Airing rod position detection method, main controller, clothes airing machine and storage medium

Abstract

The embodiment of the invention provides an airing rod position detection method, a main controller, a clothes airing machine and a storage medium, and relates to the field of clothes airing machines. The method comprises the steps that in response to a first airing rod control signal, first position information of an airing rod before lifting is obtained, and the airing rod is controlled to ascend and descend; based on the current value detected in the lifting process of the airing rod, the moving speed of the airing rod is determined, and the moving distance of the airing rod is determined based on the moving speed; determining second position information of the airing rod based on the first airing rod control signal, the moving distance and the first position information; the second position information is used for representing the position information of the airing rod after lifting. According to the embodiment of the invention, a Hall sensor does not need to be used, the position of the airing rod can be identified by detecting the current when the motor runs and converting the current into the corresponding moving distance, and the purposes of reducing cost and increasing efficiency are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of clothes drying machines, and in particular to a method for detecting a position of a clothes drying rod, a main controller, a clothes drying machine and a storage medium. Background Art

[0002] With the rapid development of the drying industry, competition in the smart clothes drying machine market has become increasingly fierce. Various manufacturers are reducing costs and increasing efficiency to improve the performance of smart clothes drying machines.

[0003] Among them, the identification of the position of the clothes drying rod requires the use of a Hall sensor; however, the use of a Hall sensor requires a lot of circuit driving cost and installation cost, thereby increasing the cost of the clothes drying machine. Summary of the invention

[0004] The embodiments of the present application provide a method for detecting the position of a clothes drying rod, a main controller, a clothes drying machine and a storage medium, which are used to solve the technical problem that the cost of the clothes drying machine is high due to the need to use a Hall sensor to identify the position of the clothes drying rod.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting a position of a clothes drying rod, which is applied to a clothes drying machine including a clothes drying rod, comprising:

[0006] In response to the first air-drying rod control signal, first position information of the air-drying rod before being raised or lowered is acquired, and the air-drying rod is controlled to be raised or lowered;

[0007] Determine the moving speed of the drying rod based on the current value detected during the lifting and lowering process of the drying rod, and determine the moving distance of the drying rod based on the moving speed;

[0008] Based on the first drying rod control signal, the moving distance and the first position information, the second position information of the drying rod is determined; the second position information is used to characterize the position information of the drying rod after it is raised or lowered.

[0009] In a possible implementation, determining the moving speed of the drying rod based on the current value detected during the lifting and lowering process of the drying rod includes:

[0010] Acquire a plurality of first detection currents of the motor of the clothes drying machine within a predetermined unit time;

[0011] Taking an average value of the plurality of first detection currents as the current value;

[0012] Determine a target calculation formula based on the correspondence between the first drying rod control signal and a preset calculation formula;

[0013] Based on the current value and the target calculation formula, the moving speed is determined.

[0014] In a possible implementation, determining the moving distance of the drying rod based on the moving speed includes:

[0015] Determine the unit moving distance based on the moving speed and the predetermined unit duration;

[0016] During the movement of the clothes-drying rod, the moving distance is determined based on the time taken for the clothes-drying rod to move and the unit moving distance.

[0017] In a possible implementation, determining the second position information of the drying rod based on the first drying rod control signal, the moving distance, and the first position information includes:

[0018] If the first drying rod control signal is used to control the drying rod to descend, the distance corresponding to the first position information is increased by the moving distance to obtain the second position information of the drying rod;

[0019] If the first drying rod control signal is used to control the drying rod to rise, the distance corresponding to the first position information is reduced by the moving distance to obtain the second position information of the drying rod;

[0020] The first position information and the second position information are both used to indicate the distance between the position of the clothes drying rod and the upper limit position.

[0021] In a possible implementation, based on the correspondence between the first drying rod control signal and the preset calculation formula, determining the target calculation formula includes:

[0022] If the first drying rod control signal is used to control the drying rod to rise, then the target calculation formula is determined to be the first calculation formula from the corresponding relationship between the first drying rod control signal and the preset calculation formula;

[0023] The first calculation formula is that the moving speed is equal to the ratio of the first current difference to the first total current difference multiplied by the first total speed difference plus the first preset speed;

[0024] The first current difference is the difference between the current value and the first preset current value;

[0025] The first total current difference is the difference between the second preset current value and the first preset current value;

[0026] The first total speed difference is the difference between the second preset speed and the first preset speed;

[0027] The first preset current value is the current value when the clothes-drying rod rises with no load, the second preset current value is the current value when the clothes-drying rod rises with rated load, the first preset speed is the speed at which the clothes-drying rod rises with rated load, and the second preset speed is the speed at which the clothes-drying rod rises with no load.

