In some embodiments, controlling the flap or the seat ring to rotate between the target flip-up position and the target flip-down position includes: obtaining the length and weight of the flap or the seat ring; obtaining the real-time rotation angle of the flap or the seat ring during the rotation process, and calculating the real-time torque of the flap or the seat ring during the rotation process according to the length, the weight and the rotation angle; obtaining the real-time rotation angular velocity of the flap or the seat ring during the rotation process, and calculating the minimum power according to the torque and the rotation angular velocity; based on the minimum power, controlling the flap or the seat ring to rotate between the target flip-up position and the target flip-down position.

[0009] In some embodiments, controlling the flip cover or the seat to rotate at a uniform speed from the starting position to the ending position includes: obtaining a preset average angular velocity of the flip cover or the seat during the rotation process, and a first angle and a second angle at which the flip cover or the seat rotates between the target flip-up position and the target flip-down position, wherein the angle difference between the second angle and the first angle is greater than the angle difference between the first angle and the starting position, and also greater than the angle difference between the ending position and the second angle; controlling the flip cover or the seat to rotate from the starting position, and accelerating to the average angular velocity until it reaches the first angle; controlling the flip cover or the seat to rotate from the first angle to the second angle at a uniform speed at the average angular velocity; controlling the flip cover or the seat to decelerate from the second angle, and decelerating from the average angular velocity to zero until it reaches the ending position.

[0010] In some embodiments, the smart toilet includes a drive motor for driving the flap or the seat to rotate, and the drive motor rotates the flap or the seat from the starting position to the ending position by forward rotation, and the control of the flap or the seat to decelerate from the second angle includes: when the flap or the seat rotates to the second angle, controlling the drive motor to rotate in the reverse direction to reduce the rotation speed of the flap or the seat, wherein the rotation speed of the drive motor in the reverse rotation is lower than the rotation speed in the forward rotation.

[0011] In some embodiments, the controlling the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position further includes: collecting the rotation angle difference of the flip cover or the seat ring between two consecutive collection positions, and determining the sampling period between the two collection positions, wherein the two collection positions are any two rotation positions during the uniform rotation of the flip cover or the seat ring; calculating the real-time angular velocity according to the rotation angle difference and the sampling period, and calculating the deviation value according to the real-time angular velocity and the average angular velocity of the flip cover or the seat ring during the rotation process; calculating the deviation gain according to the deviation value, based on The deviation gain adjusts the power output of the rotation of the flip cover or the seat ring to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position; or, the deviation value is integrated to obtain an integral error, and the power output of the rotation of the flip cover or the seat ring is adjusted based on the integral error to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position; or, the differential gain is calculated according to the rate of change of the deviation value, and the power output of the rotation of the flip cover or the seat ring is adjusted based on the differential gain to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position.

[0012] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes a smart toilet, which includes: an upward flip position acquisition module, which is used to obtain multiple historical upward flip positions when the flap or the seat ring is flipped up to the highest position at a historical moment, wherein at least two of the historical upward flip positions are different; a target upward flip position determination module, which is used to determine the target upward flip position based on the multiple historical upward flip positions, wherein the target upward flip position is within the position range represented by the multiple historical upward flip positions; a target downward flip position determination module, which is used to control the flap or the seat ring to flip down to the lowest position, and record the target downward flip position when the flap or the seat ring is at the lowest position; a rotation control module, which is used to use the target upward flip position as the highest position allowed for rotation of the flap or the seat ring, and use the target downward flip position as the relative zero position of the target upward flip position, and use the target downward flip position as the lowest position allowed for rotation of the flap or the seat ring, to control the flap or the seat ring to rotate between the target upward flip position and the target downward flip position.

[0013] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes a control device, which includes a memory and a processor, and the memory stores a computer program. When the processor executes the computer program, it implements the control method of the smart toilet described in the embodiment of the first aspect.

[0014] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a smart toilet, which includes a memory and a processor, the memory stores a computer program, and the processor implements the control method of the smart toilet described in the first aspect embodiment when executing the computer program.

[0015] The present application proposes a control method, a control device and a smart toilet for a smart toilet, which have the following beneficial effects: the present application obtains a plurality of historical flip positions when the flap or seat is flipped up to the highest position at a historical moment, determines a target flip position based on the plurality of historical flip positions, and records a target flip position when the flap or seat is at the lowest position. The target flip position is used as the highest position allowed for the flap or seat to rotate, and the target flip position is used as the relative zero position of the target flip position, and the target flip position is used as the lowest position allowed for the flap or seat to rotate, and the flap or seat is controlled to rotate between the target flip position and the target flip position. The present application determines the target flip position based on the historical flip position, and at least two historical flip positions are different. By determining the target flip position and recording the target flip position and using it as the relative zero position, the position of the flap or seat can be relatively accurately controlled each time the flip is performed, thereby improving the accuracy of the control. At the same time, by ensuring that the flap or seat moves between the target upward flip position and the target downward flip position, ensuring that the target position is reached each time the action is performed and avoiding collision with other objects, the flap or seat can be effectively avoided from colliding or not flipping up enough, thereby improving the consistency of the flap or seat's execution of the action, ensuring the relative stability of the smart toilet flap or seat during operation, improving the smoothness of the movement, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of a control method for a smart toilet provided in an embodiment of the present application;

[0017] Figure 2 yes Figure 1 Flow chart of step S102;

[0018] Figure 3 yes Figure 1 Flow chart of step S104;

[0019] Figure 4 yes Figure 1 Another flow chart of step S104;

[0020] Figure 5 This is a schematic diagram of the flip cover or seat ring provided in an embodiment of the present application being affected by gravity during the rotation process;

[0021] Figure 6 yes Figure 3 Flow chart of step S302;

[0022] Figure 7 is a schematic diagram of the flip cover or seat ring provided in an embodiment of the present application during the flip-up process;

[0023] Figure 8 is a schematic diagram of the flip cover or seat ring provided in the embodiment of the present application during the flipping down process;

[0024] Fig. 9 It is a schematic diagram of deceleration of the flip cover or seat ring during the flipping up process provided by the embodiment of the present application;

