Direction recognition device, direction recognition method, cleaning machine, electronic equipment and storage medium

Abstract

The invention relates to a direction recognition device which comprises a shell internally provided with a movable cavity. The magnetic part is movably arranged in the movable cavity; the linear Hall sensor is arranged outside the shell in the extending direction of the movable cavity, and the linear Hall sensor detects and obtains different signals based on different positions of the magnetic part in the movable cavity. The direction recognition device can accurately detect direction changes in real time. The invention further relates to a direction recognition method. The direction recognition device is installed on the application equipment and synchronously moves along with the application equipment. When the application equipment is started, the linear Hall sensor obtains an initial detection signal based on the position of the magnetic part, when the application equipment moves, the magnetic part moves in the movable cavity based on inertia, the linear Hall sensor obtains a real-time detection signal change value, and then the moving direction of the magnetic part in the movable cavity is determined; and the moving direction of the application equipment is determined. The invention further relates to a cleaning machine, electronic equipment and a storage medium.

Description

Technical Field

[0001] The invention relates to a direction recognition device, a direction recognition method, a cleaning machine, an electronic device and a storage medium. Background Art

[0002] Cleaning machines such as floor scrubbers, sweepers, and vacuum cleaners are all commonly used cleaning machines for cleaning the floor. In order to realize functions such as automatic driving and automatic power assistance of the cleaning machine, a movement direction recognition device is usually set on the cleaning machine, and then the movement direction of the cleaning machine is detected based on the movement direction recognition device, and then the intelligent function is controlled according to the recognized movement direction. For example, the Chinese utility model patent "A Cleaning Device" with authorization announcement number CN217659612U (application number 202221235125.9) discloses a cleaning device that uses an acceleration sensor to detect the moving direction of the cleaning device, but it is easy to make misjudgments when using the acceleration sensor for direction detection during the deceleration stage. Summary of the invention

[0003] The first technical problem to be solved by the present invention is to provide a direction recognition device capable of detecting direction changes in real time and accurately in view of the above-mentioned prior art.

[0004] The second technical problem to be solved by the present invention is to provide a direction identification method for the above-mentioned direction identification device in view of the above-mentioned prior art.

[0005] The third technical problem to be solved by the present invention is to provide a cleaning machine using the above-mentioned direction identification device and direction identification method in view of the above-mentioned prior art.

[0006] The fourth technical problem to be solved by the present invention is to provide an electronic device for implementing the aforementioned direction recognition method in view of the above-mentioned prior art.

[0007] The fifth technical problem to be solved by the present invention is to provide a computer-readable storage medium for the above-mentioned prior art, which can realize the door drive control method of the electrical appliance.

[0008] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a direction identification device, characterized in that: it includes:

[0009] A shell body, wherein an activity cavity is provided inside;

[0010] A magnetic member, movably disposed in the movable cavity;

[0011] The linear Hall sensor is arranged outside the shell along the extension direction of the active cavity. The linear Hall sensor detects and obtains different signals based on different positions of the magnetic member in the active cavity.

[0012] In order to ensure the stability of the installation of the linear Hall sensor, a groove is provided on the housing in an area corresponding to the active cavity, and the linear Hall sensor is arranged in the groove.

[0013] In order to facilitate assembly, the shell includes a main body facing an opening at one end and a cover covering the opening.

[0014] In order to ensure that the magnetic member can slide smoothly in the active cavity based on the movement of the shell, a vent hole is opened on the main body.

[0015] In order to ensure the stability of the moving direction of the magnetic element, a carrier that can reciprocate along the extending direction of the active cavity is provided in the active cavity, and the magnetic element is arranged on the carrier facing the linear Hall sensor.

[0016] In order to reduce the friction of the magnetic member moving in the movable cavity and ensure the smoothness of its sliding, the carrier includes a mounting frame and a wheel assembly arranged at the bottom of the mounting frame, and the magnetic member is arranged on the mounting frame.

[0017] In order to facilitate the installation of the magnetic component and ensure the stability of the magnetic component installed on the mounting frame, a limiting groove is provided on the mounting frame, and the magnetic component is arranged in the limiting groove.

[0018] Preferably, a signal processing circuit board is provided on the housing, and the linear Hall sensor is electrically connected to the signal processing circuit board.