[0028] In a possible implementation, based on the correspondence between the first drying rod control signal and the preset calculation formula, determining the target calculation formula includes:

[0029] If the first drying rod control signal is used to control the drying rod to descend, then the target calculation formula is determined to be the second calculation formula from the corresponding relationship between the first drying rod control signal and the preset calculation formula;

[0030] The second calculation formula is that the moving speed is equal to the ratio of the second current difference to the second total current difference multiplied by the second total speed difference plus the third preset speed;

[0031] The second current difference is the difference between the third preset current value and the current value;

[0032] The second total current difference is the difference between the third preset current value and the fourth preset current value;

[0033] The second total speed difference is the difference between the fourth preset speed and the third preset speed;

[0034] The third preset current value is the current value when the clothes-drying rod drops without load, the fourth preset current value is the current value when the clothes-drying rod drops with rated load, the third preset speed is the speed at which the clothes-drying rod drops without load, and the fourth preset speed is the speed at which the clothes-drying rod drops with rated load.

[0035] In a possible implementation, the method for detecting the position of the clothes drying rod further includes at least one of the following:

[0036] The first preset speed is obtained by: determining the first preset speed based on the total movable stroke of the clothes-drying rod and the time taken for the total rising stroke of the clothes-drying rod with rated load;

[0037] The second preset speed is obtained by: determining the second preset speed based on the total movable stroke of the clothes-drying rod and the total rising stroke time of the clothes-drying rod without load;

[0038] The first preset current value is obtained by: during the unloaded rising process of the clothes drying rod, an average value of a plurality of second detected currents of the motor is detected as the first preset current value;

[0039] The second preset current value is obtained in the following manner: during the rising process of the rated load of the clothes-drying rod, an average value of a plurality of third detected currents of the motor is detected as the second preset current value.

[0040] In a possible implementation, the method for detecting the position of the clothes drying rod further includes at least one of the following:

[0041] The third preset speed is obtained by: determining the third preset speed based on the total movable stroke of the drying rod and the total time taken for the drying rod to descend without load;

[0042] The fourth preset speed is obtained by: determining the fourth preset speed based on the total movable stroke of the clothes-drying rod and the time taken for the total descending stroke of the clothes-drying rod with rated load;

[0043] The third preset current value is obtained by: during the unloaded lowering process of the drying rod, an average value of a plurality of fourth detected currents of the motor is taken as the third preset current value;

[0044] The fourth preset current value is obtained in the following manner: during the process of the rated load of the clothes-drying rod decreasing, an average value of a plurality of fifth detected currents of the motor is detected as the fourth preset current value.

[0045] In a second aspect, an embodiment of the present application provides a main controller, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method of the first aspect.

[0046] In a third aspect, an embodiment of the present application provides a clothes drying machine, comprising: the main controller of the second aspect, and at least one of the following items electrically connected to the main controller: an upper limit switch, a lower limit switch, and an obstruction switch;

[0047] The master controller is also configured to do at least one of the following:

[0048] In response to a first stop signal sent by the upper limit switch, the air-drying rod is controlled to stop moving; the first stop signal is sent by the upper limit switch when it detects that the air-drying rod reaches the upper limit position;

[0049] In response to the second stop signal sent by the lower limit switch, the drying rod is controlled to stop moving; the second stop signal is sent by the lower limit switch when it detects that the drying rod reaches the lower limit position;

[0050] In response to the third stop signal sent by the resistance switch, the drying rod is controlled to stop moving; the third stop signal is sent when the resistance switch detects that the drying rod encounters resistance.

[0051] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method of the first aspect when the computer program is executed by a processor.

[0052] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0053] The embodiment of the present application can respond to the first air-drying rod control signal, obtain the first position information of the air-drying rod before it is raised or lowered, and control the air-drying rod to be raised or lowered, and then determine the moving speed of the air-drying rod based on the current value detected during the air-drying rod raising or lowering process, and then determine the moving distance of the air-drying rod based on the moving speed, so that the second position information of the air-drying rod after it is raised or lowered can be determined based on the first air-drying rod control signal, the moving distance, and the first position information, so as to realize the identification of the position of the air-drying rod. Therefore, the embodiment of the present application does not need to use a Hall sensor, and can realize the identification of the position of the air-drying rod by detecting the current when the motor is running and converting it into the corresponding moving distance, thereby achieving the purpose of reducing costs and increasing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in describing the embodiments of the present application.

[0055] Figure 1 A flow chart of a method for detecting the position of a clothes drying rod provided in an embodiment of the present application;

[0056] Figure 2 A flow chart of a method for determining a moving distance of a clothes drying rod provided in an embodiment of the present application;

[0057] Figure 3 A flow chart of a method for controlling the position of a drying rod provided in an embodiment of the present application;

[0058] Figure 4 A schematic diagram of the principle of controlling the position of a clothes drying rod provided in an embodiment of the present application;

[0059] Figure 5 A schematic diagram of the structure of a device for detecting the position of a clothes drying rod provided in an embodiment of the present application;

[0060] Figure 6 A schematic diagram of the structure of a control device for the position of a drying rod provided in an embodiment of the present application;

[0061] Figure 7 A schematic diagram of the structure of a main controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0063] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation as other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0064] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0065] See also Figure 1 As shown, an embodiment of the present application provides a flow chart of a method for detecting the position of a clothes drying rod. The method for detecting the position of a clothes drying rod is applied to a clothes drying machine including a clothes drying rod, and includes: S101 to S103.

