Oscillating angle detection device, electric equipment and oscillating control method and device thereof

Abstract

The invention relates to a head shaking angle detection device, electric equipment, a head shaking control method and device of the electric equipment, a computer readable storage medium and a computer program product. The head shaking angle detection device comprises a detection module and a main control module, and the detection module is mechanically connected with the head shaking assembly; the detection module is used for outputting corresponding electrical parameters according to the position state of the head shaking assembly. The main control module is electrically connected with the detection module and used for receiving the electrical parameters and determining the angle position of the head shaking assembly according to the electrical parameters. Therefore, the detection module is directly and mechanically connected with the head shaking assembly, it is ensured that the detection module can accurately sense the real-time position state of the head shaking assembly, and then electrical parameters capable of reflecting the position state are output, so that the main control module determines the current angle position of the head shaking assembly according to the electrical parameters. Therefore, the angle position of the head shaking assembly can be rapidly and accurately detected, and the detection efficiency is remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of electrical equipment, and in particular to a head shaking angle detection device, electrical equipment, a head shaking control method and device for electrical equipment, a computer-readable storage medium, and a computer program product. Background Art

[0002] As people's pace of life becomes faster and faster, users have put forward more stringent requirements for the working efficiency of household appliances, especially in electric appliances such as fans and heaters that can shake their heads. After the user starts the shaking head component, he expects it to quickly and accurately reach the preset shaking angle range. Therefore, the accuracy of the shaking head function of the device has become an important criterion for evaluating the performance of such shaking head appliances.

[0003] At present, the shaking components of the shaking electrical equipment mostly use stepper motors to drive the shaking, and the control of the shaking angle generally relies on the counting function of the stepper motor. In the related technology, fixed position detection is often used, that is, detection points are set at several fixed positions, and when the shaking component rotates to the position, the current angle of the shaking component can be located. However, this method has obvious limitations, that is, when the shaking component is not rotated to these fixed detection points, the current shaking angle cannot be determined in real time, and thus the accurate positioning of the current angle position of the shaking component cannot be achieved. Summary of the invention

[0004] Based on this, it is necessary to provide a shaking angle detection device, electrical equipment, shaking control method, device, computer-readable storage medium and computer program product for the above-mentioned technical problems, which can effectively locate the current angle of the shaking assembly.

[0005] In a first aspect, the present application provides a shaking angle detection device, comprising:

[0006] A detection module, the detection module is mechanically connected to the oscillating head assembly; the detection module is used to output corresponding electrical parameters according to the position state of the oscillating head assembly;

[0007] The main control module is electrically connected to the detection module, and is used to receive the electrical parameters and determine the angular position of the shaking head assembly according to the electrical parameters.

[0008] In one embodiment, the oscillating head assembly includes an oscillating head gear, and the rotational position of the oscillating head gear represents the position state of the oscillating head assembly; the electrical parameter includes a capacitance parameter;

[0009] The detection module comprises:

[0010] A cavity, wherein a first sealing member and a second sealing member are disposed in the cavity, and a portion between the first sealing member and the second sealing member is used to contain liquid;

[0011] An engagement component, the engagement component is installed on a side of the first seal away from the second seal; the engagement component is used to drive the first seal to move when engaging with the shaking gear;

[0012] Two capacitor plates are relatively arranged at a first position and a second position of the cavity; the second seal is located between the two capacitor plates; the two capacitor plates are used to electrically connect to the main control module, and during the movement of the first seal, the capacitance parameters transmitted to the main control module by the two capacitor plates change.

[0013] In one embodiment, the cavity includes a receiving section and a mounting section that are interconnected and perpendicular to each other, and the two capacitor plates are relatively arranged at two ends of the receiving section; the second seal is arranged in the receiving section, and the first seal and the engaging component are both arranged in the mounting section.

[0014] In one embodiment, the engaging component includes a connecting rod and a ruler-shaped structure, the connecting rod is installed on the side of the first seal away from the second seal, and the ruler-shaped structure is arranged on the connecting rod along the movement direction of the connecting rod; during the rotation of the shaking head gear, the ruler-shaped structure engages with the shaking head gear to drive the first seal to move through the connecting rod.

[0015] In a second aspect, the present application also provides an electrical device, including: a shaking head component and a shaking head angle detection device as described above.

[0016] In a third aspect, the present application further provides a method for controlling a shaking head of an electric device, which is implemented based on the above-mentioned electric device; the method comprises:

[0017] Obtaining a head shaking instruction, and determining a target head shaking angle range according to the head shaking instruction;

[0018] Acquire electrical parameters, and determine the angular position of the oscillating head assembly according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the oscillating head assembly;

[0019] Planning a shaking path according to the angular position of the shaking component;

[0020] Based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

[0021] In one embodiment, the electrical parameter includes a capacitance parameter; and determining the angular position of the shaking head assembly according to the electrical parameter includes:

[0022] The angular position of the shaking head assembly is determined according to the capacitance parameter.