[0025] Fig.10 It is a schematic diagram of deceleration of the flip cover or seat ring in the downward flipping process provided by the embodiment of the present application;

[0026] Fig.11 yes Figure 3 Another flow chart of step S302;

[0027] Fig.12 This is a schematic diagram of the control of the uniform rotation of the flip cover or the seat ring provided in the embodiment of the present application;

[0028] Fig.13 It is a schematic diagram of the structure of the smart toilet provided in the embodiment of the present application;

[0029] Fig.14 is a schematic diagram of a motor control system of a smart toilet provided in an embodiment of the present application;

[0030] Fig.15 This is another schematic diagram of the motor control system of the smart toilet provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0034] A smart toilet is a sanitary product that integrates a variety of high-tech functions and intelligent designs. It provides a more convenient, comfortable and hygienic user experience by combining sensors, electronic control and automation technologies. In a smart toilet, a sensor can be set on the lid or seat to automatically control the lid or seat to flip up or down by detecting the angle of rotation of the lid or seat.

[0035] In the related art, the lid or seat needs to be reset before the smart toilet is powered on to ensure that the lid or seat is restored to a flat state and the sensor is reset to zero, so as to ensure that the subsequent lid or seat movement can reach a certain angle and ensure the consistency of the movement. However, due to the low structural flatness of the lid or seat installation and the low accuracy of the sensor, the motor of the lid or seat will have a virtual position, and the sensor cannot be reset to zero, making it easy for the lid or seat to collide or not rotate enough when performing consistent movements, which ultimately reduces the consistency of the lid or seat movement, reduces the smoothness of the movement, and makes the user experience poor.

[0036] Based on this, the embodiments of the present application provide a control method, a control device and a smart toilet for a smart toilet, which can ensure the relative stability of the smart toilet cover or seat during operation and improve the smoothness of movement.

[0037] A control method, a control device and a smart toilet provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the control method of the smart toilet in the embodiments of the present application is described.

[0038] A control method of a smart toilet in an embodiment of the present application can be illustrated by the following embodiment.

[0039] Figure 1 is an optional flow chart of a control method for a smart toilet provided in an embodiment of the present application. Figure 1 The method may include but is not limited to steps S101 to S104.

[0040] Step S101, obtaining a plurality of historical flip-up positions when the flip cover or the seat ring flips up to the highest position at a historical moment, wherein at least two historical flip-up positions are different;

[0041] The execution subject of this application is a smart toilet, specifically the processor (Central Processing Unit, CPU) on the smart toilet. In a smart toilet, the processor is responsible for controlling various functions and performing various operations, such as detecting sensor data, controlling flushing, adjusting temperature, etc. The processor makes decisions and operates according to input signals and internal states by executing pre-set programs and algorithms to realize the various functions of the smart toilet.

[0042] The control object of the embodiment of the present application is at least one of the flap or seat of the smart toilet. The flap can be the upper cover of the toilet, and you can use the toilet by opening the flap. The user can sit on the seat to urinate and defecate, and the built-in heating system can provide a certain temperature for warmth. The flap or seat can cover the seat of the toilet to protect it from the accumulation of bacteria and dirt, help prevent the odor in the toilet from spreading to the toilet or bathroom, and isolate the seat from the water flow during the flushing process to reduce the possibility of splashing and improve the hygiene of use. In this way, the user only needs to open the flap or seat before use, and can use a relatively clean seat.

[0043] It can be understood that the highest position is the maximum position of the smart toilet lid or seat during the flipping process. Historically, the flip position is obtained by testing a large number of motors to record the position sensor data of the smart toilet lid or seat when it reaches the highest position. By obtaining the position sensor data of multiple samples, a more accurate reference value can be obtained to represent the actual position of the lid or seat when it reaches the maximum position, which serves as the basis for judging whether the lid or seat has reached the top position, thereby taking corresponding control actions.

[0044] It is understandable that the automatic lid or seat technology is too dependent on the feedback value of the reference position sensor. The output values ​​of some position sensors with slightly larger accuracy deviations may not be so accurate, which will result in multiple different historical flip positions being obtained by testing a large number of motors to record the position sensor data when the lid or seat of the smart toilet reaches the highest position. During the flipping of the lid or seat of the smart toilet, the deviation in the value of the feedback from the position sensor may cause excessive movement, resulting in collision with the panel and rebound; it may also be because it stops before it is flipped into place, resulting in insufficient flipping angle of the lid or seat, resulting in the consistency of the lid and seat each time it is flipped up or down cannot be guaranteed. By using different historical flipping positions as a reference, the corresponding control algorithm can be adjusted to help the processor make judgments, execute corresponding control actions, and improve the accuracy of control.

[0045] For example, to obtain multiple historical flip positions when the lid or seat is flipped up to the highest position at historical moments, multiple smart toilets can be tested during the manufacturing process, and the position sensing data of each toilet when the lid or seat is flipped up to the highest position can be recorded using a sensor. By statistically analyzing these data, an accurate position determination basis can be obtained.

[0046] Step S102, determining a target flip-up position based on a plurality of historical flip-up positions, wherein the target flip-up position is within a position range represented by the plurality of historical flip-up positions;

[0047] It is understood that the target flip-up position is to determine the appropriate highest position that the flap or seat can reach based on the rotation capacity and limitation of the motor so that the flap or seat will not hit other objects. The flap or seat should avoid collision with surrounding objects during the flip-up process, including collision with walls, other equipment or other components. The target flip-up position should allow the flap or seat to maintain sufficient space during the flip-up process to avoid collision. At the same time, when the flap or seat is flipped up, it should reach a sufficient angle to achieve a complete flip, ensuring that the flap or seat can be fully opened or closed to complete its intended function.