[0066] S101. In response to a first drying rod control signal, obtain first position information of the drying rod before it is raised or lowered, and control the drying rod to be raised or lowered.

[0067] Optionally, the first drying rod control signal may be a control signal for controlling the drying rod to rise or a control signal for controlling the drying rod to fall.

[0068] Optionally, the first position information of the clothes-drying rod before being raised or lowered, that is, the second position information determined when the clothes-drying rod stopped last time, is used to indicate the position information of the current position of the clothes-drying rod.

[0069] Optionally, the first position information may represent a distance value between the current position and an upper limit position, wherein the upper limit position is the highest point that the clothes-drying rod can reach, and the lower limit position is the lowest point that the clothes-drying rod can reach.

[0070] S102: Determine the moving speed of the drying rod based on the current value detected during the lifting and lowering process of the drying rod, and determine the moving distance of the drying rod based on the moving speed.

[0071] Optionally, the current value can be obtained through a current sampling circuit of the clothes drying machine without the need to set up an additional circuit structure.

[0072] In some embodiments, the moving speed of the clothes drying rod is determined based on the current value detected during the lifting and lowering process of the clothes drying rod, including: obtaining multiple first detection currents of the motor of the clothes drying machine within a predetermined unit time; taking the average value of the multiple first detection currents as the current value; determining the target calculation formula based on the correspondence between the first clothes drying rod control signal and the preset calculation formula; determining the moving speed based on the current value and the target calculation formula.

[0073] Optionally, a predetermined unit time can be set according to the actual operation of the clothes drying machine, and the average value of the multiple first detection currents collected in the predetermined unit time is taken to obtain a current value. Then, according to whether the first drying rod control signal controls the drying rod to rise or to control the drying rod to fall, the corresponding preset calculation formula is determined as the target calculation formula, and the current value is substituted into the target calculation formula to obtain the moving speed.

[0074] In some embodiments, determining the moving distance of the clothes-drying rod based on the moving speed includes: determining the unit moving distance based on the moving speed and a predetermined unit time; and determining the moving distance based on the time taken for the clothes-drying rod to move and the unit moving distance during the movement of the clothes-drying rod.

[0075] Optionally, determining the moving distance based on the time taken for the pole to move and the unit moving distance may include: determining the total time taken for the pole to move and determining the calculated number of predetermined unit durations contained in the total time; and determining the moving distance based on the calculated number and the unit moving distance.

[0076] Optionally, the moving speed is multiplied by the predetermined unit time to obtain the unit moving distance, and the total time used in the process of the clothes-drying rod moving is determined. The moving distance can be determined according to how many predetermined unit time lengths the total time includes. If the total statistical time includes three predetermined unit time lengths but less than four predetermined unit time lengths, it can be determined that the total time includes three predetermined unit time lengths.

[0077] Optionally, during the descent of the clothes-drying rod, according to the time taken for the clothes-drying rod to move, each movement increases by a predetermined unit time, and a unit movement distance can be added to the distance value corresponding to the first position information. During the ascending process of the clothes-drying rod, according to the time taken for the clothes-drying rod to move, each movement increases by a predetermined unit time, and a unit movement distance can be subtracted from the distance value corresponding to the first position information, and the unit movement distance is used as a movement distance, and the unit movement distance is continuously increased or decreased, so as to obtain the second position information.

[0078] S103, determining second position information of the drying rod based on the first drying rod control signal, the moving distance and the first position information; the second position information is used to represent the position information of the drying rod after being raised or lowered.

[0079] In some embodiments, based on the first drying rod control signal, the moving distance and the first position information, the second position information of the drying rod is determined, including: if the first drying rod control signal is used to control the drying rod to descend, then the distance corresponding to the first position information is increased by the moving distance to obtain the second position information of the drying rod; if the first drying rod control signal is used to control the drying rod to rise, then the distance corresponding to the first position information is reduced by the moving distance to obtain the second position information of the drying rod; wherein the first position information and the second position information are both used to indicate the distance between the position of the drying rod and the upper limit position.

[0080] The embodiment of the present application can determine whether the drying rod is rising or falling according to the first drying rod control signal, so that the moving distance can be increased or decreased based on the first position information according to the movement state of the drying rod, and the position information of the drying rod after being raised or lowered can be obtained.

[0081] Based on the above S101 to S103, the embodiment of the present application can respond to the first air-drying rod control signal, obtain the first position information of the air-drying rod before moving, and control the air-drying rod to be raised and lowered, and then determine the moving speed of the air-drying rod based on the current value detected during the air-drying rod lifting process, and then determine the moving distance of the air-drying rod based on the moving speed, so that the second position information of the air-drying rod after lifting and lowering can be determined based on the first air-drying rod control signal, the moving distance and the first position information, so as to realize the identification of the position of the air-drying rod. Therefore, the embodiment of the present application does not need to use a Hall sensor, and can realize the identification of the position of the air-drying rod by detecting the current when the motor is running and converting it into the corresponding moving distance, thereby achieving the purpose of reducing costs and increasing efficiency.

[0082] See also Figure 2 As shown, the present invention provides a flow chart of a method for determining a moving distance of a clothes drying rod. The method for determining a moving distance includes: S201 to S206.

