Air drying control method, system, medium, and apparatus

Abstract

The present application discloses a kind of airing control method, system, medium and equipment, airing control method includes: obtaining the stroke information of the hanging unit on the airing rod of clothes airing machine;Determine the hanging unit state according to the stroke information of the hanging unit, the hanging unit state includes the gathering state and the unfolded state of hanging unit;Combined with the hanging unit state and the lifting state of airing rod, generate hanging unit control instruction;According to the hanging unit control instruction, control the hanging unit on airing rod and execute gathering, unfolding or stopping action.The present application can automatically and quickly realize the clothes gathering and unfolding on airing rod, realize fast clothes collection and clothes airing, effectively improve the airing efficiency of user, improve user experience.

Description

Technical Field

[0001] This application relates to the field of drying control technology, specifically to drying control methods, systems, media, and equipment. Background Technology

[0002] Smart clothes drying racks are gaining popularity due to their ability to automatically raise and lower, and the integration of functions such as lighting, drying, and sterilization. They have become an indispensable part of smart home products.

[0003] Currently, most clothes drying racks on the market have hanging holes along the length of the drying rod. Users need to hang the hangers one by one on each hole when drying clothes, and remove them one by one when collecting them. This requires users to constantly move around to get clothes out to dry, significantly slowing down the drying and collecting process. While some technologies exist for faster clothes collection, such as adding sliding rails to the drying rod, allowing users to manually push or pull the rails to gather or unfold the hangers, this method still requires users to move along the length of the drying rod to gather or unfold the hangers. Furthermore, pushing or pulling the rails requires considerable effort when dealing with a large amount of clothing, making it unsuitable for the elderly or children. This time-consuming and laborious process results in relatively low drying efficiency. Summary of the Invention

[0004] The primary objective of this invention is to overcome the shortcomings and deficiencies of the prior art and provide a drying control method that can automatically and quickly gather and unfold clothes on the drying rack, enabling rapid clothes collection and drying, and effectively improving the user's drying efficiency.

[0005] The second objective of this invention is to provide a drying control system.

[0006] A third objective of this invention is to improve a clothes drying machine.

[0007] A fourth objective of this invention is to improve a storage medium.

[0008] The fifth objective of this invention is to improve an electronic device.

[0009] The first objective of this invention is achieved through the following technical solution: a clothes drying control method, applied to a clothes drying machine, comprising:

[0010] Obtain the travel information of the suspension unit on the clothes drying rack rod;

[0011] The suspension unit state is determined based on the suspension unit's travel information, and the suspension unit state includes the suspension unit's converged state and its deployed state.

[0012] The suspension unit control command is generated by combining the status of the suspension unit and the lifting status of the drying rod.

[0013] The suspension unit is controlled by the control command to perform gathering, unfolding or stopping actions on the drying rack.

[0014] Preferably, the specific process of generating suspension unit control commands and controlling the suspension unit to perform gathering, unfolding, or stopping actions on the drying rack according to the suspension unit control commands includes:

[0015] When the suspension unit is in the deployed state, if a control command to lower the drying rack is received, the following operations are performed:

[0016] Generate a control command to gather the suspension units, which will then perform a gathering action on the drying rack before it is lowered, and control the drying rack to lower after the suspension units have gathered; or, generate a control command to gather the suspension units on the drying rack simultaneously during the descent until the gathering is complete; or, generate a control command to gather the suspension units on the drying rack after it has been lowered until the gathering is complete.

[0017] When the suspension unit is in the converged state, if a control command to raise the drying rack is received, the following operations are performed:

[0018] Generate a control command to deploy the suspension unit, which deploys the suspension unit on the drying rack when it rises to the drying position until deployment is complete; or, generate a control command to deploy the suspension unit on the drying rack simultaneously during its ascent until deployment is complete; or, generate a control command to deploy the suspension unit on the drying rack before it rises, and then raise the drying rack after deployment is complete.

[0019] Preferred options also include:

[0020] Receives commands to trigger the suspension unit to converge, expand, or stop triggering.

[0021] Based on the gathering trigger command, unfolding trigger command, or stopping trigger command of the suspension unit, control commands are generated to control the suspension unit to perform gathering, unfolding, or stopping actions on the drying rack.

[0022] Preferably, the travel information of the suspension unit on the clothes drying rack is determined by any of the following methods:

[0023] The first type:

[0024] The total number N of square waves generated by the Hall sensor is determined when the suspension unit on the drying rod moves from fully folded to fully extended or from fully extended to fully folded. The suspension unit on the drying rod is connected to a drive system and moves on the drying rod under the drive of a motor in the drive system. The Hall sensor is set on the rotation path of the motor and is used to detect the rotation of the motor in the drive system.

[0025] When the suspension unit starts to move from the fully folded or unfolded state, the Hall sensor collects the number of square waves n, and then determines the travel information of the suspension unit on the drying rack based on the ratio of the number of square waves n to the total number of square waves N.

[0026] The second type:

[0027] The distance s that the suspension unit moves on the drying rack is obtained when the motor in the drive system connected to the suspension unit rotates one revolution; wherein, in the drive system connected to the suspension unit, the motor drives the suspension unit to move on the drying rack.

[0028] The number of motor rotations is detected by Hall sensors placed along the motor's rotation path;

[0029] The travel information of the suspension unit on the drying rod is determined based on the number of motor rotations and the distance s.

[0030] The third type:

[0031] The position information detected by the position detection unit is obtained, wherein the position detection unit is set on the drying rod to detect the position of the hanging unit;

[0032] The travel information of the suspension unit is determined based on the position information detected by the position detection unit.

[0033] Preferred options also include:

[0034] When the suspension unit control command is the suspension unit convergence control command, during the movement of the suspension unit, the Hall sensor detects whether the rotation direction of the motor in the drive system is the first rotation direction. If not, the motor in the drive system is controlled to stop rotating, and then the motor is controlled to switch to the first rotation direction so that the suspension unit can be driven by the motor to perform the convergence action.

[0035] When the suspension unit control command is the suspension unit deployment control command, during the movement of the suspension unit, the Hall sensor detects whether the rotation direction of the motor in the drive system is the second rotation direction. If not, the motor in the drive system is controlled to stop rotating, and then the motor is controlled to switch to the second rotation direction so that the suspension unit can be driven by the motor to perform the deployment action.

[0036] The hanging unit on the drying rod is connected to the drive system and moves on the drying rod under the drive of the motor in the drive system; the Hall sensor includes a first Hall sensor and a second Hall sensor set on the rotation path of the motor, and the rotation direction of the motor is determined according to the order in which the first Hall sensor and the second Hall sensor generate detection signals.

[0037] Preferably, it further includes: a suspension unit synchronization control step; wherein, each clothes drying rack is provided with a suspension unit, each suspension unit is connected to a drive system, and moves on each drying rack under the drive of each motor in the drive system; Hall sensors are provided on the rotation path of each motor in the drive system, and the motor rotation speed is determined by the detection signal generated by the Hall sensors.

[0038] The synchronous control steps for the suspension unit are as follows:

[0039] Receive signals collected by Hall sensors along the rotation path of each motor in the drive system;

[0040] For each motor in the drive system, the motor rotation speed is detected based on the signals collected by Hall sensors along its rotation path.

[0041] The system detects whether the rotation speed of each motor is the same. Under different conditions, the rotation speed of each motor is adjusted through a feedback control algorithm until the rotation speed of each motor is the same.

[0042] Preferably, the suspension unit's travel information is acquired and stored when the suspension unit stops moving, when the suspension unit's travel information is updated, and when the suspension unit's drive system is powered on.

[0043] The second objective of this invention is achieved through the following technical solution: a drying control system, comprising a controller, a drive system, a stroke detection unit, and a hanging unit;

[0044] The suspension unit is mounted on the drying rod and connected to the drive system, and moves on the drying rod under the drive of the drive system;

[0045] The travel detection unit is connected to the controller and is used to detect the travel information of the suspension unit on the drying rod;

[0046] The drive system is connected to a controller, which controls its operating state.

[0047] The controller is used to execute the drying control method according to any one of claims 1 to 7.

[0048] Preferably, the controller includes a first controller and a second controller connected to each other; the second controller is the main controller of the clothes drying rack.