[0048] It is understandable that the target flip-up position is within the position range represented by multiple historical flip-up positions. By collecting the historical flip-up position data of multiple smart toilets, a series of position values ​​can be obtained, which represent the positions of different toilets when they are flipped up to the highest position. In this data set, there may be a certain range of variation, that is, there are certain differences between the values ​​of different historical flip-up positions. The target flip-up position should be within this position range to ensure that the flip-up action of the flap or seat can be completed smoothly. By analyzing the data set of historical flip-up positions, the minimum and maximum values ​​of the position values ​​can be obtained, or the mean, median or mode can be calculated as a representative of the position range. The target flip-up position should be within this range so that position judgment and control can be performed in practical applications, the accuracy of motor position judgment can be improved, and the flip-up action of the flap or seat can be performed within a reasonable position range, improving the stability of the operation of the smart toilet and the accuracy of control.

[0049] Step S103, controlling the flip cover or the seat ring to flip down to the lowest position, and recording the target flip-down position when the flip cover or the seat ring is at the lowest position;

[0050] It is understandable that during the manufacturing process of the smart toilet, there may be manufacturing deviations, structural flatness, assembly errors or other factors, which may cause the position sensor value of the smart toilet lid or seat ring in the flat state to be impossible to completely return to zero, and may exceed zero degrees or be less than zero degrees. The lowest position is the position of the smart toilet lid or seat ring when it returns to the flat state during the downward flipping process, so that the lid is completely closed or the seat ring is completely flat. The target downward flipping position is the position where the lid or seat ring should reach at the lowest position and no longer move downward.

[0051] It can be understood that by controlling the flip cover or seat ring to flip down to the lowest position and recording the target flip-down position when the flip cover or seat ring is in the lowest position, it can be ensured that the flip cover or seat ring can be completely closed or returned to a flat state when it is in the lowest position, ensuring that the flip cover or seat ring can return to the expected position when flipping down, achieving the requirements of functionality and user experience, improving the consistency of the flip cover or seat ring in the flipping process, and ensuring effective sealing and preventing odor leakage.

[0052] Exemplarily, the target downward flip position when the flap or seat is in the lowest position can be recorded by testing the smart toilet during the manufacturing process, using a sensor to record the position sensing data of the smart toilet when the flap or seat is flipped down to the lowest position, and the position sensing data can be stored in the variables and memory of the control system.

[0053] Step S104, taking the target upward flip position as the highest position allowed for rotation of the flip cover or the seat ring, and taking the target downward flip position as the relative zero position of the target upward flip position, and taking the target downward flip position as the lowest position allowed for rotation of the flip cover or the seat ring, and controlling the flip cover or the seat ring to rotate between the target upward flip position and the target downward flip position.

[0054] It is understandable that the target flip-up position is the highest position that the flap or seat should reach, and the target flip-down position is the lowest position that the flap or seat should reach. The target flip-up position is to determine the appropriate highest position that the flap or seat can reach based on the rotation capacity and limitation of the motor, so that the flap or seat will not hit other objects. The target flip-down position can ensure that the flap or seat can be completely closed or returned to a flat state when it is at the lowest position, and ensure that the flap or seat can return to the expected position when flipped down.

[0055] It is understandable that by taking the target flip-down position as the relative zero position of the target flip-up position, that is, the target flip-down position will be regarded as the starting position of the flip cover or the seat ring, so as to perform flip-up and flip-down operations relative to the target flip-down position and the target flip-up position. By taking the target flip-up position as the highest position allowed and the target flip-down position as the lowest position allowed, the flip cover or the seat ring can only rotate within this range, which can effectively avoid the collision caused by excessive rotation or the problem of insufficient flipping angle, and improve the consistency and stability of the flip cover and the seat ring.

[0056] The embodiment of the present application obtains multiple historical flip positions when the flap or seat ring flips up to the highest position at historical moments, determines the target flip position based on the multiple historical flip positions, and records the target flip position when the flap or seat ring is at the lowest position. The target flip position is used as the highest position allowed for the flap or seat ring to rotate, and the target flip position is used as the relative zero position of the target flip position, and the target flip position is used as the lowest position allowed for the flap or seat ring to rotate, and the flap or seat ring is controlled to rotate between the target flip position and the target flip position. The present application determines the target flip position based on the historical flip positions, and at least two historical flip positions are different. By determining the target flip position and recording the target flip position and using it as the relative zero position, the position of the flap or seat ring can be relatively accurately controlled each time the flip is performed, thereby improving the accuracy of the control. At the same time, by ensuring that the flap or seat moves between the target upward flip position and the target downward flip position, ensuring that the target position is reached each time the action is performed and avoiding collision with other objects, the flap or seat can be effectively avoided from colliding or not flipping up enough, thereby improving the consistency of the flap or seat's execution of the action, ensuring the relative stability of the smart toilet flap or seat during operation, improving the smoothness of the movement, and improving the user experience.

[0057] See also Figure 2 In some embodiments, step S102 may include steps S201 to S203:

[0058] Step S201, determining an average position of a plurality of historical flip-up positions, and taking the average position as a target flip-up position;

[0059] It is understandable that the historical flip position is the position sensor data when the lid or seat of the smart toilet reaches the highest position through a large number of motor tests, and the target flip position is the highest position that the lid or seat should reach. By obtaining the historical flip position data of the smart toilet and calculating the average of these historical positions, the values ​​of all historical flip positions can be added together and then divided by the number of historical positions to calculate the average position. The calculated average position is used as the target flip position, and a reasonable target flip position is determined based on the overall trend of the historical data to limit the flip operation of the lid or seat, and ensure that it does not cause excessive rotation or insufficient rotation.

[0060] Step S202, or, sorting the multiple historical flipping positions from low to high, and taking the historical flipping position in the middle of the sequence as the target flipping position;

[0061] It can be understood that the historical flip position is the position sensor data when the lid or seat of the smart toilet reaches the highest position through the test of a large number of motors, and the target flip position is the highest position that the lid or seat should reach. Obtaining data of multiple historical flip positions, and sorting multiple historical flip positions from low to high, and selecting the historical flip position in the middle position in the sorted historical flip position sequence as the target flip position can reduce the problem of excessive deviation of the target flip position caused by the error of a single historical flip position, ensure that the target flip position is more centralized relative to the data distribution of the historical flip position, and be able to determine a reasonable target flip position, limit the flip operation of the lid or seat, and ensure that it does not have the problem of excessive rotation and collision or insufficient rotation and flipping.