[0023] In one embodiment, the method further comprises: controlling the shaking component to rotate from the angle position to the target shaking angle range based on the shaking path, and after the shaking component rotates within the target shaking angle range:

[0024] Continue to obtain electrical parameters, and determine the angular position of the shaking head assembly according to the electrical parameters;

[0025] When the angle position is outside the target shaking angle range, replanning the shaking path according to the angle position;

[0026] Based on the re-planned shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

[0027] In a fourth aspect, the present application further provides a head shaking control device for an electric device, the device comprising:

[0028] An instruction acquisition module is used to acquire a head shaking instruction and determine a target head shaking angle range according to the head shaking instruction;

[0029] An angle positioning module, used to obtain electrical parameters and determine the angle position of the oscillating head assembly according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the oscillating head assembly;

[0030] A direction planning module, used for planning a shaking path according to the angular position of the shaking component;

[0031] The rotation control module is used to control the shaking component to rotate from the angle position to the target shaking angle range based on the shaking path, and rotate within the target shaking angle range.

[0032] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0033] Obtaining a head shaking instruction, and determining a target head shaking angle range according to the head shaking instruction;

[0034] Acquire electrical parameters, and determine the angular position of the oscillating head assembly according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the oscillating head assembly;

[0035] Planning a shaking path according to the angular position of the shaking component;

[0036] Based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

[0037] In a sixth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0038] Obtaining a head shaking instruction, and determining a target head shaking angle range according to the head shaking instruction;

[0039] Acquire electrical parameters, and determine the angular position of the oscillating head assembly according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the oscillating head assembly;

[0040] Planning a shaking path according to the angular position of the shaking component;

[0041] Based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

[0042] The above-mentioned shaking head angle detection device, electrical equipment, shaking head control method and device of electrical equipment, computer-readable storage medium and computer program product, the shaking head angle detection device includes a detection module and a main control module, the detection module is mechanically connected to the shaking head assembly; the detection module is used to output corresponding electrical parameters according to the position state of the shaking head assembly. The main control module is electrically connected to the detection module, and is used to receive the electrical parameters and determine the angular position of the shaking head assembly according to the electrical parameters. Therefore, the detection module is directly mechanically connected to the shaking head assembly to ensure that the detection module can accurately sense the real-time position state of the shaking head assembly, and then output electrical parameters that can reflect the position state, so that the main control module can determine the current angular position of the shaking head assembly accordingly. Thereby, the rapid and accurate detection of the angular position of the shaking head assembly is achieved, and the detection efficiency is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of a module of a head shaking angle detection device in one embodiment;

[0045] Figure 2 It is a structural schematic diagram of a shaking angle detection device in one embodiment;

[0046] Figure 3 It is a structural schematic diagram of a shaking angle detection device in another embodiment;

[0047] Figure 4 A schematic diagram of a module of an electric device in an embodiment;

[0048] Figure 5 A schematic diagram of a module of an electric device in another embodiment;

[0049] Figure 6 A schematic diagram of a flow chart of a method for controlling a shaking head of an electrical device in an embodiment;

[0050] Figure 7 A schematic diagram of a flow chart of a method for controlling a shaking head of an electric device in another embodiment;

[0051] Figure 8 FIG. 4 is a structural block diagram of a head shaking control device for an electrical device in an embodiment. DETAILED DESCRIPTION

[0052] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0054] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0055] It can be understood that “at least one” means one or more, “plurality” means two or more, and “at least part of an element” means part or all of an element.

[0056] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0057] In one embodiment, a shaking angle detection device is provided. Figure 1 As shown, a shaking angle detection device of an embodiment includes a detection module 100 and a main control module 200. The detection module 100 is mechanically connected to the shaking assembly; the detection module 100 is used to output corresponding electrical parameters according to the position state of the shaking assembly.

[0058] The main control module 200 is electrically connected to the detection module 100 . The main control module 200 is used to receive the electrical parameters transmitted by the detection module 100 and determine the angular position of the shaking head assembly according to the electrical parameters.

[0059] Among them, the shaking head component is a component that realizes the shaking head function in the shaking head electrical equipment, and the shaking head electrical equipment includes but is not limited to a shaking head fan, a shaking head heater, a shaking head air conditioner, a shaking head camera, etc. Exemplarily, the shaking head component may include a driving part and a driven part, and the driving part generally includes a driving motor and a driving gear directly connected thereto. The driving motor provides power and transmits the rotational motion to the subsequent transmission mechanism through the driving gear. The driven part includes a driven gear that meshes with the driving gear and is driven by it, and a shaking head component driven by the driven gear (i.e., a component that actually performs the shaking head action, such as the head of a fan, the lens holder of a camera, etc.). The driven part realizes the shaking head action under the drive of the driving part.

