Roller position detection device and detection method and pet toilet

Abstract

The invention relates to a roller position detection device which comprises a roller with one end connected with a rotating shaft; the two metal rings are arranged on the rotating shaft in a sleeving mode, and notch seams are formed in the metal rings in a disconnected mode; the motor is electrically connected between the two metal rings and is in driving connection with the roller; the two electric connecting pieces are located beside the rotating shaft, and each electric connecting piece is electrically connected with one metal ring in a contact mode; and the detection circuit is electrically connected with the two electric connecting pieces and is used for detecting the resistance between the two electric connecting pieces. The roller position detection device is simple in structure and can accurately detect the full circumferential rotation angle of the roller. The invention further relates to a detection method of the roller position detection device. The circumferential position of the roller in the rolling process is determined based on the angle alpha of the electric connecting piece relative to the electric connecting position of the motor on the metal ring. The invention further relates to a pet toilet applying the roller position detection device and method, and the rolling position of the roller can be detected at low cost.

Description

Technical Field

[0001] The invention relates to a drum position detection device and also to a drum position detection device and a pet toilet using the drum position detection device. Background Art

[0002] As people's living standards improve, pets, as friends of mankind, have entered more and more families, bringing countless joys to people's lives. For pets such as cats, dogs and birds, there is a need for defecation. Therefore, more and more pet toilets have appeared on the market.

[0003] Take the cat toilet as an example. A cat toilet is also called a cat litter box, which is a container for cats to excrete. When in use, cat litter is placed in the cat litter box. After a trained cat defecates in the cat litter box, the cat litter sticks to the feces and wraps the feces into a ball, thereby burying the cat feces. In order to reuse the cat litter that is not attached to feces, the user needs to manually clean out the clumped cat litter, which not only slows down the separation of feces, but also the odor during the feces separation process will affect the user's comfort.

[0004] In order to solve the above problems, the Chinese utility model patent with patent number ZL202123109845.9 (publication number CN216392543U) discloses a pet toilet, which is characterized by comprising: a drum, in which a first screen is arranged; a stool bin, which is located at the lower part of the drum, and a bin opening is arranged at the top of the stool bin, and a water supply pipe and a sewage pipe are connected to the stool bin; wherein, when the drum rotates, the screen separates the feces excreted by the pet in the drum from the cat litter, and the feces falls into the stool bin. The pet toilet is provided with a screen in the rotatable drum, so that the screen separates the feces and cat litter as the drum rotates, which can effectively improve the separation speed and the comfort of the user's feces separation operation.

[0005] In order to effectively control the rotation of the drum, it is necessary to detect the rotation angle of the drum. In the prior art, Hall sensors are usually set at several fixed points in the rotation circumference, and magnetic parts are set on the rotating shaft to cooperate with these Hall sensors to detect the rotation position of the drum. However, this structure cannot detect the full circumferential angle of rotation, and the detection accuracy is poor. And based on the magnetic strength of the magnetic parts, when the distance is not well matched, it is easy to cause inaccurate detection angle, causing the command to be triggered in advance. There is also a method of using Hall motors to detect the rotation angle of the drum, which is costly and has a high failure rate. It is not conducive to system stability, and the overall electronic control is relatively complex. Summary of the invention

[0006] The first technical problem to be solved by the present invention is to provide a roller position detection device which has a simple structure and can accurately detect the full circumferential rotation angle of the roller in view of the above-mentioned prior art.

[0007] The second technical problem to be solved by the present invention is to provide a detection method for the above-mentioned roller position detection device in view of the above-mentioned prior art.

[0008] The third technical problem to be solved by the present invention is to provide a pet toilet using the above-mentioned drum position detection device and detection method in view of the above-mentioned prior art.

[0009] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a roller position detection device, comprising

[0010] A roller, one end of which is connected to a rotating shaft;

[0011] It is characterized by: it also includes

[0012] Two metal rings are provided and are spaced apart and sleeved on the rotating shaft in parallel, and the metal rings are provided with gaps;

[0013] a motor, electrically connected between the two metal rings and drivingly connected to the drum;

[0014] Two electrical connectors are provided and are located beside the rotating shaft, and each electrical connector is in contact with and electrically connected to a metal ring;

[0015] The detection circuit is electrically connected to the two electrical connectors and is used to detect the resistance between the two electrical connectors.

[0016] As an improvement, it further comprises a motor drive circuit for controlling the motor, wherein the motor drive circuit is electrically connected to the two electrical connectors.