[0049] The first controller is used to acquire the travel information of the suspension unit on the clothes drying rack and send it to the second controller; it is used to control the suspension unit to perform gathering, unfolding or stopping actions on the drying rack according to the suspension unit control command;

[0050] The second controller is used to determine the state of the suspension unit based on the travel information of the suspension unit; and to generate a suspension unit control command by combining the suspension unit state and the lifting and lowering state of the drying rod, and send it to the first controller.

[0051] The third objective of this invention is achieved through the following technical solution: a clothes drying machine, including the drying control system described in the second objective of this invention.

[0052] The fourth objective of the present invention is achieved by the following technical solution: an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the drying control method described in the first objective of the present invention.

[0053] The fifth objective of this invention is achieved through the following technical solution: a computer-readable storage medium storing a computer program thereon, characterized in that, when the computer program is executed by a processor, it implements the drying control method described in the first objective of this invention.

[0054] The present invention has the following advantages and effects compared with the prior art:

[0055] (1) The present invention provides a clothes drying control method, which first obtains the travel information of the hanging unit on the clothes drying rack; determines the state of the hanging unit based on the travel information of the hanging unit, wherein the state of the hanging unit includes the hanging unit's folded state and unfolded state; generates a hanging unit control command by combining the hanging unit state and the clothes drying rack's lifting and lowering state; and controls the hanging unit to perform folding, unfolding, or stopping actions on the clothes drying rack according to the hanging unit control command. Therefore, the method of the present invention can automatically fold, unfold, and stop the hanging unit by combining the hanging unit state and the clothes drying rack's lifting and lowering state. Based on this, when the user finishes drying clothes, the hanging unit can be automatically unfolded, and when the user needs to collect the clothes, the hanging unit can be automatically folded, achieving quick collection and drying of clothes, effectively improving drying efficiency and further enhancing the user experience; compared with the prior art, this makes the clothes drying rack more widely applicable and brings greater convenience to users.

[0056] (2) In the clothes drying control method of the present invention, for clothes drying machines that cannot be powered after the drying rod descends and detaches from the main unit, after the user finishes drying and triggers the drying rod to rise, the hanging unit can be controlled to unfold after the drying rod rises to the drying position and is powered on. For clothes drying machines that can still be powered after the drying rod descends and detaches from the main unit, the hanging unit can be controlled to unfold during the rising process after the user finishes drying and triggers the drying rod to rise. In addition, for clothes drying machines that cannot be powered after the drying rod descends and detaches from the main unit, when the user needs to collect the clothes and triggers the drying rod to descend, the hanging unit can be gathered first, and then the drying rod can be controlled to descend. For clothes drying machines that can still be powered after the drying rod descends and detaches from the main unit, when the user needs to collect the clothes and triggers the drying rod to descend, the hanging unit can be controlled to gather simultaneously during the descent of the drying rod. It can be seen that the method of the present invention is suitable for different types of clothes drying machines. When the drying rod of the clothes drying machine can be powered on in real time, the unfolding or gathering control of the hanging unit can be performed simultaneously during the raising and lowering of the drying rod, further saving the user's time for drying and collecting clothes.

[0057] (3) The drying control method of the present invention also includes the step of receiving a gathering trigger command, an unfolding trigger command, or a stop command of the hanging unit; based on this, the method of the present invention can realize the gathering, unfolding, and stopping actions of the hanging unit through external trigger commands, such as buttons set on the clothes dryer or remote control device, so that users can realize autonomous control and adjustment of the hanging unit, bringing greater convenience to users using the clothes dryer.

[0058] (4) In the drying control method of the present invention, the travel information of the hanging unit on the drying rod can be determined by the working state of the motor in the drive system controlling the hanging unit. Specifically, first, the total number N of square waves that the Hall sensor can detect along the rotation path caused by the motor rotation during the entire travel of the hanging unit from fully folded to fully unfolded or from fully unfolded to fully folded is determined. In the subsequent movement of the hanging unit, the position of the hanging unit on the drying rod, i.e., the corresponding travel information, can be determined based on the ratio of the number of square waves n detected by the Hall sensor to N. Alternatively, a position detection unit or other device can be set on the drying rod to detect the position of the hanging unit and thus determine the travel information. Based on this, the present invention can determine the travel of the hanging unit very quickly and conveniently, and thus determine the state of the hanging unit based on the travel.

[0059] (5) In the drying control method of the present invention, when controlling the folding and unfolding of the hanging unit, the rotation direction of the motor in the drive system can be detected by two Hall sensors set on the motor rotation path. This determines whether the rotation direction of the motor to be controlled is consistent with the actual rotation direction, and adjusts the motor rotation direction if they are inconsistent. The above method of the present invention enables real-time detection when the motor wiring is reversed, and allows direct software processing to change the motor control direction, solving the problem of the prior art where reversing the motor wiring requires disassembling the machine and reversing the wiring direction.

[0060] (6) In the clothes drying control method of the present invention, when the clothes drying machine has multiple drying rods, a synchronous control step for the suspension unit is also included. Specifically, for each motor that drives the suspension unit to move on each drying rod, the motor rotation speed is detected by a Hall sensor on the motor rotation path. If the rotation speeds of the motors are inconsistent, the detected motor rotation speeds are adjusted through a feedback control algorithm to ensure that the speeds of the motors are synchronized. The above operation of the present invention can effectively avoid the phenomenon that the rotation speeds of the motors are different under the same driving power when the weights on the drying rods of the clothes drying machine are different, the friction force of the slide rail is different, or the driving force is different due to the difference in motors.

[0061] (7) In the drying control method of the present invention, the travel information of the hanging unit is acquired and stored when the hanging unit stops moving, when the travel information of the hanging unit is updated, and when the hanging unit is powered on. The above-mentioned operation of the present invention can ensure that the travel information before the last power failure can be obtained after the hanging unit is powered on, so as to achieve a more intelligent control effect. For example, if the travel information before the last power failure is 100% convergence percentage, then after the next power-on, the unfolding control is directly performed based on the previous travel information. Otherwise, if there is no operation to store the travel information, the travel position before the last power failure cannot be known, and multiple stalling phenomena may occur when executing the convergence control command, affecting the motor life. Attached Figure Description

[0062] Figure 1 This is a flowchart of the method of the present invention.

[0063] Figure 2 This is a flowchart of the suspension unit's action execution in the method of this invention.

[0064] Figure 3 This is a flowchart of the motor synchronization control process in the method of this invention.

[0065] Figure 4 This is a flowchart of the stroke acquisition and motor steering control process in the method of this invention.

[0066] Figure 5 This is a schematic diagram of the drying control system of the present invention.

[0067] Figure 6 This is a schematic diagram of the hanging unit structure in the drying control system of the present invention.

[0068] Figure 7 This is a schematic diagram of the arrangement of one of the travel detection units in the drying control system of the present invention on the drying rod.

[0069] Figure 8 This is a schematic diagram showing the arrangement of another travel detection unit on the drying rod in the drying control system of the present invention. Detailed Implementation

[0070] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0071] Example 1

[0072] Currently, clothes drying racks require users to manually push or pull the hangers to gather or unfold them. Since the drying rods are generally over two meters long, users still need to move a certain distance along the length of the rod to gather or unfold the hangers. Furthermore, when there are many clothes, pushing or pulling the slide rails requires a certain amount of effort, making it unsuitable for the elderly or children. This results in a time-consuming and laborious process, thus keeping the drying efficiency of users relatively low.

[0073] To address the problems existing in the prior art, this embodiment provides a clothes drying control method applied to a clothes drying machine. The clothes drying machine includes a main unit and a drying rod. The drying rod is positioned below the main unit via a lifting assembly, such as a steel wire rope. The main unit includes a main controller, a motor, a drying module, and a lighting module. The main controller is connected to the motor via a motor driver, controlling the lifting and lowering movement of the steel wire rope to achieve automatic lifting and lowering of the drying rod. Furthermore, the main controller can be connected to functional modules such as the drying module and the lighting module to control their operating status. This clothes drying control method can be implemented by a corresponding control system installed on the clothes drying machine. The control system is connected to a suspension unit mounted on the drying rod and movable along the rod via a drive system, thereby enabling the suspension unit to fold and unfold for convenient clothes drying.