[0019] The technical solution adopted by the present invention to solve the above second technical problem is: a direction identification method, characterized in that: the direction identification device as described above is adopted, and the direction identification device is installed on the application equipment and moves synchronously with the application equipment;

[0020] Initialize the relationship between the linear Hall sensor detection signal and the position of the magnetic element in the active cavity;

[0021] When the application device is turned on, the linear Hall sensor obtains an initial detection signal based on the position of the magnetic part. When the application device moves, the magnetic part moves in the active cavity based on inertia, and the linear Hall sensor obtains a real-time detection signal based on the real-time position of the magnetic part. The moving direction of the magnetic part in the active cavity is determined according to the change value of the real-time detection signal, and then the moving direction of the application device is determined according to the moving direction of the magnetic part in the active cavity.

[0022] The technical solution adopted by the present invention to solve the third technical problem is: a cleaning machine, including a housing, characterized in that: it also includes the direction identification device as described above;

[0023] It also includes a processor and a memory, wherein the processor is electrically connected to the memory and the linear Hall sensor, and the memory stores a computer program for running on the processor, and the processor implements the aforementioned direction identification method when executing the computer program.

[0024] The technical solution adopted by the present invention to solve the fourth technical problem mentioned above is: an electronic device, including a memory and a processor, wherein the memory stores a computer program for running on the processor, and is characterized in that the processor implements the aforementioned direction recognition method when executing the computer program.

[0025] The technical solution adopted by the present invention to solve the fifth technical problem mentioned above is: a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program implements the aforementioned direction recognition method when executed by a processor.

[0026] Compared with the prior art, the advantages of the present invention are: the direction identification device in the present invention is provided with a movable magnetic part and a linear Hall sensor that interacts with the magnetic part. When in use, the linear Hall sensor detects and obtains different signals based on the different positions of the magnetic part in the active cavity. In this way, as the magnetic part moves in the active cavity, the signal change detected by the linear Hall sensor can determine the moving direction of the magnetic part in the active cavity, and then determine the moving direction of the application device. In this way, the application device can perform intelligent control of multiple functions based on the determination of the moving direction. The direction identification device can be set at any position of the application device, especially for some application devices with special requirements such as waterproofing, and its setting position is highly flexible. In addition, based on the cooperation of the linear Hall sensor and the magnetic part, the direction change of the application device can be detected in real time and accurately, the moving direction can be obtained quickly, and the misjudgment can be avoided.

[0027] The direction recognition method of the present invention can detect the direction change of the application device in real time and accurately, which is beneficial to the reliability and accuracy control of the application device.

[0028] The cleaning machine of the present invention uses the direction recognition device, and can control various intelligent functions such as power assistance and cleaning based on accurate and real-time detection of direction, with high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional diagram of a direction identification device in an embodiment of the present invention.

[0030] Figure 2 for Figure 1 sectional view of .

[0031] Figure 3 for Figure 1 3D exploded view of .

[0032] Figure 4 It is a three-dimensional diagram of a cleaning machine in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the direction identification device in this embodiment includes a shell 1, a magnetic member 2, and a linear Hall sensor 3.

[0035] The housing 1 is provided with an active cavity 10, specifically, the housing 1 comprises a main body 11 facing an opening at one end and a cover 12 covering the opening, and the active cavity 10 in this embodiment is arranged in the main body 11. The magnetic member 2 is movably arranged in the active cavity 10. The structure of the main body 11 and the cover 12 of the housing 1 facilitates the installation of the magnetic member 2 therein.

[0036] The linear Hall sensor 3 is arranged outside the shell 1 along the extension direction of the active cavity 10, and the linear Hall sensor 3 detects and obtains different signals based on the different positions of the magnetic member 2 in the active cavity 10. In order to facilitate the identification of the direction, the extension direction of the active cavity 10 is the direction to be detected, and the magnetic member 2 also reciprocates along the extension direction of the active cavity 10 in the active cavity 10. If the direction identification device is used to detect the forward or backward direction, the active cavity 10 in the direction identification device is arranged on the application device along the direction of extension to the front and back. If the direction identification device is used to detect the left or right direction, the active cavity 10 in the direction identification device is arranged on the application device along the direction of extension to the left and right.

[0037] In order to ensure the stability of the installation of the linear Hall sensor 3, a groove 111 is provided in the area corresponding to the active cavity 10 on the housing 1, and the linear Hall sensor 3 is arranged in the groove 111. In this embodiment, the groove 111 is specifically provided on the top surface of the housing 1 corresponding to the extension direction of the active cavity 10. This facilitates the linear Hall sensor 3 to detect the changing signal based on the magnetic member 2 being in different positions in the active cavity 10.

