An up-and-down range hood and a range hood control method

Abstract

The present disclosure relates to a lifting range hood and a range hood control method, the lifting range hood comprising a range hood body, the range hood body being connected with a lifting module, the lifting module being used for being installed on a wall surface and driving the range hood body to rise and fall, a bottom of the range hood body being provided with a single-line laser radar, the single-line laser radar being used for detecting an obstacle below the range hood body in the process of the range hood body falling, the range hood body being provided with a control module, the control module being respectively connected with the lifting module and the single-line laser radar in an electrical signal mode. The present disclosure can identify the obstacle below the range hood body through the single-line laser radar in the process of the range hood body falling, and stop immediately when the obstacle is detected, so that the manufacturing cost of the range hood can be reduced and the obstacle detection operation amount can be reduced.

Description

Technical Field

[0001] This disclosure relates to the field of range hood technology, and in particular to a liftable range hood and a range hood control method. Background Technology

[0002] Current lift-up range hoods can only descend to a fixed height or a user-defined height. However, they cannot determine whether there are obstacles on the cooktop during the descent, posing a risk of impact to cookware or people.

[0003] In related technologies, obstacle detection is achieved by detecting sudden changes in acceleration and pressure when a range hood collides with an object. However, this method may cause the cookware to tip over, posing a safety hazard. There is also a method that uses multi-line lidar to perform multi-point data ranging calculations to achieve obstacle detection, but this method also has the disadvantages of high cost and large computational load. Summary of the Invention

[0004] To address at least one of the aforementioned technical problems, this disclosure proposes a lifting range hood and a range hood control method.

[0005] According to some embodiments of this disclosure, a liftable range hood is provided, including a range hood body, a lifting module connected to the range hood body, the lifting module being installed on a wall and driving the range hood body to rise and fall, a single-line lidar being provided at the bottom of the range hood body, the single-line lidar being used to detect obstacles below the range hood body during the descent of the range hood body, and a control module being provided on the range hood body, the control module being electrically connected to the lifting module and the single-line lidar respectively.

[0006] Based on the above solution, during the descent of the range hood body, obstacles below the range hood body are identified by a single-line lidar, and the range hood stops abruptly when an obstacle is detected. Using a single-line lidar can reduce the manufacturing cost of the range hood and reduce the computational load for obstacle detection.

[0007] In some possible implementations, the single-line lidar is located at the bottom front end of the range hood body, and the single-line lidar emits laser beams obliquely downwards.

[0008] Based on the above scheme, the single-line lidar can scan downwards at an angle, simultaneously acquiring the height and horizontal position information of obstacles, thereby improving detection accuracy.

[0009] In some possible implementations, a front baffle is provided on the front side of the range hood body, and a mounting plate is rotatably connected to the bottom of the front baffle, on which the single-line lidar is mounted.

[0010] Based on the above scheme, the angle of the scanning surface of the single-line lidar relative to the horizontal plane can be adjusted by rotating the mounting plate, thereby adjusting the accuracy of obstacle detection.

[0011] In some possible implementations, the mounting plate is also provided with an illumination lamp, the orientation of which is consistent with the scanning direction of the single-line lidar.

[0012] Based on the above solution, the lighting is angled downwards, which can enhance the brightness under the range hood and improve the user experience.

[0013] In some possible implementations, the control module includes a power board and a control board that are communicatively connected to each other. The power board is electrically connected to the lifting module and the single-line lidar. The control board is equipped with buttons and an audio-visual indicator.

[0014] Based on the above solution, when the range hood is equipped with obstacle detection function, it can provide feedback signals through sound and light indicators to improve the user experience.

[0015] According to some other embodiments of this disclosure, a range hood control method is provided, applied in the control module of a lifting range hood as described in any of the above embodiments. The method includes: when the obstacle detection function is configured, in response to a descent control command, controlling the lifting module in the lifting range hood to lower the main body of the range hood connected to the lifting module to a target height; during the descent of the main body of the range hood, controlling a single-line lidar in the lifting range hood to scan; extracting a distance feature array based on the reflection point information of each laser beam emitted by the single-line lidar, the distance feature array indicating the length of each laser beam emitted by the single-line lidar in the same scanning cycle; if the absolute value of the error between the distance feature array corresponding to one scanning cycle and the distance feature array corresponding to the previous scanning cycle is greater than or equal to a first preset threshold, and the absolute value of the error between the distance feature array corresponding to the current scanning cycle and the distance feature array corresponding to the next scanning cycle is less than or equal to a second preset threshold, determining that an obstacle has been detected, and controlling the lifting module to stop.