[0060] There is no unique way to implement the detection module 100. In one embodiment, the detection module 100 is mechanically connected to the gear in the shaking head assembly. The gear in the shaking head assembly that is mechanically connected to the detection module 100 can be selected according to the specific situation. Optionally, the driven gear in the shaking head assembly is mechanically connected to the detection module 100. This connection can ensure that the detection module 100 can accurately sense the rotation state of the driven gear. In actual implementation, in the shaking head assembly, the shaking head component is mechanically connected to the driven gear through a connecting rod mechanism to achieve a shaking head action as the gear rotates, so the rotation state of the driven gear can reflect the angular position of the shaking head component. Thus, the detection module 100 can obtain the rotational position information of the gear and output this information to the main control module 200 in the form of electrical parameters (such as voltage, current, etc.).

[0061] In other embodiments, the detection module 100 may include a rotary encoder, which may be directly or indirectly mechanically connected to the shaking assembly. The rotary encoder can divide the circumference into multiple parts, and output a pulse signal to the main control module 200 by detecting the position of the motor shaft rotation. The width or number of the pulse signal may be proportional to the rotation angle of the driven gear.

[0062] After the main control module 200 receives the electrical parameters transmitted by the detection module 100, it can convert the electrical parameters into the angular position information of the shaking head component through a certain algorithm or table lookup, thereby obtaining the accurate angular position of the shaking head component, and then based on the accurate angular position, realize precise control of the rotation of the shaking head component.

[0063] The above-mentioned shaking head angle detection device includes a detection module 100 and a main control module 200. The detection module 100 is mechanically connected to the shaking head assembly; the detection module 100 is used to output corresponding electrical parameters according to the position state of the shaking head assembly. The main control module 200 is electrically connected to the detection module 100, and is used to receive the electrical parameters and determine the angular position of the shaking head assembly according to the electrical parameters. As a result, the detection module 100 is directly mechanically connected to the shaking head assembly, ensuring that the detection module 100 can accurately sense the real-time position state of the shaking head assembly, and then output electrical parameters that can reflect the position state, so that the main control module 200 can determine the current angular position of the shaking head assembly (such as the angular position of the shaking head component) accordingly. Thereby, rapid and accurate detection of the angular position of the shaking head assembly is achieved, significantly improving the detection efficiency.

[0064] In one embodiment, the oscillating head assembly includes an oscillating head gear, and the rotation position of the oscillating head gear represents the position state of the oscillating head assembly; the electrical parameter includes a capacitance parameter. The oscillating head gear can be a driving gear or a driven gear. In this embodiment, the oscillating head gear is used as an example as a driven gear.

[0065] like Figure 2 As shown, the detection module 100 includes a cavity 110, an engaging member 120 and two capacitor plates (shown as capacitor plate A and capacitor plate B).

[0066] A first sealing member 130 and a second sealing member 140 are disposed in the cavity 110 , and the space between the first sealing member 130 and the second sealing member 140 is used to contain liquid.

[0067] The material type of the liquid does not need to be limited, such as water, oil or other liquids. The first seal 130 and the second seal 140 mainly play a sealing role to prevent the liquid between the first seal 130 and the second seal 140 from leaking. The structure and material of the first seal 130 and the second seal 140 do not need to be limited, and those skilled in the art can select them according to actual conditions, and only need to achieve the sealing function. Exemplarily, the first seal 130 and the second seal 140 can be pistons, such as rubber plug pistons, with excellent sealing performance.

[0068] In a specific implementation, the amount of liquid between the first seal 130 and the second seal 140 needs to be set according to actual conditions. In some embodiments, the space between the first seal 130 and the second seal 140 is filled with liquid.

[0069] The meshing component 120 is installed on a side of the first sealing component 130 away from the second sealing component 140; the meshing component 120 is used to drive the first sealing component 130 to move when meshing with the shaking gear.

[0070] The side of the first seal 130 in contact with the liquid is the side where the first seal 130 and the second seal 140 are close to each other; the side of the first seal 130 away from the liquid is the side where the first seal 130 is away from the second seal 140 .

[0071] The meshing component 120 is used to mesh with the oscillating gear. During the rotation of the oscillating gear, it continuously meshes with the meshing component 120, thereby driving the meshing component 120 to move. Since the meshing component 120 is installed on the first sealing component 130, the first sealing component 130 will also move accordingly.

[0072] It can be understood that the sealed cavity between the first seal 130 and the second seal 140 is filled with liquid material, and when one end of the sealed cavity moves, the other end will also move due to the suction of the internal liquid and gas. Therefore, when the first seal 130 moves, the second seal 140 will also move.

[0073] Capacitor plate A and capacitor plate B are relatively arranged at a first position and a second position of the cavity 110; the second seal 140 is located between the two capacitor plates; both capacitor plates are used to electrically connect to the main control module 200, and during the movement of the first seal 110, the capacitance parameters transmitted to the main control module 200 by the two capacitor plates change.

[0074] During the movement of the first seal 130, the second seal 140 moves accordingly. During this process, the relative position of the second seal 140 and the two capacitor plates changes. After the movement of the second seal 140, the gas will enter the cavity 110 (between the capacitor plate A and the second seal 140), causing the ratio of liquid to air between the two capacitor plates to change. This change can be equivalent to a change in the mixing ratio of liquid and air, causing the dielectric density between the two capacitor plates to change. According to the capacitance formula: capacitance = dielectric constant × area / plate distance, it is known that when the area and distance of the two plates are constant, the change in dielectric density causes the effective dielectric constant to change, so the capacitance parameter value transmitted from the two capacitor plates to the main control module 200 changes, and the change in the capacitance value can reflect the angular position of the shaking head assembly.