[0083] S201. Acquire a plurality of first detection currents of a motor of a clothes drying machine within a predetermined unit time.

[0084] Optionally, a predetermined unit time may be set according to the actual operation of the clothes drying machine, and a plurality of first detection currents of the motor may be collected during the predetermined unit time.

[0085] S202: Taking an average value of the plurality of first detection currents as the current value.

[0086] Optionally, an average value of a plurality of first detection currents is determined, and the average value is used as the current value and can be brought into subsequent calculations.

[0087] S203: Determine a target calculation formula based on the correspondence between the first drying rod control signal and a preset calculation formula.

[0088] Optionally, according to whether the first drying rod control signal controls the drying rod to rise or to descend, a corresponding preset calculation formula is determined as the target calculation formula.

[0089] In some embodiments, in S203, based on the correspondence between the first drying rod control signal and the preset calculation formula, a target calculation formula is determined, including: if the first drying rod control signal is used to control the rising of the drying rod, then from the correspondence between the first drying rod control signal and the preset calculation formula, the target calculation formula is determined to be the first calculation formula.

[0090] The first calculation formula is that the moving speed is equal to the ratio of the first current difference to the first total current difference multiplied by the first total speed difference plus the first preset speed;

[0091] The first current difference is the difference between the current value and the first preset current value;

[0092] The first total current difference is the difference between the second preset current value and the first preset current value;

[0093] The first total speed difference is the difference between the second preset speed and the first preset speed;

[0094] The first preset current value is the current value when the clothes-drying rod rises with no load, the second preset current value is the current value when the clothes-drying rod rises with rated load, the first preset speed is the speed at which the clothes-drying rod rises with rated load, and the second preset speed is the speed at which the clothes-drying rod rises with no load.

[0095] In some embodiments, in S203, based on the correspondence between the first drying rod control signal and the preset calculation formula, a target calculation formula is determined, including: if the first drying rod control signal is used to control the descent of the drying rod, then from the correspondence between the first drying rod control signal and the preset calculation formula, the target calculation formula is determined to be the second calculation formula.

[0096] The second calculation formula is that the moving speed is equal to the ratio of the second current difference to the second total current difference multiplied by the second total speed difference plus the third preset speed;

[0097] The second current difference is the difference between the third preset current value and the current value;

[0098] The second total current difference is the difference between the third preset current value and the fourth preset current value;

[0099] The second total speed difference is the difference between the fourth preset speed and the third preset speed;

[0100] The third preset current value is the current value when the clothes-drying rod drops without load, the fourth preset current value is the current value when the clothes-drying rod drops with rated load, the third preset speed is the speed at which the clothes-drying rod drops without load, and the fourth preset speed is the speed at which the clothes-drying rod drops with rated load.

[0101] S204: Determine the moving speed based on the current value and the target calculation formula.

[0102] Optionally, the first preset current value, the second preset current value, the first preset speed and the second preset speed are all known parameters calculated and determined in advance. Substituting the current value into the first calculation formula, the first current difference is known, the first current difference, the first total current difference, the first total speed difference and the first preset speed are all known, and then the moving speed can be determined.

[0103] Optionally, the third preset current value, the fourth preset current value, the third preset speed and the fourth preset speed are all known parameters calculated and determined in advance. Substituting the current value into the second calculation formula, the second current difference is known, the second current difference, the second total current difference, the second total speed difference and the third preset speed are all known, and then the moving speed can be determined.

[0104] S205: Determine a unit moving distance based on the moving speed and the predetermined unit duration.

[0105] Optionally, the moving speed is multiplied by a predetermined unit time length to obtain a unit moving distance.

[0106] S206. During the movement of the clothes-drying rod, determine the moving distance based on the time taken for the clothes-drying rod to move and the unit moving distance.

[0107] Optionally, the time taken for the clothes-drying rod to move can be used to determine how many predetermined unit time periods it includes, and the moving distance can be determined by multiplying the number of predetermined unit time periods by the unit moving distance. Alternatively, the unit moving distance can be used as a moving distance for each predetermined unit time period, and the unit moving distance can be continuously increased or decreased to obtain the second position information.

[0108] In some embodiments, the method for detecting the position of the clothes-drying rod further includes at least one of the following:

[0109] The first preset speed is obtained by: determining the first preset speed based on the total movable stroke of the clothes-drying rod and the time taken for the total rising stroke of the clothes-drying rod with rated load;

[0110] The second preset speed is obtained by: determining the second preset speed based on the total movable stroke of the clothes-drying rod and the total rising stroke time of the clothes-drying rod without load;

[0111] The first preset current value is obtained by: during the unloaded rising process of the clothes drying rod, an average value of a plurality of second detected currents of the motor is detected as the first preset current value;

[0112] The second preset current value is obtained in the following manner: during the rising process of the rated load of the clothes-drying rod, an average value of a plurality of third detected currents of the motor is detected as the second preset current value.