[0016] Based on the above scheme, the single-line lidar continuously scans during the descent of the range hood body. When the absolute value of the error between the distance feature array of a scanning cycle and the previous scanning cycle is greater than or equal to the first preset threshold, it is considered that an obstacle may exist. When the absolute value of the error between the distance feature array of the subsequent scanning cycle and the previous scanning cycle is less than or equal to the second preset threshold, it is confirmed that an obstacle has been detected. Through two-step judgment, the accuracy of obstacle detection can be improved.

[0017] In some possible implementations, before determining that an obstacle has been detected, the method further includes determining that an obstacle has been detected if the absolute value of the error between the distance feature array corresponding to the next scanning cycle and the distance feature array corresponding to the next-next scanning cycle is less than or equal to a second preset threshold.

[0018] Based on the above scheme, when a possible obstacle is detected, the absolute value of the distance feature array error is judged to be less than or equal to the second preset threshold in the next two cycles, thereby avoiding false alarms caused by detection errors and further improving the accuracy of obstacle detection.

[0019] In some possible implementations, before the obstacle detection function is configured, the method further includes: controlling the single-line lidar to perform an initial scan in response to an obstacle detection function configuration command; extracting an initial distance feature array based on the reflection point information of each laser beam emitted by the single-line lidar, the initial distance feature array indicating the length of each laser beam emitted by the single-line lidar during the initial scan; determining the theoretical length of the laser centerline of the single-line lidar based on the vertical distance between the single-line lidar and the wall and the angle between the scanning surface emitted by the single-line lidar and the horizontal plane; and determining the initial distance feature array as the distance feature array corresponding to the initial scan cycle when the error value between the length of the laser centerline of the single-line lidar and the theoretical length is less than or equal to a third preset threshold, and it is determined based on the initial distance feature array that no obstacle is currently detected.

[0020] Based on the above scheme, an initial scan is performed using a single-line lidar to ensure that the laser beam does not detect any obstacles during the initial scan, and then the obstacle detection function is configured.

[0021] In some possible implementations, before determining that no obstacle is currently detected based on the initialized distance feature array, the method further includes extracting a first half-zone distance feature array and a second half-zone distance feature array based on the initialized distance feature array. The first half-zone distance feature array indicates the length of each laser ray emitted by the single-line lidar before emitting the laser center line, and the second half-zone distance feature array indicates the length of each laser ray emitted by the single-line lidar after emitting the laser center line. If the first half-zone distance feature array is determined to be a decreasing sequence and the second half-zone distance feature array is determined to be an increasing sequence, it is determined that no obstacle is detected.

[0022] Based on the above scheme, when the distance feature array of the first half-zone is a decreasing sequence and the distance feature array of the second half-zone is an increasing sequence, it means that the object detected by the single-line lidar in the initial scanning cycle is a wall at the same height, and it can be determined that no obstacle has been detected.

[0023] In some possible implementations, before the first half-region distance feature array is determined to be a decreasing sequence, the method further includes determining the first half-region distance feature array to be a decreasing sequence when the absolute value of the difference between adjacent elements in the first half-region distance feature array is less than or equal to the third preset threshold, and the value of any element in the first half-region distance feature array is greater than the value of an element after a preset interval; before the second half-region distance feature array is determined to be an increasing sequence, the method further includes determining the second half-region distance feature array to be an increasing sequence when the absolute value of the difference between adjacent elements in the second half-region distance feature array is less than or equal to the third preset threshold, and the value of any element in the second half-region distance feature array is less than the value of an element after a preset interval.

[0024] Based on the above scheme, by determining the absolute value of the difference between adjacent elements and the increasing and decreasing relationship between elements at a preset interval, the increasing and decreasing sequence can be determined, which can eliminate the influence of detection error and avoid the difficulty in configuring obstacle detection function due to local detection error.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0026] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions and advantages in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A side view of a lift-up range hood according to an embodiment of the present disclosure is shown;

[0029] Figure 2 A side view of the test area of ​​a lift-up range hood according to an embodiment of the present disclosure is shown;

[0030] Figure 3 A side view of a lifting range hood in its initial position is shown according to an embodiment of the present disclosure;

[0031] Figure 4 A side view is shown of a range hood that detects an obstacle according to an embodiment of the present disclosure;

[0032] Figure 5 A bottom view of the mounting plate of a liftable range hood according to an embodiment of the present disclosure is shown;

[0033] Figure 6 A structural diagram of the control circuit of a lifting range hood according to an embodiment of the present disclosure is shown;

[0034] Figure 7 A flowchart illustrating the steps of a range hood control method according to an embodiment of the present disclosure is shown.