[0075] In this embodiment, the rotation position of the shaking gear is directly transmitted to the first seal 130 through the meshing component, and then the capacitance parameter between the two capacitor plates is affected by the position change of the liquid and the second seal 140. This direct position feedback mechanism ensures the accuracy and real-time performance of the detection. Moreover, the capacitance detection method can capture very small position changes and convert them into measurable capacitance parameters, so high-precision position detection can be achieved.

[0076] In one embodiment, the cavity 110 includes a receiving section and a mounting section that are interconnected and perpendicular, and two capacitor plates are oppositely arranged at two ends of the receiving section; the second seal 140 is arranged in the receiving section, and the first seal 130 and the engaging member 120 are both arranged in the mounting section.

[0077] For details, please refer to Figure 2 The cavity 110 formed by the mounting section and the accommodating section is in an "L" shape. In actual implementation, the mounting section may be arranged horizontally, the accommodating section may be arranged vertically, and the two capacitor plates may be arranged relatively at the two ends of the accommodating section in the vertical direction, and arranged on the outside of the cavity 110. Thus, during the rotation of the shaking gear, the first seal 130 moves, the liquid in the accommodating section moves into the mounting section, the liquid level in the accommodating section drops, and the liquid between the two capacitor plates decreases. At this time, along with the downward movement of the second seal 140, the distance between the second seal 140 and the capacitor plate A increases, and more gas will enter this section of the cavity 110, causing the ratio of liquid to air between the two capacitor plates to change.

[0078] In this embodiment, the liquid flow between the containing section and the installation section can be synchronously adjusted by rotating the shaking gear to change the ratio of liquid to gas between the two capacitor plates, thereby changing the capacitance value transmitted to the main control module 200. This synchronous adjustment capability can be adapted to different work requirements or environmental conditions, and improves flexibility and adaptability while ensuring detection accuracy. Moreover, in the capacitance detection method, the two capacitor plates do not need to be in direct contact with the shaking assembly, which can effectively avoid the problem of inaccurate detection caused by sensor wear.

[0079] In one embodiment, the engaging component 120 includes a connecting rod and a ruler-shaped structure. The connecting rod is installed on the side of the first seal 130 away from the second seal 140, and the ruler-shaped structure is arranged on the connecting rod along the movement direction of the connecting rod. During the rotation of the shaking gear, the ruler-shaped structure engages with the shaking gear to drive the first seal 130 to move through the connecting rod.

[0080] Among them, the ruler-shaped structure can mesh with the shaking gear. It can be a sawtooth component that can mesh with the shaking gear, or it can be a ruler chain or other structure that can mesh with the shaking gear.

[0081] The connecting rod is arranged inside the installation section, and its moving direction is the same as the extending direction of the installation section. When the installation section is arranged horizontally, the moving direction of the connecting rod is horizontal. The ruler-shaped structure extends along the moving direction of the connecting rod and is fixed on the connecting rod, and meshes with the shaking gear.

[0082] During the rotation of the oscillating gear, the ruler-shaped structure is tightly meshed with the teeth of the oscillating gear. As the gear rotates, the ruler-shaped structure is continuously driven and moves along the movement direction of the connecting rod. This movement is transmitted to the first sealing member 130 through the connecting rod, thereby driving it to perform corresponding movement.

[0083] Since the movement of the first seal 130 is directly related to the rotation of the shaking gear, when the rotation speed and direction of the shaking gear change, the position and movement speed of the first seal 130 change synchronously, so that the ratio of liquid to gas between the two capacitor plates changes synchronously, and the capacitance parameter received by the main control module 200 changes accordingly, thereby achieving real-time monitoring of the angular position of the shaking assembly. Since the ruler-like structure is precisely engaged with the shaking gear, it can ensure that the movement of the connecting rod and the first seal 130 is also precise, ensuring that the capacitance parameter transmitted to the main control module 200 is more accurate, thereby ensuring the accuracy of the angular position of the shaking assembly finally determined.

[0084] It should be noted that, in actual implementation, the angle between the installation section and the accommodation section can be changed according to specific circumstances. Figure 3In the illustrated embodiment, the angle between the mounting section and the accommodating section may be 180 degrees. Capacitor plate B is disposed on the side of the first seal 130 close to the liquid. During the rotation of the shaking head gear, the ruler-shaped structure is tightly meshed with the teeth of the shaking head gear. As the gear rotates, the ruler-shaped structure is subjected to a continuous driving force and moves along the direction of movement of the connecting rod. This movement is transmitted to the first seal 130 through the connecting rod, thereby driving the first connecting member 130 and capacitor plate B to move accordingly. In this process, the amount of gas between capacitor plate B and capacitor plate A changes, causing the capacitance parameters transmitted by the two capacitor plates to the main control module 200 to change accordingly, thereby realizing the detection of the angular position of the shaking head assembly.