[0074] In this embodiment, the suspension unit refers to a device installed on a drying rod for hanging items (including clothes, towels, and other items that need to be dried). The suspension unit may include a transmission component, such as a guide rail or track in the drying rod. Multiple hanging elements for hanging items (including clothes and other items that need to be dried) are installed on the transmission component along the length of the drying rod. One end of the transmission component or one end of the suspension unit (the first hanging element) can be fixedly installed at one end of the drying rod. The other end of the transmission component or the other end of the suspension unit (the last hanging element of the suspension unit, i.e., the hanging element farthest from the first hanging element, defined as hanging element A) can move along the length of the drying rod under the drive of the drive system, and move to the other end of the drying rod. The movement of the transmission component or hanging element A on the drying rod allows the hanging elements to unfold and converge. In this embodiment, converging the suspension unit refers to the action of bringing the hanging elements closer together, and unfolding the suspension elements refers to the action of widening the distance between the hanging elements. When the suspension unit converges and unfolds, the movement direction of the suspension unit on the drying rod is opposite.

[0075] like Figure 1 As shown in the figure, the drying control method in this embodiment includes:

[0076] Step S1: Obtain the travel information of the hanging unit on the clothes drying rack. The status of the hanging unit can be determined based on the travel information of the hanging unit.

[0077] In this embodiment, the travel information of the suspension unit refers to the position information of the suspension unit on the drying rod, including the position of the suspension unit from fully extended to fully closed, or from fully closed to fully extended. In this embodiment, the travel can be represented by the percentage of closure, starting from the fully extended suspension unit. When the suspension unit is fully extended, the travel is 0%, and when the suspension unit is fully closed, the travel is 100%. Of course, this embodiment can also use the percentage of extension of the suspension unit as the standard for travel, with 100% travel when the suspension unit is fully extended and 0% travel when the suspension unit is fully closed. Alternatively, in this embodiment, the travel of the suspension unit can be directly represented by the position of the suspension member on the drying rod. This suspension member can be the last suspension member A of the suspension unit, specifically as follows: Figure 6 As shown, when the motor starts to rotate, it can drive the suspension A to move. Therefore, the position of the suspension A can characterize the travel of the suspension unit.

[0078] In this embodiment, the suspension unit state includes a folded state and an unfolded state; the folded state includes a fully folded state and a partially folded state, and the unfolded state includes a fully unfolded state and a partially unfolded state; when the folded percentage is used to characterize the suspension unit travel, 50% of the suspension unit travel can be set as the state definition parameter. When the suspension unit travel is greater than or equal to 50%, the suspension unit is determined to be in a folded state, and when the suspension unit travel reaches 100%, it is in a fully folded state; when the suspension unit travel is less than 50%, the suspension unit is determined to be in an unfolded state, and when the suspension unit travel reaches 0%, it is in a fully unfolded state. If the position of the suspension member A in the suspension unit is used to characterize the travel of the suspension unit in this embodiment, then one position O on the drying rod can be set as the state boundary point. This position can be the middle position of the travel of the suspension member A on the drying rod when the suspension unit goes from fully folded to fully unfolded. The specific position can be adjusted according to actual needs. In addition, one position O1 on the drying rod can be set as the fully folded point. When the suspension member is at position O1, the suspension unit is in the fully folded state. One position O2 is set as the fully unfolded point. When the suspension member is at position O2, the suspension unit is in the fully unfolded state. If the suspension member A is located between the fully folded point O1 and position O, it is determined that the suspension unit is in the folded state. If the suspension member A is located between position O and fully unfolded point O2, it is determined that the suspension unit is in the unfolded state.

[0079] In this embodiment, a buzzer can be used to remind the user of the status of the suspension unit. Specifically, when the suspension unit is fully folded or fully unfolded, the buzzer can be controlled to sound to remind the user and allow the user to better perceive that the action has been completed.

[0080] Step S2: Generate control commands for the suspension unit based on the status of the suspension unit and the lifting status of the drying rod, and control the suspension unit to perform gathering, unfolding or stopping actions on the drying rod according to the control commands.

[0081] In this embodiment, the lifting and lowering state of the drying rack includes the current state of the drying rack, including an upward state and a downward state; the lifting and lowering state of the drying rack also includes the state in which the drying rack is to be controlled, which also includes an upward state and a downward state. The state in which the drying rack is to be controlled is obtained through received drying rack control commands. In this embodiment, the suspension unit control commands include a suspension unit convergence control command, a suspension unit deployment control command, and a suspension unit stop control command.

[0082] In this step, the specific process of generating the suspension unit control command and controlling the suspension unit to perform the gathering, unfolding, or stopping actions on the drying rack according to the suspension control command is as follows:

[0083] (1) If the device that drives the hanging unit to perform the gathering, unfolding and stopping actions when the clothes drying rack rod is raised to the drying position (e.g., the drive system connected to the controller) is only energized, then the control method is as follows:

[0084] When the suspension unit is in the extended state, if a control command to lower the drying rack is received, a control command to converge the suspension unit is issued. Before the drying rack is lowered, the suspension unit is controlled to perform a convergence action on the drying rack. After the suspension unit has converged, the drying rack is controlled to lower.

[0085] When the suspension unit is in the folded state, if it receives a control command to raise the drying rack, it will issue a control command to unfold the suspension unit. When the drying rack is raised to the drying position, it will control the suspension unit to perform the unfolding action on the drying rack until the unfolding is complete.

[0086] (2) If the device that drives the suspension unit to perform the gathering, unfolding and stopping actions (such as the drive system connected to the controller) is always powered during the rising and falling of the clothes drying rack rod, generally when the drying rack rod is always energized, then the control method is as follows:

[0087] When the suspension unit is in the extended state, if a descent control command for the drying rack is received, a folding control command for the suspension unit is issued. During the descent of the drying rack, the suspension unit is simultaneously controlled to perform a folding action on the drying rack until folding is complete. Alternatively, the folding control command can be issued after receiving the descent control command, and the suspension unit can only perform the folding action on the drying rack after the descent is complete, until folding is complete.

[0088] When the suspension unit is in the folded state, if a control command to raise the drying rack is received, a control command to unfold the suspension unit is issued. During the raising of the drying rack, the suspension unit is simultaneously controlled to unfold on the drying rack until the unfolding is complete. Alternatively, after receiving the control command to raise the drying rack, the suspension unit can be controlled to unfold on the drying rack before the drying rack is raised. After the suspension unit is unfolded, the drying rack is controlled to rise.

[0089] In this embodiment, the above-mentioned drying control method further includes:

[0090] Step S3: Receive the suspension unit's convergence trigger command, unfolding trigger command, or stop trigger command; generate suspension unit control commands based on the suspension unit's convergence trigger command, unfolding trigger command, or stop trigger command, and use the control commands to control the suspension unit to perform convergence, unfolding, or stop actions on the drying rack.

[0091] The aforementioned commands to fold, unfold, and stop the hanging unit can be triggered via buttons or keys on the clothes dryer or remote control, allowing for flexible adjustment of the hanging unit's state. For example, when clothes are being hung on the drying rack, if the hanging unit is not fully unfolded, the unfolding command can be used to further unfold it; if the hanging unit needs to be partially unfolded, the folding command can be used to slightly fold it. During the movement of the hanging unit, if necessary due to circumstances or other requirements, the stop command can be used to stop its movement.

[0092] In step S1 of this embodiment, the travel information of the suspension unit on the clothes drying rack can be determined in any of the following ways:

[0093] The first type:

[0094] Step S11: Determine the total number N of square waves generated by the Hall sensor when the suspension unit moves from fully folded to fully extended or from fully extended to fully folded on the drying rack.

[0095] In this embodiment, a suspension unit on the drying rod is connected to a drive system and moves along the drying rod under the drive of a motor. A Hall sensor is positioned along the motor's rotation path to detect the motor's rotation. The direction of movement of the suspension unit varies depending on the motor's rotation direction. For example, when the motor rotates forward, the suspension unit performs a closing action; when the motor rotates in reverse, the suspension unit performs an unfolding action. In this embodiment, a proximity switch or limit switch can be installed at one end of the drying rod to detect when the suspension unit is fully unfolded. When the suspension unit is detected to be fully unfolded, the motor is controlled to rotate forward, causing the suspension unit to perform a closing action. The Hall sensor collects the number of square waves when the motor rotates from the beginning of forward rotation to a stalled state (i.e., when fully unfolded), thus obtaining the total number of square waves N.