[0062] Step S203, or, taking the one with the most repetition times among the multiple historical flip-up positions as the target flip-up position.

[0063] It is understandable that the historical flip position is the position sensor data of the intelligent toilet lid or seat ring when it reaches the highest position through a large number of motor tests, and the target flip position is the highest position that the lid or seat ring should reach. Obtaining data on multiple historical flip positions, counting the number of times each historical flip position appears in the data, and then selecting the historical flip position with the most repeated occurrences as the target flip position can reduce the problem of excessive deviation of the target flip position due to differences in historical flip positions, better ensure that the target flip position meets the needs of users, limit the flip operation of the lid or seat ring, and ensure that it does not cause excessive rotation and collision or insufficient rotation and flipping.

[0064] See also Figure 3 In some embodiments, step S104 may include steps S301 to S302:

[0065] Step S301, taking one of the target flip-down position or the target flip-up position as the starting position, and taking the other of the target flip-up position or the target flip-down position corresponding to the starting position as the ending position;

[0066] It is understandable that the target flip-up position is the highest position that the flap or seat should reach, and the target flip-down position is the lowest position that the flap or seat should reach. The target flip-up position is to determine the appropriate highest position that the flap or seat can reach based on the rotation capacity and limitation of the motor, so that the flap or seat will not hit other objects. The target flip-down position can ensure that the flap or seat can be completely closed or returned to a flat state when it is in the lowest position, and ensure that the flap or seat can return to the expected position when flipping down. The starting position is the position where the flap or seat starts to rotate during the flip-up or flip-down process, and the ending position is the position where the flap or seat stops rotating during the flip-up or flip-down process.

[0067] It can be understood that when the target upward flip position of the smart toilet is used as the starting position of the flip cover or seat ring, the target downward flip position is used as the ending position of the flip cover or seat ring, and the flip cover or seat ring flips down from the target upward flip position to the target downward flip position; when the target downward flip position of the smart toilet is used as the starting position of the flip cover or seat ring, the target upward flip position is used as the ending position of the flip cover or seat ring, and the flip cover or seat ring flips up from the target downward flip position to the target upward flip position, the rotation range of the flip cover or seat ring can be determined to improve the consistency of the rotation.

[0068] Step S302, controlling the flip cover or the seat ring to rotate at a constant speed from the starting position to the ending position.

[0069] It is understandable that when the target upward flip position of the smart toilet is used as the starting position of the flap or seat, the flap or seat is controlled to rotate at a uniform speed from the target upward flip position to the target downward flip position; when the target downward flip position of the smart toilet is used as the starting position of the flap or seat, the flap or seat is controlled to rotate at a uniform speed from the target downward flip position to the target upward flip position. The flap or seat is controlled to rotate at a uniform speed from the starting position until it reaches the end position. A corresponding drive system or control algorithm can be used to implement this rotation process to achieve a smooth and controllable rotation process, and to perform between the target upward flip position and the target downward flip position, thereby improving the smoothness of the motion process and helping to improve user satisfaction with the smart toilet.

[0070] See also Figure 4 In some embodiments, step S104 may further include steps S401 to S404:

[0071] Step S401, obtaining the length and weight of the flip cover or the seat ring;

[0072] For example, the length L of the flap or seat may be the distance from the center of mass of the flap or seat to the rotation axis, which is related to the size of the flap or seat. Different models of smart toilets may have different flap or seat lengths L and weights m. By obtaining the length L and weight m of the flap or seat, the physical properties of the flap or seat can be understood, which is helpful for calculating torque and power.

[0073] Step S402, obtaining the real-time rotation angle of the flip cover or the seat ring during the rotation process, and calculating the real-time torque of the flip cover or the seat ring during the rotation process according to the length, weight and rotation angle;

[0074] It can be understood that torque T describes the magnitude of the moment, that is, the product of the force acting on an object and the radius of the object. Torque T can be used to describe the rotational torque and is one of the important physical quantities that describe the rotational motion of an object. Figure 5As shown, the flip cover or seat ring is affected by gravity G during the rotation process, and overcomes the gravity component F2 during the rotation process. The gravity component F2 is the product of gravity G and the cosine value of the rotation angle θ, that is, F2 = G × COSθ. The real-time torque T during the rotation process of the flip cover or seat ring can be calculated based on the real-time rotation angle θ, length L and weight m during the rotation process of the flip cover or seat ring. The real-time torque T during the rotation process of the flip cover or seat ring is the product of the length, weight and cosine value of the rotation angle of the flip cover or seat ring, that is, T (torque) [N·m] = L (length) [m] × m (weight) [kg] × g (gravitational acceleration) [9.81m / s] × COSθ.

[0075] Step S403, obtaining the real-time rotational angular velocity of the flip cover or the seat ring during the rotation process, and calculating the minimum power according to the torque and the rotational angular velocity;

[0076] It can be understood that power is a physical quantity that describes the amount of work done by a physical system per unit time. After obtaining the real-time angular velocity of the rotation of the lid or seat, the minimum power can be calculated based on the relationship between torque and angular velocity. The minimum power is equal to the torque multiplied by the angular velocity, P (power) = T (torque) [N·m] × ω (angular velocity) [rad / s]. By measuring the torque and real-time angular velocity to calculate the minimum power, the energy consumption of the smart toilet can be optimized, the energy-saving performance of the smart toilet can be improved, and a more environmentally friendly, economical and efficient user experience can be provided to users.

[0077] It is understandable that the real-time angular velocity of rotation of the flap or seat ring during rotation can be obtained by installing an encoder or a rotation sensor on the axis of the flap or seat ring to measure the change of the rotation angle in real time. By continuously detecting the change of the rotation angle and associating it with time, the instantaneous angular velocity of rotation can be calculated. For example, the angle of rotation of the flap or seat ring is collected between two consecutive collection positions, angle 1 is recorded as θ1, angle 2 is recorded as θ2, and the sampling period T between the two collection positions is determined, ω (angular velocity) = (θ1 (angle 1) - θ2 (angle 2)) / T (sampling period). To obtain the real-time angular velocity of rotation of the flap or seat ring during rotation, a gyroscope sensor can also be used. The gyroscope sensor can measure the rotation speed and direction of an object. By installing the gyroscope sensor on the flap or seat ring, the information of the angular velocity of rotation can be obtained in real time.