[0035] Figure 8 A top view is shown of the laser beams emitted by a single-line lidar according to an embodiment of the present disclosure during one scanning cycle;

[0036] Figure 9 A top view showing the laser beams emitted by a single-line lidar when it detects an obstacle according to an embodiment of the present disclosure;

[0037] Figure 10 A flowchart illustrating the steps of initializing the obstacle detection function configuration according to an embodiment of the present disclosure is shown;

[0038] Figure 11 A top view is shown of each laser beam emitted by a single-line lidar according to an embodiment of the present disclosure during an initial scanning cycle;

[0039] Figure 12 This diagram illustrates the steps of determining currently undetected obstacles based on an initialized distance feature array according to an embodiment of the present disclosure.

[0040] Figure 13 A control flowchart of a lifting range hood according to an embodiment of the present disclosure is shown.

[0041] In the picture,

[0042] 11. Single-line lidar; 12. Range hood body; 13. Lifting module; 31. Laser emission point position; 41. First lighting lamp; 42. Second lighting lamp. Detailed Implementation

[0043] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0045] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0046] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0047] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0048] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0049] Unless otherwise specified, in this article, "front" refers to the direction in which the range hood faces the user, and "back" refers to the direction in which the range hood is away from the user. Other directions are determined based on the aforementioned front and back directions.

[0050] Current lift-up range hoods can only descend to a fixed height or a user-defined height. However, they cannot determine whether there are obstacles on the cooktop during the descent, posing a risk of impact to cookware or people.

[0051] In related technologies, there are two solutions for obstacle detection and collision avoidance in lifting range hoods. The first solution involves the range hood making contact with an object and experiencing a slight collision during descent, then determining the presence of an obstacle before proceeding with the ascent. This process may cause the cookware to tip over, posing certain risks and safety hazards. The descent speed of the range hood is also limited. To achieve the collision avoidance function in this solution, a gyroscope, accelerometer, and pressure sensor need to be integrated into the range hood. The sudden change in acceleration or pressure after the range hood contacts an object is used to identify an obstacle, resulting in high overall manufacturing costs. Furthermore, the sensors need to be installed in specific locations; otherwise, the detection will be inaccurate. The second solution integrates a multi-line lidar system into the range hood. This system uses multi-point data ranging calculations to detect obstacles before the range hood makes contact with the object. However, the overall manufacturing cost of this solution is also high, and the computational load on the range hood controller is large, making the corresponding software system design complex.

[0052] To address at least one of the aforementioned technical problems, this disclosure provides a liftable range hood, please refer to... Figure 1 The lifting range hood includes a main body 12, a lifting module 13 connected to the main body 12, the lifting module 13 being installed on the wall and driving the main body 12 to rise and fall, a single-line laser radar 11 being installed at the bottom of the main body 12, the single-line laser radar 11 being used to detect obstacles below the main body 12 during its descent, and a control module being installed on the main body 12, the control module being electrically connected to the lifting module 13 and the single-line laser radar 11 respectively.

[0053] This embodiment employs a single-line lidar 11 to reduce costs. The single-line lidar 11 is a radar whose laser source emits a single-line beam. Its working principle involves emitting a single laser beam towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. By analyzing the time of flight (TOF) or frequency difference (Doppler shift), relevant parameters such as target distance and target position coordinates can be obtained. In this embodiment, the lifting range hood uses the single-line lidar 11 to detect obstacles below the range hood body 12, thereby achieving an anti-collision function. The single-line lidar 11 emits only one laser beam at a time, which helps reduce the computational load required to determine the target distance and position, thus improving the speed of obstacle detection.

[0054] In this embodiment, please refer to Figure 2 A single-line lidar 11 is located at the bottom front of the range hood body 12. The single-line lidar 11 emits laser beams diagonally downwards. The purpose of this downward-firing laser beam is to simultaneously acquire the height and horizontal position of the target, thus providing stronger spatial detection performance and avoiding the inability to identify planar obstacles. Specifically, it is composed of… Figure 2 It can be seen that the angle between the scanning surface of the single-line lidar 11 and the horizontal plane is β, and the spatial area enclosed by the scanning surface, the horizontal plane, and the wall is the detection area. Please refer to... Figures 3-4 During the descent of the range hood body 12, when an obstacle enters the detection area, the scanning surface detects the obstacle first. Correspondingly, at least one laser ray emitted by the single-line lidar 11 will illuminate the obstacle and return. Based on the position coordinates of the reflection point detected by the laser ray, if it is determined that the reflection point is not a point on the wall, it can be determined that the obstacle has been detected.