[0085] In order to better understand the above embodiment, a detailed explanation is given below in conjunction with a specific embodiment. Figure 1-2 As shown, the shaking angle detection device includes an electrically connected detection module 100 and a main control module 200. The detection module 100 includes a capacitor plate A and a capacitor plate B respectively connected to the main control module 200, and the two plates form a capacitor. When the medium inside the plate changes, the capacitance value changes. The main control module 200 can indirectly calculate the shaking angle information of the shaking component through the change of the capacitance value.

[0086] For details, please refer to Figure 2 When the shaking function is turned on, the shaking gear starts to rotate, and the serrated structure set on the lower side of the connecting rod engages with the shaking gear. When the gear rotates, the connecting rod moves horizontally left and right.

[0087] A first seal 130 is provided on the right side of the connecting rod, and the connecting rod is disposed in the horizontal mounting section of the cavity 110 as a whole. A second seal 140 is provided in the vertical part of the cavity 110, i.e., the accommodating section, and the space between the first seal 130 and the second seal 140 is filled with liquid. At the same time, capacitor plates A and capacitor plates B are correspondingly provided at the top position (i.e., the first position) and the bottom position (i.e., the second position) of the cavity 110, and the two capacitor plates form a capacitor, and the liquid medium is between the capacitor plates A and B.

[0088] When the shaking head assembly shakes its head, the connecting rod moves to the left, driving the liquid in the cavity 110 to move to the left synchronously. Because the cavity is closed, the piston B is pulled down, the liquid medium level between the two capacitor plates drops, and the mixing ratio of the liquid and the air changes. This change can be equivalent to a change in the mixing ratio of the liquid and the air, causing the density of the medium between the two capacitor plates to change. According to the capacitance formula, when the area and distance of the two capacitor plates are constant, the change in the density of the medium causes the effective dielectric constant to change. Therefore, the capacitance parameter value transmitted from the two capacitor plates to the main control module 200 changes, and the shaking angle of the shaking head assembly can be calibrated by the change in the capacitance value.

[0089] In one embodiment, the corresponding relationship between the shaking angle of the shaking component and the capacitance parameter can be pre-stored in the main control module 200. After obtaining the capacitance parameter, the main control module 200 can obtain the corresponding angle information by looking up the table. For example, the corresponding relationship between the shaking angle of the shaking component and the capacitance parameter can be as shown in Table 1 below:

[0090] Table 1

[0091] Capacitor D DO D1 D2 D3 ... Dn Angle M MO M1 M2 M3 ... Mn

[0092] In the above-mentioned shaking head angle detection device, the detection module 100 can accurately sense the real-time position state of the shaking head component, and then output electrical parameters that can reflect the position state, so that the main control module 200 can determine the current angle position of the shaking head component accordingly, thereby realizing accurate detection of the angle position of the shaking head component.

[0093] In one embodiment, an electrical device is provided. Figure 4 As shown, the electric device includes an oscillating assembly 10 and an oscillating angle detection device 20. The electric device is an oscillating electric device, and the oscillating angle detection device 20 can be configured in the above-mentioned embodiments.

[0094] In actual implementation, Figure 5 As shown, the electrical equipment also includes a driving module 30, and the driving module 30 is electrically connected to the main control module 200 in the shaking angle detection device 20. The main control module 200 is used to link with the driving motor in the shaking assembly through the driving module. The shaking gear is directly or indirectly connected to the driving motor. When the shaking function of the whole machine is turned on, the main control module 200 controls the driving motor to start rotating through the driving module, so that the shaking gear starts to rotate, and then the ruler-like structure is used to drive the connecting rod and the first seal 130 to move, thereby realizing accurate detection of the angle position of the shaking assembly.

[0095] It can be understood that the electrical equipment also includes an input module electrically connected to the main control module 200, and the main control module 200 obtains the shaking head instruction through the input module. The implementation mode of the input module does not need to be limited. During actual implementation, the control module 200 can obtain the shaking head instruction input by the user through a remote control, a terminal device (such as a mobile phone, a tablet computer, a wearable device, etc.), voice control or other types of user interfaces through the input module. The shaking head instruction may include information such as the target shaking head angle range and the shaking head duration set by the user. The target shaking head angle range can be a fixed angle such as 60°, 90°, 120°, or an angle range such as 0°-60°, 60°-120°, 310°-350°.

[0096] In one embodiment, the main control module 200 is used to obtain a shaking head instruction, determine a target shaking head angle range according to the shaking head instruction; obtain electrical parameters, and determine the angular position of the shaking head component according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the shaking head component; plan a shaking head path according to the angular position of the shaking head component; and control the shaking head component to rotate from the angle position to the target shaking head angle range based on the shaking head path, and rotate within the target shaking head angle range.