[0078] For example, to obtain the real-time rotational angular velocity of the flip cover or the seat ring during rotation, an acceleration sensor and a filtering algorithm can be used. The acceleration sensor can measure the acceleration of an object in a specific direction. By installing the acceleration sensor on the flip cover or the seat ring and combining it with a filtering algorithm, the rotational angular velocity information can be derived from the acceleration data.

[0079] Step S404: Based on the minimum power, the flip cover or the seat ring is controlled to rotate between the target flip-up position and the target flip-down position.

[0080] It is understandable that the minimum power refers to the minimum power required for the flap or seat ring to operate normally. The flap or seat ring only needs to overcome the gravity component to work, so it can be calculated by torque and rotation angular velocity. The real-time torque T of the flap or seat ring during the rotation process can be calculated based on the real-time rotation angle θ, length L and weight m of the flap or seat ring during the rotation process, that is, T (torque) [N·m] = L (length) [m] × m (weight) [kg] × g (gravitational acceleration) [9.81m / s] × COSθ. The minimum power is equal to the torque multiplied by the rotation angular velocity, P (power) = T (torque) [N·m] × ω (angular velocity) [rad / s]. By controlling the minimum power corresponding to the motor output, the flap or seat ring is controlled to rotate between the target flip-up position and the target flip-down position. The minimum power control can ensure that the energy consumed during the rotation of the flap or seat ring is minimized. By reducing power consumption, energy saving effects can be achieved, energy costs can be reduced, and the impact on the environment can be reduced.

[0081] See also Figure 6 In some embodiments, step S302 may further include steps S501 to S504:

[0082] Step S501, obtaining a preset average angular velocity of the flip cover or the seat ring during the rotation process, as well as a first angle and a second angle of the flip cover or the seat ring when the flip cover or the seat ring rotates between a target flip-up position and a target flip-down position, wherein the angle difference between the second angle and the first angle is greater than the angle difference between the first angle and the starting position, and also greater than the angle difference between the ending position and the second angle;

[0083] It is understandable that the average angular velocity refers to the ratio of the angle covered by an object during rotation within a period of time to the time interval. For a preset flap or seat rotation process, the average angular velocity represents the average angle that the object rotates per unit time during the entire rotation process. The preset average angular velocity of the flap or seat rotation process can be input by the user and can be adjusted and set according to the specifications and requirements of the flap or seat. The first angle and the second angle are two angles located between the target flip-up position and the target flip-down position, and the average angular velocity = (second angle-first angle) / time interval required for the rotation process. The flap or seat accelerates from the starting position to the first angle, rotates at a constant speed from the first angle to the second angle, and decelerates from the second angle to the end position.

[0084] It can be understood that the first angle and the second angle are located between the target flip-up position and the target flip-down position, so that corresponding control can be performed according to the first angle and the second angle during the flipping process, and the angle difference between the first angle and the second angle is relatively large, greater than the angle difference between the first angle and the starting position, and greater than the angle difference between the ending position and the second angle, that is, the angle difference between the first angle and the second angle is the largest angle difference in the entire rotation process, which can ensure that most of the angle range of the flip cover or the seat ring during the rotation process can be controlled to rotate at a uniform speed.

[0085] Step S502, controlling the flip cover or the seat ring to rotate from the starting position, and accelerating the rotation to an average angular velocity until it rotates to a first angle;

[0086] It is understood that the starting position is the position where the flip cover or seat ring starts to rotate during the process of flipping up or flipping down. By controlling the flip cover or seat ring to rotate from the starting position and accelerating to the average angular velocity, the preset average angular velocity of the flip cover or seat ring rotation process can be quickly reached in a relatively short time, meeting the user's expectations for the flip cover or seat ring effect.

[0087] Step S503, controlling the flip cover or the seat ring to rotate from the first angle to the second angle at a uniform average angular velocity;

[0088] It can be understood that the first angle and the second angle are two angles between the target flip-up position and the target flip-down position, and the angle difference between the first angle and the second angle is the largest angle difference in the entire rotation process. Controlling the flip cover or the seat to rotate from the first angle to the second angle at an average angular velocity can make the flip cover or the seat rotate more smoothly, reduce the inertia and friction generated by sudden accelerated rotation, and thus extend the service life of the flip cover or the seat. At the same time, this control method can also improve the rotation efficiency of the flip cover or the seat, saving electricity or energy consumption.

[0089] Step S504, controlling the flip cover or the seat ring to start decelerating from the second angle, and decelerating from the average angular velocity to zero, until it turns to the end position.

[0090] It is understandable that the end position is the position where the flap or seat stops rotating during the process of flipping up or flipping down. The end position may be a target flip-up position or a target flip-down position. By controlling the flap or seat to decelerate from the second angle and decelerate from the average angular velocity to zero until it turns to the target flip-up position, it is possible to avoid excessive movement, collision with the panel, or rebound that causes the flap or seat to shake when it reaches the target flip-up position; by controlling the flap or seat to decelerate from the second angle and decelerate from the average angular velocity to zero until it turns to the target flip-down position, it is possible to avoid a large impact due to the influence of gravity.