[0113] In some embodiments, the method for detecting the position of the clothes-drying rod further includes at least one of the following:

[0114] The third preset speed is obtained by: determining the third preset speed based on the total movable stroke of the drying rod and the total time taken for the drying rod to descend without load;

[0115] The fourth preset speed is obtained by: determining the fourth preset speed based on the total movable stroke of the clothes-drying rod and the time taken for the total descending stroke of the clothes-drying rod with rated load;

[0116] The third preset current value is obtained by: during the unloaded lowering process of the drying rod, an average value of a plurality of fourth detected currents of the motor is taken as the third preset current value;

[0117] The fourth preset current value is obtained in the following manner: during the process of the rated load of the clothes-drying rod decreasing, an average value of a plurality of fifth detected currents of the motor is detected as the fourth preset current value.

[0118] As an example, the drying pole position detection in the embodiment of the present application includes the following steps:

[0119] Step 1: Before performing the drying rod position detection, basic operating parameters will be measured.

[0120] Measure the time T taken to rise to the top without load UP0 and the corresponding current A UP0 ;

[0121] Measure the time T taken for the rated load (35KG) to rise to the top UP1 and the corresponding current A UP1 ;

[0122] Measure the time T taken to reach the bottom without load DW0 and the corresponding current A DW0 ;

[0123] Measure the time T taken for the rated load (35KG) to drop to the bottom DW1 and the corresponding current A DW1 ;

[0124] Measure the total travel S0 of the clothes drying rod.

[0125] When the basic data measurement is completed, it will be used as the basic parameters of the embodiment of the present application and written into the control program as a fixed value.

[0126] Step 2: Based on the above data, calculate the rising speed and falling speed of the drying rod;

[0127] The second preset speed for no-load rise is The first preset speed of the rated load (35KG) is

[0128] The third preset speed for no-load descent is The fourth preset speed for the rated load (35KG) to drop is

[0129] Calculate the rising and falling currents of the drying rod:

[0130] During the unloaded rising process of the drying rod, the average value of the plurality of second detected currents of the motor is taken as the first preset current value A. UP0 .

[0131] During the process of the rated load of the drying rod increasing, the average value of the plurality of third detection currents of the motor detected is used as the second preset current value A UP1 .

[0132] During the unloaded lowering of the drying rod, the average value of the plurality of fourth detection currents of the motor detected is used as the third preset current value A DW0 .

[0133] During the process of the rated load of the drying rod decreasing, the average value of the plurality of fifth detection currents of the motor detected is used as the fourth preset current value A DW1 .

[0134] Optionally, the predetermined unit time length may be 100 ms. Within the predetermined unit time length, the average value of the plurality of first detection currents is calculated as the current value A. UPt .

[0135] Step 3: Convert the current value detected to the moving speed;

[0136] The first current value A when the current drying rod rises UPt With the first moving speed V UPt Satisfaction relationship

[0137] The second current value A when the current drying rod is lowered DWt With the second moving speed V DWt Satisfaction relationship

[0138] The first current value A UPt is the current value when the drying rod rises, the first moving speed V UPt is the moving speed of the drying rod when it rises, and the second current value A DWt The current value when the drying rod is lowered, the second moving speed V Dwt It is the moving speed of the drying rod when it descends.

[0139] The first calculation formula is converted based on formula one, and the second calculation formula is converted based on formula two.

[0140] Step 4: Calculate the unit moving distance within the predetermined unit time according to the current moving speed;

[0141] The ascending distance within the predetermined unit time is S UPt =V UPt *0.1s;

[0142] The descending distance within the predetermined unit time is S DWt =V DWt *0.1s;

[0143] Step 5: Calculate the current position of the drying rod:

[0144] Optionally, the upper limit of the drying rod is set as zero, and during the descent of the drying rod, the running distance increases by S per predetermined unit time. DWt When the accumulated increase is greater than or equal to S0, it is judged that the drying rod has reached the lower limit; during the rising process of the drying rod, the running distance is reduced by S per predetermined unit time. UPt When the accumulated decrease value is less than or equal to 0, it is judged that the drying rod has reached the upper limit.

[0145] In the embodiment of the present application, when the clothes-drying rod is rising or falling, the main controller can detect the current value of the motor during operation. During the rising process, the greater the load, the greater the current value, and the slower the running speed; during the falling process, the greater the load, the smaller the current value, and the faster the running speed. When the clothes-drying rod is running, the current current value can be converted into the corresponding moving distance to achieve the purpose of position recognition.

[0146] The embodiment of the present application realizes the detection of stroke position through the current detection method, which saves the material cost of the Hall sensor; at the same time, the embodiment of the present application does not need to use the Hall sensor, which saves the installation cost during production.

[0147] See also Figure 3 As shown, an embodiment of the present application provides a flow chart of a method for controlling the position of a clothes drying rod. The method for controlling the position of a clothes drying rod is applied to a clothes drying machine including a clothes drying rod, and includes: S301.

[0148] S301. In response to a second drying rod control signal, control the drying rod to move to a specified position according to second position information of the drying rod; the second drying rod control signal is used to indicate that the drying rod has reached the specified position, and the second position information is determined based on a method for detecting the position of the drying rod in an embodiment of the present application.