[0055] Please refer to Figure 2 In this embodiment, as β decreases, the laser beam emitted by the single-line lidar 11 gets closer to the air inlet at the bottom of the range hood body 12, and the corresponding detection area decreases accordingly. The scanning surface of the single-line lidar 11 is closer to the horizontal plane, which can improve the detection accuracy of obstacles with horizontal position changes. At the same time, the detection area coverage also moves upward. Conversely, as β increases, the laser beam emitted by the single-line lidar 11 moves further away from the air inlet at the bottom of the range hood body 12, and the corresponding detection area increases accordingly. The scanning surface of the single-line lidar 11 is further away from the horizontal plane, which can improve the detection accuracy of obstacles with height position changes. At the same time, the detection area coverage also moves downward.

[0056] In some embodiments, please refer to Figure 2 The range hood body 12 has a front baffle panel on its front side, and a mounting plate is rotatably connected to the bottom of the front baffle panel. A single-line laser radar 11 is mounted on the mounting plate. Based on the above structure, the angle between the mounting plate and the front baffle panel (i.e., Figure 2 (α) can be used to adjust the angle between the scanning surface of the single-line lidar 11 and the horizontal plane (i.e., α). Figure 2 The size of the detection area is adjusted by adjusting the β (in the middle), making the obstacle detection function of the range hood more suitable for actual use scenarios.

[0057] Furthermore, a light is also provided on the mounting plate, the orientation of which is consistent with the scanning direction of the single-line lidar 11. The light illuminates the space below the range hood body 12, improving the user's field of vision and thus enhancing the user experience. Additionally, the light helps to enhance the detection effect of the single-line lidar 11. In a specific embodiment, please refer to... Figure 5The bottom of the mounting plate is equipped with a single-line lidar 11, a first illumination lamp 41, and a second illumination lamp 42. The single-line lidar 11 is located in the middle of the mounting plate, and the first illumination lamp 41 and the second illumination lamp 42 are located on both sides of the single-line lidar 11. The first illumination lamp 41 and the second illumination lamp 42 can be the same model or different models. For example, the first illumination lamp 41 is a white light lamp, and the second illumination lamp 42 is a yellow light lamp.

[0058] In this embodiment, the control module includes a power board and a control board that are communicatively connected. The power board is used to control the functional components on the range hood body 12. The lifting module 13 and the single-line lidar 11 are both electrically connected to the power board. The control board is used to interact with the user. The control board is equipped with buttons and an audio-visual indicator. The user can issue control commands through the buttons to control the range hood body 12 to operate the corresponding functions. The audio-visual indicator is used to provide audio-visual feedback to inform the user of the current operating status and response status of the range hood.

[0059] In one specific implementation, please refer to Figure 6 Both the power board and the control board are based on microcontrollers. The power board contains a main control microcontroller (i.e., the main control MCU in the figure), which is used to control the lifting module 13 to start and stop lifting, as well as to acquire and process the detection signal of the single-line laser radar 11. Therefore, the main control microcontroller is electrically connected to the worm gear motor in the lifting module 13 and the single-line laser radar 11. The control board is configured as a touch screen control board, which contains a touch microcontroller (i.e., the touch MCU in the figure). The control board also has touch buttons, indicator lights and a buzzer. The touch microcontroller controls the buzzer through pulse width modulation (PWM).

[0060] This disclosure also provides a range hood control method, applied to the control module of the lifting range hood described in any of the above embodiments. The range hood control method can acquire the length of each laser beam emitted by the single-line lidar 11 during the descent of the range hood body 12, and then determine whether the detected target is an obstacle based on the length of each laser beam. When an obstacle is detected, the lifting module 13 is controlled to stop suddenly to achieve the effect of collision prevention.

[0061] For details, please refer to Figure 7 The control methods for range hoods include:

[0062] Step S101: When the obstacle detection function is configured, in response to the descent control command, the lifting module 13 in the lifting range hood is controlled to drive the main body 12 of the range hood to descend to the target height.

[0063] Step S102: During the descent of the range hood body 12, control the single-line lidar 11 to scan.