[0091] See also Figure 7In a specific embodiment, the starting position is 0°, and the flap or seat is controlled to rotate from 0°. The first angle and the second angle are two angles located between the target flip-up position and the target flip-down position, and the average angular velocity = (second angle - first angle) / time interval required for the rotation process. The flap or seat accelerates from the starting position to the first angle, rotates at a constant speed from the first angle to the second angle, and decelerates from the second angle to the end position. The first angle is set to 20°, and the flip cover or seat ring accelerates its rotation between the starting position and the first angle, and accelerates to a preset first average angular velocity until it turns to 20°; the second angle is 90°, and the flip cover or seat ring is controlled to rotate at a constant speed between the first angle and the second angle, that is, the flip cover or seat ring is controlled to rotate from 20° to 80° at a constant speed at the first average angular velocity; the flip cover or seat ring is controlled to rotate from 80° to 90° at a constant speed at the second average angular velocity; between the second angle and the end position, the flip cover or seat ring is controlled to decelerate its rotation, that is, the flip cover or seat ring is controlled to decelerate from 90°, and decelerate from the second average angular velocity to zero until it turns to the target flip-up position.

[0092] See also Figure 8 In a specific embodiment, the starting position is the target flip-up position, the first angle and the second angle are two angles between the target flip-up position and the target flip-down position, and the average angular velocity = (second angle - first angle) / time interval required for the rotation process. The flap or seat is accelerated from the starting position to the first angle, rotates at a constant speed from the first angle to the second angle, and decelerates from the second angle to the end position. The flap or seat is controlled to start rotating from the target flip-up position, the first angle is set to 80°, and accelerates to a preset first average angular velocity until it turns to the first angle 80°; the flap or seat is controlled to rotate from the first angle 80° to 20° at a constant speed at the first average angular velocity; the second angle is set to 10°, and the flap or seat is controlled to rotate from 20° to 10° at a constant speed at the second average angular velocity; between the second angle and the end position, the flap or seat is controlled to decelerate, that is, the flap or seat is controlled to decelerate from 10°, and decelerate from the second average angular velocity to zero until it turns to the target flip-down position.

[0093] In a specific embodiment, the smart toilet includes a drive motor for driving the flap or the seat to rotate, the drive motor rotates the flap or the seat from a starting position to an ending position by forward rotation, and controls the flap or the seat to decelerate from a second angle, including: when the flap or the seat rotates to the second angle, controlling the drive motor to rotate in the reverse direction to reduce the rotation speed of the flap or the seat, wherein the rotation speed of the drive motor in the reverse rotation is lower than the rotation speed in the forward rotation.

[0094] It is understandable that the second angle is an angle between the target flip-up position and the target flip-down position. The end position is the position where the flip cover or the seat ring stops rotating during the flip-up or flip-down process. The end position can be the target flip-up position or the target flip-down position.

[0095] It is understandable that, between the second angle and the end position of the flip cover or the seat ring, the flip cover or the seat ring is controlled to decelerate from the second angle, and the rotation speed of the drive motor during forward rotation can be determined so that the flip cover or the seat ring can be rotated from the starting position to the second angle at an appropriate speed, and a sensor or encoder is used to monitor the angle of the flip cover or the seat ring. When the flip cover or the seat ring rotates to the second angle, the deceleration control is triggered by detecting the angle value. Once the flip cover or the seat ring rotates to the second angle, the drive motor is controlled to switch to reverse rotation.

[0096] It is understandable that the direction of the motor can be controlled by a special control signal, and the control of the drive motor to switch to reverse rotation can be achieved by changing the polarity of the motor drive signal. At the same time, the speed of the drive motor in reverse rotation can be controlled to be lower than the speed in forward rotation by adjusting the control signal of the drive motor, so that the flap or seat ring can rotate normally at a reduced speed between the second angle and the end position. By controlling the direction and speed of the drive motor, accurate control and adjustment can be achieved during the rotation of the smart toilet flap or seat ring.

[0097] In one specific embodiment, see Fig. 9 The second angle is an angle between the target flip-up position and the target flip-down position. The second angle can be 80°. The flip cover seat ring is controlled to decelerate from 80°. The drive motor can be controlled to rotate in the opposite direction and decelerate from the average angular velocity to zero until it reaches the end position. Fig.10 During the downward flipping process of the flip cover or the seat ring, the motor controlling the flip cover or the seat ring rotates in the reverse direction, providing a reverse driving force to reduce the rotation speed of the flip cover or the seat ring, and decelerate from the average angular velocity to zero until it reaches the end position.

[0098] See also Fig.11 In some embodiments, step S302 may further include steps S601 to S605:

[0099] Step S601, collecting the rotation angle difference of the flip cover or the seat ring between two consecutive collection positions, and determining the sampling period between the two collection positions, wherein the two collection positions are any two rotation positions during the uniform rotation of the flip cover or the seat ring;

[0100] Step S602, calculating the real-time angular velocity according to the rotation angle difference and the sampling period, and calculating the deviation value according to the real-time angular velocity and the average angular velocity of the flip cover or the seat ring during the rotation process;

[0101] It is understood that two consecutive acquisition positions refer to the positions selected when two consecutive data acquisitions are performed during the process of flipping the lid or seat of the smart toilet, which can be used to analyze the changes, trends or relationships between the positions. The sampling period refers to the time interval between the continuous acquisition of two data samples during the data acquisition process. It represents the frequency and time resolution of the data acquisition system to acquire data. The deviation value is the difference between the real-time angular velocity and the average angular velocity of the flap or seat rotation process. By calculating the real-time angular velocity and the deviation value, the current rotation speed of the flap or seat rotation process can be understood, and it can be controlled and adjusted to make it close to the average angular velocity, which helps to achieve a stable rotation process.

[0102] Exemplarily, the angular velocity ω represents the amount of change of the angle per unit time, and the unit is radian / second. The angle θ represents the rotation angle difference between two consecutive acquisition positions for collecting the rotation of the flip cover or the seat ring, and the unit is radian. T represents the sampling period between the two acquisition positions, and the unit is second, then ω=θ / T. The deviation value is calculated based on the real-time angular velocity and the average angular velocity of the flip cover or the seat ring during rotation, and the deviation value=real-time angular velocity-average angular velocity.

[0103] Step S603, calculating a deviation gain according to the deviation value, and adjusting the power output of the flip cover or the seat ring rotation based on the deviation gain to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position;

[0104] Step S604, alternatively, integrating the deviation value to obtain an integral error, and adjusting the power output of the flip cover or the seat ring rotation based on the integral error to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position;

[0105] Step S605, alternatively, a differential gain is calculated according to the rate of change of the deviation value, and the power output of the rotation of the flip cover or the seat ring is adjusted based on the differential gain to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position.