[0149] Optionally, the second position information of the clothes-drying rod can be detected and calculated in real time during the movement of the clothes-drying rod. When it is detected based on the second position information that the position of the clothes-drying rod reaches the second position information, the motor is controlled to stop rotating, so as to control the clothes-drying rod to move to the specified position.

[0150] The embodiment of the present application can realize the itinerary customization function. The user can set a clothes drying point in the first half of the journey and a clothes collection point in the second half of the journey. The main controller determines whether the designated position is reached through the clothes drying rod position detection method of the embodiment of the present application.

[0151] In some embodiments, the clothes drying machine further comprises at least one of the following: an upper limit switch, a lower limit switch, and an obstruction switch. The method for controlling the position of the clothes drying rod further comprises: controlling the clothes drying rod to stop moving in response to a first stop signal sent by the upper limit switch; the first stop signal is sent by the upper limit switch when the clothes drying rod is detected to have reached the upper limit position;

[0152] In response to the second stop signal sent by the lower limit switch, the drying rod is controlled to stop moving; the second stop signal is sent by the lower limit switch when it detects that the drying rod reaches the lower limit position;

[0153] In response to the third stop signal sent by the resistance switch, the drying rod is controlled to stop moving; the third stop signal is sent when the resistance switch detects that the drying rod encounters resistance.

[0154] Based on the same inventive concept, an embodiment of the present application provides a main controller, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method of the embodiment of the present application.

[0155] See also Figure 4 As shown, the present application embodiment provides a schematic diagram of the principle of controlling the position of a drying rod. Figure 4 As shown, the embodiment of the present application also provides a clothes drying machine, including: a main controller of the embodiment of the present application, and at least one of the following items electrically connected to the main controller: an upper limit switch, a lower limit switch, and an obstruction switch. The main controller is electrically connected to the upper limit switch, the lower limit switch, and the obstruction switch, M represents a motor, and the main controller is electrically connected to the motor to control the rotation of the motor to control the movement of the clothes drying rod.

[0156] Optionally, the upper limit switch is arranged at the bottom of the main assembly of the clothes drying machine. When the clothes drying rod contacts the upper limit switch, the upper limit switch is triggered to send a first stop signal. The lower limit switch is arranged on the motor. The rotation of the motor drives the gear with a toggle corresponding to the lower limit switch to rotate. When the clothes drying rod reaches the lower limit position, the gear rotates until the toggle contacts the lower limit switch, and the lower limit switch sends a second stop signal. The resistance switch can be arranged at the wire rope of the clothes drying machine. The resistance switch is a micro switch. When the wire rope is loose, the resistance switch sends a third stop signal.

[0157] The main controller is further configured to do at least one of the following: in response to a first stop signal sent by the upper limit switch, control the drying rod to stop moving; the first stop signal is sent by the upper limit switch when it detects that the drying rod reaches the upper limit position;

[0158] In response to the second stop signal sent by the lower limit switch, the drying rod is controlled to stop moving; the second stop signal is sent by the lower limit switch when it detects that the drying rod reaches the lower limit position;

[0159] In response to the third stop signal sent by the resistance switch, the drying rod is controlled to stop moving; the third stop signal is sent when the resistance switch detects that the drying rod encounters resistance.

[0160] The embodiment of the present application can control the clothes drying rod to stop moving when the clothes drying rod encounters an obstacle, reaches the upper limit position, or reaches the lower limit position. The main controller of the embodiment of the present application is connected to the upper limit switch, the lower limit switch, and the resistance switch in terms of operation control. Compared with the traditional clothes drying machine, the Hall sensor is eliminated, and it can be applied to smart clothes drying machines or other smart devices.

[0161] See also Figure 5 As shown, the present application embodiment provides a schematic diagram of a structure of a device for detecting the position of a clothes drying rod. Figure 5 As shown, the detection device 50 for the position of the clothes-drying rod includes: an acquisition module 510 , a first determination module 520 and a second determination module 530 .

[0162] The acquisition module 510 is used to respond to the first air-drying rod control signal, acquire the first position information of the air-drying rod before it is raised or lowered, and control the air-drying rod to be raised or lowered;

[0163] The first determination module 520 is used to determine the moving speed of the drying rod based on the current value detected during the lifting process of the drying rod, and determine the moving distance of the drying rod based on the moving speed;

[0164] The second determination module 530 is used to determine the second position information of the drying rod based on the first drying rod control signal, the moving distance and the first position information; the second position information is used to represent the position information of the drying rod after being raised or lowered.

[0165] The first determination module 520 is also used to obtain multiple first detection currents of the motor of the clothes drying machine within a predetermined unit time; take the average value of the multiple first detection currents as the current value; determine the target calculation formula based on the correspondence between the first drying rod control signal and the preset calculation formula; determine the moving speed based on the current value and the target calculation formula.

[0166] The first determination module 520 is further used to determine the unit moving distance according to the moving speed and the predetermined unit time length; during the movement of the clothes-drying rod, the moving distance is determined based on the time taken for the clothes-drying rod to move and the unit moving distance.