[0097] It should be noted that in the related art, the shaking head components of the shaking head electrical equipment mostly use stepper motors to drive the shaking head, and the control of the shaking head angle generally relies on the counting function of the stepper motor. In the related art, fixed position detection is often used, that is, detection points are set at several fixed positions, and when the shaking head component rotates to the position, the current angle of the shaking head component can be located. Therefore, when starting the shaking head function, it is necessary to control the shaking head component to rotate first, and there are two directions of rotation, and it is impossible to determine which direction takes less time. Therefore, it takes a long time to find the position in order to work according to the target angle range set by the user, which does not meet the user's demand for high-efficiency use.

[0098] For example, assuming that the shaking angle range of the shaking electrical equipment is 0-359°, assuming that it takes 1 second for each rotation of 10°, when the shaking component is actually at a certain angle position (for example, 300°), the user sets the target shaking angle range to 310-350°. If the shaking component is not at any fixed detection point when it rotates, the main control module 200 will not detect the current angle position. At this time, the main control module 200 may plan two shaking paths to enter the user-set range, namely 300-310-350-359-350-310. After rotating 59°, the boundary position can be found, and then the user-set range is entered. A total of about 70 degrees of cumulative rotation is required, and it takes about (7s). The other path is 300-290-0-300-310-350. This path requires a cumulative rotation of about 600° to enter the user-set range, which takes about 60s. It can be seen that this method takes a long time to find the position before it can work according to the user-set target angle range.

[0099] In this embodiment, the shaking head angle detection device 20 can detect the angular position of the shaking head component in real time, so that the shaking head component can be controlled to enter the target shaking head angle range with the optimal shaking head path, so that the user's waiting time is minimized. Still using the above example to illustrate, after the main control module 200 obtains the shaking head instruction, it can determine that the current angle position is 300° according to the electrical parameters transmitted by the detection module 100, and then control the shaking head component to directly enter the range of 310°-350° from the 300° position. It only needs to rotate 10° cumulatively, about 1 second, without the user having to wait too much. Since the main control module 200 can determine the real-time angular position of the shaking head component based on the electrical parameters, when the angle reaches 350°, it can quickly determine that the boundary of the range has been reached.

[0100] In one embodiment, the electrical parameter includes a capacitance parameter. The main control module 200 is used to determine the angular position of the oscillating head assembly according to the capacitance parameter.

[0101] In one embodiment, the main control module 200 is also used to continue to obtain electrical parameters, and determine the angular position of the shaking assembly according to the electrical parameters; when the angular position is outside the target shaking angle range, re-plan the shaking path according to the angular position; based on the re-planned shaking path, control the shaking assembly to rotate from the angular position to within the target shaking angle range, and rotate within the target shaking angle range. Therefore, during the normal rotation of the shaking assembly, the electrical parameters are continuously obtained to monitor the real-time angular position of the shaking assembly, so as to make necessary feedback adjustments to ensure the accuracy and stability of the shaking motion.

[0102] The shaking control method of the electric device provided in the embodiment of the present application can be applied to Figure 5 In the application environment shown in the figure, the main control module 200 is used to obtain a shaking instruction, determine the target shaking angle range according to the shaking instruction; obtain electrical parameters, and determine the angle position of the shaking component according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the shaking component; plan the shaking path according to the angle position of the shaking component; control the shaking component to rotate from the angle position to the target shaking angle range based on the shaking path, and rotate within the target shaking angle range.

[0103] In an exemplary embodiment, Figure 6 As shown, a method for controlling the shaking of an electric device is provided, and the method is applied to Figure 5 The main control module 200 in FIG. 1 is taken as an example to illustrate the method, which includes the following steps 602 to 608. Among them:

[0104] Step 602, obtaining a shaking instruction, and determining a target shaking angle range according to the shaking instruction.

[0105] Specifically, the main control module obtains the shaking head instruction through the input module. The shaking head instruction may include information such as the target shaking head angle range and shaking head duration set by the user. The target shaking head angle range may be a fixed angle such as 60°, 90°, 120°, or an angle range such as 0°-60°, 60°-120°, 310°-350°. The shaking head instruction may also include a gear position instruction, and the main control module also stores the angle range corresponding to each gear position.

[0106] Step 604, obtaining electrical parameters, and determining the angular position of the shaking head assembly according to the electrical parameters.

[0107] Among them, the electrical parameters are the parameters output by the detection module according to the position state of the shaking head component. Since the detection module is directly mechanically connected to the shaking head component, the detection module can accurately sense the real-time position state of the shaking head component, and then output electrical parameters that can reflect the position state, so that the main control module can determine the current angular position of the shaking head component accordingly. Thereby, the real-time and accurate detection of the angular position of the shaking head component is realized.

[0108] Step 606, planning a shaking path according to the angular position of the shaking assembly.

[0109] After determining the target sway angle range and the current angular position of the sway component, the main control module also needs to plan a sway path from the current position to the target range. This sway path can be linear (directly turning to the target range) or more complex, such as turning a certain angle and then returning to a certain angle, etc., depending on the application scenario and actual requirements.