[0064] In this embodiment, the single-line lidar 11 is disposed on the bottom front side of the range hood body 12, so as to emit laser beams obliquely downwards towards the wall behind the range hood body 12. The single-line lidar 11 emits only one laser beam at a time, and then adjusts the angle to emit another laser beam, until it rotates to the maximum angle, thus completing one scanning cycle. Please refer to... Figure 8 , Figure 8 The diagram shows a top view of each laser beam emitted by a single-line lidar 11 within one scan cycle. In the diagram, point O is the laser emission point, laser emission point position 31, point P1 is the detection point of the first laser beam emitted in this scan cycle, and point Ptx is the detection point of the last laser beam emitted in this scan cycle.

[0065] Step S103: Based on the reflection point information of each laser beam emitted by the single-line lidar 11, extract the distance feature array. The distance feature array indicates the length of each laser beam emitted by the single-line lidar 11 within the same scanning cycle.

[0066] In this embodiment, the reflection point information includes the three-dimensional coordinates (x, y, z) of the object surface and the emission time t. The laser emission point is the origin O (X0, Y0, Z0). Based on the vector calculation formula, the length from the origin O to the reflection point, which is the length of the corresponding laser ray, can be obtained. The lengths of each laser ray emitted by the single-line lidar 11 in one scanning cycle are arranged into an array according to the emission order, thus obtaining the aforementioned distance feature array. It should be understood that the elements of the distance feature array corresponding to different scanning cycles are also one-to-one. For example, the distance feature array for the first scanning cycle is [L1, ..., L...]. tx The distance feature array for the second scan cycle is A = [L1′, ..., L]. t ′ x ].

[0067] After completing one scanning cycle, the single-line lidar 11 performs the next scanning cycle after a preset interval (Δt). The shorter the preset interval, the higher the scanning frequency of the single-line lidar 11, resulting in higher detection accuracy, but also an increase in the amount of data processing. Conversely, the longer the preset interval, the lower the scanning frequency of the single-line lidar 11, leading to lower detection accuracy and a decrease in the amount of data processing. It should be understood that the preset interval can be set to match the descent speed of the range hood body 12. The faster the range hood body 12 descends, the shorter the preset interval (minimum being zero, i.e., no interval between scanning cycles). Conversely, the slower the range hood body 12 descends, the longer the preset interval.

[0068] Step S104: If the absolute value of the error between the distance feature array corresponding to one scanning cycle and the distance feature array corresponding to the previous scanning cycle is greater than or equal to the first preset threshold, and the absolute value of the error between the distance feature array corresponding to the current scanning cycle and the distance feature array corresponding to the next scanning cycle is less than or equal to the second preset threshold, it is determined that an obstacle has been detected, and the lifting module 13 is controlled to stop.

[0069] The present invention discloses two-step judgment conditions for obstacle detection. The first obstacle detection judgment condition is: whether an object enters the detection area.

[0070] In one specific implementation, please refer to Figure 3 During the descent of the range hood body 12, if no object enters the detection area, the single-line lidar 11 will continuously detect the wall. The distance feature array corresponding to each scanning cycle should remain consistent. Considering the possibility of detection errors, the absolute value of the error in the distance feature array corresponding to each scanning cycle should be kept within a certain range. The top-view distribution of each laser beam emitted by the single-line lidar 11 is as follows: Figure 8 As shown in the figure, the reflection point P t1 P t2 P t3 Let L be the reflection point on the wall, and the corresponding distance of the laser beam is L. t1 L t2 L t3 Please refer to Figure 4 If an object enters the detection area during the descent of the range hood body 12, the top-view distribution of each laser beam emitted by the single-line lidar 11 will be as follows: Figure 9 As shown in the figure, the reflection point P t′1 P t′2 P t′3 Let L be the reflection point on the object's surface, and the corresponding distance of the laser ray is L. t′1 L t′2 L t′3 .

[0071] At this point, obstacle detection judgment condition one is specifically: L t1 -L t′1 ≥aΔl, L t2 -L t′2 ≥aΔl, L t3 -L t′3 ≥aΔl, where aΔl is the first preset threshold, Δl is the error base, and a is the first error coefficient. By adjusting and reducing the value of a, the sensitivity of obstacle detection can be improved.