[0167] The second determination module 530 is also used to increase the distance corresponding to the first position information by the moving distance to obtain the second position information of the drying rod if the first drying rod control signal is used to control the drying rod to descend; if the first drying rod control signal is used to control the drying rod to ascend, then reduce the distance corresponding to the first position information by the moving distance to obtain the second position information of the drying rod; wherein the first position information and the second position information are both used to indicate the distance between the position of the drying rod and the upper limit position.

[0168] The first determination module 520 is also used to determine that the target calculation formula is the first calculation formula from the correspondence between the first drying rod control signal and the preset calculation formula if the first drying rod control signal is used to control the rising of the drying rod; wherein the first calculation formula is that the moving speed is equal to the ratio of the first current difference to the first total current difference multiplied by the first total speed difference plus the first preset speed; the first current difference is the difference between the current value and the first preset current value; the first total current difference is the difference between the second preset current value and the first preset current value; the first total speed difference is the difference between the second preset speed and the first preset speed; the first preset current value is the current value for the drying rod to rise with no load, the second preset current value is the current value for the drying rod to rise with rated load, the first preset speed is the speed for the drying rod to rise with rated load, and the second preset speed is the speed for the drying rod to rise with no load.

[0169] The first determination module 520 is further used to determine a target calculation formula based on the correspondence between the first drying rod control signal and the preset calculation formula, including:

[0170] If the first drying rod control signal is used to control the descent of the drying rod, then the target calculation formula is determined to be the second calculation formula from the correspondence between the first drying rod control signal and the preset calculation formula; wherein the second calculation formula is that the moving speed is equal to the ratio of the second current difference to the second total current difference multiplied by the second total speed difference plus the third preset speed; the second current difference is the difference between the third preset current value and the current value; the second total current difference is the difference between the third preset current value and the fourth preset current value; the second total speed difference is the difference between the fourth preset speed and the third preset speed; the third preset current value is the current value for the drying rod to descend with no load, the fourth preset current value is the current value for the drying rod to descend with rated load, the third preset speed is the speed for the drying rod to descend with no load, and the fourth preset speed is the speed for the drying rod to descend with rated load.

[0171] The device of the embodiments of the present application can execute the method provided by the embodiments of the present application, and the implementation principles are similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, which will not be repeated here.

[0172] See also Figure 6 As shown, the present application provides a schematic diagram of a structure of a control device for the position of a drying rod. Figure 6 As shown, the control device 60 for the position of the drying rod includes: a control module 610.

[0173] The control module 610 is used to respond to the second drying rod control signal and control the drying rod to move to the specified position according to the second position information of the drying rod; the second drying rod control signal is used to indicate that the drying rod has reached the specified position, and the second position information is determined based on the detection method of the drying rod position of the embodiment of the present application.

[0174] The control module 610 is also used to control the drying rod to stop moving in response to a first stop signal sent by the upper limit switch; the first stop signal is sent by the upper limit switch when the upper limit switch detects that the drying rod has reached the upper limit position; the control rod is stopped in response to a second stop signal sent by the lower limit switch; the second stop signal is sent by the lower limit switch when the lower limit switch detects that the drying rod has reached the lower limit position; the control rod is stopped in response to a third stop signal sent by the resistance switch; the third stop signal is sent when the resistance switch detects that the drying rod encounters resistance.

[0175] The device of the embodiments of the present application can execute the method provided by the embodiments of the present application, and the implementation principles are similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, which will not be repeated here.

[0176] See also Figure 7 As shown, an embodiment of the present application provides a structural schematic diagram of a main controller. Figure 7 The main controller 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the main controller 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the main controller 4000 does not constitute a limitation on the embodiments of the present application.

[0177] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0178] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0179] The memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation herein.

[0180] The memory 4003 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the above method embodiment.

[0181] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0182] The computer-readable medium of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0183] In the embodiments of the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.

[0184] The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0185] The computer-readable medium of the embodiment of the present application may be included in the electronic device; or may exist independently without being assembled into the electronic device.

[0186] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the method of the embodiment of the present application when the computer program is executed by a processor.

[0187] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0188] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0189] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A method for detecting the position of a clothes drying rod, characterized in that: include: In response to the first air-drying rod control signal, first position information of the air-drying rod before it is raised or lowered is acquired, and the air-drying rod is controlled to be raised or lowered; Determine the moving speed of the drying rod based on the current value detected during the lifting and lowering process of the drying rod, and determine the moving distance of the drying rod based on the moving speed; Based on the first drying rod control signal, the moving distance and the first position information, second position information of the drying rod is determined; the second position information is used to represent the position information of the drying rod after being raised or lowered.

2. The method for detecting the position of the clothes drying rod according to claim 1, characterized in that: The step of determining the moving speed of the drying rod based on the current value detected during the lifting and lowering process of the drying rod comprises: Acquiring a plurality of first detection currents of the motor of the clothes drying machine within a predetermined unit time; taking an average value of a plurality of the first detection currents as the current value; Determining a target calculation formula based on the correspondence between the first drying rod control signal and a preset calculation formula; The moving speed is determined based on the current value and the target calculation formula.