[0106] It is understood that the flap or seat ring can be controlled to rotate at a constant speed from the starting position to the end position according to a proportional-integral-differential control algorithm (PID control algorithm), and the PID control algorithm includes proportional (P) control, integral (I) control and differential control (D). The PID control output signal is calculated according to the current deviation value. The output signal can be used to adjust the power output of the flap or seat ring rotation to achieve the goal of controlling the flap or seat ring to rotate at a constant speed from the starting position to the end position.

[0107] It can be understood that proportional (P) control is to calculate the proportional control signal according to the deviation value. The proportional control signal is proportional to the deviation value and can be used to quickly respond to the deviation change. The deviation gain is controlled by adjusting the proportional coefficient; the integral (I) control is to calculate the integral control signal according to the integral of the deviation. The integral control signal can be used to eliminate the cumulative effect of the deviation and stabilize the control system over a long period of time. The deviation gain is controlled by adjusting the integral coefficient; the differential (D) control is to calculate the differential control signal according to the differential of the deviation. The differential control signal can be used to predict the trend of the deviation change and adjust the control output in advance to reduce oscillation and overshoot. The deviation gain is controlled by adjusting the differential coefficient. It can be understood that by calculating the deviation gain, integral error or differential gain of the deviation value, the power output of the flap or seat ring rotation is dynamically adjusted to achieve a more precise control effect, and the stability of the flap or seat ring rotation at a uniform speed can be effectively controlled.

[0108] See also Fig.12 The whole process of PID control algorithm can be regarded as a feedback loop. By continuously adjusting the control output signal, the output of the system gradually approaches the expected value, and the precise control of the system is achieved. The deviation gain, integral error and differential gain are calculated according to the deviation value, and the power output of the flap or seat ring rotation is adjusted based on the deviation gain, integral error and differential gain to control the flap or seat ring to rotate uniformly from the starting position to the end position. When the real-time angular velocity is too large, the power output of the flap or seat ring rotation is reduced to reduce the speed; when the real-time angular velocity is too small, the power output of the flap or seat ring rotation is increased to increase the speed; finally, the purpose of dynamically adjusting the angular velocity of the flap or seat ring rotation is achieved, so that the flap or seat ring runs at a uniform speed.

[0109] The present application also provides a smart toilet, the functional modules of which include:

[0110] The flip position acquisition module is used to acquire a plurality of historical flip positions when the flip cover or the seat ring flips up to the highest position at a historical moment, wherein at least two historical flip positions are different;

[0111] A target flip-up position determination module, used to determine a target flip-up position based on a plurality of historical flip-up positions, wherein the target flip-up position is within a position range represented by the plurality of historical flip-up positions;

[0112] A target flip-down position determination module is used to control the flip cover or the seat ring to flip down to the lowest position and record the target flip-down position when the flip cover or the seat ring is at the lowest position;

[0113] The rotation control module is used to use the target upward flip position as the highest position allowed for rotation of the flip cover or the seat ring, and the target downward flip position as the relative zero position of the target upward flip position, and the target downward flip position as the lowest position allowed for rotation of the flip cover or the seat ring, to control the flip cover or the seat ring to rotate between the target upward flip position and the target downward flip position.

[0114] The specific implementation of the smart toilet is basically the same as the specific implementation of the control method of the smart toilet described above, and will not be repeated here. On the premise of meeting the requirements of the embodiment of the present application, the smart toilet can also be provided with other functional modules or control systems to implement the control method of the smart toilet in the above embodiment.

[0115] In one embodiment, see Fig.13 The smart toilet includes a motor control system 100, a flap motor and a first position sensor 200, a seat motor and a second position sensor 300, a flap 400, and a seat 500.

[0116] The motor control system 100 includes a microcontroller unit (MCU) and a driver chip for the motor power supply. The MCU is used to provide control signals and detect the input signal value of the position sensor, and the motor driver chip provides the motor with driving power;

[0117] The flip cover motor and the first position sensor 200 are installed on the movement cover plate, and are used to drive the flip cover to flip up and down, and detect the current position of the flip cover rotation;

[0118] The seat ring motor and the second position sensor 300 are installed on the movement cover plate, and are used to drive the seat ring to turn up and down, and detect the current position of the seat ring rotation;

[0119] Flap 400, the upper cover of the toilet, open the flap to use the toilet;

[0120] The seat ring 500 can be used for sitting and defecating. It has a built-in heating system that can provide a certain temperature to keep you warm.

[0121] See also Fig.14 In one embodiment, the motor control system independently connects the seat motor and position sensor and the flip motor and position sensor. Fig.15 The motor control system includes a microcontroller, which executes a PID control algorithm, an upward deceleration control logic, a downward deceleration control logic, and a relative zero position judgment mechanism for the cover or the seat ring.

[0122] An embodiment of the present application also provides a control device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the control method of the smart toilet of the embodiment of the present application is executed.

[0123] The processor may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0124] The memory can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory can store an operating system and other applications. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory, and the processor is called to execute the control method of the smart toilet in the embodiment of this application.

[0125] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0126] An embodiment of the present application also provides a smart toilet, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a control method for the smart toilet of the embodiment of the present application is implemented.

[0127] The processor may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0128] The memory can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory can store an operating system and other applications. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory, and the processor is called to execute the control method of the smart toilet in the embodiment of this application.