[0038] In addition, in order to avoid unstable air pressure in the shell 1 due to airtightness, which in turn affects the inertial movement of the magnetic member 2 as the shell 1 moves, and to ensure that the magnetic member 2 can slide smoothly in the active cavity 10 based on the movement of the shell 1, in this embodiment, a vent hole 112 is provided on the main body 11 to ensure that the active cavity 10 in the main body 11 is always connected to the external atmosphere. At the same time, in order to avoid the influence of water and debris, the vent hole 112 can be provided at a position where water is not suitable, such as a corner of the main body 11.

[0039] In addition, if the magnetic member 2 is directly placed in the active cavity 10, the friction between the magnetic member 2 and the active cavity 10 is relatively large. When the moving speed of the housing 1 is low, the magnetic member 2 is prone to not move due to the friction, which will affect the accuracy of the direction recognition detection. Based on this, it is necessary to reduce the friction of the magnetic member 2 relative to the inner wall of the active cavity 10. In this embodiment, in order to ensure the stability of the moving direction of the magnetic member 2, a carrier 4 that can reciprocate along the extension direction of the active cavity 10 is provided in the active cavity 10, and the magnetic member 2 is arranged on the carrier 4 facing the linear Hall sensor 3. In order to reduce the friction of the magnetic part 2 when it moves in the active cavity 10 and ensure its smooth sliding, the carrier 4 includes a mounting frame 41 and a wheel assembly 42 arranged at the bottom of the mounting frame 41. The magnetic part 2 is arranged on the mounting frame 41, and the wheel assembly 42 is in rolling contact with the cavity wall of the active cavity 10. The contact area is small and the friction is small, so that the mounting frame 41 can move inertially with the movement of the shell 1, thereby driving the magnetic part 2 to move in the active cavity 10, making it convenient for the linear Hall sensor 3 to detect the signal change of the magnetic part 2 to achieve direction recognition.

[0040] In order to facilitate the installation of the magnetic component 2 and ensure the stability of the installation of the magnetic component 2 on the mounting frame 41 , a limiting groove 411 is provided on the mounting frame 41 , and the magnetic component 2 is arranged in the limiting groove 411 .

[0041] In addition, a signal processing circuit board is provided on the shell 1, and the linear Hall sensor 3 is electrically connected to the signal processing circuit board. The signal processing circuit board can process the signal detected by the linear Hall sensor 3 and then transmit it to the processor of the application device, thereby facilitating the processor to perform direction recognition work.

[0042] The direction identification device is provided with a movable magnetic part 2 and a linear Hall sensor 3 that interacts with the magnetic part 2. When in use, the linear Hall sensor 3 detects and obtains different signals based on the different positions of the magnetic part 2 in the active cavity 10. In this way, as the magnetic part 2 moves in the active cavity 10, the signal change detected by the linear Hall sensor 3 can determine the moving direction of the magnetic part 2 in the active cavity 10, and then determine the moving direction of the application device. In this way, the application device can perform intelligent control of multiple functions based on the determination of the moving direction. The direction identification device can be set at any position of the application device, especially for some application devices with special requirements such as waterproofing, and its setting position is highly flexible. In addition, based on the cooperation of the linear Hall sensor 3 and the magnetic part 2, the direction change of the application device can be detected in real time and accurately, and the moving direction can be obtained quickly, avoiding the situation of misjudgment.

[0043] When the direction identification device is used, it is installed on the application equipment and moves synchronously with the application equipment.

[0044] The direction identification method of the above-mentioned direction identification device is as follows: Initialize the relationship between the detection signal of the linear Hall sensor 3 and the position of the magnetic member 2 in the active cavity 10, and the relationship information can be obtained by testing during the product testing process.

[0045] When the application device is turned on, the linear Hall sensor 3 obtains an initial detection signal based on the position of the magnetic part 2. When the application device moves, the housing 1 moves synchronously with the application device, and the magnetic part 2 moves in the active cavity 10 based on inertia, so that the position of the magnetic part 2 relative to the linear Hall sensor 3 will change. The linear Hall sensor 3 obtains a real-time detection signal based on the real-time position of the magnetic part 2, and determines the moving direction of the magnetic part 2 in the active cavity 10 according to the change value of the real-time detection signal, and then determines the moving direction of the application device according to the moving direction of the magnetic part 2 in the active cavity 10. This direction recognition method can detect the direction change of the application device in real time and accurately, which is conducive to the reliability and precision control of the application device.