[0096] Step S12: Detect the number of square waves n collected by the Hall sensor when the suspension unit starts moving from its fully folded or unfolded state. Then, determine the travel information of the suspension unit on the drying rack based on the ratio of the number of square waves n to the total number of square waves N. During the movement of the suspension unit, when the number of square waves n collected by the Hall sensor reaches N, or when a motor stop command is received, control the motor in the drive system to stop rotating.

[0097] For example, when the travel of the suspension unit is characterized by the percentage of convergence as described in step S1 above, the suspension unit is detected to start moving from the fully extended state. At this time, the control motor starts to rotate forward (i.e., the suspension unit is controlled to move in the convergence direction). After the detection motor starts to rotate forward, the Hall sensor collects the number of square waves n, and calculates the ratio of n to N. For example, when n = 1 / 4N, the travel information is calculated to be 25%, and the suspension unit is still in the extended state; when n = 3 / 4N, the travel information is calculated to be 75%, and the suspension unit is in the convergence state; if n = N, the travel information is calculated to be 100%, and it can also be determined that the suspension unit has moved to the fully convergence state. When the travel of the suspension unit is characterized by the percentage of deployment as described in step S2 above, the suspension unit is detected to start moving from the fully folded state. At this time, the control motor starts to reverse (i.e., controls the suspension unit to move in the deployment direction). After the detection motor starts to reverse, the Hall sensor collects the number of square waves n, and calculates the ratio of n to N. For example, when n = 1 / 4N, the travel information is calculated to be 25%, and the suspension unit is still in the folded state; when n = 3 / 4N, the travel information is calculated to be 75%, and the suspension unit is in the deployment state; if n = N, the travel information is calculated to be 100%, and it can also be determined that the suspension unit has moved to the fully deployed state.

[0098] The second type:

[0099] Step S1A: Obtain the distance s that the suspension unit moves on the clothes drying rod when the motor in the drive system connected to the suspension unit rotates one revolution. Specifically, it refers to the distance s that the suspension component A in the suspension unit moves on the clothes drying rod. In the drive system connected to the suspension unit, the motor drives the suspension unit to move on the clothes drying rod.

[0100] Step S1B: The number of motor rotations is detected by a Hall sensor installed along the motor's rotation path; based on the number of motor rotations q and the distance s obtained in step S1A, the travel information L of the suspension unit on the drying rack is determined, i.e., L = q * s. In this embodiment, when calculating the travel information on the drying rack, the Hall sensor is typically used to detect the number of motor rotations when the suspension unit starts moving from a fully folded or fully extended state. The travel information calculated based on this is the distance from the position of the suspension component A in the fully folded or fully extended state to its current position.

[0101] The third type:

[0102] Step S1a: Obtain the position information detected by the position detection unit, wherein the position detection unit is set on the drying rod to detect the position of the suspension unit. In this embodiment, multiple fixed positions can be set along the length of the drying rod. The position sensors at each fixed position on the drying rod can detect whether the corresponding suspension component (e.g., suspension component A) in the suspension unit has passed through the corresponding fixed position, thereby determining the position of the suspension unit. In this embodiment, if multiple position sensors are arranged along the length of the drying rod, an identification label can be set on the suspension component A, and the position sensor set on the drying rod is a label recognizer. When the label recognizer recognizes the identification label, it is determined that the suspension component A has reached the corresponding position. In this embodiment, only one position sensor can be set on the drying rod. This position sensor is located at one end of the drying rod and can be a distance sensor. The distance sensor can detect the distance between the suspension component A and one end of the drying rod to obtain the position information of the suspension unit.

[0103] Step S1b: Determine the travel information of the suspension unit based on the position information detected by the position detection unit. Specifically, if multiple position sensors are included, the travel can be determined based on the position information detected by each position sensor. For example, along the length of the drying rod, position sensors A1, A2, and A3 are set at fixed positions a1, a2, and a3 on the drying rod, respectively. If, during the movement of the suspension unit, position sensors A1 and A2 successively detect that the suspension component A has passed by, it indicates that the travel of the suspension component has reached the fixed position a2 on the drying rod. If only one position sensor, such as a distance sensor, is included, the position of the suspension component A on the drying rod can be determined based on the distance information and changes between the suspension component A and one end of the drying rod detected by the distance sensor, thereby determining the travel information of the suspension unit.

[0104] In this embodiment, the stroke information detection also includes a motor rotation direction detection step. By detecting the motor direction, it can be ensured that the actual rotation direction of the motor and the controlled rotation direction are consistent, as detailed below:

[0105] When the suspension unit control command is the suspension unit convergence control command, during the movement of the suspension unit, a Hall sensor detects whether the motor rotation direction in the drive system is the first rotation direction. If not, the motor in the drive system stops rotating, and then the motor is switched to the first rotation direction to drive the suspension unit to perform the convergence action. For example, when the motor rotates forward to drive the suspension unit to converge, the first rotation direction is reversed, and the second rotation direction is forward. This step ensures that the motor rotates forward when the suspension unit converges. If the motor rotates in reverse in reality, it indicates that there may be an issue with the motor wiring. In this case, the motor control direction can be changed through software processing without disassembling the machine and rewiring.

[0106] When the suspension unit control command is the suspension unit deployment control command, during the movement of the suspension unit, the Hall sensor detects whether the rotation direction of the motor in the drive system is the second rotation direction. If not, the motor in the drive system is controlled to stop rotating, and then the motor is controlled to switch to the second rotation direction so that the suspension unit can be driven by the motor to perform the deployment action.

[0107] The suspension unit on the drying rack is connected to the drive system and moves on the drying rack under the drive of the motor. The Hall sensor includes a pair of Hall sensors disposed on the rotation path of the motor, specifically including a first Hall sensor and a second Hall sensor. The rotation direction of the motor is determined according to the order in which the first Hall sensor and the second Hall sensor generate detection signals. In this embodiment, the Hall sensor used in steps S11 and S12 and step S1B can be one of the first Hall sensor and the second Hall sensor. That is, the stroke information of the suspension unit can be determined based on the square wave signal collected by the first Hall sensor or the second Hall sensor, and the rotation direction of the motor can be determined based on the order in which the first Hall sensor and the second Hall sensor collect the square wave signal.

[0108] In this embodiment, the aforementioned motor rotation detection and control ensure that the controlled direction of the motor is consistent with the actual rotation direction. Once the controlled rotation direction and the actual rotation direction are consistent, the travel information of the suspension unit can be calculated by statistically analyzing the number of square waves collected by the Hall sensor (first Hall sensor or second Hall sensor) during motor rotation. In this embodiment, as described in steps S1A and S1B above, the travel information can be determined not only by the ratio of the number of square waves to the total number of square waves, but also by the number of square waves collected by the Hall sensor to determine the number of motor rotations. Based on the distance the suspension unit moves on the drying rack when the motor rotates one revolution and the number of motor rotations (forward or reverse), the travel information of the suspension unit on the drying rack can be calculated.

[0109] The drying control method in this embodiment also includes:

[0110] S4, Suspension Unit Synchronization Control Steps.

[0111] Each clothes drying rack has a suspension unit on each drying rod (usually two rods), and each suspension unit is connected to the drive system. The suspension unit moves on each drying rod under the drive of each motor in the drive system. Hall sensors are installed on the rotation path of each motor in the drive system. The rotation speed of the motor is determined by the detection signal generated by the Hall sensors.

[0112] The synchronous control steps for the suspension unit in this embodiment are as follows:

[0113] Step S41: Receive the square wave signals collected by the Hall sensors on the rotation path of each motor in the drive system.

[0114] Step S42: For each motor in the drive system, the motor rotation speed is detected based on the square wave signal collected by the Hall sensor along its rotation path.