[0129] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0130] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0131] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0132] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0134] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0135] It should be understood that in the present application, "at least one (item)" and "several" refer to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0136] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0137] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0139] 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, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0140] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for controlling an intelligent toilet, characterized in that: The smart toilet includes a flap or a seat, and the method includes: Acquire multiple historical flip-up positions of the flip cover or the seat ring when it flips up to the highest position at a historical moment, wherein at least two of the historical flip-up positions are different; Determining a target flip-up position based on the plurality of historical flip-up positions, wherein the target flip-up position is within a position range represented by the plurality of historical flip-up positions; Controlling the flip cover or the seat ring to flip down to the lowest position, and recording the target flip-down position of the flip cover or the seat ring when it is at the lowest position; The target flip-up position is used as the highest position of the flip cover or the seat ring that is allowed to rotate, and the target flip-down position is used as the relative zero position of the target flip-up position, and the target flip-down position is used as the lowest position of the flip cover or the seat ring that is allowed to rotate, and the flip cover or the seat ring is controlled to rotate between the target flip-up position and the target flip-down position; The determining of the target flip-up position based on the plurality of historical flip-up positions comprises: Determine an average position of the plurality of historical flip-up positions, and use the average position as a target flip-up position; Alternatively, the plurality of historical flipping positions are sorted from low to high, and the historical flipping position in the middle of the sequence is used as the target flipping position; Alternatively, the one of the plurality of historical flip-up positions that appears the most times is used as the target flip-up position.

2. The control method of a smart toilet according to claim 1, characterized in that: The controlling the flip cover or the seat ring to rotate between the target flip-up position and the target flip-down position comprises: Taking one of the target flip-down position or the target flip-up position as the starting position, and taking the other of the target flip-up position or the target flip-down position corresponding to the starting position as the ending position; The flip cover or the seat ring is controlled to rotate at a uniform speed from the starting position to the ending position.

3. A control method for an intelligent toilet according to claim 1 or 2, characterized in that: The controlling the flip cover or the seat ring to rotate between the target flip-up position and the target flip-down position comprises: Obtaining the length and weight of the flap or the seat ring; Acquire the real-time rotation angle of the flip cover or the seat ring during the rotation process, and calculate the real-time torque of the flip cover or the seat ring during the rotation process according to the length, the weight and the rotation angle; Acquire the real-time rotational angular velocity of the flip cover or the seat ring during the rotation process, and calculate the minimum power according to the torque and the rotational angular velocity; Based on the minimum power, the flip cover or the seat ring is controlled to rotate between the target flip-up position and the target flip-down position.

4. The control method of a smart toilet according to claim 2, characterized in that: The step of controlling the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position comprises: Obtaining a preset average angular velocity of the flip cover or the seat ring during the rotation process, and a first angle and a second angle of the flip cover or the seat ring rotating between the target flip-up position and the target flip-down position, wherein the angle difference between the second angle and the first angle is greater than the angle difference between the first angle and the starting position, and also greater than the angle difference between the ending position and the second angle; Controlling the flip cover or the seat ring to start rotating from the starting position, and accelerating the rotation to the average angular velocity until the rotation reaches the first angle; Control the flip cover or the seat ring to rotate from the first angle to the second angle at a uniform speed at the average angular velocity; The flip cover or the seat ring is controlled to decelerate from the second angle and decelerate from the average angular velocity to zero until it turns to the end position.

5. The control method of a smart toilet according to claim 4, characterized in that: The smart toilet includes a driving motor for driving the flap or the seat to rotate, the driving motor rotates the flap or the seat from the starting position to the ending position by forward rotation, and the controlling the flap or the seat to decelerate from the second angle includes: When the flip cover or the seat ring rotates to the second angle, the drive motor is controlled to rotate in the reverse direction to reduce the rotation speed of the flip cover or the seat ring, wherein the rotation speed of the drive motor in the reverse rotation is lower than the rotation speed in the forward rotation.

6. The control method of a smart toilet according to claim 2, characterized in that: The controlling the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position also includes: Collecting the rotation angle difference of the flip cover or the seat ring between two consecutive collection positions, and determining the sampling period between the two collection positions, wherein the two collection positions are any two rotation positions during the uniform rotation of the flip cover or the seat ring; Calculating a real-time angular velocity according to the rotation angle difference and the sampling period, and calculating a deviation value according to the real-time angular velocity and an average angular velocity of the flip cover or the seat ring during the rotation process; Calculating a deviation gain according to the deviation value, and adjusting the power output of the rotation of the flip cover or the seat ring based on the deviation gain to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position; Alternatively, the deviation value is integrated to obtain an integral error, and the power output of the rotation of the flip cover or the seat ring is adjusted based on the integral error to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position; Alternatively, a differential gain is calculated according to the rate of change of the deviation value, and the power output of the rotation of the flip cover or the seat ring is adjusted based on the differential gain to control the flip cover or the seat ring to rotate at a uniform speed from the starting position to the ending position.

7. A smart toilet, characterized in that: The smart toilet comprises: The flip-up position acquisition module is used to acquire a plurality of historical flip-up positions when the flip cover or the seat ring flips up to the highest position at a historical moment, wherein at least two of the historical flip-up positions are different; A target flip-up position determination module, configured to determine a target flip-up position based on a plurality of the historical flip-up positions, wherein the target flip-up position is within a position range represented by the plurality of the historical flip-up positions; A target flip-down position determination module, used to control the flip cover or the seat ring to flip down to the lowest position, and record the target flip-down position when the flip cover or the seat ring is at the lowest position; A rotation control module, used to use the target flip-up position as the highest position allowed for rotation of the flip cover or the seat ring, and use the target flip-down position as the relative zero position of the target flip-up position, and use the target flip-down position as the lowest position allowed for rotation of the flip cover or the seat ring, to control the flip cover or the seat ring to rotate between the target flip-up position and the target flip-down position; The determining of the target flip-up position based on the plurality of historical flip-up positions comprises: Determine an average position of the plurality of historical flip-up positions, and use the average position as a target flip-up position; Alternatively, the plurality of historical flipping positions are sorted from low to high, and the historical flipping position in the middle of the sequence is used as the target flipping position; Alternatively, the one of the plurality of historical flip-up positions that appears the most times is used as the target flip-up position.

8. A control device, characterized in that: It includes a memory and a processor, the memory stores a computer program, and the processor implements the control method of the smart toilet as described in any one of claims 1 to 6 when executing the computer program.

9. A smart toilet, characterized in that: It includes a memory and a processor, the memory stores a computer program, and the processor implements the control method of the smart toilet as described in any one of claims 1 to 6 when executing the computer program.

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