[0110] In some embodiments, still taking the example that the main control module determines that the current angular position of the shaking head assembly is 300° based on the electrical parameters transmitted by the detection module, and the user's expected target shaking head angle range is 310°-350°, the main control module can plan the shaking head path so that the shaking head assembly directly enters 310°-350° from the current 300° position.

[0111] Step 608, based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and rotate within the target shaking angle range.

[0112] After planning the shaking path, the main control module controls the shaking assembly to rotate according to the predetermined shaking path through the driving module. After the angle position of the shaking assembly enters the target shaking angle range, the main control module needs to continue to control it to rotate periodically or in a specific mode within this range.

[0113] The above-mentioned method for controlling the shaking head of an electric device can quickly determine the current position of the shaking head component, so as to plan the optimal path and make the shaking head control more efficient. Moreover, during the shaking head control process, the boundary of the target shaking head angle range can be quickly and accurately determined, so as to improve the reliability of the shaking head control.

[0114] In one embodiment, the electrical parameter includes a capacitance parameter; and the step of determining the angular position of the oscillating head assembly according to the electrical parameter includes: determining the angular position of the oscillating head assembly according to the capacitance parameter.

[0115] There is no unique way for the main control module to determine the angular position of the shaking head component based on the capacitance parameters. For example, it can be determined based on a set algorithm. For example, the main control module can pre-store the correspondence between the shaking head angle of the shaking head component and the capacitance parameters. After obtaining the capacitance parameters, the main control module can obtain the corresponding angle information by looking up the table. The table lookup method can quickly find the angle information corresponding to the matching capacitance parameters from the pre-stored correspondence, improve the response speed of the main control module, and make the shaking head control more timely and smooth.

[0116] In one embodiment, Figure 7 As shown, after step 608, the shaking control method of the electric device further includes steps 702 to 706. Among them:

[0117] Step 702, continue to obtain electrical parameters, and determine the angular position of the shaking head assembly according to the electrical parameters.

[0118] Step 704: when the angle position is outside the target shaking angle range, replan the shaking path according to the angle position.

[0119] Step 706 , based on the re-planned shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and rotate within the target shaking angle range.

[0120] In this embodiment, during the normal rotation of the shaking head assembly, electrical parameters are continuously acquired to determine the real-time angular position of the shaking head assembly so as to make necessary feedback adjustments to ensure the accuracy and stability of the shaking head movement.

[0121] Specifically, when it is determined that the angle position of the shaking head component is outside the target shaking head angle range, it can be determined that there is an abnormality in the current shaking head angle position. The abnormality may be that the motor is overloaded or the shaking head component is forcibly changed by external force (such as the user twists the shaking head angle of the device by hand, causing the shaking head angle to deviate). At this time, the main control module will re-plan the shaking head path according to the current angle position, and control the shaking head component to rotate from the angle position to the target shaking head angle range based on the re-planned shaking head path, so that it rotates within the target shaking head angle range.

[0122] In this embodiment, during the operation of the shaking head assembly, the electrical parameters and the position information of the shaking head assembly can be monitored in real time, abnormalities can be discovered and resolved in a timely manner, and the shaking head assembly can be controlled with the optimal path to return to the target shaking head angle range, thereby improving the reliability of the electrical equipment.

[0123] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0124] Based on the same inventive concept, the embodiment of the present application also provides a head shaking control device for an electric device for implementing the head shaking control method for an electric device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the head shaking control device for one or more electric devices provided below can refer to the limitations of the head shaking control method for an electric device above, and will not be repeated here.

[0125] In an exemplary embodiment, Figure 8 As shown, a head shaking control device for an electric device is provided, comprising: an instruction acquisition module 802, an angle positioning module 804, a direction planning module 806 and a rotation control module 808, wherein:

[0126] The instruction acquisition module 802 is used to acquire the head shaking instruction and determine the target head shaking angle range according to the head shaking instruction.

[0127] The angle positioning module 804 is used to obtain electrical parameters and determine the angle position of the shaking head component according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the shaking head component.

[0128] The direction planning module 806 is used to plan the shaking path according to the angular position of the shaking component.

[0129] The rotation control module 808 is used to control the oscillating component to rotate from an angle position to a target oscillating angle range based on the oscillating path, and rotate within the target oscillating angle range.

[0130] In one embodiment, the angle positioning module 804 is further used to determine the angle position of the shaking head assembly according to the capacitance parameter.

[0131] In one embodiment, the angle positioning module 804 is further used to continue to obtain electrical parameters and determine the angle position of the shaking head assembly according to the electrical parameters.

[0132] The direction planning module 806 is also used to re-plan the shaking path according to the angular position when the angular position is outside the target shaking angle range.

[0133] The rotation control module 808 is also used to control the shaking component to rotate from an angle position to a target shaking angle range based on the re-planned shaking path, and rotate within the target shaking angle range.

[0134] Each module in the above-mentioned head shaking control device of the electric equipment can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0135] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0136] Obtain a head shaking command, and determine the target head shaking angle range according to the head shaking command;

[0137] Acquire electrical parameters and determine the angular position of the shaking head component according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the shaking head component;

[0138] Plan the shaking path according to the angle position of the shaking component;

[0139] Based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotates within the target shaking angle range.