[0072] In this embodiment, when an object enters the detection area, it is also necessary to rule out false detections caused by flying insects, oil fumes, user operation, or malfunctions of the single-line lidar 11 itself. Therefore, after detecting an object entering the detection area, obstacle detection judgment condition two is set: confirming whether the object entering the detection area is an obstacle. If the object entering the detection area is an obstacle, then after the single-line lidar 11 detects the obstacle, the distance feature data corresponding to the first few scanning cycles should not change much. Therefore, the distance can be compared with the distance feature array of the next cycle and the distance feature array of the current cycle. t′1 L t′2 L t′3 By comparison, if the error value is less than a certain range, the object entering the detection area is considered an obstacle.

[0073] Based on the above implementation method, under the condition that obstacle detection judgment condition one is satisfied, obstacle detection judgment condition two can be specifically expressed as |L t″1 -L t′1 |≤bΔl,|L t″2 -L t′2 |≤bΔl,L t″3 -L t′3 |≤bΔl, where bΔl is the second preset threshold, Δl is the error base, and b is the first error coefficient. By adjusting and increasing the value of b, the sensitivity of obstacle detection can be improved.

[0074] In some embodiments of this disclosure, in order to further reduce the probability of false detection, obstacle detection judgment condition two can be repeated. That is, before determining that an obstacle has been detected, the method further includes determining that an obstacle has been detected if the absolute value of the error between the distance feature array corresponding to the next scanning cycle and the distance feature array corresponding to the next-next scanning cycle is less than or equal to a second preset threshold.

[0075] Based on the above implementation method, under the condition that obstacle detection judgment condition one is satisfied, obstacle detection judgment condition two can be specifically expressed as: simultaneously within the scanning cycle with time intervals of Δt and 2Δt, the following must be satisfied:

[0076] |L t″1 -L t′1 |≤bΔl,|L t″2 -L t′2 |≤bΔl,|L t″3 -L t′3 |≤bΔl,

[0077] |L t″1 -L t″′1 |≤bΔl,|L t″2 -Lt″′2 |≤bΔl,|L t″3 -L t″′3 |≤bΔl.

[0078] It should be understood that obstacle detection judgment condition two is not limited to judgment based on two scanning cycles, but can also be based on more than two scanning cycles. The specific expression of obstacle detection judgment condition two should be flexibly adjusted according to actual needs.

[0079] It is worth noting that in this embodiment, after the obstacle detection function is configured, an initial distance feature array is generated. This initial distance feature array serves as the distance feature array corresponding to the initial scanning cycle. After the lifting module 13 starts running at a preset interval, the single-line lidar 11 performs a scan and compares the absolute value of the error between the acquired distance feature array and the initial distance feature array, thereby ensuring that obstacles can be detected as soon as possible.

[0080] In this embodiment, the obstacle detection function is configured to ensure that there are no obstacles in the detection area when the range hood body 12 is in its initial position, i.e., the single-line lidar 11 scans the wall. For details, please refer to... Figure 10 Before the obstacle detection function is configured, the method also includes,

[0081] Step S201: In response to the obstacle detection function configuration command, control the single-line lidar 11 to perform initial scanning.

[0082] Step S202: Based on the reflection point information of each laser beam emitted by the single-line lidar 11, extract the initialization distance feature array. The initialization distance feature array indicates the length of each laser beam emitted by the single-line lidar 11 during the initialization scan.

[0083] Step S203: Determine the theoretical length of the laser centerline of the single-line lidar 11 based on the vertical distance between the single-line lidar 11 and the wall and the angle between the scanning surface emitted by the single-line lidar 11 and the horizontal plane.

[0084] Please refer to Figure 2 The vertical distance between the single-line lidar 11 and the wall is d in the figure. The angle between the scanning surface emitted by the single-line lidar 11 and the horizontal plane is angle β in the figure. The theoretical length of the laser centerline of the single-line lidar 11 is l = d / cosβ.

[0085] Step S204: If the error value between the laser centerline length of the single-line lidar 11 and the theoretical length is less than or equal to the third preset threshold, and if it is determined that no obstacle is detected at present based on the initialized distance feature array, the initialized distance feature array is determined as the distance feature array corresponding to the initial scanning cycle.

[0086] The present invention discloses a three-step judgment condition for function configuration initialization, wherein the first initialization judgment condition is: determining whether the single-line lidar 11 is aligned with a preset angle.

[0087] In one specific implementation, please refer to Figure 11 , Figure 11 Middle reflection point That is, the reflection point of the laser's centerline, based on the coordinates of the origin O and the reflection point. The length of the laser centerline can be obtained from the coordinates. At this point, the initialization condition one is expressed as: cΔl is the first preset threshold, where Δl is the error base and c is the third error coefficient. By adjusting and reducing the value of c, the accuracy can be improved.