[0017] In order to reduce wear and extend service life, the electrical connector is circular and in rolling contact with the metal ring.

[0018] For easy installation, a mounting seat is provided beside the rotating shaft, and a shaft rod is provided in the mounting seat corresponding to each electrical connector, and the electrical connector is rotatably sleeved on the shaft rod.

[0019] In order to effectively limit the position of the electrical connector and ensure the reliability of the electrical connection between the electrical connector and the metal ring, a limiting groove is circumferentially arranged on the rotating shaft corresponding to each electrical connector, and the electrical connector is constrained in the limiting groove.

[0020] In order to facilitate the calculation of the rotation position, the motor is electrically connected to a side wall of the notch on the metal ring through an electrical connection line.

[0021] The technical solution adopted by the present invention to solve the second technical problem is: a detection method of a roller position detection device, characterized in that: the roller position detection device as described above is adopted;

[0022] During the rolling process of the drum, the detection circuit detects and obtains the total resistance value R between the two electrical connectors according to the sampling period;

[0023] Calculate the resistance of the metal ring access part connected between the motor and the electrical connection path Rz = R-Rm, where Rm is the motor resistance;

[0024] Calculate the angle α of the electrical connector relative to the electrical connection position of the motor on the metal ring;

[0025] α=360°*Rz / Rmax=360°*(R-Rm)*S / p*a*2L, where Rmax is the total resistance of the two metal rings, p is the conductivity of the metal ring material, L is the total length of the metal ring, s is the cross-sectional area of ​​the metal ring, and a is the resistivity of the metal ring;

[0026] The circumferential position of the drum during rolling is determined based on the angle α.

[0027] In order to realize motor drive control and roller position detection at the same time, during the roller rolling process, the control detection circuit and the motor drive circuit work alternately.

[0028] As an improvement, within a sampling period, the detection circuit is controlled to work for a duration a, and the motor drive circuit is controlled to work for a duration b, where a<b.

[0029] Preferably, a=0.5s, b=5s.

[0030] In order to ensure that the motor drives the drum at a uniform and stable speed, during the rolling process of the drum, the PWM frequency of the motor is adjusted based on the change in the resistance of the metal ring connected between the motor and the electrical connection path, so that the motor rotates at a uniform speed.

[0031] Preferably, the PWM frequency Fpwm of the motor is controlled and adjusted as Fpwm=(Uset*R-Uin*Rm) / (2π*Lm*(Uin-Uset)), wherein Uset is the set voltage value across the motor, Uin is the total input voltage of the motor drive path, and Lm is the inductance value of the motor winding.

[0032] The technical solution adopted by the present invention to solve the third technical problem is: a pet toilet, comprising a base, characterized in that: it also comprises a drum position detection device as described above, the drum is rotatably supported on the base, and the electrical connector is arranged on the base;

[0033] The roller position detection device works using the detection method described above.

[0034] In order to facilitate the installation of the electrical connector and reduce the wear between the electrical connector and the metal ring, a mounting seat is provided on the base next to the rotating shaft, and a shaft rod is provided in the mounting seat corresponding to each electrical connector, and the electrical connector can be rotatably sleeved on the shaft rod.

[0035] In order to facilitate the driving of the drum, a connecting gear is provided on the rotating shaft of the drum, and the motor is meshed and connected with the connecting gear via a driving gear.

[0036] Compared with the prior art, the advantages of the present invention are: the roller position detection device in the present invention is provided with a metal ring structure on the rotating shaft, and on the basis of realizing electrical connection with the motor through the metal ring structure, an electrical connector electrically connected to the metal ring is also provided near the rotating shaft, and then the electrical connector is electrically connected to the detection circuit to realize the detection of the rotation position of the roller, and the structure is simple and the cost is low. The roller position detection device in the present invention is based on the detection method. When the roller rotates, the length of the connecting part of the metal ring between the two electrical connectors changes, and then the resistance between the two electrical connectors changes. In this way, the accurate position of the roller can be detected based on the resistance change, so that the full circumferential rotation angle detection of the roller can be realized at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a three-dimensional diagram of a roller position detection device in an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of the internal structure of a pet toilet in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below with reference to the accompanying drawings.

[0040] like Figure 1 As shown, the roller position detection device in this embodiment includes a roller 1, a metal ring 2, a motor 3, an electrical connector 4, and a detection circuit.