[0115] In this embodiment, the motor component in the drive system can be a brushless DC geared motor, with 8 small magnets evenly distributed on the disk at the end of the motor, and the magnetic polarities of the 8 small magnets are arranged in an alternating pattern; the number of square wave pulses generated by the Hall sensor per unit time can be detected, and then the motor rotation speed can be calculated based on the number of square wave pulses per unit time.

[0116] Step S43: Detect whether the rotation speeds of each motor are the same. Under different conditions, adjust the rotation speed of each motor using a feedback control algorithm (e.g., PID algorithm) until the rotation speeds of all motors are the same. In this embodiment, the output voltage can be controlled by adjusting the duty cycle of the 4kHz PWM square wave signal in the motor drive circuit, thereby controlling the motor speed. In this embodiment, when the rotation speeds of each motor are different, the rotation speeds of each motor can be fed back to the motor synchronization adjustment PID algorithm to adjust the PWM duty cycle in real time, thereby improving the effect of synchronous rotation of each motor.

[0117] In this embodiment, the acquired suspension unit travel information is stored when the suspension unit stops moving, when the suspension unit travel information is updated, and when the suspension unit's drive system is powered on. Currently, clothes drying racks typically only receive power when the drying rod is raised to the top and connected to the main control unit via contacts. When the contacts at other positions are not in contact, the drying rod is in a de-energized state, and therefore the suspension unit and its drive system are also in a de-energized state. If the travel information is stored when the suspension unit's drive system is powered on, the motor stops running, and the travel information is updated, it ensures that the travel information before the last power outage can be obtained after power is restored, achieving a more intelligent control effect. For example, if the travel information before the last power outage showed a convergence percentage of 100%, then after the next power-on, the unfolding and rotation control can be directly performed based on the previous travel information. Otherwise, without storing the travel information, the travel position before the last power outage cannot be known, which may lead to multiple stalls when executing the convergence command, affecting the motor's lifespan.

[0118] The following flowchart illustrates the specific execution steps of each process in the drying control method:

[0119] like Figure 2 The diagram illustrates the process of the suspension unit performing the convergence, deployment, and stopping actions, as follows:

[0120] S1-1 First, read the travel information of the suspension unit and report it to the clothes drying rack main controller. After the travel information is successfully reported, that is, when the clothes drying rack main controller receives the travel information, the clothes drying rack main controller will combine the travel information of the suspension unit and the lifting status of the drying rod to generate a suspension control command and issue it.

[0121] S1-2, Receive the hanging unit control command sent from the clothes drying machine main controller;

[0122] First, determine whether the suspension unit control command is a convergence command;

[0123] If so, the motor is controlled to rotate forward by the drive system, so that the suspension unit performs the convergence action until the suspension unit is fully converged, and the motor is controlled to stop rotating when the suspension unit is fully converged;

[0124] If not, proceed to steps S1-3;

[0125] S1-3. Determine whether the suspension unit control command is an deployment command;

[0126] If so, the motor is reversed by controlling the drive system to cause the suspension unit to perform the deployment action until the suspension unit is fully deployed, and the motor is controlled to stop rotating when the suspension unit is fully deployed;

[0127] If not, proceed to steps S1-4;

[0128] S1-4. Determine whether the suspension unit control command is a stop command;

[0129] If so, the drive system will control the motor to stop rotating;

[0130] If not, return to step S1-2.

[0131] S1-5. After the motor stops rotating, update the travel information of the suspension unit and report it to the clothes drying machine main controller. After the travel information is successfully reported, execute step S1-2.

[0132] like Figure 3 The diagram shown is a flowchart of the motor synchronous control. The flowchart illustrates the process for a clothes drying rack with two drying rods, each equipped with a hanging unit. Details are as follows:

[0133] S2-1 First, the drive system controls two motors to run at a speed with a duty cycle of 80%; the two motors are respectively used to control the suspension units on the two drying rods.

[0134] S2-2. The rotation speed of the motors is measured by Hall sensors set on the rotation path of each motor in the drive system, and the rotation speeds of the two motors (defined as motor a and motor b) are V1 and V2 respectively.

[0135] S2-3, determining whether V1>V2 holds;

[0136] If yes, input the values of V1 and V2 into the PID algorithm, adjust to reduce the duty cycle of the control signal corresponding to motor a or increase the duty cycle of the control signal corresponding to motor b until V1 and V2 are equal, so as to realize synchronization of motor a and motor b;

[0137] If no, proceed to step S2-4;

[0138] S2-4, determining whether V1<V2 holds;

[0139] If yes, input the values of V1 and V2 into the PID algorithm, adjust to increase the duty cycle of the control signal corresponding to motor a or reduce the duty cycle of the control signal corresponding to motor b until V1 and V2 are equal, so as to realize synchronization of motor a and motor b;

[0140] If no, input the values of V1 and V2 into the PID algorithm, so that the duty cycles of the control signals corresponding to motor a and motor b remain unchanged at historical values.

[0141] As shown in Figure 4 is one flow chart for acquiring suspension unit stroke information and detecting motor rotation direction, and the specific steps are as follows:

[0142] S3-1, upon receiving a suspension unit control instruction, determining what type of control instruction the suspension unit control instruction is;

[0143] If it is a suspension unit gathering control instruction, proceed to step S3-2;

[0144] If it is a suspension unit unfolding control instruction, proceed to step S3-6;

[0145] S3-2, controlling the motor to rotate through the driving system, so that the suspension unit performs the gathering action for a duration of 500 ms, then proceed to step S3-3;

[0146] S3-3, checking whether the actual rotation direction of the motor detected by the first Hall sensor and the second Hall sensor on the motor rotation path is forward and whether the limit switch is released (or whether the proximity switch does not detect an object approaching);

[0147] If yes, proceed to step S3-4;

[0148] If no, control the motor to stop rotating through the driving system, switch the rotation direction of the motor, and return to step S3-2;

[0149] S3-4, counting the number n of square waves generated by the Hall sensor (which may be the first Hall sensor or the second Hall sensor) on the motor rotation path;

[0150] S3-5. Determine whether a motor stop command has been received or whether the suspension unit has reached a fully converged state.

[0151] If so, the motor is stopped by controlling the drive system, and the travel information of the suspension unit is calculated based on the number of square waves n generated by the Hall sensor. Specifically, the travel percentage can be represented as described in step S12 above.

[0152] If not, return to steps S3-4;

[0153] S3-6. Control the motor to rotate through the drive system so that the suspension unit can perform the deployment action for 500ms, and then proceed to step S3-7.

[0154] S3-7. Detect whether the motor is not stalled and whether the actual rotation direction of the motor detected by the first Hall sensor and the second Hall sensor on the motor rotation path is opposite.

[0155] If so, proceed to step S3-8;

[0156] If not, control the motor to stop rotating by the drive system, switch the motor rotation direction, and then return to step S3-6;

[0157] S3-8. Count the number n square waves generated by the Hall sensor (which can be the first Hall sensor or the second Hall sensor);

[0158] S3-9. Determine whether a motor stop command has been received or whether the suspension unit has reached the fully deployed state; whether the suspension unit has reached the fully deployed state can be determined by whether the limit switch is pressed or whether the proximity switch detects an approaching object.

[0159] If so, the motor is stopped by controlling the drive system, and the travel information of the suspension unit is calculated based on the number of square waves n generated by the Hall sensor. Specifically, this can be represented as a percentage of travel.

[0160] If not, return to step S3-8.

[0161] In this embodiment, steps S1-1 to S1-4, S2-1 to S2-4, and S3-1 to S3-9 are merely one implementation process. In actual drying control methods, for example, in step S1-2, if the control command for the hanging unit is a gathering command, the motor can also be reversed through the drive system. That is, the motor can be set to reverse to gather the hanging unit. In steps S1-1 to S1-4, it can also be determined first whether it is an unfolding command, and if it is not an unfolding command, then it can be determined whether it is a gathering command. The order can be adjusted according to actual needs. Similarly, in steps S2-1 to S2-4, it can also be determined first whether V1 is less than V2. In steps S3-1 to S3-9, in addition to using the number of square waves detected by the Hall sensor to calculate the hanging unit travel information, the other two methods mentioned in step S1, or other methods that can determine the position of the hanging unit, can also be used to obtain the hanging unit travel information.