[0088] In this embodiment of the disclosure, initialization judgment condition two and initialization judgment condition three are both used to confirm that no obstacle has been detected. Before determining that no obstacle has been detected based on the initial distance feature array, please refer to... Figure 12 The methods also include,

[0089] Step S301: Based on the initialized distance feature array, extract the first half-zone distance feature array and the second half-zone distance feature array. The first half-zone distance feature array indicates the length of each laser beam emitted by the single-line lidar 11 before emitting the laser center line, and the second half-zone distance feature array indicates the length of each laser beam emitted by the single-line lidar 11 after emitting the laser center line.

[0090] Step S302: If the distance feature array of the first half-zone is determined to be a decreasing sequence and the distance feature array of the second half-zone is determined to be an increasing sequence, it is determined that no obstacle has been detected.

[0091] In this embodiment, initialization condition two is that the distance feature array of the first half-zone is a decreasing sequence, and initialization condition three is that the distance feature array of the second half-zone is an increasing sequence. Since the single-line lidar 11 should be aligned with the wall for detection during initial scanning, the initialization distance feature array should match the wall detection data. If initialization condition one, initialization condition two, and initialization condition three are simultaneously satisfied, it can be determined that there are no obstacles in the current detection area, and the single-line lidar 11 is aligned with the wall.

[0092] It should be noted that this disclosure does not limit the distance feature array of the first half-zone to a strictly increasing sequence, nor does it limit the distance feature array of the second half-zone to a strictly decreasing sequence. In some possible application scenarios, it is necessary to consider the unevenness of the wall surface and the detection error of the single-line lidar 11 itself. Therefore, before the distance feature array of the first half-zone is determined to be a decreasing sequence, the method further includes determining the distance feature array of the first half-zone to be a decreasing sequence if the absolute value of the difference between adjacent elements in the distance feature array of the first half-zone is less than or equal to a third preset threshold, and the value of any element in the distance feature array of the first half-zone is greater than the value of an element after a preset interval.

[0093] Similarly, before the second half-zone distance feature array is determined to be an increasing sequence, the method further includes determining the second half-zone distance feature array to be an increasing sequence if the absolute value of the difference between adjacent elements in the second half-zone distance feature array is less than or equal to a third preset threshold, and the value of any element in the second half-zone distance feature array is less than the value of the element after a preset interval.

[0094] In one specific implementation, please refer to Figure 11 The first half-region distance feature array is The second initialization condition is: Array A should be a decreasing sequence. When the preset interval is set to 4, the data in the array must satisfy the following:

[0095] L ti -L t(i-1) |≤Δl, where

[0096] Data with an interval of 4 should satisfy the following:

[0097] L tj >L t(j+5) ,in

[0098] Correspondingly, the distance feature array for the second half of the region is The third initialization condition is: Array B should be an increasing sequence. When the preset interval is set to 4, the data in the array must satisfy the following:

[0099] L tm -L t(m+1) |≤Δl, where

[0100] Data with an interval of 4 should satisfy the following:

[0101] L tn <L t(n+5) ,in

[0102] The above embodiments have described in detail a lifting range hood and a method of using the range hood disclosed herein. For ease of understanding, a specific implementation method is provided below to introduce the control flow of the lifting range hood disclosed herein.

[0103] Please refer to Figure 13 There are three control processes for the lifting range hood. Process 1: In the mode without obstacle detection function, when the lifting range hood receives the command to descend, it will continue to descend for a fixed time until it reaches the target height.

[0104] Step 2: Upon initial power-on, initialization is performed to configure the obstacle detection function. Initialization commands are issued via buttons on the control panel, and logical judgments are made for initialization condition 1, initialization condition 2, and initialization condition 3. If the judgment is not completed within a preset time (e.g., 5 seconds), the initialization judgment needs to be performed again. Once the three initialization judgment conditions are met and the parameter initialization configuration is completed, obstacle detection can be performed during descent.

[0105] Step 3: With the obstacle detection function configured, before the range hood body 12 descends to the target height, repeat the logical judgments for obstacle detection judgment condition one and obstacle detection judgment condition two. When both obstacle detection judgment condition one and obstacle detection judgment condition two are met, it is determined that an obstacle has been detected. The motor of the lifting module 13 is then stopped abruptly, and an audible warning is issued (e.g., a buzzer sounds continuously for 5 seconds). Subsequently, the lifting module 13 is controlled to raise the range hood body 12, with a rising time T. s Less than the total time T for the range hood to descend, for example.