[0041] One end of the drum 1 is connected to a rotating shaft 11 , and the rotating shaft 11 can be supported on other bases to realize the rotation support installation of the drum 1 .

[0042] Two metal rings 2 are provided and are spaced apart and arranged on the rotating shaft 11 in parallel. In this embodiment, a notch 21 is provided on the metal ring 2. Based on the notch 21, it is convenient to calculate the length resistance of the driving path portion connected to the motor 3 during the rotation process.

[0043] The motor 3 is electrically connected between the two metal rings 2 and is drivingly connected to the drum 1. In this embodiment, the motor 3 is electrically connected to a side wall of the notch 21 on the metal ring 2 through an electrical connection line. The connection position is used as an original point to facilitate the following calculation process. According to the resistance of the access part of the metal ring 2 obtained by calculation, the rotation angle position of the drum 1 can be more conveniently determined.

[0044] Two electrical connectors 4 are provided and located beside the rotating shaft 11. Each electrical connector 4 is in contact and electrically connected with a metal ring 2. In this embodiment, the two electrical connectors 4 are arranged in parallel, so that the electrical connection positions of the two electrical connectors 4 on the two metal rings 2 are relative to the original point positions of the motor on the two metal rings 2, thereby facilitating the calculation of the roller position. The contact electrical connection mode between the electrical connector 4 and the metal ring 2 is specifically set as required, such as being set as an elastic connection structure, that is, the electrical connector 4 is set beside the rotating shaft 11 through an elastic member. However, this structure still makes the relative wear between the electrical connector 4 and the metal ring 2 relatively large. In order to further reduce the wear between the two and extend the service life of the two, in this embodiment, the electrical connector 4 is circular and in rolling contact with the metal ring 2. Specifically, a mounting seat 5 is provided beside the rotating shaft 11, and a shaft 51 is provided in the mounting seat 5 corresponding to each electrical connector 4, and the electrical connector 4 is rotatably sleeved on the shaft 51.

[0045] Since a rolling contact method is adopted in the present embodiment to realize the contact electrical connection between the electrical connector 4 and the metal ring 2, in order to prevent the electrical connector 4 from tilting when rotating on the shaft 51 and affecting the reliable contact between the two, a limiting groove 12 is circumferentially arranged on the rotating shaft 11 corresponding to each electrical connector 4, and the metal ring 2 is limitedly installed in the limiting groove 12, and the electrical connector 4 is constrained in the limiting groove 12. Based on the limitation of the electrical connector 4 by the limiting groove 12, the position of the electrical connector 4 is effectively limited, thereby ensuring the reliability of the electrical connection between the electrical connector 4 and the metal ring 2.

[0046] The detection circuit is electrically connected to the two electrical connectors 4 . The detection circuit is used to detect the resistance between the two electrical connectors 4 . The detection circuit can adopt various resistance detection circuits in the prior art.

[0047] In addition, in order to facilitate the drive control of the motor 3, a motor drive circuit for controlling the motor 3 is also provided. The motor drive circuit is electrically connected to the two electrical connectors 4. When working, the motor drive circuit is electrically connected to the motor 3 through the two electrical connectors 4. The start, stop, and output power of the motor drive circuit are used to control the rotation and stop actions of the motor 3, and the rotation speed of the motor 3 is also controlled.

[0048] The detection method of the aforementioned roller position detection device is as follows.

[0049] During the rolling process of the drum 1, the detection circuit detects and obtains the total resistance value R between the two electrical connectors 4 according to the sampling period. The resistance of the metal ring 2 connected between the motor 3 and the electrical connector 4 is calculated as Rz=R-Rm, where Rm is the resistance of the motor 3. In this way, based on the total resistance of the metal ring 2 itself and the resistance of the metal ring 2 connected between the motor 3 and the electrical connector 4, the length of the contact part of the metal ring 2 can be obtained, and the connection position of the motor 3 on the metal ring 2 is fixed, so the angle between the position where the electrical connector 4 contacts the metal ring 2 relative to the connection position of the motor 3 on the metal ring 2 can be obtained, and then the position of the drum 1 can be obtained.

[0050] Specifically, the angle α of the electrical connector 4 relative to the electrical connection position of the motor 3 on the metal ring 2 is calculated.

[0051] α=360°*Rz / Rmax=360°*R-Rm*S / p*a*2L, wherein Rmax is the total resistance of the two metal rings 2, p is the conductivity of the metal ring 2 material, L is the total length of the metal ring 2, s is the cross-sectional area of ​​the metal ring 2, and a is the resistivity of the metal ring 2.