[0046] The direction recognition method of the present invention can detect the direction change of the application device in real time and accurately, which is beneficial to the reliability and accuracy control of the application device.

[0047] This embodiment also relates to a cleaning machine, including a housing 5 and a direction identification device as described above. The direction identification device can be installed at any position of the housing 5. In order to avoid affecting other components, the direction identification device in this embodiment is installed on the upper surface of the housing 5.

[0048] The cleaning machine also includes a processor and a memory. The processor is electrically connected to the memory and the linear Hall sensor 3. The memory stores a computer program for running on the processor. When the processor executes the computer program, the aforementioned direction recognition method is implemented. During operation, the processor obtains the detection signal transmitted by the linear Hall sensor 3, and then realizes direction recognition based on the computer program. The cleaning machine in the present invention uses the direction recognition device, which can perform various intelligent function controls such as power assistance and cleaning based on accurate and real-time detection of direction, with high control accuracy.

[0049] The present invention also relates to an electronic device, comprising a memory and a processor, wherein the memory stores a computer program for running on the processor, and the processor implements the above-mentioned direction recognition method when executing the computer program.

[0050] The present invention also relates to a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the direction identification method described above is implemented.

[0051] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

Claims

1. A direction identification device, characterized in that: include A housing (1) having an active chamber (10) disposed therein; A magnetic member (2) movably disposed in the movable chamber (10); A linear Hall sensor (3) is arranged outside the housing (1) along the extension direction of the active cavity (10), and the linear Hall sensor (3) detects and obtains different signals based on different positions of the magnetic member (2) in the active cavity (10).

2. The direction identification device according to claim 1, characterized in that: A groove (111) is provided in an area on the housing (1) corresponding to the active cavity (10), and the linear Hall sensor (3) is arranged in the groove (111).

3. The direction identification device according to claim 1, characterized in that: The housing (1) comprises a main body (11) facing an opening at one end and a cover (12) covering the opening.

4. The direction identification device according to claim 3, characterized in that: The main body (11) is provided with an air hole (112).

5. The direction identification device according to any one of claims 1 to 4, characterized in that: A carrier (4) that can reciprocate along the extension direction of the active cavity (10) is provided in the active cavity (10), and the magnetic element (2) is arranged on the carrier (4) facing the linear Hall sensor (3).

6. The direction identification device according to claim 5, characterized in that: The carrier (4) comprises a mounting frame (41) and a wheel assembly (42) arranged at the bottom of the mounting frame (41), and the magnetic member (2) is arranged on the mounting frame (41).

7. The direction identification device according to claim 6, characterized in that: The mounting frame (41) is provided with a limiting groove (411), and the magnetic member (2) is arranged in the limiting groove (411).

8. The direction identification device according to any one of claims 1 to 4, characterized in that: A signal processing circuit board is provided on the housing (1), and the linear Hall sensor (3) is electrically connected to the signal processing circuit board.

9. A direction identification method, characterized in that: Using the direction identification device according to any one of claims 1 to 8, the direction identification device is installed on the application device and moves synchronously with the application device; Initializing the relationship between the detection signal of the linear Hall sensor (3) and the position of the magnetic member (2) in the active cavity (10); When the application device is turned on, the linear Hall sensor (3) obtains an initial detection signal based on the position of the magnetic part (2); when the application device moves, the magnetic part (2) moves in the active cavity (10) based on inertia, and the linear Hall sensor (3) obtains a real-time detection signal based on the real-time position of the magnetic part (2); the moving direction of the magnetic part (2) in the active cavity (10) is determined based on the change value of the real-time detection signal, and the moving direction of the application device is further determined based on the moving direction of the magnetic part (2) in the active cavity (10).

10. A cleaning machine, comprising a housing (5), characterized in that: Also includes a direction identification device as claimed in any one of claims 1 to 8; It also includes a processor and a memory, wherein the processor is electrically connected to the memory and the linear Hall sensor (3), and the memory stores a computer program for running on the processor. When the processor executes the computer program, the direction identification method described in claim 9 is implemented.

11. An electronic device comprising a memory and a processor, wherein the memory stores a computer program for running on the processor, wherein: When the processor executes the computer program, the direction recognition method according to claim 9 is implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the direction recognition method according to claim 9 is implemented.

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