[0162] Those skilled in the art will understand that all or part of the steps in the method of this embodiment can be implemented by a program instructing related hardware, and the corresponding program can be stored in a computer-readable storage medium. It should be noted that although the method operations of this embodiment are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Rather, the described steps may be performed in a different order, some steps may be performed simultaneously, additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0163] Example 2

[0164] This embodiment discloses a clothes drying control system, applied to a clothes drying machine, such as... Figure 5 As shown, it includes a controller, a drive system, a stroke detection unit, and a suspension unit.

[0165] In this embodiment, the suspension unit is mounted on the drying rod 1 and connected to the drive system, moving along the drying rod under the drive of the drive system. In this embodiment, the suspension unit may include a transmission component 2 and a suspension component 3 mounted on the transmission component; the transmission component 2 or the suspension component 3 is connected to the drive system and can move along the length of the drying rod under the control of the drive system, so that the suspension component can unfold or fold. In this embodiment, the transmission component 2 may be a guide rail, track, or other components, and multiple suspension components for hanging items (including clothing and other items that need to be dried) are arranged on the transmission component along the length of the drying rod. In this embodiment, the suspension components may be hooks or hanging rings, etc. Figure 6As shown, the suspension unit includes multiple suspension components, each mounted on a guide rail. The guide rail between the suspension components is a telescopic or flexible structure. In the direction from convergence to unfolding, the first suspension component can be fixed in position, while the other suspension components can unfold or converge under the drive system. Furthermore, the output shaft of the drive system's motor 4 can be connected to the last suspension component A in the suspension unit. By applying a force to the last suspension component A, the movement of each suspension component on the drying rack changes the distance between them. The last suspension component A is the one furthest from the first suspension component in the suspension unit. Figure 6 As shown in the diagram; when a force is applied to move suspension A to the right, the distance between each suspension component increases, thus expanding the suspension component; when a force is applied to move suspension A to the left, the distance between each suspension component decreases, thus converging the suspension component.

[0166] In this embodiment, the drive system includes a motor drive device and a motor. The controller is connected to the motor through the motor drive device, which can be a motor drive chip. The suspension unit is connected to the drive system by being connected to the output shaft of the motor. The rotation of the motor output shaft applies force to the suspension unit to control its movement along the length of the drying rack. Specifically, the transmission component or suspension component in the suspension unit can be connected to the motor output shaft, allowing the suspension component to fold or unfold based on the motor's rotation. In this embodiment, as shown... Figure 6 As shown, the output shaft of the motor 4 of the drive system can be connected to the suspension component A. By applying a force to the suspension component A, the movement of each suspension component on the drying rod changes the distance between each suspension component.

[0167] In this embodiment, the stroke detection unit is connected to the controller and is used to detect the stroke information of the suspension unit on the drying rod.

[0168] In this embodiment, the travel detection unit includes a position detection unit connected to the controller; the position detection unit is disposed on the drying rod and is used to detect the position information of the hanging unit on the drying rod, and send the detected position information to the controller, so that the controller can obtain the travel information of the hanging unit on the drying rod based on the position information of the hanging unit.

[0169] In this embodiment, the position detection unit may include multiple position sensors, and the controller determines the travel distance based on the position information detected by each position sensor, such as... Figure 7As shown, position sensors A1, A2, and A3 are installed at fixed positions a1, a2, and a3 along the length of the drying rod. If, during the movement of the suspension unit, position sensors A1 and A2 detect the passage of the suspension component A, it indicates that the suspension component has reached the fixed position a1 on the drying rod. The specific position sensor can be a tag reader, and the suspension component A is equipped with a tag that can be read by the tag reader. Alternatively, the position sensor can be a radar or other sensor, as long as the suspension component A is equipped with a device that can be recognized by the position sensor.

[0170] In this embodiment, the aforementioned position detection unit can be a distance sensor X directly installed at one end of the clothes drying rack. The end of the clothes drying rack where the distance sensor X is installed is the end that the hanging unit needs to approach when performing the unfolding action, that is, the end that the hanging unit approaches when it is fully unfolded. Figure 8 As shown, a distance sensor X is installed at the right end of the drying rod. When the suspension unit is fully folded, the distance between each suspension component and the left end of the drying rod is between the suspension components and the left end of the drying rod. When the suspension unit is fully extended, the suspension components are extended on the drying rod at the furthest distance. At this time, suspension component A is close to the right end of the drying rod. The distance sensor X can detect the distance information between suspension component A and the distance sensor probe. Based on this distance information, the controller can determine the travel information of suspension component A and can pre-determine the distance S1 between the suspension component and the probe in the fully extended state and the distance S2 between the suspension component and the probe in the fully folded state. When the distance detected by the distance sensor X is greater than or equal to the distance S1, it can be determined that the suspension unit has reached the fully extended state. When the distance detected by the distance sensor X is less than the distance S2, it can be determined that the suspension unit has reached the fully folded state.

[0171] In this embodiment, the stroke detection unit may further include a Hall sensor, which is positioned along the motor rotation path of the drive system. The controller is connected to the Hall sensor to receive the signal detected by the Hall sensor and determine the stroke information of the suspension unit on the drying rack based on the signal detected by the Hall sensor. The specific principle of determining the stroke information of the suspension unit based on the Hall sensor in this embodiment is as follows:

[0172] This embodiment can determine the travel information of the suspension unit based on the number of square waves generated by the Hall sensor. In this way, firstly, the total number N of square waves generated by the Hall sensor during the entire travel of the suspension unit (from fully extended to fully retracted or from fully retracted to fully extended) must be determined. Then, starting from the fully extended or fully retracted state of the suspension unit, the number n of square waves generated by the Hall sensor is counted. Based on the ratio of n to N, the travel information of the suspension unit can also be determined, specifically represented by a travel percentage. The specific implementation process can be found in steps S11 to S12 of Embodiment 1.

[0173] This embodiment can also determine the travel information of the suspension unit based on the number of motor revolutions detected by the Hall sensor. In this way, firstly, the distance s that the suspension unit moves when the motor rotates one revolution is determined. Then, the number of motor revolutions q can be determined based on the signal detected by the Hall sensor. Based on this, the travel distance of the suspension unit can be determined by calculating q*s, thereby determining the travel information of the suspension unit. The specific implementation process can be found in steps S1A to S1B of Embodiment 1.

[0174] In this embodiment, when the travel detection unit uses a Hall sensor installed on the motor path, a proximity switch or limit switch connected to the controller can be installed at one end of the clothes drying rod. This end of the drying rod is the end that the suspension unit approaches when it performs the unfolding action, that is, the end that the suspension unit approaches when it is fully unfolded. When the suspension unit is fully unfolded, it will approach the proximity switch or touch the limit switch. Therefore, this embodiment can detect whether the suspension unit is in a fully unfolded state through the proximity switch or limit switch. When the clothes drying machine includes two drying rods, a limit switch is installed on each drying rod, namely a first limit switch and a second limit switch.

[0175] In this embodiment, the controller is connected to the drive system to execute the drying control method described in Embodiment 1. The method includes determining the state of the hanging unit based on the travel information of the hanging unit, generating a hanging unit control command by combining the hanging unit state and the lifting state of the drying rod, and controlling the hanging unit to perform gathering, unfolding or stopping actions on the drying rod through the drive system according to the hanging unit control command. The specific process is detailed in Embodiment 1 and will not be repeated here.

[0176] In this embodiment, the drying control system further includes a first Hall sensor and a second Hall sensor. The first Hall sensor and the second Hall sensor are respectively disposed on the motor rotation path of the drive system. The controller is connected to the first Hall sensor and the second Hall sensor respectively, and is used to determine the motor rotation direction in the drive system according to the order of signals detected by the first Hall sensor and the second Hall sensor. In this embodiment, the actual rotation direction of the motor can be detected by the first Hall sensor and the second Hall sensor. Based on this, the actual rotation direction of the motor can be compared with the rotation direction of the motor to be controlled by the controller. If they are inconsistent, the controller sends a control signal to change the motor rotation direction. For example, according to the setting, the motor rotates forward to make the suspension unit converge. When the controller sends a motor forward control command, the motor actually rotates in the opposite direction after receiving the motor forward control command because the motor wiring is reversed. At this time, the convergence effect will not be achieved. Therefore, in this embodiment, the control command can be reset to make the motor rotate forward.