[0052] The circumferential position of the drum 1 during rolling can be determined based on the angle α.

[0053] Since the motor drive circuit and the detection circuit are electrically connected to the electrical connector 4, the metal ring 2 and the motor 3, in order to simultaneously realize the drive control of the motor 3 and the position detection of the roller 1, the detection circuit and the motor drive circuit are controlled to work alternately during the rolling process of the roller 1. In this embodiment, within a sampling period, the detection circuit is controlled to work for a time length a, and the motor drive circuit is controlled to work for a time length b, where a < b, so that a shorter time can be used to realize the detection without affecting the drive of the motor 3. In this embodiment, a = 0.5s, b = 5s.

[0054] In order to ensure that the motor 3 drives the drum 1 at a uniform and stable speed, during the rolling process of the drum 1, the PWM frequency of the motor 3 is adjusted and controlled based on the change in the partial resistance of the metal ring 2 connected between the motor 3 and the passage of the electrical connector 4, so that the motor 3 rotates at a uniform speed.

[0055] The specific analysis is as follows: the PWM frequency of the motor 3 is Fpwm, the inductance of the motor 3 winding is Lm, and the inductance of the motor 3 is XLm = 2π*Fpwm*Lm. The resistance of the motor 3 winding is Rm, the total circuit resistance of the motor 3 drive circuit is R, and the total input voltage is Uin. According to the series voltage division principle, the voltage value of the drive voltage divided on the motor 3 is Um = Uin*Rm+XLm / R-Rm+Rm+XLm. When the motor 3 is set to rotate at a certain speed, the voltage value across the motor 3 is also determined, that is, Uset, Uset = UinRm+2π*Fpwm*Lm / R+2π*Fpwm*Lm.

[0056] The calculation is as follows: Fpwm = Uset*R-Uin*Rm / 2π*Lm*(Uin-Uset.

[0057] Accordingly, in this embodiment, the PWM frequency of the motor 3 is controlled and adjusted to be Fpwm.

[0058] Fpwm=Uset*R-Uin*Rm / 2π*Lm*Uin-Uset, wherein Uset is the set voltage value across the motor 3, Uin is the total input voltage of the drive path of the motor 3, and Lm is the inductance value of the winding of the motor 3.

[0059] like Figure 2 As shown, the present invention also relates to a pet toilet, comprising a base 6, and the aforementioned drum position detection device. One end of the drum 1 has an opening for pets to enter and exit, and the other end of the drum 1 is provided with a rotating shaft 11 and rotatably supported on the base 6, and the electrical connector 4 is provided on the base 6. Specifically, a mounting seat 5 is provided on the base 6 beside the rotating shaft 11, and a shaft 51 is provided in the mounting seat 5 corresponding to each electrical connector 4, and the electrical connector 4 is rotatably sleeved on the shaft 51. The drum position detection device works by the detection method as described above.

[0060] In addition, in order to facilitate the driving of the drum 1, a connecting gear 13 is provided on the rotating shaft 11 of the drum 1, and the motor 3 is meshed and connected with the connecting gear 13 through the driving gear 7. In this way, when the motor 3 works, it drives the driving gear 7 to rotate, and based on the meshing transmission of the driving gear 7 and the connecting gear 13, the rolling drive of the drum 1 is realized.

[0061] The roller position detection device of the present invention has a metal ring 2 structure arranged on the rotating shaft 11. On the basis of realizing electrical connection with the motor 3 through the metal ring 2 structure, an electrical connector 4 electrically connected to the metal ring 2 is also arranged near the rotating shaft 11. Then, the electrical connector 4 is electrically connected to the detection circuit to realize the detection of the rotation position of the roller 1. The structure is simple and the cost is low. The roller position detection device of the present invention is based on the detection method. When the roller 1 rotates, the length of the connecting part of the metal ring 2 between the two electrical connectors 4 changes, thereby causing the resistance between the two electrical connectors 4 to change. In this way, the accurate position of the roller 1 can be detected based on the resistance change, so that the full circumferential rotation angle detection of the roller 1 can be realized at a low cost.