3. The method for detecting the position of the drying rod according to claim 2, characterized in that: Determining the moving distance of the drying rod based on the moving speed includes: Determining a unit moving distance based on the moving speed and the predetermined unit time length; During the movement of the clothes-drying rod, the moving distance is determined based on the time taken for the clothes-drying rod to move and the unit moving distance.

4. The method for detecting the position of the drying rod according to any one of claims 1 to 3, characterized in that: Determining second position information of the drying rod based on the first drying rod control signal, the moving distance, and the first position information includes: If the first drying rod control signal is used to control the drying rod to descend, the distance corresponding to the first position information is increased by the moving distance to obtain the second position information of the drying rod; If the first drying rod control signal is used to control the drying rod to rise, the distance corresponding to the first position information is reduced by the moving distance to obtain the second position information of the drying rod; The first position information and the second position information are both used to indicate the distance between the position of the drying rod and the upper limit position.

5. The method for detecting the position of the clothes drying rod according to claim 2, characterized in that: Based on the correspondence between the first drying rod control signal and the preset calculation formula, a target calculation formula is determined, including: If the first drying rod control signal is used to control the drying rod to rise, then from the correspondence between the first drying rod control signal and the preset calculation formula, determining the target calculation formula to be the first calculation formula; The first calculation formula is that the moving speed is equal to the ratio of the first current difference to the first total current difference multiplied by the first total speed difference plus the first preset speed; The first current difference is the difference between the current value and a first preset current value; The first total current difference is the difference between the second preset current value and the first preset current value; The first total speed difference is the difference between the second preset speed and the first preset speed; The first preset current value is the current value when the clothes-drying rod rises under no-load, the second preset current value is the current value when the clothes-drying rod rises under rated load, the first preset speed is the speed at which the clothes-drying rod rises under rated load, and the second preset speed is the speed at which the clothes-drying rod rises under no-load.

6. The method for detecting the position of the clothes drying rod according to claim 2, characterized in that: Based on the correspondence between the first drying rod control signal and the preset calculation formula, a target calculation formula is determined, including: If the first drying rod control signal is used to control the drying rod to descend, then the target calculation formula is determined to be the second calculation formula from the corresponding relationship between the first drying rod control signal and the preset calculation formula; The second calculation formula is that the moving speed is equal to the ratio of the second current difference to the second total current difference multiplied by the second total speed difference plus the third preset speed; The second current difference is a difference between a third preset current value and the current value; The second total current difference is the difference between the third preset current value and the fourth preset current value; The second total speed difference is the difference between the fourth preset speed and the third preset speed; The third preset current value is the current value when the drying rod drops under no-load, the fourth preset current value is the current value when the drying rod drops under rated load, the third preset speed is the speed at which the drying rod drops under no-load, and the fourth preset speed is the speed at which the drying rod drops under rated load.

7. The method for detecting the position of the clothes drying rod according to claim 5, characterized in that: The method for detecting the position of the clothes drying rod further includes at least one of the following: The first preset speed is obtained by: determining the first preset speed based on the total movable stroke of the drying rod and the time taken by the rated load of the drying rod to rise the total stroke; The second preset speed is obtained by: determining the second preset speed based on the total movable distance of the drying rod and the time taken by the drying rod to rise the total distance without load; The first preset current value is obtained by: during the unloaded rising process of the clothes drying rod, an average value of a plurality of second detected currents of the motor is taken as the first preset current value; The second preset current value is obtained in the following manner: during the rising process of the rated load of the clothes-drying rod, an average value of a plurality of third detected currents of the motor is detected as the second preset current value.

8. The method for detecting the position of the clothes drying rod according to claim 6, characterized in that: The method for detecting the position of the clothes drying rod further includes at least one of the following: The third preset speed is obtained by: determining the third preset speed based on the total movable distance of the drying rod and the time taken by the drying rod to descend the total distance without load; The fourth preset speed is obtained by: determining the fourth preset speed based on the total movable stroke of the drying rod and the time taken by the rated load of the drying rod to decrease the total stroke; The third preset current value is obtained by: during the unloaded lowering process of the clothes drying rod, an average value of a plurality of fourth detected currents of the motor is used as the third preset current value; The fourth preset current value is obtained in the following manner: during the process of decreasing the rated load of the clothes-drying rod, an average value of a plurality of fifth detected currents of the motor is used as the fourth preset current value.

9. A main controller, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.

10. A clothes drying machine, characterized in that: include: The main controller according to claim 9, and at least one of the following electrically connected to the main controller: an upper limit switch, a lower limit switch, and an obstruction switch; The main controller is further configured to do at least one of the following: In response to a first stop signal sent by the upper limit switch, the drying rod is controlled to stop moving; the first stop signal is sent by the upper limit switch when it detects that the drying rod reaches the upper limit position; In response to a second stop signal sent by the lower limit switch, the drying rod is controlled to stop moving; the second stop signal is sent by the lower limit switch when it detects that the drying rod reaches the lower limit position; In response to a third stop signal sent by the resistance switch, the drying rod is controlled to stop moving; the third stop signal is sent when the resistance switch detects that the drying rod encounters resistance.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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