[0106] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A lifting hood, characterized in that The range hood body (12) is provided with a front blocking panel, the bottom of the front blocking panel is rotationally connected with a mounting plate, and the mounting plate is installed with the single-line laser radar (11).

2. The lifting hood according to claim 1, characterized in that The mounting plate is further provided with an illuminating lamp, and the direction of the illuminating lamp is consistent with the scanning direction of the single-line laser radar (11).

3. The lifting hood according to claim 2, characterized in that The control module comprises a power board and a control board which are in communication with each other, the power board is in electrical signal connection with the lifting module (13) and the single-line laser radar (11), and the control board is provided with a key and an audible and visual indicator.

4. The lifting hood according to claim 1, characterized in that The method comprises, 5. A control method of a range hood, applied to the control module of the lifting range hood of any one of claims 1-4, characterized in that, In the case that the obstacle detection function is configured to be completed, in response to a lowering control instruction, the lifting module (13) in the lifting range hood is controlled to drive the range hood body (12) connected with the lifting module (13) to be lowered to a target height; In the process of lowering the range hood body (12), the single-line laser radar (11) in the lifting range hood is controlled to be scanned; According to the reflection point information of each laser ray emitted by the single-line laser radar (11), a distance feature array is extracted, and the distance feature array indicates the length of each laser ray emitted by the single-line laser radar (11) in the same scanning period; In the case that the error absolute value of the distance feature array corresponding to a scanning period and the distance feature array corresponding to the last scanning period is greater than or equal to a first preset threshold, and the error absolute value of the distance feature array corresponding to the scanning period and the distance feature array corresponding to the next scanning period is less than or equal to a second preset threshold, it is determined that an obstacle is detected, and the lifting module (13) is controlled to stop. Before the determination that the obstacle is detected, the method further comprises, 6. The method of claim 5, wherein, In the case that the error absolute value of the distance feature array corresponding to the next scanning period and the distance feature array corresponding to the scanning period after that is less than or equal to the second preset threshold, it is determined that an obstacle is detected. Before the obstacle detection function is configured to be completed, the method further comprises, 7. The method of claim 5, wherein, In response to an obstacle detection function configuration instruction, the single-line laser radar (11) is controlled to be initialized to scan; ​ According to the reflection point information of each laser ray emitted by the single-line laser radar (11), an initialization distance feature array is extracted, the initialization distance feature array indicating the length of each laser ray emitted by the single-line laser radar (11) in the initialization scanning; According to the vertical distance between the single-line laser radar (11) and the wall surface and the included angle between the scanning surface emitted by the single-line laser radar (11) and the horizontal plane, the theoretical length of the laser center line of the single-line laser radar (11) is determined; In a case where the error value between the length of the laser center line of the single-line laser radar (11) and the theoretical length is less than or equal to a third preset threshold value, and it is determined based on the initialization distance feature array that no obstacle is currently detected, the initialization distance feature array is determined as the distance feature array corresponding to the initial scanning period.

8. The method of claim 7, wherein, Before the determination based on the initialization distance feature array that no obstacle is currently detected, the method further comprises, Based on the initialization distance feature array, a first half-region distance feature array and a second half-region distance feature array are extracted, the first half-region distance feature array indicating the length of each laser ray emitted by the single-line laser radar (11) before the laser center line is emitted, and the second half-region distance feature array indicating the length of each laser ray emitted by the single-line laser radar (11) after the laser center line is emitted; In a case where the first half-region distance feature array is determined as a decreasing sequence and the second half-region distance feature array is determined as an increasing sequence, it is determined that no obstacle is detected.

9. The method of claim 8, wherein, Before the determination that the first half-region distance feature array is a decreasing sequence, the method further comprises, In a case where the absolute value of the difference between adjacent elements in the first half-region distance feature array is less than or equal to the third preset threshold value, and the value of any element in the first half-region distance feature array is greater than the value of the element after the preset interval, the first half-region distance feature array is determined as a decreasing sequence; Before the determination that the second half-region distance feature array is an increasing sequence, the method further comprises, In a case where the absolute value of the difference between adjacent elements in the second half-region distance feature array is less than or equal to the third preset threshold value, and the value of any element in the second half-region distance feature array is less than the value of the element after the preset interval, the second half-region distance feature array is determined as an increasing sequence.

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