[0062] 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 roller position detection device, comprising: A roller (1), one end of the roller (1) being connected to a rotating shaft (11); Features: Also includes Two metal rings (2) are provided and are sleeved on the rotating shaft (11) in parallel and at intervals, and the metal rings (2) are provided with notches (21); A motor (3) is electrically connected between the two metal rings (2) and is drivingly connected to the roller (1); Two electrical connectors (4) are provided and located beside the rotating shaft (11), and each electrical connector (4) is in contact with and electrically connected to a metal ring (2); The detection circuit is electrically connected to the two electrical connectors (4) and is used to detect the resistance between the two electrical connectors (4).

2. The roller position detection device according to claim 1, characterized in that: It also comprises a motor drive circuit for controlling the motor (3), wherein the motor drive circuit is electrically connected to the two electrical connectors (4).

3. The roller position detection device according to claim 1, characterized in that: The electrical connector (4) is circular and is in rolling contact with the metal ring (2).

4. The drum position detection device according to claim 3, characterized in that: A mounting seat (5) is provided beside the rotating shaft (11), and a shaft rod is provided in the mounting seat (5) corresponding to each electrical connector (4), and the electrical connector (4) is rotatably sleeved on the shaft rod.

5. The drum position detection device according to any one of claims 1 to 4, characterized in that: A limiting groove (12) is circumferentially arranged on the rotating shaft (11) corresponding to each electrical connector (4), and the electrical connector (4) is constrained in the limiting groove (12).

6. The drum position detection device according to any one of claims 1 to 4, characterized in that: The motor (3) is electrically connected to a side wall of the notch (21) on the metal ring (2) via an electrical connection line.

7. A detection method for a roller position detection device, characterized in that: Using the roller position detection device as described in any one of claims 1 to 6; During the rolling process of the drum (1), the detection circuit detects and obtains the total resistance value R between the two electrical connectors (4) according to the sampling period; Calculate the resistance Rz=R-Rm of the access portion of the metal ring (2) connected between the motor (3) and the path of the electrical connection member (4), where Rm is the resistance of the motor (3); Calculating an angle α of the electrical connector (4) relative to the electrical connection position of the motor (3) on the metal ring (2); α=360°*Rz / Rmax=360°*(R-Rm)*S / p*a*2L, wherein Rmax is the total resistance of the two metal rings (2), p is the conductivity of the material of the metal ring (2), L is the total length of the metal ring (2), s is the cross-sectional area of ​​the metal ring (2), and a is the resistivity of the metal ring (2); The circumferential position of the drum (1) during rolling is determined based on the angle α.

8. The detection method of the drum position detection device according to claim 7, characterized in that: Using the roller position detection device as claimed in claim 2; During the rolling process of the drum (1), the control detection circuit and the motor drive circuit work alternately.

9. The detection method of the drum position detection device according to claim 8, characterized in that: In one sampling period, the detection circuit is controlled to work for a duration a, and the motor drive circuit is controlled to work for a duration b, wherein a<b.

10. The detection method of the drum position detection device according to claim 9, characterized in that: a=0.5s,b=5s.

11. The detection method of the drum position detection device according to claim 7, characterized in that: During the rolling process of the drum (1), based on the change in the resistance of the access portion of the metal ring (2) connected between the motor (3) and the passage of the electrical connector (4), the PWM frequency of the motor (3) is adjusted and controlled, thereby causing the motor (3) to rotate at a uniform speed.

12. The detection method of the drum position detection device according to claim 11, characterized in that: The PWM frequency Fpwm of the control-regulated motor (3) is equal to (Uset*R-Uin*Rm) / (2π*Lm*(Uin-Uset)), wherein Uset is the set voltage value across the motor (3), Uin is the total input voltage of the motor (3) drive path, and Lm is the inductance value of the motor (3) winding.

13. A pet toilet, comprising a base (6), characterized in that: It also comprises the roller position detection device as claimed in claims 1 to 6, wherein the roller (1) is rotatably supported on a base (6), and the electrical connection member (4) is arranged on the base (6); The roller position detection device operates using the detection method described in any one of claims 7 to 12.

14. The pet toilet according to claim 13, characterized in that: A mounting seat (5) is provided on the base (6) beside the rotating shaft (11), and a shaft rod is provided in the mounting seat (5) corresponding to each electrical connector (4), and the electrical connector (4) is rotatably sleeved on the shaft rod.

15. The pet toilet according to claim 13, characterized in that: A connecting gear (13) is provided on the rotating shaft (11) of the drum (1), and the motor (3) is meshedly connected to the connecting gear (13) via a driving gear (7).

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