[0177] In this embodiment, the Hall sensor used as the travel detection unit can be either the first Hall sensor or the second Hall sensor.

[0178] In this embodiment, for a clothes drying machine with multiple drying rods, a hanging unit can be installed on each drying rod. In this case, the drive system includes multiple motors, each connected to the motor via a motor drive device. Each hanging unit is connected to the drive system, and moves on the drying rod under the drive of the motors. That is, the drying control system in this embodiment can simultaneously control the convergence, unfolding, and stopping of the hanging units on multiple drying rods. Figure 5 The diagram shown is a circuit diagram of a clothes drying rack with two drying rods.

[0179] For the case of multiple suspension units, Hall sensors connected to the controller are installed on the rotation path of each motor in the drive system. The controller acquires the signals detected by each Hall sensor and determines the speed of the corresponding motor based on the signals detected by the Hall sensors. If the rotation speeds of the motors are inconsistent, feedback control is used to adjust the rotation speeds of the motors until the rotation speeds of the motors are the same.

[0180] In this embodiment, each motor in the drive system can be a brushless DC geared motor. Eight small magnets are evenly distributed on a disk at the end of each motor, with their magnetic polarities alternating. The number of magnets can also be different, such as 16. Based on the Hall effect, the number of square wave pulses generated by the Hall sensor per unit time can be detected, and the motor speed can be calculated based on this number. If the motor speeds differ, a feedback control algorithm (e.g., PID control algorithm) is used to adjust the speeds of each motor until they are the same. In this embodiment, the output voltage of the motor drive device can be controlled by adjusting the duty cycle of a 4kHz PWM square wave signal, thereby controlling the motor speed and ensuring that the rotational speeds of all motors remain consistent.

[0181] In this embodiment, the Hall sensor used to detect motor speed can directly use either the first Hall sensor or the second Hall sensor. Based on this, to achieve motor speed detection, motor direction detection, and suspension unit travel information detection, this embodiment can use at least two Hall sensors for each suspension unit. If the clothes dryer includes two drying rods, and each drying rod corresponds to one suspension unit, then a pair of Hall sensors is set for each suspension unit. Therefore, for a clothes dryer with two drying rods, two pairs of Hall sensors can be used, including a first pair of Hall sensors and a second pair of Hall sensors, with each pair including two Hall sensors. Figure 5 As shown in the diagram. The Hall sensor used to detect motor speed can also be selected as another Hall sensor independent of the first Hall sensor and the second Hall sensor.

[0182] In this embodiment, a current detection unit connected to the controller is also included. This current detection unit is connected to the motor and is used to detect the motor's current information. The detected current information is then fed back to the controller, which determines whether the motor is stalled based on the received current information. When the clothes drying rack includes two drying rods, each with a separate hanging unit, the current detection unit includes a first current detection unit and a second current detection unit. These units are connected to motor a and motor b, respectively, and are used to collect the current information from motor a and motor b. Based on the collected current information, it can be determined whether motor a or motor b is stalled.

[0183] The drying control system in this embodiment also includes a buzzer connected to the controller. When the hanging unit is in a fully extended or fully retracted state, the controller can control the buzzer to work to alert the user.

[0184] In this embodiment, the controller may include a first controller and a second controller connected to each other; the second controller may be the main controller of the clothes drying rack. Wherein:

[0185] The first controller connects to the drive system and the stroke detection unit, and is used to obtain the stroke information of the hanging unit on the clothes drying rack and send it to the second controller; it is used to control the hanging unit to perform gathering, unfolding or stopping actions on the drying rack according to the hanging unit control command.

[0186] In this embodiment, the first controller can be an MCU. The first controller, drive system, and suspension unit can all be mounted on the clothes drying rod. For clothes drying machines where the drying rod is not always powered, when the drying rod rises to the top position, it is connected to the main control board of the clothes drying machine through a magnetic interface. The interface is provided with at least 4 contacts, including power contacts (positive and negative contacts) and signal transceiver contacts RX and TX. After the drying rod rises to the top, the first controller, drive system, and suspension unit are powered on through the power contacts, and the first controller and the second controller are connected through the signal transceiver contacts.

[0187] The second controller is used to acquire the travel information of the suspension unit sent by the first controller, determine the status of the suspension unit based on the travel information of the suspension unit, generate a suspension unit control command by combining the status of the suspension unit and the lifting status of the drying rod, and send it to the first controller.

[0188] In this embodiment, after the first controller is powered on, it sends the current travel information stored therein to the second controller (the main controller on the clothes drying rack main control board). The second controller can only send the hanging unit control command to the controller if the travel information is received. After receiving the control command from the second controller, the first controller will then perform actions such as gathering, unfolding or stopping according to the current travel information and the lifting status of the drying rod. After successful execution, the travel information will be updated and reported to the second controller.

[0189] In this embodiment, the clothes drying control system is further provided with one or more of the following: a gathering trigger unit, an unfolding trigger unit, and a stop trigger unit; the gathering trigger unit, unfolding trigger unit, and stop trigger unit can be configured as buttons, etc., that are wired or wirelessly connected to the controller; when wirelessly connected, the buttons can be buttons directly installed on the clothes drying machine remote control device. Wherein:

[0190] The gathering trigger unit is connected to the controller and is used to send a gathering trigger signal to the controller. The controller then controls the suspension unit to perform a gathering action on the drying rod through the drive system.

[0191] The unfolding trigger unit is connected to the controller and is used to send an unfolding trigger signal to the controller. The controller then controls the suspension unit to perform the unfolding action on the drying rod through the drive system.

[0192] The stop trigger unit is connected to the controller and is used to send a stop trigger signal to the controller, which then controls the suspension unit to stop moving on the drying rack via the drive system.

[0193] This embodiment also discloses a clothes drying rack, including a main unit, a drying rod, and the drying control system described above. The drying rod is installed below the main unit via a lifting component, such as a steel wire rope. The lifting component is raised and lowered by a motor in the main unit, achieving automatic raising and lowering. The main unit is equipped with a control system for controlling the clothes drying rack to perform various other functions, including drying, disinfection, and lighting. Through the drying control system of this embodiment, the clothes drying rack can automatically retract and unfold the hanging parts, achieving the effect of quickly collecting and drying clothes.

[0194] Example 3

[0195] This embodiment discloses an electronic device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the drying control method described in Embodiment 1, as follows:

[0196] Obtain the travel information of the suspension unit on the clothes drying rack rod;

[0197] The suspension unit state is determined based on the suspension unit's travel information, and the suspension unit state includes the suspension unit's converged state and its deployed state.

[0198] The suspension unit control command is generated by combining the status of the suspension unit and the lifting status of the drying rod.

[0199] The suspension unit is controlled by the control command to perform gathering, unfolding or stopping actions on the drying rack.

[0200] The specific implementation process of each of the above steps can be found in Example 1, and will not be repeated here.

[0201] In this embodiment, the electronic device can be a mobile phone, computer, tablet computer, or other terminal device.

[0202] In this embodiment, the electronic device includes a processor, a memory, a bus, and a communication interface, wherein the processor, the communication interface, and the memory are connected via the bus; the processor is configured to execute executable modules, such as computer programs, stored in the memory.

[0203] Example 4

[0204] This embodiment discloses a storage medium storing a program. When the program is executed by a processor, it implements the drying control method described in Embodiment 1, as follows:

[0205] Obtain the travel information of the suspension unit on the clothes drying rack rod;

[0206] The suspension unit state is determined based on the suspension unit's travel information, and the suspension unit state includes the suspension unit's converged state and its deployed state.

[0207] The suspension unit control command is generated by combining the status of the suspension unit and the lifting status of the drying rod.

[0208] The suspension unit is controlled by the control command to perform gathering, unfolding or stopping actions on the drying rack.

[0209] The specific implementation process of each of the above steps can be found in Example 1, and will not be repeated here.

[0210] In this embodiment, the storage medium can be a disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), USB flash drive, portable hard drive, etc.