[0140] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the angular position of the shaking head assembly according to the capacitance parameter.

[0141] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: continuing to obtain electrical parameters, and determining the angular position of the shaking head assembly according to the electrical parameters;

[0142] When the angle position is outside the target shaking angle range, the shaking path is replanned according to the angle position;

[0143] Based on the re-planned shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

[0144] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0145] Obtain a head shaking command, and determine the target head shaking angle range according to the head shaking command;

[0146] Acquire electrical parameters and determine the angular position of the shaking head component according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the shaking head component;

[0147] Plan the shaking path according to the angle position of the shaking component;

[0148] Based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotates within the target shaking angle range.

[0149] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the angular position of the shaking head assembly according to the capacitance parameter.

[0150] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: continue to obtain electrical parameters, and determine the angular position of the shaking head assembly based on the electrical parameters; when the angular position is outside the target shaking head angle range, re-plan the shaking head path according to the angular position; based on the re-planned shaking head path, control the shaking head assembly to rotate from the angular position to within the target shaking head angle range, and rotate within the target shaking head angle range.

[0151] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0152] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0153] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A shaking angle detection device, characterized in that: include: A detection module, the detection module is mechanically connected to the oscillating head assembly; the detection module is used to output corresponding electrical parameters according to the position state of the oscillating head assembly; The main control module is electrically connected to the detection module, and is used to receive the electrical parameters and determine the angular position of the shaking head assembly according to the electrical parameters.

2. The shaking angle detection device according to claim 1, characterized in that: The oscillating head assembly includes an oscillating head gear, and the rotational position of the oscillating head gear represents the position state of the oscillating head assembly; The electrical parameters include capacitance parameters; The detection module comprises: A cavity, wherein a first sealing member and a second sealing member are disposed in the cavity, and a portion between the first sealing member and the second sealing member is used to contain liquid; An engagement component, the engagement component is installed on a side of the first seal away from the second seal; the engagement component is used to drive the first seal to move when engaging with the shaking gear; Two capacitor plates are relatively arranged at a first position and a second position of the cavity; the second seal is located between the two capacitor plates; the two capacitor plates are used to electrically connect to the main control module, and during the movement of the first seal, the capacitance parameters transmitted to the main control module by the two capacitor plates change.

3. The shaking angle detection device according to claim 2, characterized in that: The cavity includes a receiving section and a mounting section which are interconnected and perpendicular to each other, and the two capacitor plates are relatively arranged at two ends of the receiving section; the second sealing member is arranged in the receiving section, and the first sealing member and the engaging member are both arranged in the mounting section.

4. The shaking angle detection device according to claim 3, characterized in that: The engaging component includes a connecting rod and a ruler-shaped structure, wherein the connecting rod is installed on a side of the first seal away from the second seal, and the ruler-shaped structure is arranged on the connecting rod along the movement direction of the connecting rod; during the rotation of the shaking head gear, the ruler-shaped structure engages with the shaking head gear to drive the first seal to move through the connecting rod.

5. An electrical device, characterized in that: include: A shaking head assembly and a shaking head angle detection device according to any one of claims 1 to 4.

6. A method for controlling the shaking of an electric device, characterized in that: Based on the electric device according to claim 5, the method comprises: Obtaining a head shaking instruction, and determining a target head shaking angle range according to the head shaking instruction; Acquire electrical parameters, and determine the angular position of the oscillating head assembly according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the oscillating head assembly; Planning a shaking path according to the angular position of the shaking component; Based on the shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

7. The method according to claim 6, characterized in that The electrical parameters include capacitance parameters; and determining the angular position of the shaking head assembly according to the electrical parameters includes: The angular position of the shaking head assembly is determined according to the capacitance parameter.

8. The method according to claim 7, characterized in that After the shaking component is controlled to rotate from the angle position to the target shaking angle range based on the shaking path and rotates within the target shaking angle range, the method further includes: Continue to obtain electrical parameters, and determine the angular position of the shaking head assembly according to the electrical parameters; When the angle position is outside the target shaking angle range, replanning the shaking path according to the angle position; Based on the re-planned shaking path, the shaking component is controlled to rotate from the angle position to within the target shaking angle range, and then rotate within the target shaking angle range.

9. A shaking head control device for an electrical device, characterized in that: The device comprises: An instruction acquisition module is used to acquire a head shaking instruction and determine a target head shaking angle range according to the head shaking instruction; An angle positioning module, used to obtain electrical parameters and determine the angle position of the oscillating head assembly according to the electrical parameters; the electrical parameters are parameters output by the detection module according to the position state of the oscillating head assembly; A direction planning module, used for planning a shaking path according to the angular position of the shaking component; The rotation control module is used to control the shaking component to rotate from the angle position to the target shaking angle range based on the shaking path, and rotate within the target shaking angle range.

10. 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 claim 7 or 8 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to claim 7 or 8 are implemented.

Images