[0211] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A method for controlling the drying process, applied to a clothes drying machine, characterized in that, include: Obtain the travel information of the suspension unit on the clothes drying rack rod; The suspension unit state is determined based on the suspension unit's travel information, and the suspension unit state includes the suspension unit's converged state and its deployed state. The suspension unit control command is generated by combining the status of the suspension unit and the lifting status of the drying rod. The suspension unit is controlled to perform gathering, unfolding, or stopping actions on the drying rack according to the control commands of the suspension unit; The specific process of generating suspension unit control commands and controlling the suspension unit to perform gathering, unfolding, or stopping actions on the drying rack according to the suspension unit control commands includes: When the suspension unit is in the deployed state, if a control command to lower the drying rack is received, the following operations are performed: Generate a control command to gather the suspension units, which will then perform a gathering action on the drying rack before it is lowered, and control the drying rack to lower after the suspension units have gathered; or, generate a control command to gather the suspension units on the drying rack simultaneously during the descent until the gathering is complete; or, generate a control command to gather the suspension units on the drying rack after it has been lowered until the gathering is complete. When the suspension unit is in the converged state, if a control command to raise the drying rack is received, the following operations are performed: Generate a control command to deploy the suspension unit, which will deploy the suspension unit on the drying rack when it rises to the drying position until deployment is complete; or, generate a control command to deploy the suspension unit on the drying rack simultaneously during the rise of the drying rack until deployment is complete; or, generate a control command to deploy the suspension unit on the drying rack before it rises, and then control the drying rack to rise after the suspension unit has deployed. Also includes: S3-1. Upon receiving a suspension unit control command, determine which type of control command is being referred to. If it is a suspension unit convergence control command, proceed to step S3-2; If the command is to deploy the suspension unit, proceed to steps S3-6; S3-2. Control the motor to rotate through the drive system so that the suspension unit performs the convergence action, and then proceed to step S3-3; S3-3. Whether the actual rotation direction of the motor detected by the Hall sensor on the motor rotation path is the first rotation direction and whether the limit switch is released, or whether the proximity switch is not sensing an approaching object. If so, proceed to step S3-4; If not, control the motor to stop rotating by the drive system, switch the motor rotation direction, and return to step S3-2; S3-4. Count the number n square waves generated by the Hall sensor along the motor rotation path; S3-5. Determine whether a motor stop command has been received or whether the suspension unit has reached a fully converged state. If so, the motor is stopped by controlling the drive system, and the travel information of the suspension unit is calculated based on the number n square waves generated by the Hall sensor. Specifically, the travel percentage can be represented by this information. If not, return to step S3-4; S3-6. Control the motor to rotate through the drive system so that the suspension unit can perform the deployment action, and then proceed to step S3-7; S3-7. Detect whether the motor is not stalled and whether the actual rotation direction of the motor detected by the Hall sensor on the motor rotation path is the second rotation direction; If so, proceed to step S3-8; If not, control the motor to stop rotating by the drive system, switch the motor rotation direction, and then return to step S3-6; S3-8. Count the number n square waves generated by the Hall sensor; S3-9. Determine whether a motor stop command has been received or whether the suspension unit has reached the fully deployed state; whether the suspension unit has reached the fully deployed state can be determined by whether the limit switch is pressed or whether the proximity switch detects an approaching object. If so, the motor is stopped by controlling the drive system, and the travel information of the suspension unit is calculated based on the number n square waves generated by the Hall sensor. Specifically, the travel percentage can be represented by this information. If not, return to step S3-8.

2. The drying control method according to claim 1, characterized in that, Also includes: Receives commands to trigger the suspension unit to converge, expand, or stop triggering. Based on the gathering trigger command, unfolding trigger command, or stopping trigger command of the suspension unit, control commands are generated to control the suspension unit to perform gathering, unfolding, or stopping actions on the drying rack.

3. The drying control method according to claim 1, characterized in that, The travel information of the suspension unit on the clothes drying rack is determined by any of the following methods: The first type: The total number N of square waves generated by the Hall sensor is determined when the suspension unit on the drying rod moves from fully folded to fully extended or from fully extended to fully folded. The suspension unit on the drying rod is connected to a drive system and moves on the drying rod under the drive of a motor in the drive system. The Hall sensor is set on the rotation path of the motor and is used to detect the rotation of the motor in the drive system. When the suspension unit starts to move from the fully folded or unfolded state, the Hall sensor collects the number of square waves n, and then determines the travel information of the suspension unit on the drying rack based on the ratio of the number of square waves n to the total number of square waves N. The second type: The distance s that the suspension unit moves on the drying rack is obtained when the motor in the drive system connected to the suspension unit rotates one revolution; wherein, in the drive system connected to the suspension unit, the motor drives the suspension unit to move on the drying rack. The number of motor rotations is detected by Hall sensors placed along the motor's rotation path; The travel information of the suspension unit on the drying rod is determined based on the number of motor rotations and the distance s. The third type: The position information detected by the position detection unit is obtained, wherein the position detection unit is set on the drying rod to detect the position of the hanging unit; The travel information of the suspension unit is determined based on the position information detected by the position detection unit.

4. The drying control method according to claim 1, characterized in that, Also includes: When the suspension unit control command is the suspension unit convergence control command, during the movement of the suspension unit, the Hall sensor detects whether the rotation direction of the motor in the drive system is the first rotation direction. If not, the motor in the drive system is controlled to stop rotating, and then the motor is controlled to switch to the first rotation direction so that the suspension unit can be driven by the motor to perform the convergence action. When the suspension unit control command is the suspension unit deployment control command, during the movement of the suspension unit, the Hall sensor detects whether the rotation direction of the motor in the drive system is the second rotation direction. If not, the motor in the drive system is controlled to stop rotating, and then the motor is controlled to switch to the second rotation direction so that the suspension unit can be driven by the motor to perform the deployment action. The hanging unit on the drying rod is connected to the drive system and moves on the drying rod under the drive of the motor in the drive system; the Hall sensor includes a first Hall sensor and a second Hall sensor set on the rotation path of the motor, and the rotation direction of the motor is determined according to the order in which the first Hall sensor and the second Hall sensor generate detection signals.

5. The drying control method according to claim 1, characterized in that, Also includes: The suspension unit synchronous control steps are as follows: Each clothes drying rack is equipped with a suspension unit, and each suspension unit is connected to the drive system. Under the drive system, each motor moves on each drying rack. Hall sensors are installed on the rotation path of each motor in the drive system. The motor rotation speed is determined by the detection signal generated by the Hall sensors. The synchronous control steps for the suspension unit are as follows: Receive signals collected by Hall sensors along the rotation path of each motor in the drive system; For each motor in the drive system, the motor rotation speed is detected based on the signals collected by Hall sensors along its rotation path. The system detects whether the rotation speed of each motor is the same. Under different conditions, the rotation speed of each motor is adjusted through a feedback control algorithm until the rotation speed of each motor is the same.

6. The drying control method according to claim 1, characterized in that, The suspension unit's travel information is acquired and stored when the suspension unit stops moving, when the suspension unit's travel information is updated, and when the suspension unit's drive system is powered on.

7. A drying control system, characterized in that, Includes controller, drive system, stroke detection unit and suspension unit; The suspension unit is mounted on the drying rod and connected to the drive system, and moves on the drying rod under the drive of the drive system; The travel detection unit is connected to the controller and is used to detect the travel information of the suspension unit on the drying rod; The drive system is connected to a controller, which controls its operating state. The controller is used to execute the drying control method according to any one of claims 1 to 6.

8. The drying control system according to claim 7, characterized in that, The controller includes a first controller and a second controller connected to each other; the second controller is the main controller of the clothes drying rack. The first controller is used to acquire the travel information of the suspension unit on the clothes drying rack and send it to the second controller; it is used to control the suspension unit to perform gathering, unfolding or stopping actions on the drying rack according to the suspension unit control command; The second controller is used to determine the state of the suspension unit based on the travel information of the suspension unit; and to generate a suspension unit control command by combining the suspension unit state and the lifting and lowering state of the drying rod, and send it to the first controller.

9. A clothes drying rack, characterized in that, Includes the drying control system described in claim 7 or 8.

10. An electronic device, comprising: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the drying control method according to any one of claims 1 to 6.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the drying control method according to any one of claims 1 to 6.

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